+ python -m lidar_slam --no-model /working/a0cbbdfb-dfc8-4cbe-b397-d4750ceff92a Lidar SLAM 0.0.12 ===================================================== The recording path: /working/a0cbbdfb-dfc8-4cbe-b397-d4750ceff92a 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 0.015898227 Adjusted end_distance from 9.223372036854776e+18 to 397.625898227 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.015898227 meters 0.6403944012889861 Centerline is valid? [0, False] SLAMing on 0.045898227 meters 0.6579518188582641 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999774e-01 5.19682916e-04 -4.27083105e-04 4.11802909e-03] [-5.19405121e-04 9.99999654e-01 6.50302812e-04 -2.94965669e-03] [ 4.27420908e-04 -6.50080835e-04 9.99999697e-01 -2.52861955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.075898227 meters 0.6290201542362319 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99999618e-01 4.94662320e-04 -7.20658047e-04 5.93726816e-03] [-4.94302964e-04 9.99999753e-01 4.98743505e-04 -1.38853453e-03] [ 7.20904579e-04 -4.98387092e-04 9.99999616e-01 -2.97365342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.105898227 meters 1.403342883026277 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99999296e-01 5.69882367e-04 -1.04049687e-03 8.17157077e-03] [-5.69413902e-04 9.99999736e-01 4.50472217e-04 -2.45396781e-04] [ 1.04075331e-03 -4.49879426e-04 9.99999357e-01 -3.81447046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.13589822699999998 meters 0.5675346681073977 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99998703e-01 9.38757233e-04 -1.30869046e-03 1.08962015e-02] [-9.37625281e-04 9.99999186e-01 8.65296209e-04 -1.91401774e-03] [ 1.30950169e-03 -8.64068026e-04 9.99998769e-01 -5.55104095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.165898227 meters 0.6358664301757854 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 0.99999785 0.00126319 -0.00164444 0.01417125] [-0.00126127 0.99999853 0.00116413 -0.00247586] [ 0.00164591 -0.00116205 0.99999797 -0.00751616] [ 0. 0. 0. 1. ]] SLAMing on 0.19589822699999998 meters 0.6528034089060144 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 0.99999619 0.00179279 -0.00210138 0.01876388] [-0.00178931 0.99999702 0.00165834 -0.00389177] [ 0.00210434 -0.00165457 0.99999642 -0.01030427] [ 0. 0. 0. 1. ]] SLAMing on 0.225898227 meters 0.6458226890091814 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 0.99999526 0.00191734 -0.00241072 0.02089415] [-0.00191312 0.99999664 0.00175127 -0.00392547] [ 0.00241407 -0.00174665 0.99999556 -0.0109436 ] [ 0. 0. 0. 1. ]] SLAMing on 0.255898227 meters 0.6993387960390051 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.9999924 0.00251843 -0.00297657 0.02596628] [-0.00251118 0.99999388 0.00243701 -0.00705045] [ 0.00298269 -0.00242952 0.9999926 -0.0137948 ] [ 0. 0. 0. 1. ]] SLAMing on 0.285898227 meters 0.7335308168175617 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99999091 0.00275071 -0.00325694 0.02811854] [-0.00274184 0.99999253 0.00272371 -0.00848658] [ 0.00326441 -0.00271475 0.99999099 -0.01464774] [ 0. 0. 0. 1. ]] SLAMing on 0.315898227 meters 0.7500615001118262 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 0.99998979 0.002824 -0.00352877 0.02986531] [-0.0028143 0.99999225 0.00275307 -0.00824142] [ 0.00353652 -0.00274311 0.99998998 -0.01500156] [ 0. 0. 0. 1. ]] SLAMing on 0.34589822699999995 meters 0.7496613580389208 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 0.99998811 0.00312554 -0.00374309 0.03191235] [-0.00311391 0.99999033 0.00310672 -0.00991212] [ 0.00375277 -0.00309503 0.99998817 -0.01609835] [ 0. 0. 0. 1. ]] SLAMing on 0.375898227 meters 0.7567142961133565 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 0.99999085 -0.00130824 -0.00407251 0.03387565] [ 0.00130091 0.99999753 -0.00180201 -0.00489047] [ 0.00407485 0.0017967 0.99999008 -0.01613511] [ 0. 0. 0. 1. ]] SLAMing on 0.405898227 meters 0.7259644627853555 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99989736e-01 -9.79812278e-04 -4.42344947e-03 3.70676806e-02] [ 9.73070126e-04 9.99998362e-01 -1.52607917e-03 -5.45553772e-03] [ 4.42493750e-03 1.52175918e-03 9.99989052e-01 -1.77592848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.43589822699999997 meters 0.7463019661206216 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:-0.02 [[ 9.99986188e-01 -2.43835043e-04 -5.25008773e-03 4.50708906e-02] [ 2.36796687e-04 9.99999073e-01 -1.34119659e-03 -3.28314504e-03] [ 5.25040989e-03 1.33993486e-03 9.99985319e-01 -2.21933720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.46589822699999994 meters 0.7695557420277445 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:-0.03 [[ 9.99983244e-01 2.85729740e-04 -5.78179658e-03 5.02969439e-02] [-2.91859361e-04 9.99999396e-01 -1.05934259e-03 -2.72600482e-03] [ 5.78149040e-03 1.06101231e-03 9.99982724e-01 -2.51616366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.49589822699999997 meters 0.7654553992498715 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:-0.03 [[ 9.99980752e-01 4.33186482e-04 -6.18930525e-03 5.31886040e-02] [-4.39968753e-04 9.99999304e-01 -1.09448539e-03 -1.57578319e-03] [ 6.18882683e-03 1.09718743e-03 9.99980247e-01 -2.60889999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.525898227 meters 0.5650636585687331 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.03 [[ 9.99978360e-01 5.27697675e-04 -6.55749591e-03 5.57508673e-02] [-5.35357062e-04 9.99999177e-01 -1.16633504e-03 -2.53640613e-04] [ 6.55687504e-03 1.16982040e-03 9.99977819e-01 -2.67889140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.555898227 meters 0.5601222858944938 Centerline is valid? [False, False] Translation: X:0.06, Y:0.00, Z:-0.03 [[ 9.99975438e-01 8.72540475e-04 -6.95433079e-03 5.97355694e-02] [-8.79567628e-04 9.99999106e-01 -1.00747712e-03 6.22491078e-04] [ 6.95344550e-03 1.01356918e-03 9.99975311e-01 -2.88831477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5858982269999999 meters 0.5651776083095734 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.03 [[ 0.99996996 0.00135107 -0.00763238 0.06656154] [-0.00135913 0.99999852 -0.0010506 0.00435784] [ 0.00763095 0.00106094 0.99997032 -0.03236677] [ 0. 0. 0. 1. ]] SLAMing on 0.615898227 meters 0.6245627665501672 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.03 [[ 9.99966904e-01 1.66622733e-03 -7.96337453e-03 6.98277974e-02] [-1.67262979e-03 9.99998283e-01 -7.97395969e-04 4.02323774e-03] [ 7.96203222e-03 8.10689355e-04 9.99967974e-01 -3.40035393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.645898227 meters 0.6035311844859519 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.04 [[ 9.99964387e-01 1.89917732e-03 -8.22300957e-03 7.23394011e-02] [-1.90384421e-03 9.99998031e-01 -5.59750076e-04 3.30412531e-03] [ 8.22193032e-03 5.75385470e-04 9.99966034e-01 -3.52486188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6758982269999999 meters 0.6107901029311089 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:-0.04 [[ 9.99958046e-01 2.33730806e-03 -8.85680770e-03 7.80786803e-02] [-2.34135943e-03 9.99997159e-01 -4.47089966e-04 4.45727152e-03] [ 8.85573755e-03 4.67808180e-04 9.99960678e-01 -3.80242228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7058982269999999 meters 0.59512461564366 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.04 [[ 9.99955516e-01 2.25564396e-03 -9.15850431e-03 8.02115660e-02] [-2.26262961e-03 9.99997157e-01 -7.52460160e-04 7.51789324e-03] [ 9.15678099e-03 7.73148991e-04 9.99957777e-01 -3.83961240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.735898227 meters 0.5631748496190168 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.04 [[ 0.9999532 0.00214523 -0.00943358 0.08197728] [-0.00215529 0.99999712 -0.00105704 0.01038556] [ 0.00943129 0.00107733 0.99995494 -0.03849375] [ 0. 0. 0. 1. ]] SLAMing on 0.765898227 meters 0.5944224398362861 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.04 [[ 9.99949270e-01 2.46323499e-03 -9.76672663e-03 8.55159750e-02] [-2.47119740e-03 9.99996624e-01 -8.03273841e-04 1.03139846e-02] [ 9.76471500e-03 8.27368600e-04 9.99951982e-01 -4.04051402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.795898227 meters 0.5537862510095851 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.04 [[ 9.99946494e-01 2.59338598e-03 -1.00141443e-02 8.75705920e-02] [-2.60038870e-03 9.99996383e-01 -6.86325695e-04 1.02398523e-02] [ 1.00123282e-02 7.12329640e-04 9.99949622e-01 -4.11141357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8258982269999999 meters 0.5631159633092223 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.04 [[ 9.99941998e-01 2.60288414e-03 -1.04511229e-02 9.07029721e-02] [-2.61234572e-03 9.99996190e-01 -8.91767850e-04 1.23792546e-02] [ 1.04487620e-02 9.19018072e-04 9.99944988e-01 -4.18673955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.855898227 meters 0.7471446965405386 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.04 [[ 9.99937357e-01 2.85342150e-03 -1.08231248e-02 9.46660005e-02] [-2.86269802e-03 9.99995548e-01 -8.41705913e-04 1.40740296e-02] [ 1.08206749e-02 8.72636524e-04 9.99941074e-01 -4.39327679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.885898227 meters 0.5568084998080503 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.04 [[ 0.99993415 0.00275501 -0.0111399 0.09668032] [-0.0027679 0.99999552 -0.00114204 0.01695151] [ 0.01113671 0.0011728 0.9999373 -0.04403968] [ 0. 0. 0. 1. ]] SLAMing on 0.9158982269999999 meters 0.5566195936488676 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.04 [[ 0.99993073 0.00276876 -0.01144001 0.09883671] [-0.00278335 0.99999533 -0.00125933 0.01860627] [ 0.01143647 0.00129109 0.99993377 -0.04448464] [ 0. 0. 0. 1. ]] SLAMing on 0.9458982269999999 meters 0.5588642624470336 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.05 [[ 0.99992712 0.00286704 -0.01172756 0.10097067] [-0.00288156 0.9999951 -0.00122164 0.01903989] [ 0.011724 0.00125534 0.99993048 -0.04504878] [ 0. 0. 0. 1. ]] SLAMing on 0.975898227 meters 0.5569118261021871 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.05 [[ 9.99917527e-01 3.43951572e-03 -1.23737495e-02 1.06910088e-01] [-3.45120474e-03 9.99993618e-01 -9.23433389e-04 1.88866179e-02] [ 1.23704944e-02 9.66061573e-04 9.99923016e-01 -4.78979561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.005898227 meters 0.5568069859235732 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.05 [[ 0.99996326 0.0076375 -0.00389294 0.12124613] [-0.00765529 0.99996022 -0.00457682 0.02254812] [ 0.00385783 0.00460645 0.99998195 -0.0516053 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0358982270000001 meters 0.5553870484207676 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:-0.05 [[ 0.99997654 0.00354994 -0.00585849 0.13707329] [-0.00352854 0.99998708 0.00365842 0.02098232] [ 0.00587141 -0.00363767 0.99997615 -0.04576496] [ 0. 0. 0. 1. ]] SLAMing on 1.0658982270000001 meters 0.5553870484207676 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:-0.05 [[ 0.99997654 0.00354994 -0.00585849 0.13707329] [-0.00352854 0.99998708 0.00365842 0.02098232] [ 0.00587141 -0.00363767 0.99997615 -0.04576496] [ 0. 0. 0. 1. ]] SLAMing on 1.0958982270000002 meters 0.5541108633341367 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:-0.05 [[ 0.99997311 0.0036204 -0.00637736 0.14090366] [-0.00360018 0.99998847 0.00317843 0.02570491] [ 0.00638879 -0.00315539 0.99997461 -0.0469111 ] [ 0. 0. 0. 1. ]] SLAMing on 1.125898227 meters 0.5551240241423326 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:-0.05 [[ 0.99997214 0.00352365 -0.00658023 0.14219167] [-0.00350466 0.99998967 0.00289409 0.0282455 ] [ 0.00659036 -0.00287095 0.99997416 -0.04697414] [ 0. 0. 0. 1. ]] SLAMing on 1.155898227 meters 0.551423291346654 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:-0.05 [[ 0.99997109 0.00347217 -0.0067643 0.14332935] [-0.00345391 0.99999036 0.00270941 0.03001413] [ 0.00677364 -0.00268596 0.99997345 -0.04702053] [ 0. 0. 0. 1. ]] SLAMing on 1.185898227 meters 0.5583220542399125 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.05 [[ 0.99996916 0.0035641 -0.00699856 0.14548492] [-0.00354526 0.99999006 0.00270204 0.03104918] [ 0.00700812 -0.00267715 0.99997186 -0.04796582] [ 0. 0. 0. 1. ]] SLAMing on 1.215898227 meters 0.5573161270565887 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.05 [[ 0.99996714 0.00359536 -0.00726561 0.14737394] [-0.0035763 0.99999013 0.00263488 0.03205892] [ 0.00727501 -0.00260881 0.99997013 -0.04836309] [ 0. 0. 0. 1. ]] SLAMing on 1.245898227 meters 0.5588826231972228 Centerline is valid? [False, False] Translation: X:0.15, Y:0.04, Z:-0.05 [[ 9.99971259e-01 -7.64583869e-04 -7.54294385e-03 1.49476054e-01] [ 7.48328212e-04 9.99997392e-01 -2.15766838e-03 3.66843176e-02] [ 7.54457390e-03 2.15196177e-03 9.99969224e-01 -4.88680186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.275898227 meters 0.555987296123715 Centerline is valid? [False, False] Translation: X:0.15, Y:0.04, Z:-0.05 [[ 9.99970071e-01 -5.86315323e-04 -7.71447781e-03 1.51082434e-01] [ 5.71604918e-04 9.99998015e-01 -1.90892356e-03 3.56085444e-02] [ 7.71558172e-03 1.90445680e-03 9.99968421e-01 -4.95433839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3058982270000001 meters 0.5586740561125305 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.05 [[ 9.99968954e-01 -4.86452805e-04 -7.86470256e-03 1.52212815e-01] [ 4.72852755e-04 9.99998390e-01 -1.73101860e-03 3.47454923e-02] [ 7.86553196e-03 1.72724601e-03 9.99967574e-01 -4.97956811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.335898227 meters 0.556528506115093 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.05 [[ 9.99967769e-01 -3.88547157e-04 -8.01928925e-03 1.53381864e-01] [ 3.75867000e-04 9.99998677e-01 -1.58265363e-03 3.41483094e-02] [ 8.01989357e-03 1.57958844e-03 9.99966593e-01 -5.00363239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.365898227 meters 0.5576270218887373 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.05 [[ 9.99965746e-01 -4.74996238e-04 -8.26322552e-03 1.54701537e-01] [ 4.61204402e-04 9.99998498e-01 -1.67088753e-03 3.49318108e-02] [ 8.26400677e-03 1.66701926e-03 9.99964463e-01 -4.97121401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.395898227 meters 0.5602598107479971 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.05 [[ 9.99963645e-01 -3.20865938e-04 -8.52092841e-03 1.56768943e-01] [ 3.08231116e-04 9.99998851e-01 -1.48407056e-03 3.44004653e-02] [ 8.52139481e-03 1.48139020e-03 9.99962595e-01 -5.04651607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.425898227 meters 0.5456911952624868 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.05 [[ 9.99961905e-01 -1.87068687e-04 -8.72663775e-03 1.58420190e-01] [ 1.76391868e-04 9.99999235e-01 -1.22422818e-03 3.31539235e-02] [ 8.72686009e-03 1.22264223e-03 9.99961173e-01 -5.10612474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.455898227 meters 0.5554982852368534 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.05 [[ 9.99959965e-01 4.74715788e-05 -8.94801794e-03 1.60582272e-01] [-5.49652946e-05 9.99999648e-01 -8.37228090e-04 3.12549682e-02] [ 8.94797505e-03 8.37686402e-04 9.99959615e-01 -5.21571809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.485898227 meters 0.546620357047936 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.05 [[ 9.99959534e-01 -3.24911411e-04 -8.99030335e-03 1.60965244e-01] [ 3.18561214e-04 9.99999699e-01 -7.07761488e-04 2.98261243e-02] [ 8.99053060e-03 7.04868885e-04 9.99959336e-01 -5.22868066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.515898227 meters 0.5475543808885646 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.05 [[ 9.99957430e-01 -1.51902148e-04 -9.22578553e-03 1.63275252e-01] [ 1.46837382e-04 9.99999838e-01 -5.49654286e-04 2.96919288e-02] [ 9.22586753e-03 5.48276197e-04 9.99957290e-01 -5.37603291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5458982270000001 meters 0.5546960377135394 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.06 [[ 9.99954599e-01 1.85461171e-04 -9.52713262e-03 1.66681388e-01] [-1.87707558e-04 9.99999955e-01 -2.34894710e-04 2.91471476e-02] [ 9.52708862e-03 2.36672360e-04 9.99954588e-01 -5.61260852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5758982270000002 meters 0.5497117738633666 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.06 [[ 9.99952885e-01 2.26471024e-04 -9.70446122e-03 1.68059877e-01] [-2.28320974e-04 9.99999956e-01 -1.89521402e-04 2.93113472e-02] [ 9.70441788e-03 1.91728205e-04 9.99952893e-01 -5.66603295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.605898227 meters 0.6532323712556818 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.06 [[ 9.99951607e-01 -1.69382191e-05 -9.83786474e-03 1.68523395e-01] [ 1.44025417e-05 9.99999967e-01 -2.57817506e-04 2.94577818e-02] [ 9.83786878e-03 2.57663340e-04 9.99951574e-01 -5.60040870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.635898227 meters 0.6576783580361879 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.06 [[ 9.99949862e-01 -8.11053762e-05 -1.00133617e-02 1.69293895e-01] [ 7.76502569e-05 9.99999937e-01 -3.45439175e-04 3.02138922e-02] [ 1.00133890e-02 3.44644315e-04 9.99949805e-01 -5.56078949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.665898227 meters 0.6527241062368552 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.06 [[ 9.99948311e-01 -1.46074640e-04 -1.01663386e-02 1.69948896e-01] [ 1.41670581e-04 9.99999896e-01 -4.33919008e-04 3.09222823e-02] [ 1.01664009e-02 4.32456308e-04 9.99948227e-01 -5.52463221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.695898227 meters 0.6821818247920778 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.05 [[ 9.99977791e-01 -6.44027396e-03 -1.71455367e-03 1.91298452e-01] [ 6.43943705e-03 9.99979145e-01 -4.93196135e-04 3.38105828e-02] [ 1.71769423e-03 4.82144421e-04 9.99998409e-01 -4.95082095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.725898227 meters 0.6721092716325661 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.05 [[ 9.99977861e-01 -6.40104214e-03 -1.81749169e-03 1.91965120e-01] [ 6.40040093e-03 9.99979453e-01 -3.58394107e-04 3.30593561e-02] [ 1.81974844e-03 3.46753497e-04 9.99998284e-01 -4.96021399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.755898227 meters 0.6746888847626697 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.05 [[ 9.99977817e-01 -6.36416380e-03 -1.96553876e-03 1.92897810e-01] [ 6.36355111e-03 9.99979702e-01 -3.17814586e-04 3.31403927e-02] [ 1.96752149e-03 3.05299729e-04 9.99998018e-01 -4.96618161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7858982270000001 meters 0.681501362070898 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.05 [[ 9.99977005e-01 -6.44233720e-03 -2.11788039e-03 1.93501414e-01] [ 6.44141012e-03 9.99979155e-01 -4.44272507e-04 3.40914438e-02] [ 2.12069839e-03 4.30620155e-04 9.99997659e-01 -4.92458874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.815898227 meters 0.7004537039630878 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.05 [[ 9.99976918e-01 -6.39874294e-03 -2.28481229e-03 1.94663236e-01] [ 6.39779013e-03 9.99979444e-01 -4.24084697e-04 3.44397132e-02] [ 2.28747893e-03 4.09457159e-04 9.99997300e-01 -4.95251677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.845898227 meters 0.7066824599048865 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.05 [[ 9.99977247e-01 -6.30399788e-03 -2.40094016e-03 1.95616673e-01] [ 6.30330234e-03 9.99980090e-01 -2.97150568e-04 3.40037940e-02] [ 2.40276559e-03 2.82009955e-04 9.99997074e-01 -4.99227961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.875898227 meters 0.5824739130748445 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.05 [[ 9.99976396e-01 -6.47246885e-03 -2.30527136e-03 1.94574945e-01] [ 6.47229250e-03 9.99979051e-01 -8.39488867e-05 3.16472826e-02] [ 2.30576642e-03 6.90265147e-05 9.99997339e-01 -4.89533015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.905898227 meters 0.5927785322841692 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.05 [[ 9.99977097e-01 -6.31929199e-03 -2.42324948e-03 1.95724642e-01] [ 6.31978824e-03 9.99980010e-01 1.97183540e-04 3.02526991e-02] [ 2.42195498e-03 -2.12493448e-04 9.99997044e-01 -4.96434811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.935898227 meters 0.5947586289485332 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.05 [[ 9.99977219e-01 -6.24172515e-03 -2.56964882e-03 1.96686977e-01] [ 6.24261077e-03 9.99980458e-01 3.36770919e-04 2.96374226e-02] [ 2.56749657e-03 -3.52804564e-04 9.99996642e-01 -4.99091029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.965898227 meters 0.6070405598492503 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.05 [[ 9.99977124e-01 -6.23807169e-03 -2.61480809e-03 1.97157021e-01] [ 6.23898355e-03 9.99980479e-01 3.40716027e-04 2.99375717e-02] [ 2.61263164e-03 -3.57021978e-04 9.99996523e-01 -5.02742616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.995898227 meters 0.6043905133202718 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.05 [[ 9.99976843e-01 -6.24805537e-03 -2.69743228e-03 1.97653809e-01] [ 6.24883119e-03 9.99980437e-01 2.79283868e-04 3.05678640e-02] [ 2.69563453e-03 -2.96133200e-04 9.99996323e-01 -5.04152929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.025898227 meters 0.6082884326498592 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.05 [[ 9.99976331e-01 -6.28530090e-03 -2.79870665e-03 1.98190931e-01] [ 6.28575516e-03 9.99980233e-01 1.53543108e-04 3.16158802e-02] [ 2.79768627e-03 -1.71131459e-04 9.99996072e-01 -5.04634779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.055898227 meters 0.6244380459487223 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.05 [[ 9.99975711e-01 -6.29832586e-03 -2.98475690e-03 1.99313763e-01] [ 6.29829094e-03 9.99980165e-01 -2.10996577e-05 3.33932919e-02] [ 2.98483059e-03 2.30027789e-06 9.99995545e-01 -5.06824116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.085898227 meters 0.6170694960567442 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.05 [[ 0.99998206 -0.00265414 0.00536979 0.15345043] [ 0.00266244 0.99999527 -0.00153933 0.03448045] [-0.00536568 0.0015536 0.9999844 -0.05218544] [ 0. 0. 0. 1. ]] SLAMing on 2.115898227 meters 0.6370769700835253 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.05 [[ 0.99998276 -0.00261039 0.0052601 0.15415411] [ 0.00261817 0.99999549 -0.00147112 0.03440404] [-0.00525624 0.00148486 0.99998508 -0.05231992] [ 0. 0. 0. 1. ]] SLAMing on 2.145898227 meters 0.6432516342273248 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.05 [[ 0.99998372 -0.00242411 0.00516526 0.15519916] [ 0.00242959 0.99999649 -0.00105471 0.03218368] [-0.00516268 0.00106724 0.9999861 -0.05325343] [ 0. 0. 0. 1. ]] SLAMing on 2.1758982270000002 meters 0.6578686798033981 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.05 [[ 9.99984735e-01 -2.25054607e-03 5.04628424e-03 1.56404571e-01] [ 2.25427938e-03 9.99997190e-01 -7.34248219e-04 3.07033734e-02] [-5.04461760e-03 7.45612745e-04 9.99986998e-01 -5.42519732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.205898227 meters 0.656128975952325 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.05 [[ 9.99985469e-01 -2.17113807e-03 4.93444440e-03 1.57179566e-01] [ 2.17390970e-03 9.99997482e-01 -5.56396084e-04 2.98368694e-02] [-4.93322397e-03 5.67115036e-04 9.99987671e-01 -5.46487928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.235898227 meters 0.6578815490540982 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.05 [[ 9.99985506e-01 -2.20021824e-03 4.91399593e-03 1.57233793e-01] [ 2.20151677e-03 9.99997543e-01 -2.58858314e-04 2.76995896e-02] [-4.91341432e-03 2.69672807e-04 9.99987893e-01 -5.44202563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.265898227 meters 0.6734193893055056 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.05 [[ 9.99982019e-01 -3.01840323e-03 5.18185691e-03 1.53751945e-01] [ 3.02026870e-03 9.99995377e-01 -3.52212762e-04 2.47079833e-02] [-5.18076984e-03 3.67857029e-04 9.99986512e-01 -5.02791405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.295898227 meters 0.6761105000432913 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.05 [[ 9.99982773e-01 -2.91623610e-03 5.09403556e-03 1.54308161e-01] [ 2.91644116e-03 9.99995747e-01 -3.28260022e-05 2.28022378e-02] [-5.09391817e-03 4.76818916e-05 9.99987025e-01 -5.04814195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.325898227 meters 0.6857532647781738 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.05 [[ 9.99983829e-01 -2.73096363e-03 4.98836514e-03 1.55212383e-01] [ 2.72924248e-03 9.99996214e-01 3.51807921e-04 2.07950115e-02] [-4.98930702e-03 -3.38187774e-04 9.99987496e-01 -5.11359365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.355898227 meters 0.7054391452760342 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.05 [[ 9.99984012e-01 -2.69092820e-03 4.97345527e-03 1.55256894e-01] [ 2.68820707e-03 9.99996233e-01 5.53735330e-04 1.93833961e-02] [-4.97492660e-03 -5.40356799e-04 9.99987479e-01 -5.11280641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.385898227 meters 0.707314281231537 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.05 [[ 9.99984322e-01 -2.72224175e-03 4.89342123e-03 1.55435801e-01] [ 2.71993054e-03 9.99996186e-01 4.78903346e-04 1.98533326e-02] [-4.89470626e-03 -4.65586072e-04 9.99987912e-01 -5.08220498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.415898227 meters 0.7148701335922591 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.05 [[ 9.99984647e-01 -2.73710080e-03 4.81813907e-03 1.55664952e-01] [ 2.73505020e-03 9.99996166e-01 4.32137935e-04 2.01333239e-02] [-4.81930341e-03 -4.18953448e-04 9.99988299e-01 -5.06626941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.445898227 meters 0.7257491990916163 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:-0.05 [[ 9.99996115e-01 5.52688349e-04 2.73211442e-03 1.72034433e-01] [-5.51905720e-04 9.99999806e-01 -2.87200753e-04 1.74773453e-02] [-2.73227262e-03 2.85691768e-04 9.99996227e-01 -4.67447131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.475898227 meters 0.7180746023154249 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.04 [[ 0.99998464 0.0014839 0.00534001 0.14768796] [-0.00151336 0.99998364 0.00551569 0.01618205] [-0.00533173 -0.00552369 0.99997053 -0.04383253] [ 0. 0. 0. 1. ]] SLAMing on 2.505898227 meters 0.7344625447650743 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.04 [[ 0.99998568 0.00163629 0.00509466 0.14864151] [-0.00166316 0.9999847 0.0052756 0.0184035 ] [-0.00508595 -0.005284 0.99997311 -0.04406021] [ 0. 0. 0. 1. ]] SLAMing on 2.535898227 meters 0.7353616717767346 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.04 [[ 0.99998629 0.00157479 0.00499404 0.14889612] [-0.00159968 0.99998631 0.00498295 0.02026386] [-0.00498612 -0.00499087 0.99997511 -0.0438067 ] [ 0. 0. 0. 1. ]] SLAMing on 2.565898227 meters 0.7442938551640378 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.04 [[ 0.99998701 0.00152157 0.00486562 0.14929212] [-0.00154427 0.99998792 0.0046655 0.02241679] [-0.00485847 -0.00467295 0.99997728 -0.04357046] [ 0. 0. 0. 1. ]] SLAMing on 2.595898227 meters 0.7806536760723376 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.04 [[ 0.99998745 0.00146134 0.00479275 0.14946125] [-0.00148235 0.99998929 0.00438334 0.02424893] [-0.00478629 -0.00439039 0.99997891 -0.04340143] [ 0. 0. 0. 1. ]] SLAMing on 2.625898227 meters 0.7845309046450866 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.04 [[ 0.99998784 0.00140212 0.00472773 0.14955836] [-0.00142163 0.99999048 0.00412616 0.0258528 ] [-0.0047219 -0.00413283 0.99998031 -0.04314834] [ 0. 0. 0. 1. ]] SLAMing on 2.655898227 meters 0.7916907709994352 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.04 [[ 0.99997156 0.00577171 0.00485365 0.14935579] [-0.00581332 0.99994609 0.008604 0.02489912] [-0.00480373 -0.00863198 0.99995121 -0.04362822] [ 0. 0. 0. 1. ]] SLAMing on 2.685898227 meters 0.7872093569985482 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.04 [[ 0.99997651 0.00104149 0.00677474 0.13040918] [-0.00110049 0.99996145 0.00871085 0.02891038] [-0.0067654 -0.0087181 0.99993911 -0.04434428] [ 0. 0. 0. 1. ]] SLAMing on 2.715898227 meters 0.7935589704057742 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:-0.04 [[ 9.99988950e-01 -6.70601928e-04 4.65306049e-03 1.42027653e-01] [ 6.63033190e-04 9.99998455e-01 1.62796697e-03 3.40218915e-02] [-4.65414502e-03 -1.62486384e-03 9.99987849e-01 -3.52645478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.745898227 meters 0.7974504747914652 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:-0.04 [[ 0.99998182 0.0036872 0.00477136 0.14199257] [-0.00371552 0.99997545 0.00594054 0.03439823] [-0.00474934 -0.00595816 0.99997097 -0.03606638] [ 0. 0. 0. 1. ]] SLAMing on 2.775898227 meters 0.8036948261894092 Centerline is valid? [False, False] Translation: X:0.14, Y:0.04, Z:-0.03 [[ 9.99989705e-01 -5.89378925e-04 4.49923366e-03 1.42356119e-01] [ 5.85517429e-04 9.99999459e-01 8.59525454e-04 3.94978459e-02] [-4.49973781e-03 -8.56882225e-04 9.99989509e-01 -3.48280090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.805898227 meters 0.8048896580423135 Centerline is valid? [False, False] Translation: X:0.14, Y:0.04, Z:-0.04 [[ 0.9999825 0.0037887 0.00454298 0.14256535] [-0.00381311 0.99997828 0.00537647 0.03842345] [-0.00452251 -0.0053937 0.99997523 -0.03559159] [ 0. 0. 0. 1. ]] SLAMing on 2.835898227 meters 0.8041639066773493 Centerline is valid? [False, False] Translation: X:0.14, Y:0.04, Z:-0.03 [[ 0.99998317 0.0036463 0.0045118 0.14230046] [-0.00366881 0.99998081 0.00499157 0.04041933] [-0.00449351 -0.00500804 0.99997736 -0.03484733] [ 0. 0. 0. 1. ]] SLAMing on 2.865898227 meters 0.8089226222096579 Centerline is valid? [False, False] Translation: X:0.14, Y:0.04, Z:-0.03 [[ 9.99990585e-01 -6.89120546e-04 4.28436667e-03 1.42596488e-01] [ 6.87782376e-04 9.99999714e-01 3.13803258e-04 4.30091633e-02] [-4.28458170e-03 -3.10853592e-04 9.99990773e-01 -3.37990478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.895898227 meters 0.8100688398770565 Centerline is valid? [False, False] Translation: X:0.14, Y:0.04, Z:-0.03 [[ 9.99990100e-01 -7.98335825e-04 4.37752264e-03 1.42239134e-01] [ 7.94995209e-04 9.99999392e-01 7.64816272e-04 3.96780193e-02] [-4.37813055e-03 -7.61328591e-04 9.99990126e-01 -3.36479800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.925898227 meters 0.8061782398180158 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.04 [[ 0.99996143 -0.0054434 0.00689258 0.1233153 ] [ 0.00543131 0.99998368 0.0017722 0.03874306] [-0.00690211 -0.00173469 0.99997468 -0.03697176] [ 0. 0. 0. 1. ]] SLAMing on 2.955898227 meters 0.8061782398180158 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.04 [[ 0.99996143 -0.0054434 0.00689258 0.1233153 ] [ 0.00543131 0.99998368 0.0017722 0.03874306] [-0.00690211 -0.00173469 0.99997468 -0.03697176] [ 0. 0. 0. 1. ]] SLAMing on 2.985898227 meters 0.7982443348687411 Centerline is valid? [False, False] Translation: X:0.11, Y:0.04, Z:-0.04 [[ 0.99995397 -0.00907598 0.00311113 0.11208046] [ 0.00905999 0.99994586 0.00511709 0.03951701] [-0.0031574 -0.00508867 0.99998207 -0.04156781] [ 0. 0. 0. 1. ]] SLAMing on 3.015898227 meters 0.7969533866270664 Centerline is valid? [False, False] Translation: X:0.11, Y:0.04, Z:-0.03 [[ 9.99997415e-01 -7.35940632e-05 -2.27270788e-03 1.06190861e-01] [ 6.67119941e-05 9.99995413e-01 -3.02806359e-03 4.02424435e-02] [ 2.27292031e-03 3.02790414e-03 9.99992833e-01 -3.18606771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.045898227 meters 0.7960645893960531 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.03 [[ 0.99999165 0.00369802 -0.00173662 0.10293623] [-0.00369622 0.99999263 0.00104167 0.03771039] [ 0.00174046 -0.00103524 0.99999795 -0.02951794] [ 0. 0. 0. 1. ]] SLAMing on 3.075898227 meters 0.795546837849498 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.03 [[ 0.99999177 0.00368021 -0.00170682 0.10264006] [-0.00367832 0.99999262 0.00110888 0.03696998] [ 0.00171089 -0.00110259 0.99999793 -0.02919524] [ 0. 0. 0. 1. ]] SLAMing on 3.105898227 meters 0.7916906684877429 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.03 [[ 0.9999916 0.00374058 -0.00167612 0.10255685] [-0.00373834 0.99999212 0.00133491 0.0355737 ] [ 0.0016811 -0.00132863 0.9999977 -0.02933686] [ 0. 0. 0. 1. ]] SLAMing on 3.135898227 meters 0.7898547729509945 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:-0.03 [[ 0.9999912 0.00386178 -0.00164016 0.1027138 ] [-0.00385907 0.99999119 0.00164901 0.03398962] [ 0.00164651 -0.00164266 0.9999973 -0.02998504] [ 0. 0. 0. 1. ]] SLAMing on 3.165898227 meters 0.7723048741655427 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.04 [[ 9.99989716e-01 4.51299113e-03 4.48407752e-04 8.77380402e-02] [-4.51663505e-03 9.99953776e-01 8.48800720e-03 3.04207131e-02] [-4.10080724e-04 -8.48994521e-03 9.99963876e-01 -3.82837648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.195898227 meters 0.7741469112341446 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.04 [[ 9.99999954e-01 -1.02714361e-05 3.03365745e-04 8.68791236e-02] [ 9.25226713e-06 9.99994357e-01 3.35934914e-03 3.42729998e-02] [-3.03398539e-04 -3.35934618e-03 9.99994311e-01 -3.56452378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.225898227 meters 0.7646928476551922 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.04 [[ 9.99985156e-01 4.66173310e-04 5.42866215e-03 6.80127693e-02] [-5.09243461e-04 9.99968386e-01 7.93516477e-03 3.32744055e-02] [-5.42479137e-03 -7.93781149e-03 9.99953780e-01 -3.74255980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.255898227 meters 0.7722109127521078 Centerline is valid? [False, False] Translation: X:0.09, Y:0.04, Z:-0.03 [[ 0.99999423 0.00234211 0.00246141 0.09100895] [-0.00234588 0.99999607 0.00153327 0.0362063 ] [-0.00245781 -0.00153904 0.9999958 -0.03063902] [ 0. 0. 0. 1. ]] SLAMing on 3.285898227 meters 0.7677839210806532 Centerline is valid? [False, False] Translation: X:0.09, Y:0.04, Z:-0.03 [[ 0.99999398 0.0023512 0.00255263 0.0907618 ] [-0.00235517 0.99999602 0.00155047 0.03602879] [-0.00254897 -0.00155647 0.99999554 -0.03086301] [ 0. 0. 0. 1. ]] SLAMing on 3.315898227 meters 0.7691909279636692 Centerline is valid? [False, False] Translation: X:0.09, Y:0.04, Z:-0.03 [[ 0.9999937 0.00238291 0.00263097 0.0906107 ] [-0.00238703 0.99999592 0.00156623 0.03592649] [-0.00262723 -0.0015725 0.99999531 -0.03123748] [ 0. 0. 0. 1. ]] SLAMing on 3.345898227 meters 0.7532742638884473 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.04 [[ 0.99998904 0.00262639 0.00387539 0.07577605] [-0.00265864 0.99996169 0.00833928 0.03370028] [-0.00385334 -0.00834949 0.99995772 -0.03919208] [ 0. 0. 0. 1. ]] SLAMing on 3.375898227 meters 0.7658409721242746 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.04 [[ 9.99994576e-01 -8.73217273e-04 3.17582626e-03 7.87966404e-02] [ 8.59222315e-04 9.99989927e-01 4.40541166e-03 3.65449302e-02] [-3.17964115e-03 -4.40265903e-03 9.99985253e-01 -4.07167416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.405898227 meters 0.7576396616261295 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.04 [[ 9.99994548e-01 -8.55508654e-04 3.18949248e-03 7.86498035e-02] [ 8.41089348e-04 9.99989433e-01 4.51948162e-03 3.57762837e-02] [-3.19332523e-03 -4.51677433e-03 9.99984701e-01 -4.05885614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.435898227 meters 0.4966489102003958 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.04 [[ 9.99994008e-01 -7.54903198e-04 3.37837300e-03 7.82219986e-02] [ 7.38014286e-04 9.99987240e-01 4.99758339e-03 3.29471062e-02] [-3.38210258e-03 -4.99506016e-03 9.99981805e-01 -4.07945248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.465898227 meters 0.7286954730158088 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.04 [[ 9.99993973e-01 -6.64248774e-04 3.40769401e-03 7.82713189e-02] [ 6.46054180e-04 9.99985546e-01 5.33759387e-03 3.12080504e-02] [-3.41119025e-03 -5.33536014e-03 9.99979949e-01 -4.10550861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.495898227 meters 0.729430627851467 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.04 [[ 0.99998852 -0.00394606 0.00271883 0.08216726] [ 0.0039407 0.99999028 0.00197671 0.03179578] [-0.0027266 -0.00196597 0.99999435 -0.04386311] [ 0. 0. 0. 1. ]] SLAMing on 3.525898227 meters 0.7355951786741599 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.05 [[ 0.99999001 -0.00363436 0.00260208 0.08310797] [ 0.00362729 0.99998973 0.00271858 0.02882559] [-0.00261193 -0.00270911 0.99999292 -0.04501021] [ 0. 0. 0. 1. ]] SLAMing on 3.555898227 meters 0.7285298077131683 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.05 [[ 0.99999161 -0.00328021 0.00245227 0.08425275] [ 0.00327148 0.99998832 0.00355739 0.02556794] [-0.00246392 -0.00354934 0.99999067 -0.04644684] [ 0. 0. 0. 1. ]] SLAMing on 3.585898227 meters 0.6521953668254361 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.05 [[ 0.99998874 0.00353295 0.00316897 0.06902512] [-0.0035254 0.99999095 -0.00238305 0.01777917] [-0.00317737 0.00237185 0.99999214 -0.04729569] [ 0. 0. 0. 1. ]] SLAMing on 3.6158982269999997 meters 0.6537131272563483 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.05 [[ 0.99998802 0.00385746 0.00301445 0.07004283] [-0.00385246 0.9999912 -0.00166224 0.01501673] [-0.00302084 0.00165061 0.99999408 -0.04843058] [ 0. 0. 0. 1. ]] SLAMing on 3.645898227 meters 0.6407529580688158 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.05 [[ 0.99998754 0.00405519 0.00291243 0.07064431] [-0.00405176 0.99999109 -0.00118135 0.01304821] [-0.00291719 0.00116954 0.99999506 -0.04907525] [ 0. 0. 0. 1. ]] SLAMing on 3.675898227 meters 0.616105089501064 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.05 [[ 9.99987042e-01 4.16223330e-03 2.93099943e-03 7.07759518e-02] [-4.15968782e-03 9.99990966e-01 -8.74030718e-04 1.16305722e-02] [-2.93461087e-03 8.61827350e-04 9.99995323e-01 -4.94841878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.705898227 meters 0.6561092906514662 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.05 [[ 0.99999708 0.00116769 0.00211404 0.07529122] [-0.00115902 0.99999094 -0.00409591 0.01327264] [-0.00211881 0.00409345 0.99998938 -0.05292964] [ 0. 0. 0. 1. ]] SLAMing on 3.735898227 meters 0.6158243434639932 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.06 [[ 0.99997071 0.00396074 0.00654865 0.06389525] [-0.00397661 0.99998918 0.00241282 0.00866876] [-0.00653903 -0.00243879 0.99997565 -0.06000396] [ 0. 0. 0. 1. ]] SLAMing on 3.765898227 meters 0.6264240537562502 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.06 [[ 9.99982995e-01 8.95265609e-04 5.76268808e-03 6.80417021e-02] [-8.89330638e-04 9.99999072e-01 -1.03237636e-03 1.19905660e-02] [-5.76360699e-03 1.02723387e-03 9.99982863e-01 -6.29971761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.795898227 meters 0.5374546509136412 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.06 [[ 9.99982790e-01 9.30004790e-04 5.79262626e-03 6.80263689e-02] [-9.24666564e-04 9.99999145e-01 -9.24165336e-04 1.14600152e-02] [-5.79348078e-03 9.18793183e-04 9.99982796e-01 -6.31872292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.825898227 meters 0.6255824960762832 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.06 [[ 9.99982723e-01 1.18921497e-03 5.75667289e-03 6.87434883e-02] [-1.18689744e-03 9.99999213e-01 -4.05979830e-04 9.62919453e-03] [-5.75715115e-03 3.99140236e-04 9.99983348e-01 -6.43849350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.855898227 meters 0.6025175621252918 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.06 [[ 9.99983173e-01 1.24789737e-03 5.66543886e-03 6.90042148e-02] [-1.24637848e-03 9.99999186e-01 -2.71621487e-04 9.11798907e-03] [-5.66577321e-03 2.64555635e-04 9.99983914e-01 -6.43033210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8858982269999998 meters 0.5209948007616362 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.06 [[ 9.99983573e-01 1.24850850e-03 5.59423236e-03 6.90464094e-02] [-1.24759462e-03 9.99999208e-01 -1.66848187e-04 8.45398053e-03] [-5.59443624e-03 1.59866112e-04 9.99984338e-01 -6.39797471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.915898227 meters 0.5215175209836042 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.06 [[ 9.99984226e-01 1.46600255e-03 5.42201758e-03 6.99411681e-02] [-1.46777032e-03 9.99998871e-01 3.22071435e-04 6.66248602e-03] [-5.42153930e-03 -3.30024631e-04 9.99985249e-01 -6.47443906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.945898227 meters 0.5131335229593951 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.07 [[ 0.99998489 0.00195537 0.00513729 0.07187364] [-0.00196198 0.99999725 0.00128264 0.00352322] [-0.00513477 -0.0012927 0.99998598 -0.06690565] [ 0. 0. 0. 1. ]] SLAMing on 3.975898227 meters 0.5058825010754678 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.07 [[ 9.99985084e-01 2.31283049e-03 4.94795921e-03 7.32396403e-02] [-2.32332214e-03 9.99995063e-01 2.11570269e-03 4.67951424e-04] [-4.94304152e-03 -2.12716684e-03 9.99985521e-01 -6.87630681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.005898226999999 meters 0.4641432469107437 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.00, Z:-0.07 [[ 0.99998731 -0.00181056 0.00470165 0.07409796] [ 0.00181881 0.99999681 -0.00175099 -0.001427 ] [-0.00469846 0.00175951 0.99998741 -0.0689924 ] [ 0. 0. 0. 1. ]] SLAMing on 4.035898227 meters 0.45422738277579466 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:-0.07 [[ 0.99998882 -0.00158353 0.00445482 0.07516778] [ 0.00158917 0.99999794 -0.00126236 -0.00316825] [-0.00445281 0.00126943 0.99998928 -0.0696901 ] [ 0. 0. 0. 1. ]] SLAMing on 4.065898227 meters 0.43176491531186917 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.07 [[ 9.99990114e-01 -1.31996971e-03 4.24617373e-03 7.61991242e-02] [ 1.32286562e-03 9.99998894e-01 -6.79267855e-04 -5.33833636e-03] [-4.24527242e-03 6.84878256e-04 9.99990754e-01 -7.05121990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.095898227 meters 0.02967352639658281 Centerline is valid? [False, True] Translation: X:0.08, Y:-0.01, Z:-0.07 [[ 9.99991793e-01 -4.98108661e-04 4.02060751e-03 7.84946304e-02] [ 4.94111932e-04 9.99999383e-01 9.94993101e-04 -1.14035006e-02] [-4.02110065e-03 -9.92998305e-04 9.99991422e-01 -7.34129147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1258982269999995 meters 0.04924480607767398 Centerline is valid? [True, True] Translation: X:0.11, Y:0.02, Z:-0.08 [[ 0.99998266 0.00286432 0.00514454 0.10717261] [-0.00289915 0.99997285 0.00677524 0.02026116] [-0.00512499 -0.00679003 0.99996381 -0.08055035] [ 0. 0. 0. 1. ]] SLAMing on 4.155898227 meters 0.05293881866326167 Centerline is valid? [True, True] Translation: X:0.13, Y:0.04, Z:-0.04 [[ 0.99994237 0.00830432 -0.00680451 0.13376172] [-0.00853744 0.99935158 -0.03497909 0.04127042] [ 0.00650962 0.03503516 0.99936488 -0.03977128] [ 0. 0. 0. 1. ]] SLAMing on 4.185898227 meters 0.04599337058784164 Centerline is valid? [True, True] Translation: X:0.17, Y:0.01, Z:-0.10 [[ 0.99997559 0.00468137 0.00518598 0.16861414] [-0.00485185 0.99943156 0.03336205 0.00826032] [-0.00502685 -0.03338639 0.99942988 -0.10381845] [ 0. 0. 0. 1. ]] SLAMing on 4.215898227 meters 0.045426835318471 Centerline is valid? [True, True] Translation: X:0.20, Y:0.02, Z:-0.07 [[ 9.99926344e-01 8.99579054e-03 8.14748540e-03 1.98167773e-01] [-8.99915460e-03 9.99959436e-01 3.76329032e-04 2.24795413e-02] [-8.14376953e-03 -4.49621794e-04 9.99966738e-01 -6.94327241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.245898227 meters 0.047329273899684714 Centerline is valid? [True, True] Translation: X:0.23, Y:0.03, Z:-0.07 [[ 9.99892461e-01 1.14792706e-02 9.12653012e-03 2.28553935e-01] [-1.14835958e-02 9.99933972e-01 4.21656236e-04 2.52885531e-02] [-9.12108721e-03 -5.26416274e-04 9.99958263e-01 -6.91527929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.275898227 meters 0.047005183494432785 Centerline is valid? [True, True] Translation: X:0.26, Y:0.03, Z:-0.07 [[ 9.99851135e-01 1.39534580e-02 1.01493132e-02 2.58994568e-01] [-1.39589353e-02 9.99902459e-01 4.69029879e-04 2.54081314e-02] [-1.01417787e-02 -6.10633663e-04 9.99948384e-01 -6.82357534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.305898227 meters 0.06091920532313615 Centerline is valid? [True, True] Translation: X:0.29, Y:0.05, Z:-0.07 [[ 9.99809840e-01 1.69301910e-02 9.67746626e-03 2.88000472e-01] [-1.69353105e-02 9.99856487e-01 4.47306521e-04 4.56092791e-02] [-9.66850443e-03 -6.11112357e-04 9.99953072e-01 -6.65140953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.335898227 meters 0.06471765585750347 Centerline is valid? [True, True] Translation: X:0.32, Y:0.05, Z:-0.07 [[ 9.99765739e-01 1.92885840e-02 9.81928734e-03 3.17321715e-01] [-1.92939683e-02 9.99813751e-01 4.53899358e-04 5.15767694e-02] [-9.80870343e-03 -6.43246045e-04 9.99951687e-01 -6.67872692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.365898227 meters 0.06373638316539372 Centerline is valid? [True, True] Translation: X:0.35, Y:0.05, Z:-0.07 [[ 9.99664388e-01 2.34789969e-02 1.09475519e-02 3.47926506e-01] [-2.34859408e-02 9.99724039e-01 5.06146674e-04 5.02594754e-02] [-1.09326470e-02 -7.63090361e-04 9.99939946e-01 -6.72885726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.395898227 meters 0.06309707398148119 Centerline is valid? [True, True] Translation: X:0.38, Y:0.05, Z:-0.06 [[ 9.99605231e-01 2.51430936e-02 1.25382431e-02 3.77880148e-01] [-2.51523331e-02 9.99683462e-01 5.79739025e-04 5.16522220e-02] [-1.25196978e-02 -8.94876228e-04 9.99921225e-01 -6.47552442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.425898227 meters 0.0693278474839635 Centerline is valid? [True, True] Translation: X:0.41, Y:0.06, Z:-0.06 [[ 9.99567865e-01 2.57179562e-02 1.42362274e-02 4.05586796e-01] [-2.57299331e-02 9.99668713e-01 6.58751097e-04 6.21518788e-02] [-1.42145694e-02 -1.02476361e-03 9.99898443e-01 -6.20594086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.455898227 meters 0.07083061087663202 Centerline is valid? [True, True] Translation: X:0.43, Y:0.07, Z:-0.06 [[ 9.99538052e-01 2.63644715e-02 1.51194329e-02 4.33542714e-01] [-2.63780669e-02 9.99651793e-01 7.00451068e-04 6.59733185e-02] [-1.50957012e-02 -1.09894891e-03 9.99885449e-01 -6.07715781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.485898227 meters 0.06432353758914065 Centerline is valid? [True, True] Translation: X:0.46, Y:0.06, Z:-0.06 [[ 9.99537948e-01 2.63877470e-02 1.50856809e-02 4.63039417e-01] [-2.64013086e-02 9.99651179e-01 7.00496708e-04 5.77879748e-02] [-1.50619342e-02 -1.09845476e-03 9.99885959e-01 -6.33259512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.515898227 meters 0.05954304479969544 Centerline is valid? [True, True] Translation: X:0.49, Y:0.05, Z:-0.07 [[ 9.99607175e-01 2.51268686e-02 1.24151689e-02 4.92804123e-01] [-2.51359713e-02 9.99683875e-01 5.77673037e-04 5.10785809e-02] [-1.23967290e-02 -8.89513441e-04 9.99922762e-01 -6.83758919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.545898227 meters 0.06185820192755817 Centerline is valid? [True, True] Translation: X:0.52, Y:0.05, Z:-0.07 [[ 9.99645992e-01 2.39177899e-02 1.16545939e-02 5.22001537e-01] [-2.39257328e-02 9.99713591e-01 5.42559381e-04 5.37519926e-02] [-1.16382791e-02 -8.21212012e-04 9.99931936e-01 -7.01362809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.575898227 meters 0.058713179735972995 Centerline is valid? [True, True] Translation: X:0.55, Y:0.05, Z:-0.07 [[ 9.99679727e-01 2.26721156e-02 1.12435867e-02 5.52254144e-01] [-2.26794323e-02 9.99742651e-01 5.23650534e-04 4.99753941e-02] [-1.12288209e-02 -7.78480986e-04 9.99936652e-01 -7.12432505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.605898227 meters 0.05017870701936151 Centerline is valid? [True, True] Translation: X:0.58, Y:0.04, Z:-0.07 [[ 9.99740837e-01 1.94398453e-02 1.18470209e-02 5.83242641e-01] [-1.94477439e-02 9.99810722e-01 5.51862480e-04 3.55441115e-02] [-1.18340504e-02 -7.82117286e-04 9.99929669e-01 -7.31242014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.635898227 meters 0.04903007740958886 Centerline is valid? [True, True] Translation: X:0.61, Y:0.03, Z:-0.07 [[ 9.99769681e-01 1.79014754e-02 1.18372782e-02 6.12284642e-01] [-1.79092550e-02 9.99839464e-01 5.51534141e-04 3.33940419e-02] [-1.18255046e-02 -7.63403946e-04 9.99929785e-01 -7.30674621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.665898227 meters 0.050040100711012614 Centerline is valid? [True, True] Translation: X:0.64, Y:0.03, Z:-0.07 [[ 9.99788163e-01 1.68854241e-02 1.17690796e-02 6.40473495e-01] [-1.68930490e-02 9.99857152e-01 5.48762922e-04 3.40054460e-02] [-1.17581323e-02 -7.47462312e-04 9.99930591e-01 -7.22157085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.695898227 meters 0.04731513878847244 Centerline is valid? [True, True] Translation: X:0.67, Y:0.03, Z:-0.07 [[ 9.99797951e-01 1.64427185e-02 1.15625806e-02 6.69296997e-01] [-1.64500555e-02 9.99864543e-01 5.39719476e-04 2.97545151e-02] [-1.15521399e-02 -7.29815518e-04 9.99933005e-01 -7.02457973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.725898227 meters 0.053755785524434226 Centerline is valid? [True, True] Translation: X:0.70, Y:0.04, Z:-0.07 [[ 9.99809999e-01 1.54843781e-02 1.18405941e-02 6.97196904e-01] [-1.54920126e-02 9.99879838e-01 5.53316880e-04 3.63061732e-02] [-1.18306036e-02 -7.36646383e-04 9.99929745e-01 -6.91703040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.755898227 meters 0.05125642104190301 Centerline is valid? [True, True] Translation: X:0.73, Y:0.03, Z:-0.07 [[ 9.99834654e-01 1.35751131e-02 1.20987727e-02 7.27682985e-01] [-1.35829504e-02 9.99907587e-01 5.65837592e-04 2.69162355e-02] [-1.20899733e-02 -7.30081063e-04 9.99926647e-01 -6.91614579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.785898227 meters 0.04507660440680148 Centerline is valid? [True, True] Translation: X:0.76, Y:0.02, Z:-0.07 [[ 9.99853547e-01 1.25580961e-02 1.16265979e-02 7.57389119e-01] [-1.25652679e-02 9.99920906e-01 5.43998844e-04 1.75391366e-02] [-1.16188467e-02 -6.90010490e-04 9.99932261e-01 -6.86956688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.815898227 meters 0.046310113272783775 Centerline is valid? [True, True] Translation: X:0.79, Y:0.02, Z:-0.07 [[ 9.99870485e-01 1.12869790e-02 1.14724250e-02 7.85795649e-01] [-1.12938841e-02 9.99936078e-01 5.37271314e-04 1.68916844e-02] [-1.14656275e-02 -6.66769967e-04 9.99934045e-01 -6.76854092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.845898227 meters 0.04524720006480129 Centerline is valid? [True, True] Translation: X:0.81, Y:0.01, Z:-0.07 [[ 9.99875878e-01 1.05182224e-02 1.17301256e-02 8.14973356e-01] [-1.05253955e-02 9.99944455e-01 5.49945046e-04 1.43659719e-02] [-1.17236896e-02 -6.73340998e-04 9.99931048e-01 -6.58991977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8758982269999995 meters 0.04524720006480129 Centerline is valid? [True, True] Translation: X:0.84, Y:0.02, Z:-0.07 [[ 9.99876409e-01 1.04676444e-02 1.17300978e-02 8.43263977e-01] [-1.04748209e-02 9.99944986e-01 5.50537762e-04 1.57695528e-02] [-1.17236897e-02 -6.73340395e-04 9.99931048e-01 -6.61161891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.905898227 meters 0.044164050646469576 Centerline is valid? [True, True] Translation: X:0.87, Y:0.01, Z:-0.06 [[ 9.99883945e-01 9.18772981e-03 1.21524652e-02 8.72561943e-01] [-9.19534599e-03 9.99957559e-01 5.70991052e-04 1.09411029e-02] [-1.21467033e-02 -6.82670908e-04 9.99925993e-01 -6.49314572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.935898227 meters 0.043287188302402524 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.00, Z:-0.07 [[ 9.99889559e-01 6.72116846e-03 1.32550194e-02 9.02407038e-01] [-6.73002085e-03 9.99977159e-01 6.23358793e-04 -1.26740668e-04] [-1.32505269e-02 -7.12496505e-04 9.99911954e-01 -6.54364882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.965898227 meters 0.044328663415661544 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.00, Z:-0.07 [[ 9.99895945e-01 5.79842853e-03 1.32089784e-02 9.32088067e-01] [-5.80713990e-03 9.99982945e-01 6.21243723e-04 -3.21080387e-03] [-1.32051509e-02 -6.97885466e-04 9.99912565e-01 -6.63593583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.995898227 meters 0.04210754047076121 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.01, Z:-0.07 [[ 9.99909979e-01 4.94360189e-03 1.24737252e-02 9.62980617e-01] [-4.95130176e-03 9.99987570e-01 5.86480533e-04 -8.33376715e-03] [-1.24706709e-02 -6.48188916e-04 9.99922028e-01 -6.65257079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.025898227 meters 0.041100170329514206 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.02, Z:-0.07 [[ 9.99930870e-01 2.56265040e-03 1.14755114e-02 9.93555186e-01] [-2.56901075e-03 9.99996555e-01 5.39547242e-04 -1.81894025e-02] [-1.14740892e-02 -5.68990656e-04 9.99934009e-01 -6.91214115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.055898227 meters 0.040863406433246686 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.02, Z:-0.07 [[ 9.99941319e-01 1.34192708e-03 1.07497870e-02 1.02498329e+00] [-1.34743716e-03 9.99998965e-01 5.05348756e-04 -2.28569288e-02] [-1.07490977e-02 -5.19803763e-04 9.99942092e-01 -7.12011771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0858982269999995 meters 0.04142732207270575 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.03, Z:-0.07 [[ 9.99946404e-01 3.87632130e-04 1.03460040e-02 1.05650621e+00] [-3.92678695e-04 9.99999805e-01 4.85752237e-04 -2.64733686e-02] [-1.03458137e-02 -4.89788858e-04 9.99946361e-01 -7.29290283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.115898227 meters 0.04116132260309444 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.04, Z:-0.07 [[ 9.99944829e-01 -3.83175110e-04 1.04972558e-02 1.08945582e+00] [ 3.78040396e-04 9.99999808e-01 4.91128099e-04 -3.54435006e-02] [-1.04974420e-02 -4.87132617e-04 9.99944782e-01 -7.41324417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.145898227 meters 0.04072262209162857 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.04, Z:-0.07 [[ 9.99951534e-01 -8.82647038e-04 9.80564095e-03 1.12203189e+00] [ 8.78206138e-04 9.99999510e-01 4.57188928e-04 -3.84369069e-02] [-9.80603968e-03 -4.48555395e-04 9.99951819e-01 -7.42550632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.175898227 meters 0.04077100975440238 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.04, Z:-0.08 [[ 9.99955768e-01 -1.81860620e-03 9.22791661e-03 1.15492001e+00] [ 1.81472669e-03 9.99998261e-01 4.28766100e-04 -4.26163942e-02] [-9.22868033e-03 -4.12000988e-04 9.99957330e-01 -7.62634768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.205898227 meters 0.03905454455439782 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.05, Z:-0.08 [[ 9.99955983e-01 -3.34615166e-03 8.76559467e-03 1.18700783e+00] [ 3.34272098e-03 9.99994331e-01 4.06002227e-04 -4.70435765e-02] [-8.76690352e-03 -3.76683419e-04 9.99961499e-01 -7.66866297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.235898227 meters 0.03840440728330438 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.05, Z:-0.08 [[ 9.99944719e-01 -4.79533553e-03 9.35751621e-03 1.21784278e+00] [ 4.79149335e-03 9.99988427e-01 4.32973745e-04 -5.11012190e-02] [-9.35948417e-03 -3.88113334e-04 9.99956124e-01 -7.63219881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.265898227 meters 0.03798871308973889 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.05, Z:-0.07 [[ 9.99937152e-01 -5.37474804e-03 9.83885908e-03 1.25033533e+00] [ 5.37053037e-03 9.99985475e-01 4.55045283e-04 -5.30187537e-02] [-9.84116192e-03 -4.02176793e-04 9.99951494e-01 -7.45780810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2958982269999995 meters 0.038330003330470305 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.05, Z:-0.07 [[ 9.99935016e-01 -5.29114732e-03 1.00978776e-02 1.28346213e+00] [ 5.28670592e-03 9.99985916e-01 4.66477252e-04 -5.48356616e-02] [-1.01002036e-02 -4.13062429e-04 9.99948906e-01 -7.17580530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.325898227 meters 0.039102647324037655 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.05, Z:-0.07 [[ 9.99940369e-01 -5.05850806e-03 9.67830943e-03 1.31492675e+00] [ 5.05442296e-03 9.99987127e-01 4.46502069e-04 -5.38117277e-02] [-9.68044347e-03 -3.97557174e-04 9.99953064e-01 -7.27432549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.355898227 meters 0.03969481972652863 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.05, Z:-0.08 [[ 9.99944271e-01 -5.10738288e-03 9.23956604e-03 1.34736007e+00] [ 5.10366494e-03 9.99986886e-01 4.25927967e-04 -5.41708470e-02] [-9.24162024e-03 -3.78748581e-04 9.99957224e-01 -7.50664012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.385898227 meters 0.03861541600877882 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.06, Z:-0.08 [[ 9.99941557e-01 -5.69858626e-03 9.18738045e-03 1.38013186e+00] [ 5.69493923e-03 9.99983694e-01 4.23073826e-04 -5.54429001e-02] [-9.18964157e-03 -3.70727528e-04 9.99957706e-01 -7.59619244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.415898227 meters 0.037306343663449704 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.06, Z:-0.08 [[ 9.99933302e-01 -7.19659865e-03 9.03327539e-03 1.41135049e+00] [ 7.19313826e-03 9.99974043e-01 4.15503171e-04 -5.73765654e-02] [-9.03603112e-03 -3.50497859e-04 9.99959113e-01 -7.66995783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.445898227 meters 0.03504846769711393 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.06, Z:-0.08 [[ 9.99895275e-01 -1.24081095e-02 7.44830516e-03 1.44142071e+00] [ 1.24059024e-02 9.99922985e-01 3.42449151e-04 -6.45691230e-02] [-7.45198068e-03 -2.50010341e-04 9.99972202e-01 -7.84366197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.475898227 meters 0.02994123757830928 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.07, Z:-0.08 [[ 9.99844307e-01 -1.66808872e-02 5.75413736e-03 1.47214723e+00] [ 1.66796403e-02 9.99860850e-01 2.64620002e-04 -7.15834026e-02] [-5.75775076e-03 -1.68601861e-04 9.99983410e-01 -8.02140842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.505898227 meters 0.025021632367067437 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.09, Z:-0.08 [[ 9.99670778e-01 -2.52232232e-02 4.70366133e-03 1.50280264e+00] [ 2.52224845e-02 9.99681839e-01 2.16310671e-04 -8.62717994e-02] [-4.70762086e-03 -9.76014322e-05 9.99988914e-01 -8.43423799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.535898227 meters 0.01751478065803335 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.10, Z:-0.08 [[ 9.99595900e-01 -2.79337986e-02 5.26685430e-03 1.53585757e+00] [ 2.79329078e-02 9.99609771e-01 2.42628605e-04 -9.56468326e-02] [-5.27157656e-03 -9.54120025e-05 9.99986101e-01 -8.12734565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.565898227 meters 0.015943756084739615 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.10, Z:-0.08 [[ 9.99525375e-01 -3.00211452e-02 6.91051409e-03 1.56861496e+00] [ 3.00196729e-02 9.99549258e-01 3.16713301e-04 -9.92866306e-02] [-6.91690732e-03 -1.09111608e-04 9.99976072e-01 -7.85044402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.595898227 meters 0.017932769480808058 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.10, Z:-0.08 [[ 9.99471006e-01 -3.13172200e-02 8.77154620e-03 1.59993975e+00] [ 3.13149144e-02 9.99509488e-01 4.00104802e-04 -1.01663390e-01] [-8.77977382e-03 -1.25212930e-04 9.99961449e-01 -7.65265090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6258982269999995 meters 0.015445995101166891 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.11, Z:-0.08 [[ 9.99432219e-01 -3.27954761e-02 7.72632923e-03 1.63291022e+00] [ 3.27937400e-02 9.99462079e-01 3.51323442e-04 -1.06865613e-01] [-7.73369489e-03 -9.77487358e-05 9.99970090e-01 -7.65419658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.655898227 meters 0.013883713599434857 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.11, Z:-0.08 [[ 9.99418586e-01 -3.33390334e-02 7.14137257e-03 1.66573694e+00] [ 3.33375670e-02 9.99444096e-01 3.24317356e-04 -1.08996093e-01] [-7.14821509e-03 -8.60528069e-05 9.99974447e-01 -7.86766791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.685898227 meters 0.015602792137184369 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.11, Z:-0.08 [[ 9.99391089e-01 -3.41713421e-02 7.05489576e-03 1.69740281e+00] [ 3.41699344e-02 9.99415986e-01 3.20011549e-04 -1.07186800e-01] [-7.06171083e-03 -7.87513654e-05 9.99975063e-01 -8.10952228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.715898227 meters 0.013568677188967015 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.11, Z:-0.08 [[ 9.99354513e-01 -3.50521559e-02 7.86788970e-03 1.72964752e+00] [ 3.50504433e-02 9.99385481e-01 3.55488396e-04 -1.11169532e-01] [-7.87551537e-03 -7.94859114e-05 9.99968984e-01 -8.02147154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.745898227 meters 0.012318050919969284 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.11, Z:-0.08 [[ 9.99321994e-01 -3.56999632e-02 9.00358210e-03 1.76254225e+00] [ 3.56977538e-02 9.99362550e-01 4.06022434e-04 -1.12156728e-01] [-9.01233775e-03 -8.43394905e-05 9.99959385e-01 -7.87679337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.775898227 meters 0.01267863555083847 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.11, Z:-0.08 [[ 9.99268477e-01 -3.68256613e-02 1.03141029e-02 1.79342063e+00] [ 3.68228408e-02 9.99321702e-01 4.63294182e-04 -1.11397202e-01] [-1.03241680e-02 -8.31607026e-05 9.99946701e-01 -7.74605029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.805898227 meters 0.011968122937992234 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.11, Z:-0.08 [[ 9.99268404e-01 -3.70834674e-02 9.35275784e-03 1.82710522e+00] [ 3.70811691e-02 9.99312169e-01 4.19082822e-04 -1.12464743e-01] [-9.36186577e-03 -7.19650277e-05 9.99956174e-01 -8.03916512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8358982269999995 meters 0.014036426821153563 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.11, Z:-0.08 [[ 9.99267550e-01 -3.74274013e-02 7.97202421e-03 1.85923600e+00] [ 3.74257533e-02 9.99299348e-01 3.55860604e-04 -1.09731891e-01] [-7.97975754e-03 -5.72409419e-05 9.99968160e-01 -8.39760209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.865898227 meters 0.01161477477576379 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.11, Z:-0.09 [[ 9.99229974e-01 -3.86107838e-02 6.97613815e-03 1.89208911e+00] [ 3.86095589e-02 9.99254325e-01 3.10231100e-04 -1.12123324e-01] [-6.98291449e-03 -4.06465973e-05 9.99975618e-01 -8.54321309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.895898227 meters 0.015195916159563023 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.11, Z:-0.09 [[ 9.99158790e-01 -4.03485366e-02 7.32853933e-03 1.92438285e+00] [ 4.03472365e-02 9.99185666e-01 3.25226744e-04 -1.13823453e-01] [-7.33569387e-03 -2.92668506e-05 9.99973093e-01 -8.73643512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.925898227 meters 0.012987399360412646 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.12, Z:-0.08 [[ 9.98931887e-01 -4.52674050e-02 9.27079311e-03 1.95684419e+00] [ 4.52655543e-02 9.98974906e-01 4.09472124e-04 -1.18968672e-01] [-9.27982541e-03 1.06128273e-05 9.99956941e-01 -8.46491437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.955898227 meters 0.011289940721073618 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.12, Z:-0.08 [[ 9.98833061e-01 -4.71963308e-02 1.02480254e-02 1.98901092e+00] [ 4.71941914e-02 9.98885632e-01 4.50627946e-04 -1.21761292e-01] [-1.02578733e-02 3.35451827e-05 9.99947386e-01 -8.06429154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.985898227 meters 0.012899377481003555 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.12, Z:-0.08 [[ 9.98731242e-01 -4.93002732e-02 1.02659291e-02 2.02122287e+00] [ 4.92982555e-02 9.98784001e-01 4.49663559e-04 -1.24104394e-01] [-1.02756143e-02 5.69993499e-05 9.99947203e-01 -7.97136576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.015898227 meters 0.014611899001941457 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.13, Z:-0.08 [[ 9.98592885e-01 -5.24980227e-02 7.49720243e-03 2.05278605e+00] [ 5.24970427e-02 9.98621026e-01 3.27580019e-04 -1.28761797e-01] [-7.50406129e-03 6.64618802e-05 9.99971842e-01 -8.40256749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0458982269999995 meters 0.013323839492542124 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.12, Z:-0.09 [[ 9.98555449e-01 -5.33839869e-02 6.09639186e-03 2.08493775e+00] [ 5.33833568e-02 9.98574057e-01 2.66148943e-04 -1.24122899e-01] [-6.10190684e-03 5.96813844e-05 9.99981381e-01 -8.67996779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.075898227 meters 0.015608503967820833 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.13, Z:-0.09 [[ 9.98564433e-01 -5.33020381e-02 5.28832782e-03 2.11744736e+00] [ 5.33015666e-02 9.98578435e-01 2.30160059e-04 -1.27936627e-01] [-5.29307812e-03 5.20465088e-05 9.99985990e-01 -8.84906589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.105898227 meters 0.015481845408511045 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.13, Z:-0.09 [[ 9.98587336e-01 -5.28159974e-02 5.81401825e-03 2.14956656e+00] [ 5.28154266e-02 9.98604260e-01 2.51778805e-04 -1.26042496e-01] [-5.81920134e-03 5.56467277e-05 9.99983067e-01 -8.77629638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.135898227 meters 0.014756984348075599 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.12, Z:-0.09 [[ 9.98632992e-01 -5.18971023e-02 6.23206493e-03 2.18144463e+00] [ 5.18964352e-02 9.98652436e-01 2.68824965e-04 -1.22845580e-01] [-6.23761806e-03 5.49644743e-05 9.99980544e-01 -8.68490770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.165898227 meters 0.016614273830796344 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.12, Z:-0.09 [[ 9.98674101e-01 -5.11293855e-02 5.98543741e-03 2.21437989e+00] [ 5.11287606e-02 9.98692036e-01 2.57465989e-04 -1.15227203e-01] [-5.99077275e-03 4.89033810e-05 9.99982054e-01 -8.75172155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.195898227 meters 0.012423191337320625 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.11, Z:-0.09 [[ 9.98644116e-01 -5.19395199e-02 3.49503792e-03 2.24663902e+00] [ 5.19393124e-02 9.98650232e-01 1.50170447e-04 -1.14323642e-01] [-3.49812021e-03 3.15630333e-05 9.99993881e-01 -9.17167329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.225898227 meters 0.017169687159228182 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.12, Z:-0.10 [[ 9.98556494e-01 -5.36356176e-02 2.85478104e-03 2.27774880e+00] [ 5.36354870e-02 9.98560574e-01 1.22342910e-04 -1.16276198e-01] [-2.85723373e-03 3.09512641e-05 9.99995918e-01 -9.54571962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.255898227 meters 0.015077061566988858 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.11, Z:-0.09 [[ 9.98449083e-01 -5.55489431e-02 3.70715435e-03 2.31014972e+00] [ 5.55487395e-02 9.98455964e-01 1.57950751e-04 -1.14748314e-01] [-3.71020437e-03 4.82219687e-05 9.99993116e-01 -9.37753186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.285898227 meters 0.017919166672863054 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.11, Z:-0.09 [[ 9.98183190e-01 -5.97208061e-02 7.98402418e-03 2.34212854e+00] [ 5.97200177e-02 9.98215110e-01 3.37327218e-04 -1.14278476e-01] [-7.98991903e-03 1.40091706e-04 9.99968070e-01 -8.94032756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.315898227 meters 0.017621318093376987 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.11, Z:-0.09 [[ 9.98074899e-01 -6.12484919e-02 9.75286700e-03 2.37446960e+00] [ 6.12473965e-02 9.98122531e-01 4.11236315e-04 -1.14558092e-01] [-9.75974390e-03 1.86893068e-04 9.99952355e-01 -8.82788251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.345898227 meters 0.021066965648920487 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.12, Z:-0.09 [[ 9.97979612e-01 -6.26735314e-02 1.04270247e-02 2.40597264e+00] [ 6.26723762e-02 9.98034058e-01 4.37818329e-04 -1.15239616e-01] [-1.04339654e-02 2.16552652e-04 9.99945541e-01 -8.94236329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3758982269999995 meters 0.019733389027005558 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.12, Z:-0.09 [[ 9.97914743e-01 -6.37497408e-02 1.01062142e-02 2.43840534e+00] [ 6.37487242e-02 9.97965892e-01 4.23027838e-04 -1.15797252e-01] [-1.01126250e-02 2.22112547e-04 9.99948841e-01 -8.93556543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.405898227 meters 0.022421118118771226 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.12, Z:-0.09 [[ 9.97886835e-01 -6.44335620e-02 8.37736414e-03 2.47002663e+00] [ 6.44328917e-02 9.97921981e-01 3.50164308e-04 -1.15605306e-01] [-8.38251815e-03 1.90353443e-04 9.99964848e-01 -9.06854903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.435898227 meters 0.01971388196379613 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.11, Z:-0.09 [[ 9.97929760e-01 -6.38341439e-02 7.83555635e-03 2.50208156e+00] [ 6.38335481e-02 9.97960506e-01 3.26366794e-04 -1.11312198e-01] [-7.84040913e-03 1.74480227e-04 9.99969248e-01 -9.02066823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.465898227 meters 0.019380751074788875 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.11, Z:-0.09 [[ 9.97978989e-01 -6.29857337e-02 8.41040151e-03 2.53392560e+00] [ 6.29850296e-02 9.98014411e-01 3.48828944e-04 -1.09538621e-01] [-8.41567315e-03 1.81605431e-04 9.99964571e-01 -9.04816004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.495898227 meters 0.019458660680686395 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.11, Z:-0.09 [[ 9.98010855e-01 -6.24693425e-02 8.48025826e-03 2.56622148e+00] [ 6.24686199e-02 9.98046867e-01 3.50316950e-04 -1.07705398e-01] [-8.48557926e-03 1.80129912e-04 9.99963981e-01 -9.02984685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.525898227 meters 0.02227530081224512 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.11, Z:-0.09 [[ 9.98027737e-01 -6.21295926e-02 8.97498252e-03 2.59878735e+00] [ 6.21287836e-02 9.98068073e-01 3.69187099e-04 -1.05641232e-01] [-8.98058096e-03 1.89145783e-04 9.99959656e-01 -8.96220320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.555898227 meters 0.02200497693130016 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.10, Z:-0.09 [[ 9.98022218e-01 -6.23504235e-02 8.00483197e-03 2.63149209e+00] [ 6.23497972e-02 9.98054305e-01 3.28012695e-04 -1.04573903e-01] [-8.00970874e-03 1.71735693e-04 9.99967907e-01 -9.01698235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5858982269999995 meters 0.0205759666548457 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.10, Z:-0.09 [[ 9.97968102e-01 -6.33559584e-02 6.75948466e-03 2.66374684e+00] [ 6.33555421e-02 9.97990981e-01 2.75924447e-04 -1.04024293e-01] [-6.76338619e-03 1.52887018e-04 9.99977116e-01 -9.18524835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.615898227 meters 0.021510124091406617 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.10, Z:-0.09 [[ 9.97911231e-01 -6.43295026e-02 5.90674240e-03 2.69591456e+00] [ 6.43292065e-02 9.97928703e-01 2.40311477e-04 -1.04279841e-01] [-5.90996689e-03 1.40166530e-04 9.99982526e-01 -9.45520293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.645898227 meters 0.02372834514614274 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.10, Z:-0.10 [[ 9.97755332e-01 -6.67673137e-02 5.14037947e-03 2.72650227e+00] [ 6.67671263e-02 9.97768564e-01 2.08257527e-04 -1.03930021e-01] [-5.14281384e-03 1.35418307e-04 9.99986766e-01 -9.59629115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.675898227 meters 0.025373055227042623 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.10, Z:-0.10 [[ 9.97720110e-01 -6.72768036e-02 5.33049093e-03 2.75900275e+00] [ 6.72766107e-02 9.97734339e-01 2.15693451e-04 -1.02053123e-01] [-5.33292501e-03 1.43415669e-04 9.99985770e-01 -9.73002524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.705898227 meters 0.02604805038022372 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.10, Z:-0.10 [[ 9.97718608e-01 -6.73034378e-02 5.27500335e-03 2.79249560e+00] [ 6.73032534e-02 9.97732543e-01 2.12664430e-04 -1.00141183e-01] [-5.27735555e-03 1.42845628e-04 9.99986064e-01 -9.80916646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.735898227 meters 0.02466249871679395 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.10, Z:-0.10 [[ 9.97740340e-01 -6.69880351e-02 5.17858303e-03 2.82579601e+00] [ 6.69878580e-02 9.97753769e-01 2.07851102e-04 -9.78324107e-02] [-5.18087427e-03 1.39520756e-04 9.99986569e-01 -9.77126057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.765898227 meters 0.02423739593902495 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.09, Z:-0.10 [[ 9.97745916e-01 -6.68000197e-02 6.39099536e-03 2.85877555e+00] [ 6.67997555e-02 9.97766369e-01 2.55025685e-04 -9.29255501e-02] [-6.39375596e-03 1.72466093e-04 9.99979545e-01 -9.65010937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7958982269999995 meters 0.02423739593902495 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.09, Z:-0.10 [[ 9.97758634e-01 -6.66097836e-02 6.39104373e-03 2.89143568e+00] [ 6.66095234e-02 9.97779087e-01 2.53807163e-04 -9.17292480e-02] [-6.39375582e-03 1.72466089e-04 9.99979545e-01 -9.67498480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.825898227 meters 0.025268923458111953 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.09, Z:-0.10 [[ 9.97789414e-01 -6.60720435e-02 7.12536086e-03 2.92272713e+00] [ 6.60717173e-02 9.97814837e-01 2.81421814e-04 -9.41303280e-02] [-7.12838490e-03 1.89985122e-04 9.99974575e-01 -9.57565261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.855898227 meters 0.024856415789143264 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.09, Z:-0.10 [[ 9.97830165e-01 -6.54634013e-02 7.03591086e-03 2.95444296e+00] [ 6.54630757e-02 9.97854954e-01 2.76814259e-04 -9.29703104e-02] [-7.03893971e-03 1.84378747e-04 9.99975209e-01 -9.56186982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.885898227 meters 0.02711626373708822 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.09, Z:-0.10 [[ 9.97852363e-01 -6.50538782e-02 7.65857425e-03 2.98588357e+00] [ 6.50534898e-02 9.97881733e-01 3.00088872e-04 -9.31106188e-02] [-7.66187329e-03 1.98772592e-04 9.99970628e-01 -9.71250206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.915898227 meters 0.025094613641994928 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.09, Z:-0.10 [[ 9.97861627e-01 -6.49352069e-02 7.45601868e-03 3.01878783e+00] [ 6.49348432e-02 9.97889464e-01 2.91101365e-04 -9.22603591e-02] [-7.45918521e-03 1.93676522e-04 9.99972161e-01 -9.52994227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.945898227 meters 0.02679974010039002 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.09, Z:-0.09 [[ 9.97790747e-01 -6.60144483e-02 7.46440276e-03 3.05006104e+00] [ 6.60141240e-02 9.97818646e-01 2.90084365e-04 -9.47029759e-02] [-7.46727001e-03 2.03312514e-04 9.99972099e-01 -9.43439375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.975898227 meters 0.0242263766801822 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.09, Z:-0.09 [[ 9.97767533e-01 -6.63217446e-02 7.83431381e-03 3.08256148e+00] [ 6.63214062e-02 9.97798266e-01 3.03268649e-04 -9.19624792e-02] [-7.83717804e-03 2.16991097e-04 9.99969265e-01 -9.34062963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.005898226999999 meters 0.027812999382995404 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.10, Z:-0.09 [[ 9.97759601e-01 -6.63848690e-02 8.29625480e-03 3.11444535e+00] [ 6.63845033e-02 9.97794065e-01 3.19754015e-04 -9.79974871e-02] [-8.29918063e-03 2.31705116e-04 9.99965534e-01 -9.32018513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.035898227 meters 0.026222347395353836 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.10, Z:-0.09 [[ 9.97824631e-01 -6.52900055e-02 9.12250171e-03 3.14650980e+00] [ 6.52895287e-02 9.97866301e-01 3.50385711e-04 -9.59104884e-02] [-9.12591372e-03 2.45980344e-04 9.99958328e-01 -9.24228324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.065898227 meters 0.02971923753229956 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.10, Z:-0.09 [[ 9.97884822e-01 -6.43049781e-02 9.52636572e-03 3.17759146e+00] [ 6.43044282e-02 9.97930262e-01 3.64333032e-04 -9.99336659e-02] [-9.53007707e-03 2.49025098e-04 9.99954557e-01 -9.12761448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.095898227 meters 0.028319583832713293 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.10, Z:-0.09 [[ 9.97967386e-01 -6.29871089e-02 9.68097769e-03 3.20994182e+00] [ 6.29864932e-02 9.98014311e-01 3.68784903e-04 -9.89656905e-02] [-9.68498298e-03 2.41735530e-04 9.99953070e-01 -9.11430783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1258982269999995 meters 0.025521118081187653 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.10, Z:-0.09 [[ 9.98079107e-01 -6.11931330e-02 9.66940845e-03 3.24223329e+00] [ 6.11924468e-02 9.98125919e-01 3.67085955e-04 -9.77803540e-02] [-9.67375033e-03 2.25313940e-04 9.99953183e-01 -9.11271005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.155898227 meters 0.025139793763030906 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.10, Z:-0.09 [[ 9.98224141e-01 -5.87156339e-02 1.00518050e-02 3.27279742e+00] [ 5.87147713e-02 9.98274727e-01 3.81146984e-04 -9.65999059e-02] [-1.00568421e-02 2.09719309e-04 9.99949407e-01 -9.26060425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.185898227 meters 0.01668473471043478 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.09, Z:-0.09 [[ 9.98608193e-01 -5.16098166e-02 1.08675368e-02 3.30340672e+00] [ 5.16083890e-02 9.98667314e-01 4.11952457e-04 -8.60011632e-02] [-1.08743145e-02 1.49476965e-04 9.99940862e-01 -9.20421220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.215898226999999 meters 0.013972758970940607 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.08, Z:-0.09 [[ 9.98835220e-01 -4.70800718e-02 1.05674063e-02 3.33549078e+00] [ 4.70784741e-02 9.98891114e-01 4.00031822e-04 -7.89831401e-02] [-1.05745217e-02 9.79314902e-05 9.99944083e-01 -9.19610495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.245898227 meters 0.011374822320627642 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.07, Z:-0.09 [[ 9.99069549e-01 -4.18730085e-02 1.03289624e-02 3.36778042e+00] [ 4.18712203e-02 9.99122940e-01 3.89406054e-04 -7.08424664e-02] [-1.03362088e-02 4.34425280e-05 9.99946579e-01 -9.23902696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.275898227 meters 0.014394339623988197 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.06, Z:-0.09 [[ 9.99263016e-01 -3.70248795e-02 1.01283589e-02 3.39985480e+00] [ 3.70229270e-02 9.99314344e-01 3.80265855e-04 -6.31036010e-02] [-1.01354936e-02 -5.00411230e-06 9.99948635e-01 -9.47096675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.305898227 meters 0.01459809814808743 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.05, Z:-0.10 [[ 9.99570379e-01 -2.80063489e-02 8.64304152e-03 3.43126348e+00] [ 2.80045995e-02 9.99607742e-01 3.23387939e-04 -4.88364681e-02] [-8.64870813e-03 -8.12040881e-05 9.99962596e-01 -9.72868898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3358982269999995 meters 0.015470131203097792 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.04, Z:-0.10 [[ 9.99693576e-01 -2.36182323e-02 7.41170926e-03 3.46372734e+00] [ 2.36168290e-02 9.99721045e-01 2.76810869e-04 -4.29710625e-02] [-7.41617951e-03 -1.01684977e-04 9.99972495e-01 -9.87227890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.365898227 meters 0.01757707041930109 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.04, Z:-0.10 [[ 9.99778985e-01 -1.97808047e-02 7.12046166e-03 3.49564024e+00] [ 1.97794209e-02 9.99804333e-01 2.64720914e-04 -3.64612238e-02] [-7.12430482e-03 -1.23823798e-04 9.99974614e-01 -9.96461092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.395898227 meters 0.026826168574874156 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.02, Z:-0.10 [[ 9.99840729e-01 -1.61951130e-02 7.49899897e-03 3.52611545e+00] [ 1.61934801e-02 9.99868838e-01 2.78421503e-04 -1.97776748e-02] [-7.50252445e-03 -1.56942269e-04 9.99971843e-01 -9.94765322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.425898227 meters 0.028103116646101968 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.01, Z:-0.10 [[ 9.99898958e-01 -1.20055612e-02 7.61179258e-03 3.55633705e+00] [ 1.20037669e-02 9.99927913e-01 2.81378118e-04 -8.27357935e-03] [-7.61462197e-03 -1.89979503e-04 9.99970990e-01 -9.82980157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.455898227 meters 0.02333424904725913 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.01, Z:-0.10 [[ 9.99918556e-01 -1.05898560e-02 7.12293244e-03 3.58850172e+00] [ 1.05882492e-02 9.99943908e-01 2.63254007e-04 -1.05637230e-02] [-7.12532073e-03 -1.87813183e-04 9.99974597e-01 -9.98062463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.485898227 meters 0.02639907823647502 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.00, Z:-0.10 [[ 9.99928661e-01 -9.69996850e-03 6.97012142e-03 3.62001220e+00] [ 9.69841015e-03 9.99952936e-01 2.57341599e-04 -3.85135513e-03] [-6.97228959e-03 -1.89724144e-04 9.99975675e-01 -1.01727447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.515898227 meters 0.024497046663230174 Centerline is valid? [True, True] Translation: X:3.65, Y:0.00, Z:-0.10 [[ 9.99932035e-01 -8.69980402e-03 7.76135551e-03 3.65164156e+00] [ 8.69785245e-03 9.99962132e-01 2.85166010e-04 1.09156665e-03] [-7.76354250e-03 -2.17639504e-04 9.99969840e-01 -9.97508725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5458982269999995 meters 0.027728640223648203 Centerline is valid? [True, True] Translation: X:3.68, Y:0.01, Z:-0.10 [[ 9.99926222e-01 -7.98840733e-03 9.15073986e-03 3.68296168e+00] [ 7.98567293e-03 9.99968058e-01 3.35316847e-04 9.19474203e-03] [-9.15312621e-03 -2.62217292e-04 9.99958075e-01 -9.84714857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.575898227 meters 0.02798943415364142 Centerline is valid? [True, True] Translation: X:3.71, Y:0.01, Z:-0.10 [[ 9.99923658e-01 -7.22204703e-03 1.00260197e-02 3.71475717e+00] [ 7.21873027e-03 9.99973877e-01 3.66964758e-04 1.43961473e-02] [-1.00284081e-02 -2.94561611e-04 9.99949671e-01 -9.80182251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.605898227 meters 0.028180996666120194 Centerline is valid? [True, True] Translation: X:3.75, Y:0.02, Z:-0.10 [[ 9.99933172e-01 -5.84485153e-03 9.97445753e-03 3.74640486e+00] [ 5.84150510e-03 9.99982872e-01 3.64600229e-04 2.45992388e-02] [-9.97641772e-03 -3.06310019e-04 9.99950187e-01 -9.89536192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.635898227 meters 0.028582855397548342 Centerline is valid? [True, True] Translation: X:3.78, Y:0.03, Z:-0.10 [[ 9.99933388e-01 -5.52256962e-03 1.01351142e-02 3.77801475e+00] [ 5.51910303e-03 9.99984701e-01 3.69975065e-04 2.88693139e-02] [-1.01370024e-02 -3.14013681e-04 9.99948570e-01 -9.95325388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.665898227 meters 0.027051192870678344 Centerline is valid? [True, True] Translation: X:3.81, Y:0.04, Z:-0.10 [[ 9.99934130e-01 -5.34303000e-03 1.01581474e-02 3.80975621e+00] [ 5.33954346e-03 9.99985676e-01 3.70316187e-04 3.53270014e-02] [-1.01599805e-02 -3.16051925e-04 9.99948336e-01 -9.76008723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.695898227 meters 0.02906800976703331 Centerline is valid? [True, True] Translation: X:3.84, Y:0.05, Z:-0.10 [[ 9.99923273e-01 -5.78510974e-03 1.09535977e-02 3.84110272e+00] [ 5.78109238e-03 9.99983210e-01 3.98388758e-04 4.58862206e-02] [-1.09557185e-02 -3.35034430e-04 9.99939928e-01 -9.74530113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.725898227 meters 0.029187490565888343 Centerline is valid? [True, True] Translation: X:3.87, Y:0.05, Z:-0.10 [[ 9.99929648e-01 -5.66657124e-03 1.04206229e-02 3.87355243e+00] [ 5.66294426e-03 9.99983894e-01 3.77531329e-04 5.07433880e-02] [-1.04225944e-02 -3.18493362e-04 9.99945633e-01 -9.74670503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.755898226999999 meters 0.030390311642899324 Centerline is valid? [True, True] Translation: X:3.91, Y:0.06, Z:-0.10 [[ 9.99936915e-01 -5.34490924e-03 9.87919802e-03 3.90594717e+00] [ 5.34164312e-03 9.99985670e-01 3.56962601e-04 5.51976614e-02] [-9.88096438e-03 -3.04168932e-04 9.99951136e-01 -9.98080951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.785898227 meters 0.03204282943810042 Centerline is valid? [True, True] Translation: X:3.94, Y:0.06, Z:-0.10 [[ 9.99949726e-01 -4.03403630e-03 9.17998852e-03 3.93823318e+00] [ 4.03116468e-03 9.99991820e-01 3.31294689e-04 6.08498199e-02] [-9.18124988e-03 -2.94271988e-04 9.99957808e-01 -1.03038204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.815898227 meters 0.0307571980257742 Centerline is valid? [True, True] Translation: X:3.97, Y:0.06, Z:-0.10 [[ 9.99954065e-01 -3.79587681e-03 8.80106123e-03 3.96995113e+00] [ 3.79323153e-03 9.99992755e-01 3.17236119e-04 6.12795079e-02] [-8.80220166e-03 -2.83837084e-04 9.99961220e-01 -1.03490804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.845898227 meters 0.031751601460110024 Centerline is valid? [True, True] Translation: X:4.00, Y:0.07, Z:-0.10 [[ 9.99956199e-01 -3.22890066e-03 8.78489962e-03 4.00133837e+00] [ 3.22624598e-03 9.99994746e-01 3.16340699e-04 6.52493572e-02] [-8.78587490e-03 -2.87984595e-04 9.99961362e-01 -1.03650932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8758982269999995 meters 0.03407774325084414 Centerline is valid? [True, True] Translation: X:4.03, Y:0.07, Z:-0.10 [[ 9.99951444e-01 -2.45650185e-03 9.54328376e-03 4.03274187e+00] [ 2.45333733e-03 9.99996932e-01 3.43288478e-04 6.98424978e-02] [-9.54409777e-03 -3.19858915e-04 9.99954403e-01 -1.03154834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.905898227 meters 0.03157256987077298 Centerline is valid? [True, True] Translation: X:4.06, Y:0.07, Z:-0.10 [[ 9.99951302e-01 9.51381733e-04 9.82283347e-03 4.06386794e+00] [-9.54895598e-04 9.99999482e-01 3.53040372e-04 7.17085689e-02] [-9.82249250e-03 -3.62402960e-04 9.99951692e-01 -1.02013496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.935898227 meters 0.03448391980925399 Centerline is valid? [True, True] Translation: X:4.09, Y:0.08, Z:-0.10 [[ 9.99939591e-01 3.47598555e-03 1.04274216e-02 4.09424756e+00] [-3.48008098e-03 9.99993874e-01 3.74636965e-04 7.89184575e-02] [-1.04260555e-02 -4.10902605e-04 9.99945563e-01 -1.00514767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.965898226999999 meters 0.037482480240908035 Centerline is valid? [True, True] Translation: X:4.12, Y:0.09, Z:-0.10 [[ 9.99919488e-01 5.63205057e-03 1.13709410e-02 4.12399287e+00] [-5.63705649e-03 9.99984028e-01 4.08235489e-04 8.52788596e-02] [-1.13684602e-02 -4.72301258e-04 9.99935265e-01 -9.95184270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.995898227 meters 0.036490392123863416 Centerline is valid? [True, True] Translation: X:4.15, Y:0.09, Z:-0.10 [[ 9.99890580e-01 7.57244028e-03 1.27076894e-02 4.15419899e+00] [-7.57884388e-03 9.99971176e-01 4.55833443e-04 8.66770740e-02] [-1.27038713e-02 -5.52093160e-04 9.99919150e-01 -9.85134061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.025898226999999 meters 0.03949138974232762 Centerline is valid? [True, True] Translation: X:4.18, Y:0.09, Z:-0.10 [[ 9.99863761e-01 9.47170511e-03 1.35183985e-02 4.18250273e+00] [-9.47912951e-03 9.99954954e-01 4.85236836e-04 9.25938079e-02] [-1.35131936e-02 -6.13313378e-04 9.99908505e-01 -9.88766526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.055898226999998 meters 0.036904030032469705 Centerline is valid? [True, True] Translation: X:4.21, Y:0.09, Z:-0.10 [[ 9.99887017e-01 8.13931448e-03 1.26374587e-02 4.21151789e+00] [-8.14570302e-03 9.99966720e-01 4.54132857e-04 8.95052530e-02] [-1.26333418e-02 -5.57022533e-04 9.99920041e-01 -1.02069152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.085898227 meters 0.036797249084028955 Centerline is valid? [True, True] Translation: X:4.24, Y:0.09, Z:-0.10 [[ 9.99926086e-01 5.49294380e-03 1.08466635e-02 4.24063267e+00] [-5.49749888e-03 9.99984813e-01 3.90181133e-04 9.02920972e-02] [-1.08443555e-02 -4.49781813e-04 9.99941097e-01 -1.03640444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.115898226999999 meters 0.03471157302370831 Centerline is valid? [True, True] Translation: X:4.27, Y:0.09, Z:-0.11 [[ 9.99954280e-01 1.80659987e-03 9.39011873e-03 4.27051490e+00] [-1.80985292e-03 9.99998305e-01 3.37947233e-04 8.67274958e-02] [-9.38949228e-03 -3.54926516e-04 9.99955855e-01 -1.06364872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.145898226999998 meters 0.028740437001203472 Centerline is valid? [True, True] Translation: X:4.30, Y:0.08, Z:-0.10 [[ 9.99949183e-01 -4.56989619e-03 8.98594367e-03 4.30179764e+00] [ 4.56717446e-03 9.99989518e-01 3.23385427e-04 7.90474360e-02] [-8.98732732e-03 -2.82328622e-04 9.99959573e-01 -1.04959810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.175898227 meters 0.02796684302355589 Centerline is valid? [True, True] Translation: X:4.33, Y:0.08, Z:-0.11 [[ 9.99936995e-01 -6.27604945e-03 9.30685529e-03 4.33467878e+00] [ 6.27320545e-03 9.99980267e-01 3.34742236e-04 7.67065618e-02] [-9.30877250e-03 -2.76337330e-04 9.99956634e-01 -1.05979693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.205898226999999 meters 0.029894792104003445 Centerline is valid? [True, True] Translation: X:4.37, Y:0.08, Z:-0.10 [[ 9.99931365e-01 -6.62668572e-03 9.66186253e-03 4.36580407e+00] [ 6.62364459e-03 9.99978003e-01 3.46721830e-04 8.22115445e-02] [-9.66394762e-03 -2.82701289e-04 9.99953263e-01 -1.03290799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.235898226999998 meters 0.026551445763437705 Centerline is valid? [True, True] Translation: X:4.40, Y:0.08, Z:-0.10 [[ 9.99932179e-01 -6.08324081e-03 9.93135712e-03 4.39839860e+00] [ 6.08001410e-03 9.99981454e-01 3.55062128e-04 7.87469382e-02] [-9.93333286e-03 -2.94655256e-04 9.99950620e-01 -1.02593845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.265898227 meters 0.02842824687052818 Centerline is valid? [True, True] Translation: X:4.43, Y:0.08, Z:-0.10 [[ 9.99932497e-01 -5.35289133e-03 1.03125248e-02 4.42939839e+00] [ 5.34937834e-03 9.99985624e-01 3.68206515e-04 8.17248668e-02] [-1.03143475e-02 -3.13016063e-04 9.99946757e-01 -1.02761468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.295898226999999 meters 0.027874703931571362 Centerline is valid? [True, True] Translation: X:4.46, Y:0.08, Z:-0.10 [[ 9.99932165e-01 -5.46624123e-03 1.02852053e-02 4.46174894e+00] [ 5.46275695e-03 9.99985012e-01 3.66829154e-04 8.15181043e-02] [-1.02870564e-02 -3.10618693e-04 9.99947039e-01 -1.04734633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.325898227 meters 0.02728753379683472 Centerline is valid? [True, True] Translation: X:4.49, Y:0.08, Z:-0.11 [[ 9.99919869e-01 -6.64763006e-03 1.07733557e-02 4.49436638e+00] [ 6.64388141e-03 9.99977856e-01 3.83707780e-04 7.95921611e-02] [-1.07756679e-02 -3.12100136e-04 9.99941892e-01 -1.06301630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.355898226999999 meters 0.026734700862283398 Centerline is valid? [True, True] Translation: X:4.53, Y:0.08, Z:-0.11 [[ 9.99908974e-01 -7.63612138e-03 1.11235301e-02 4.52546894e+00] [ 7.63219635e-03 9.99970796e-01 3.95266142e-04 8.02588456e-02] [-1.11262235e-02 -3.10333197e-04 9.99938054e-01 -1.05267951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.385898226999998 meters 0.026515096702575666 Centerline is valid? [True, True] Translation: X:4.56, Y:0.08, Z:-0.10 [[ 9.99904559e-01 -8.59345952e-03 1.08177798e-02 4.55657895e+00] [ 8.58982090e-03 9.99963034e-01 3.82774345e-04 8.30798887e-02] [-1.08206693e-02 -2.89815021e-04 9.99941413e-01 -1.02809071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.415898227 meters 0.02554631983101435 Centerline is valid? [True, True] Translation: X:4.59, Y:0.08, Z:-0.11 [[ 9.99906175e-01 -9.41215249e-03 9.95251027e-03 4.58894446e+00] [ 9.40912769e-03 9.99955672e-01 3.50704234e-04 8.12339614e-02] [-9.95536997e-03 -2.57026889e-04 9.99950411e-01 -1.05089057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.445898226999999 meters 0.025470438118074982 Centerline is valid? [True, True] Translation: X:4.62, Y:0.08, Z:-0.10 [[ 9.99909411e-01 -8.82031422e-03 1.01672178e-02 4.62086328e+00] [ 8.81714118e-03 9.99961065e-01 3.56868059e-04 8.30557700e-02] [-1.01699696e-02 -2.67189936e-04 9.99948249e-01 -1.03386319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.475898226999998 meters 0.02595776706915694 Centerline is valid? [True, True] Translation: X:4.65, Y:0.08, Z:-0.10 [[ 9.99901035e-01 -8.16437941e-03 1.14570312e-02 4.65297279e+00] [ 8.16031382e-03 9.99966623e-01 4.01559147e-04 8.48586442e-02] [-1.14599273e-02 -3.08026437e-04 9.99934285e-01 -1.02035888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.505898227 meters 0.027075936613123977 Centerline is valid? [True, True] Translation: X:4.69, Y:0.09, Z:-0.10 [[ 9.99901341e-01 -7.13538927e-03 1.20993711e-02 4.68546112e+00] [ 7.13078679e-03 9.99974486e-01 4.23488882e-04 8.71369473e-02] [-1.21020841e-02 -3.37169065e-04 9.99926710e-01 -1.01302749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.535898226999999 meters 0.026331716770133035 Centerline is valid? [True, True] Translation: X:4.72, Y:0.09, Z:-0.10 [[ 9.99904768e-01 -6.16685476e-03 1.23460085e-02 4.71735620e+00] [ 6.16199621e-03 9.99980922e-01 4.31533121e-04 8.61333250e-02] [-1.23484342e-02 -3.55415968e-04 9.99923692e-01 -1.02220180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.565898226999998 meters 0.030061613873109305 Centerline is valid? [True, True] Translation: X:4.75, Y:0.09, Z:-0.10 [[ 9.99927174e-01 -3.51806591e-03 1.15442310e-02 4.74850563e+00] [ 3.51364771e-03 9.99993746e-01 4.02978145e-04 9.10753738e-02] [-1.15455765e-02 -3.62386437e-04 9.99933282e-01 -1.03434287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.595898227 meters 0.03137177693212403 Centerline is valid? [True, True] Translation: X:4.78, Y:0.09, Z:-0.10 [[ 9.99930713e-01 -2.71099232e-03 1.14551128e-02 4.77948005e+00] [ 2.70659488e-03 9.99996257e-01 3.99369732e-04 9.39631580e-02] [-1.14561526e-02 -3.68337711e-04 9.99934308e-01 -1.03115210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.625898226999999 meters 0.03116660287982087 Centerline is valid? [True, True] Translation: X:4.81, Y:0.09, Z:-0.10 [[ 9.99920948e-01 -1.91368865e-03 1.24272231e-02 4.81176186e+00] [ 1.90845805e-03 9.99998085e-01 4.32743798e-04 9.37207339e-02] [-1.24280275e-02 -4.08992755e-04 9.99922685e-01 -1.02771315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.655898227 meters 0.03116660287982087 Centerline is valid? [True, True] Translation: X:4.84, Y:0.09, Z:-0.10 [[ 9.99921080e-01 -1.84336890e-03 1.24272473e-02 4.84433460e+00] [ 1.83814149e-03 9.99998217e-01 4.32049474e-04 9.47365178e-02] [-1.24280215e-02 -4.09172338e-04 9.99922685e-01 -1.03020193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.685898227 meters 0.02914618377401112 Centerline is valid? [True, True] Translation: X:4.88, Y:0.09, Z:-0.10 [[ 9.99910788e-01 -1.29218206e-03 1.32946083e-02 4.87670790e+00] [ 1.28616211e-03 9.99999066e-01 4.61351352e-04 9.05972943e-02] [-1.32951920e-02 -4.44211173e-04 9.99911516e-01 -1.03933665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.715898226999998 meters 0.030645830560163737 Centerline is valid? [True, True] Translation: X:4.91, Y:0.09, Z:-0.11 [[ 9.99920314e-01 -1.01390734e-03 1.25831958e-02 4.90867684e+00] [ 1.00850148e-03 9.99999396e-01 4.35947180e-04 9.28594802e-02] [-1.25836302e-02 -4.23222269e-04 9.99920733e-01 -1.05992990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.745898227 meters 0.0324921988238345 Centerline is valid? [True, True] Translation: X:4.94, Y:0.10, Z:-0.11 [[ 9.99940856e-01 -1.56017572e-03 1.07633865e-02 4.94027700e+00] [ 1.55626288e-03 9.99998720e-01 3.71898489e-04 9.76479400e-02] [-1.07639529e-02 -3.55125835e-04 9.99942004e-01 -1.07013029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.775898226999999 meters 0.03005898138488129 Centerline is valid? [True, True] Translation: X:4.97, Y:0.09, Z:-0.11 [[ 9.99959120e-01 -2.58752248e-03 8.66389268e-03 4.97234748e+00] [ 2.58503622e-03 9.99996614e-01 2.98153986e-04 9.33220088e-02] [-8.66463483e-03 -2.75745321e-04 9.99962423e-01 -1.11962029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.805898226999998 meters 0.027792530605356323 Centerline is valid? [True, True] Translation: X:5.00, Y:0.09, Z:-0.11 [[ 9.99965757e-01 -3.85645048e-03 7.32212357e-03 5.00402741e+00] [ 3.85471630e-03 9.99992539e-01 2.50940117e-04 9.37783831e-02] [-7.32303667e-03 -2.22706815e-04 9.99973161e-01 -1.12562204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.835898227 meters 0.02389219833335823 Centerline is valid? [True, True] Translation: X:5.04, Y:0.09, Z:-0.11 [[ 9.99926092e-01 -8.81834155e-03 8.36940645e-03 5.03506051e+00] [ 8.81626097e-03 9.99961095e-01 2.85455239e-04 8.96040910e-02] [-8.37159808e-03 -2.11647270e-04 9.99964935e-01 -1.10187483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.865898226999999 meters 0.02227112997446338 Centerline is valid? [True, True] Translation: X:5.07, Y:0.09, Z:-0.11 [[ 9.99878610e-01 -1.20648184e-02 9.85925119e-03 5.06704635e+00] [ 1.20620907e-02 9.99927194e-01 3.36083633e-04 8.70019553e-02] [-9.86258816e-03 -2.17119654e-04 9.99951340e-01 -1.08969938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.895898226999998 meters 0.01913115816542408 Centerline is valid? [True, True] Translation: X:5.10, Y:0.09, Z:-0.11 [[ 9.99831117e-01 -1.50456664e-02 1.05529343e-02 5.09844778e+00] [ 1.50427111e-02 9.99886787e-01 3.59370200e-04 8.54216283e-02] [-1.05571466e-02 -2.00564766e-04 9.99944252e-01 -1.06992167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.925898227 meters 0.017883481255794413 Centerline is valid? [True, True] Translation: X:5.13, Y:0.08, Z:-0.11 [[ 9.99784399e-01 -1.79271966e-02 1.04771693e-02 5.13055942e+00] [ 1.79244487e-02 9.99839281e-01 3.56132670e-04 8.22779014e-02] [-1.04818698e-02 -1.68258405e-04 9.99945050e-01 -1.09131148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.955898226999999 meters 0.015455060820477448 Centerline is valid? [True, True] Translation: X:5.16, Y:0.08, Z:-0.11 [[ 9.99751333e-01 -2.00609461e-02 9.73813882e-03 5.16190046e+00] [ 2.00586882e-02 9.99798750e-01 3.29488328e-04 8.26329771e-02] [-9.74278886e-03 -1.34072105e-04 9.99952529e-01 -1.09079254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.985898226999998 meters 0.014177441711589401 Centerline is valid? [True, True] Translation: X:5.19, Y:0.08, Z:-0.11 [[ 9.99721678e-01 -2.18442572e-02 8.91043305e-03 5.19418158e+00] [ 2.18424493e-02 9.99761380e-01 3.00182440e-04 8.23417307e-02] [-8.91486411e-03 -1.05473211e-04 9.99960256e-01 -1.10400973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.015898227 meters 0.015122161594092803 Centerline is valid? [True, True] Translation: X:5.23, Y:0.08, Z:-0.11 [[ 9.99690996e-01 -2.34450088e-02 8.26098724e-03 5.22581297e+00] [ 2.34435200e-02 9.99725125e-01 2.77027032e-04 8.42669309e-02] [-8.26521139e-03 -8.32748108e-05 9.99965839e-01 -1.10959999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.045898226999999 meters 0.015446395869438306 Centerline is valid? [True, True] Translation: X:5.26, Y:0.09, Z:-0.11 [[ 9.99673183e-01 -2.43197014e-02 7.87905824e-03 5.25708518e+00] [ 2.43183832e-02 9.99704230e-01 2.63077538e-04 8.78060317e-02] [-7.88312582e-03 -7.13856028e-05 9.99968925e-01 -1.12161317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.075898227 meters 0.013088464927758127 Centerline is valid? [True, True] Translation: X:5.29, Y:0.09, Z:-0.11 [[ 9.99645645e-01 -2.57326772e-02 6.81269731e-03 5.28961824e+00] [ 2.57317276e-02 9.99668859e-01 2.27011543e-04 8.75321276e-02] [-6.81628296e-03 -5.16286286e-05 9.99976768e-01 -1.13919112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.105898226999999 meters 0.011095035395227954 Centerline is valid? [True, True] Translation: X:5.32, Y:0.09, Z:-0.11 [[ 9.99579460e-01 -2.81740357e-02 6.86489785e-03 5.32140468e+00] [ 2.81731368e-02 9.99603032e-01 2.27633534e-04 8.80641503e-02] [-6.86858607e-03 -3.41320992e-05 9.99976410e-01 -1.14268933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.135898226999998 meters 0.010725862504554306 Centerline is valid? [True, True] Translation: X:5.35, Y:0.09, Z:-0.11 [[ 9.99329271e-01 -3.53031095e-02 9.73129333e-03 5.35374857e+00] [ 3.53016612e-02 9.99376651e-01 3.20606452e-04 8.57954126e-02] [-9.73654574e-03 2.31394084e-05 9.99952598e-01 -1.09553661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.165898227 meters 0.011902392865492065 Centerline is valid? [True, True] Translation: X:5.39, Y:0.09, Z:-0.11 [[ 9.99198946e-01 -3.84932887e-02 1.09422366e-02 5.38508756e+00] [ 3.84916670e-02 9.99258857e-01 3.58849875e-04 8.56335847e-02] [-1.09479401e-02 6.26225099e-05 9.99940068e-01 -1.07729716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.195898226999999 meters 0.015392839026361928 Centerline is valid? [True, True] Translation: X:5.42, Y:0.09, Z:-0.11 [[ 9.99093729e-01 -4.10904292e-02 1.11039364e-02 5.41772110e+00] [ 4.10889333e-02 9.99155427e-01 3.62916289e-04 8.65208390e-02] [-1.11094707e-02 9.36615128e-05 9.99938284e-01 -1.09016872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.225898226999998 meters 0.014144310123708601 Centerline is valid? [True, True] Translation: X:5.45, Y:0.09, Z:-0.11 [[ 9.99027111e-01 -4.29340547e-02 1.00746767e-02 5.44921488e+00] [ 4.29329321e-02 9.99077903e-01 3.27772575e-04 8.62123156e-02] [-1.00794595e-02 1.05081722e-04 9.99949195e-01 -1.09556920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.255898227 meters 0.014349610937346833 Centerline is valid? [True, True] Translation: X:5.48, Y:0.09, Z:-0.11 [[ 9.98973056e-01 -4.44857026e-02 8.59391895e-03 5.48159903e+00] [ 4.44849529e-02 9.99010016e-01 2.78460555e-04 8.92885455e-02] [-8.59779862e-03 1.04125488e-04 9.99963033e-01 -1.11015990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.285898226999999 meters 0.01337741239633107 Centerline is valid? [True, True] Translation: X:5.51, Y:0.09, Z:-0.11 [[ 9.99000832e-01 -4.38509039e-02 8.62762769e-03 5.51448679e+00] [ 4.38501368e-02 9.99038081e-01 2.78153300e-04 9.31055081e-02] [-8.63152589e-03 1.00447276e-04 9.99962743e-01 -1.10146306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.315898226999998 meters 0.013255483894068712 Centerline is valid? [True, True] Translation: X:5.55, Y:0.10, Z:-0.11 [[ 9.99053877e-01 -4.25124220e-02 9.16756344e-03 5.54613086e+00] [ 4.25115156e-02 9.99095934e-01 2.93804180e-04 9.60382372e-02] [-9.17176569e-03 9.62008111e-05 9.99957934e-01 -1.08933918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.345898227 meters 0.014376236772473272 Centerline is valid? [True, True] Translation: X:5.58, Y:0.10, Z:-0.11 [[ 9.99157789e-01 -3.97495547e-02 1.01826277e-02 5.57759906e+00] [ 3.97483099e-02 9.99209671e-01 3.24674038e-04 9.90995800e-02] [-1.01874857e-02 8.03416464e-05 9.99948103e-01 -1.07821497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.375898226999999 meters 0.014170297763514842 Centerline is valid? [True, True] Translation: X:5.61, Y:0.11, Z:-0.11 [[ 9.99267410e-01 -3.66927571e-02 1.08758802e-02 5.60999175e+00] [ 3.66911750e-02 9.99326593e-01 3.45031957e-04 1.06692858e-01] [-1.08812165e-02 5.42696328e-05 9.99940796e-01 -1.08808843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.405898226999998 meters 0.010594236540239136 Centerline is valid? [True, True] Translation: X:5.64, Y:0.12, Z:-0.11 [[ 9.99457145e-01 -3.09756286e-02 1.12216950e-02 5.64089982e+00] [ 3.09736049e-02 9.99520140e-01 3.54133237e-04 1.15654037e-01] [-1.12272796e-02 -6.36464753e-06 9.99936972e-01 -1.06541434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.435898227 meters 0.010274219209639002 Centerline is valid? [True, True] Translation: X:5.67, Y:0.12, Z:-0.11 [[ 9.99529888e-01 -2.85458328e-02 1.11865189e-02 5.67386331e+00] [ 2.85436901e-02 9.99592484e-01 3.51191591e-04 1.19694293e-01] [-1.11919853e-02 -3.17219617e-05 9.99937367e-01 -1.06109031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.465898226999998 meters 0.011365487191895271 Centerline is valid? [True, True] Translation: X:5.71, Y:0.12, Z:-0.11 [[ 9.99579328e-01 -2.65844107e-02 1.15946593e-02 5.70678210e+00] [ 2.65820025e-02 9.99646571e-01 3.61787510e-04 1.22519879e-01] [-1.16001794e-02 -5.34260526e-05 9.99932714e-01 -1.06392111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.495898227 meters 0.011183713206121128 Centerline is valid? [True, True] Translation: X:5.74, Y:0.13, Z:-0.11 [[ 9.99616053e-01 -2.47325072e-02 1.24919760e-02 5.73839995e+00] [ 2.47295922e-02 9.99694102e-01 3.87788672e-04 1.25217930e-01] [-1.24977457e-02 -7.87183097e-05 9.99921897e-01 -1.05025664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.525898226999999 meters 0.011637714915130434 Centerline is valid? [True, True] Translation: X:5.77, Y:0.13, Z:-0.10 [[ 9.99639501e-01 -2.31648394e-02 1.35741960e-02 5.77114418e+00] [ 2.31612762e-02 9.99731654e-01 4.19667073e-04 1.27222633e-01] [-1.35802750e-02 -1.05120080e-04 9.99907778e-01 -1.04331501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.555898226999998 meters 0.012052832441862634 Centerline is valid? [True, True] Translation: X:5.80, Y:0.13, Z:-0.10 [[ 9.99693911e-01 -2.00970710e-02 1.44288327e-02 5.80354273e+00] [ 2.00927609e-02 9.99798022e-01 4.43633471e-04 1.28992461e-01] [-1.44348342e-02 -1.53582594e-04 9.99895801e-01 -1.04509541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.585898227 meters 0.013228338721114247 Centerline is valid? [True, True] Translation: X:5.84, Y:0.13, Z:-0.10 [[ 9.99714644e-01 -1.87152264e-02 1.48448829e-02 5.83521380e+00] [ 1.87105477e-02 9.99824839e-01 4.54010890e-04 1.32159288e-01] [-1.48507796e-02 -1.76125446e-04 9.99889706e-01 -1.03993255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.615898226999999 meters 0.013648552666616763 Centerline is valid? [True, True] Translation: X:5.87, Y:0.13, Z:-0.10 [[ 9.99731189e-01 -1.76445863e-02 1.50405409e-02 5.86754484e+00] [ 1.76396978e-02 9.99844304e-01 4.57633833e-04 1.33629754e-01] [-1.50462739e-02 -1.92200219e-04 9.99886780e-01 -1.03227494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.645898226999998 meters 0.01517267177222492 Centerline is valid? [True, True] Translation: X:5.90, Y:0.13, Z:-0.10 [[ 9.99732625e-01 -1.67221024e-02 1.59702589e-02 5.90020880e+00] [ 1.67165155e-02 9.99860153e-01 4.83273188e-04 1.32778345e-01] [-1.59761068e-02 -2.16176894e-04 9.99872350e-01 -1.04158716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.675898227 meters 0.015588898723006998 Centerline is valid? [True, True] Translation: X:5.93, Y:0.13, Z:-0.11 [[ 9.99740438e-01 -1.66114351e-02 1.55922246e-02 5.93337277e+00] [ 1.66061383e-02 9.99861999e-01 4.69121739e-04 1.32593507e-01] [-1.55978656e-02 -2.10073335e-04 9.99878324e-01 -1.05452115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.705898226999999 meters 0.014251032182488327 Centerline is valid? [True, True] Translation: X:5.96, Y:0.13, Z:-0.11 [[ 9.99761705e-01 -1.62449447e-02 1.45819761e-02 5.96443728e+00] [ 1.62403020e-02 9.99868022e-01 4.36749698e-04 1.33118473e-01] [-1.45871466e-02 -1.99829926e-04 9.99893582e-01 -1.06328692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.735898226999998 meters 0.014329748238843872 Centerline is valid? [True, True] Translation: X:6.00, Y:0.13, Z:-0.11 [[ 9.99777072e-01 -1.63332924e-02 1.33801781e-02 5.99715171e+00] [ 1.63294124e-02 9.99866587e-01 3.99186820e-04 1.32874057e-01] [-1.33849131e-02 -1.80607383e-04 9.99910402e-01 -1.08196074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.765898227 meters 0.013726826354525642 Centerline is valid? [True, True] Translation: X:6.03, Y:0.13, Z:-0.11 [[ 9.99805361e-01 -1.65835476e-02 1.06876641e-02 6.02837422e+00] [ 1.65811017e-02 9.99862474e-01 3.17421395e-04 1.32786872e-01] [-1.06914583e-02 -1.40146366e-04 9.99942835e-01 -1.10747703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.795898226999999 meters 0.014128547378668819 Centerline is valid? [True, True] Translation: X:6.06, Y:0.13, Z:-0.11 [[ 9.99810892e-01 -1.66075394e-02 1.01178220e-02 6.06070205e+00] [ 1.66053638e-02 9.99862077e-01 2.98998290e-04 1.33261792e-01] [-1.01213921e-02 -1.30931632e-04 9.99948769e-01 -1.12263609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.825898227 meters 0.013710253484035841 Centerline is valid? [True, True] Translation: X:6.09, Y:0.13, Z:-0.11 [[ 9.99813981e-01 -1.65627180e-02 9.88330934e-03 6.09370373e+00] [ 1.65606565e-02 9.99862821e-01 2.90389008e-04 1.32767877e-01] [-9.88676319e-03 -1.26660899e-04 9.99951117e-01 -1.13206710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.855898226999999 meters 0.01515737998678451 Centerline is valid? [True, True] Translation: X:6.13, Y:0.13, Z:-0.11 [[ 9.99809559e-01 -1.65895907e-02 1.02776777e-02 6.12655401e+00] [ 1.65873827e-02 9.99862375e-01 3.00040797e-04 1.31312420e-01] [-1.02812408e-02 -1.29503883e-04 9.99947138e-01 -1.14134632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.885898226999998 meters 0.014789886611439143 Centerline is valid? [True, True] Translation: X:6.16, Y:0.13, Z:-0.11 [[ 9.99820937e-01 -1.56310207e-02 1.06660493e-02 6.15801835e+00] [ 1.56286089e-02 9.99877818e-01 3.09430212e-04 1.34127712e-01] [-1.06695828e-02 -1.42679291e-04 9.99943068e-01 -1.12604980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.915898227 meters 0.015668968129303972 Centerline is valid? [True, True] Translation: X:6.19, Y:0.14, Z:-0.11 [[ 9.99859667e-01 -1.35547922e-02 9.84447174e-03 6.19043237e+00] [ 1.35526512e-02 9.99908118e-01 2.84160357e-04 1.35357418e-01] [-9.84741895e-03 -1.50701787e-04 9.99951502e-01 -1.14444181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.945898226999999 meters 0.015690425952991575 Centerline is valid? [True, True] Translation: X:6.22, Y:0.14, Z:-0.12 [[ 9.99886120e-01 -1.22242082e-02 8.84966134e-03 6.22211468e+00] [ 1.22224377e-02 9.99925271e-01 2.54121887e-04 1.37780851e-01] [-8.85210645e-03 -1.45928514e-04 9.99960809e-01 -1.15802734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.975898226999998 meters 0.016469786585941015 Centerline is valid? [True, True] Translation: X:6.25, Y:0.14, Z:-0.12 [[ 9.99898466e-01 -1.14733195e-02 8.45107452e-03 6.25476724e+00] [ 1.14716878e-02 9.99934169e-01 2.41522825e-04 1.38411866e-01] [-8.45328925e-03 -1.44550213e-04 9.99964260e-01 -1.16811490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.005898227 meters 0.015844042493598918 Centerline is valid? [True, True] Translation: X:6.29, Y:0.14, Z:-0.12 [[ 9.99909990e-01 -1.02486821e-02 8.65886793e-03 6.28691821e+00] [ 1.02469269e-02 9.99947468e-01 2.47047052e-04 1.39361828e-01] [-8.66094498e-03 -1.58298029e-04 9.99962481e-01 -1.15289324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.035898226999999 meters 0.018108255850728606 Centerline is valid? [True, True] Translation: X:6.32, Y:0.14, Z:-0.11 [[ 9.99908579e-01 -9.37234898e-03 9.74643091e-03 6.31870790e+00] [ 9.37008843e-03 9.99956061e-01 2.77574924e-04 1.40255881e-01] [-9.74860419e-03 -1.86224628e-04 9.99952464e-01 -1.14809275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.065898226999998 meters 0.019398471590491618 Centerline is valid? [True, True] Translation: X:6.35, Y:0.15, Z:-0.11 [[ 9.99927625e-01 -6.34811132e-03 1.02198664e-02 6.35117878e+00] [ 6.34547336e-03 9.99979825e-01 2.90525722e-04 1.45892378e-01] [-1.02215045e-02 -2.25654806e-04 9.99947734e-01 -1.11130178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.095898227 meters 0.02228709023417645 Centerline is valid? [True, True] Translation: X:6.38, Y:0.15, Z:-0.11 [[ 9.99931542e-01 -5.82808470e-03 1.01461415e-02 6.38242578e+00] [ 5.82546352e-03 9.99982990e-01 2.87876890e-04 1.48286311e-01] [-1.01476466e-02 -2.28751206e-04 9.99948485e-01 -1.11867579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.125898226999999 meters 0.020186965729647913 Centerline is valid? [True, True] Translation: X:6.41, Y:0.15, Z:-0.11 [[ 9.99935875e-01 -4.48547034e-03 1.03983706e-02 6.41475541e+00] [ 4.48264906e-03 9.99989909e-01 2.94610684e-04 1.47657621e-01] [-1.03995872e-02 -2.47979546e-04 9.99945892e-01 -1.12213623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.155898226999998 meters 0.024538441697770447 Centerline is valid? [True, True] Translation: X:6.45, Y:0.15, Z:-0.11 [[ 9.99930741e-01 -3.48122751e-03 1.12424773e-02 6.44607573e+00] [ 3.47787222e-03 9.99993902e-01 3.17984826e-04 1.52447652e-01] [-1.12435157e-02 -2.78862903e-04 9.99936751e-01 -1.12990980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.185898227 meters 0.023984437859715633 Centerline is valid? [True, True] Translation: X:6.48, Y:0.15, Z:-0.11 [[ 9.99925432e-01 -1.89686855e-03 1.20636725e-02 6.47829640e+00] [ 1.89289612e-03 9.99998150e-01 3.40697968e-04 1.53737194e-01] [-1.20642965e-02 -3.17837284e-04 9.99927173e-01 -1.12325703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.215898226999998 meters 0.027381973352493358 Centerline is valid? [True, True] Translation: X:6.51, Y:0.16, Z:-0.11 [[ 9.99924709e-01 1.32212237e-03 1.21995419e-02 6.50842286e+00] [-1.32641898e-03 9.99999061e-01 3.44110470e-04 1.59881698e-01] [-1.21990755e-02 -3.60266266e-04 9.99925524e-01 -1.11036377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.245898227 meters 0.029287162503627652 Centerline is valid? [True, True] Translation: X:6.54, Y:0.16, Z:-0.11 [[ 9.99920659e-01 2.94824678e-03 1.22467471e-02 6.53951987e+00] [-2.95269545e-03 9.99995581e-01 3.45187993e-04 1.63147021e-01] [-1.22456753e-02 -3.81321520e-04 9.99924946e-01 -1.10405476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.275898226999999 meters 0.02852709898107694 Centerline is valid? [True, True] Translation: X:6.57, Y:0.16, Z:-0.11 [[ 9.99916942e-01 3.93588859e-03 1.22726719e-02 6.57198213e+00] [-3.94041752e-03 9.99992177e-01 3.44866600e-04 1.62644778e-01] [-1.22712185e-02 -3.93197408e-04 9.99924628e-01 -1.10352106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.305898226999998 meters 0.02679023885947546 Centerline is valid? [True, True] Translation: X:6.60, Y:0.16, Z:-0.11 [[ 9.99915636e-01 3.77554750e-03 1.24284485e-02 6.60391009e+00] [-3.78016075e-03 9.99992795e-01 3.47713704e-04 1.61834265e-01] [-1.24270461e-02 -3.94665903e-04 9.99922703e-01 -1.10368105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.335898227 meters 0.02798999309352496 Centerline is valid? [True, True] Translation: X:6.63, Y:0.16, Z:-0.11 [[ 9.99925810e-01 1.94229172e-03 1.20250934e-02 6.63453105e+00] [-1.94647002e-03 9.99998049e-01 3.35770519e-04 1.62111763e-01] [-1.20244178e-02 -3.59152091e-04 9.99927640e-01 -1.11587880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.365898226999999 meters 0.027454680092258276 Centerline is valid? [True, True] Translation: X:6.67, Y:0.16, Z:-0.11 [[ 9.99918288e-01 1.90270401e-03 1.26410989e-02 6.66795133e+00] [-1.90729912e-03 9.99998119e-01 3.51460061e-04 1.61655281e-01] [-1.26404064e-02 -3.75541699e-04 9.99920036e-01 -1.11117881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.395898226999998 meters 0.027122145491167954 Centerline is valid? [True, True] Translation: X:6.70, Y:0.16, Z:-0.11 [[ 9.99903295e-01 2.25245372e-03 1.37232219e-02 6.70074324e+00] [-2.25786698e-03 9.99997379e-01 3.78979168e-04 1.59242599e-01] [-1.37223323e-02 -4.09927729e-04 9.99905760e-01 -1.11022587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.425898227 meters 0.029095730978097978 Centerline is valid? [True, True] Translation: X:6.73, Y:0.16, Z:-0.11 [[ 9.99898919e-01 5.55716249e-03 1.30870068e-02 6.73197778e+00] [-5.56235059e-03 9.99984465e-01 3.60066142e-04 1.61240854e-01] [-1.30848025e-02 -4.32824266e-04 9.99914297e-01 -1.08423055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.455898226999999 meters 0.03315309872242133 Centerline is valid? [True, True] Translation: X:6.76, Y:0.17, Z:-0.11 [[ 9.99904360e-01 8.27453545e-03 1.10816486e-02 6.76192280e+00] [-8.27841855e-03 9.99965687e-01 3.04582448e-04 1.65192263e-01] [-1.10787481e-02 -3.96291843e-04 9.99938550e-01 -1.10889770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.485898226999998 meters 0.03475934817406217 Centerline is valid? [True, True] Translation: X:6.79, Y:0.17, Z:-0.11 [[ 9.99890490e-01 1.17866987e-02 8.94887618e-03 6.79162818e+00] [-1.17893688e-02 9.99930473e-01 2.45681629e-04 1.66423609e-01] [-8.94535821e-03 -3.51156326e-04 9.99959928e-01 -1.14459596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.515898227 meters 0.036804083032262576 Centerline is valid? [True, True] Translation: X:6.82, Y:0.17, Z:-0.12 [[ 9.99844109e-01 1.56102707e-02 8.25090783e-03 6.82184472e+00] [-1.56126706e-02 9.99878089e-01 2.26527065e-04 1.70775359e-01] [-8.24636581e-03 -3.55310457e-04 9.99965935e-01 -1.15438858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.545898226999999 meters 0.038203646661185225 Centerline is valid? [True, True] Translation: X:6.85, Y:0.17, Z:-0.12 [[ 9.99774765e-01 1.91357109e-02 9.17847751e-03 6.85184321e+00] [-1.91388301e-02 9.99816804e-01 2.52116005e-04 1.72657554e-01] [-9.17197163e-03 -4.27724541e-04 9.99957845e-01 -1.16194514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.575898226999998 meters 0.038203646661185225 Centerline is valid? [True, True] Translation: X:6.88, Y:0.17, Z:-0.12 [[ 9.99776194e-01 1.90609113e-02 9.17847174e-03 6.87928269e+00] [-1.90640292e-02 9.99818233e-01 2.52325792e-04 1.73525158e-01] [-9.17199384e-03 -4.27247974e-04 9.99957845e-01 -1.16404540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.605898226999999 meters 0.04725041085633659 Centerline is valid? [True, True] Translation: X:6.91, Y:0.19, Z:-0.11 [[ 9.99618051e-01 2.55040853e-02 1.06439901e-02 6.90846907e+00] [-2.55086502e-02 9.99674558e-01 2.93311531e-04 1.87759324e-01] [-1.06330455e-02 -5.64713321e-04 9.99943308e-01 -1.14243269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.635898226999998 meters 0.047436273857510085 Centerline is valid? [True, True] Translation: X:6.94, Y:0.19, Z:-0.12 [[ 9.99574817e-01 2.74385830e-02 9.86460074e-03 6.93775857e+00] [-2.74425997e-02 9.99623344e-01 2.72030663e-04 1.89357627e-01] [-9.85342104e-03 -5.42625290e-04 9.99951307e-01 -1.15240796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.665898227 meters 0.05222226632259341 Centerline is valid? [True, True] Translation: X:6.97, Y:0.19, Z:-0.12 [[ 9.99547606e-01 2.85821248e-02 9.36195573e-03 6.96633065e+00] [-2.85857967e-02 9.99591309e-01 2.58616223e-04 1.94998751e-01] [-9.35073778e-03 -5.26118190e-04 9.99956142e-01 -1.17192741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.695898226999999 meters 0.05050375257308206 Centerline is valid? [True, True] Translation: X:6.99, Y:0.19, Z:-0.12 [[ 9.99530090e-01 2.91474313e-02 9.48820384e-03 6.99472402e+00] [-2.91512321e-02 9.99574978e-01 2.62497852e-04 1.93634430e-01] [-9.47652001e-03 -5.38967335e-04 9.99954952e-01 -1.17330550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.725898226999998 meters 0.0520145634838874 Centerline is valid? [True, True] Translation: X:7.02, Y:0.20, Z:-0.12 [[ 9.99525974e-01 2.90716339e-02 1.01325226e-02 7.02139014e+00] [-2.90759717e-02 9.99577165e-01 2.81027908e-04 1.95963131e-01] [-1.01200683e-02 -5.75507635e-04 9.99948625e-01 -1.17033650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.755898227 meters 0.050354654297001596 Centerline is valid? [True, True] Translation: X:7.05, Y:0.19, Z:-0.12 [[ 9.99543784e-01 2.76328530e-02 1.21922119e-02 7.05013502e+00] [-2.76390392e-02 9.99617911e-01 3.39149682e-04 1.92081157e-01] [-1.21781817e-02 -6.75975978e-04 9.99925615e-01 -1.15821212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.785898226999999 meters 0.043639252470207564 Centerline is valid? [True, True] Translation: X:7.08, Y:0.18, Z:-0.12 [[ 9.99561589e-01 2.67055610e-02 1.27844742e-02 7.07905655e+00] [-2.67123036e-02 9.99643099e-01 3.56912460e-04 1.83261379e-01] [-1.27703799e-02 -6.98258744e-04 9.99918212e-01 -1.15341908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.815898226999998 meters 0.04340270437964072 Centerline is valid? [True, True] Translation: X:7.11, Y:0.18, Z:-0.12 [[ 9.99587334e-01 2.58136859e-02 1.26021964e-02 7.10651554e+00] [-2.58201875e-02 9.99666541e-01 3.53457575e-04 1.81447965e-01] [-1.25888701e-02 -6.78702790e-04 9.99920527e-01 -1.15622686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.845898227 meters 0.04269752733196485 Centerline is valid? [True, True] Translation: X:7.14, Y:0.18, Z:-0.12 [[ 9.99626942e-01 2.47946717e-02 1.14543442e-02 7.13569831e+00] [-2.47999882e-02 9.99692381e-01 3.22320615e-04 1.77445477e-01] [-1.14428288e-02 -6.06267973e-04 9.99934345e-01 -1.17779727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.875898226999999 meters 0.041118031499946625 Centerline is valid? [True, True] Translation: X:7.17, Y:0.17, Z:-0.12 [[ 9.99681883e-01 2.31257427e-02 1.00663861e-02 7.16528457e+00] [-2.31297760e-02 9.99732430e-01 2.84423061e-04 1.69998833e-01] [-1.00571151e-02 -5.17165837e-04 9.99949292e-01 -1.20796233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.905898226999998 meters 0.04412139201198582 Centerline is valid? [True, True] Translation: X:7.19, Y:0.17, Z:-0.12 [[ 9.99704263e-01 2.20047151e-02 1.03526897e-02 7.19359409e+00] [-2.20089246e-02 9.99757731e-01 2.92844059e-04 1.71374167e-01] [-1.03437377e-02 -5.20609022e-04 9.99946367e-01 -1.20848168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.935898227 meters 0.04324252852094155 Centerline is valid? [True, True] Translation: X:7.22, Y:0.17, Z:-0.12 [[ 9.99709853e-01 2.12781519e-02 1.12893357e-02 7.22281841e+00] [-2.12831226e-02 9.99773437e-01 3.20325041e-04 1.68569336e-01] [-1.12799620e-02 -5.60504415e-04 9.99936222e-01 -1.19269017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.965898226999998 meters 0.04330450463362938 Centerline is valid? [True, True] Translation: X:7.25, Y:0.17, Z:-0.12 [[ 9.99718562e-01 2.08299762e-02 1.13537896e-02 7.25166768e+00] [-2.08349906e-02 9.99782876e-01 3.23541131e-04 1.67345071e-01] [-1.13445850e-02 -5.60006173e-04 9.99935491e-01 -1.18102306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.995898227 meters 0.04260065155295459 Centerline is valid? [True, True] Translation: X:7.28, Y:0.17, Z:-0.12 [[ 9.99710062e-01 2.12581579e-02 1.13085041e-02 7.28093668e+00] [-2.12631660e-02 9.99773861e-01 3.22797822e-04 1.65188563e-01] [-1.12990848e-02 -5.63158831e-04 9.99936005e-01 -1.17864726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.025898226999999 meters 0.04261667516678502 Centerline is valid? [True, True] Translation: X:7.31, Y:0.16, Z:-0.12 [[ 9.99695529e-01 2.25595913e-02 9.99573613e-03 7.31080782e+00] [-2.25635728e-02 9.99745369e-01 2.85714033e-04 1.59296936e-01] [-9.98674531e-03 -5.11166561e-04 9.99950001e-01 -1.20907195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.055898226999998 meters 0.046794461023764056 Centerline is valid? [True, True] Translation: X:7.34, Y:0.16, Z:-0.12 [[ 9.99685803e-01 2.30585755e-02 9.82836633e-03 7.33803331e+00] [-2.30624523e-02 9.99733987e-01 2.81278946e-04 1.62597545e-01] [-9.81926597e-03 -5.07856798e-04 9.99951661e-01 -1.21657762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.085898227 meters 0.0416518880066517 Centerline is valid? [True, True] Translation: X:7.37, Y:0.15, Z:-0.12 [[ 9.99676193e-01 2.35083915e-02 9.73982579e-03 7.36726752e+00] [-2.35122265e-02 9.99723510e-01 2.79413756e-04 1.53583790e-01] [-9.73056426e-03 -5.08328270e-04 9.99952528e-01 -1.22119030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.115898226999999 meters 0.04601570038840779 Centerline is valid? [True, True] Translation: X:7.40, Y:0.16, Z:-0.12 [[ 9.99663737e-01 2.39389901e-02 9.96687460e-03 7.39538706e+00] [-2.39430327e-02 9.99713283e-01 2.86470516e-04 1.56300172e-01] [-9.95715912e-03 -5.25011391e-04 9.99950288e-01 -1.20498865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.145898226999998 meters 0.05071455350458027 Centerline is valid? [True, True] Translation: X:7.42, Y:0.16, Z:-0.12 [[ 9.99662652e-01 2.37004622e-02 1.06240002e-02 7.42259991e+00] [-2.37050495e-02 9.99718949e-01 3.06051126e-04 1.60371336e-01] [-1.06137608e-02 -5.57790331e-04 9.99943517e-01 -1.20677773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.175898227 meters 0.04682189249185265 Centerline is valid? [True, True] Translation: X:7.45, Y:0.15, Z:-0.12 [[ 9.99662833e-01 2.34196020e-02 1.12135148e-02 7.45160917e+00] [-2.34247024e-02 9.99725552e-01 3.23693582e-04 1.52272753e-01] [-1.12028565e-02 -5.86257689e-04 9.99937074e-01 -1.21620794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.205898226999999 meters 0.04528466337252429 Centerline is valid? [True, True] Translation: X:7.48, Y:0.15, Z:-0.12 [[ 9.99662348e-01 2.31994316e-02 1.17036573e-02 7.48038575e+00] [-2.32049793e-02 9.99730671e-01 3.38425390e-04 1.49548108e-01] [-1.16926539e-02 -6.09894246e-04 9.99931453e-01 -1.20366933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.235898226999998 meters 0.04486419817940971 Centerline is valid? [True, True] Translation: X:7.51, Y:0.15, Z:-0.12 [[ 9.99672237e-01 2.28223084e-02 1.16000215e-02 7.50965176e+00] [-2.28277446e-02 9.99739356e-01 3.36424358e-04 1.47116294e-01] [-1.15893200e-02 -6.01116417e-04 9.99932661e-01 -1.19905906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.265898227 meters 0.04488733278980183 Centerline is valid? [True, True] Translation: X:7.54, Y:0.14, Z:-0.12 [[ 9.99674150e-01 2.30809167e-02 1.09025185e-02 7.53869146e+00] [-2.30857482e-02 9.99733438e-01 3.17494998e-04 1.41347446e-01] [-1.08922842e-02 -5.69084339e-04 9.99940515e-01 -1.21435257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.295898226999999 meters 0.04619690897978096 Centerline is valid? [True, True] Translation: X:7.57, Y:0.14, Z:-0.12 [[ 9.99665454e-01 2.33129738e-02 1.12019861e-02 7.56623776e+00] [-2.33180957e-02 9.99728043e-01 3.26819077e-04 1.40937239e-01] [-1.11913205e-02 -5.87918725e-04 9.99937202e-01 -1.21648891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.325898226999998 meters 0.045182276630883624 Centerline is valid? [True, True] Translation: X:7.60, Y:0.14, Z:-0.12 [[ 9.99654606e-01 2.34066440e-02 1.19497958e-02 7.59517996e+00] [-2.34124878e-02 9.99725829e-01 3.49346173e-04 1.37580304e-01] [-1.19383425e-02 -6.28999959e-04 9.99928538e-01 -1.20973746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.355898226999999 meters 0.044331271006081634 Centerline is valid? [True, True] Translation: X:7.62, Y:0.14, Z:-0.12 [[ 9.99648292e-01 2.31293323e-02 1.29740520e-02 7.62358322e+00] [-2.31362063e-02 9.99732250e-01 3.79959842e-04 1.35383842e-01] [-1.29617900e-02 -6.79996551e-04 9.99915761e-01 -1.19538291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.385898226999998 meters 0.04584676119605341 Centerline is valid? [True, True] Translation: X:7.65, Y:0.14, Z:-0.12 [[ 9.99638281e-01 2.31905440e-02 1.36200592e-02 7.65112320e+00] [-2.31981356e-02 9.99730807e-01 3.99640496e-04 1.36727309e-01] [-1.36071249e-02 -7.15455918e-04 9.99907163e-01 -1.17869546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.415898227 meters 0.048163195167431436 Centerline is valid? [True, True] Translation: X:7.68, Y:0.14, Z:-0.12 [[ 9.99630907e-01 2.35142954e-02 1.36061311e-02 7.67881321e+00] [-2.35219126e-02 9.99723241e-01 4.00059920e-04 1.38744223e-01] [-1.35929583e-02 -7.19954487e-04 9.99907352e-01 -1.16981698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.445898226999999 meters 0.0499517076937652 Centerline is valid? [True, True] Translation: X:7.71, Y:0.14, Z:-0.12 [[ 9.99604457e-01 2.49562012e-02 1.29660034e-02 7.70871103e+00] [-2.49632468e-02 9.99688297e-01 3.81805983e-04 1.38268357e-01] [-1.29524335e-02 -7.05328507e-04 9.99915865e-01 -1.18903860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.475898226999998 meters 0.050700602612159765 Centerline is valid? [True, True] Translation: X:7.74, Y:0.14, Z:-0.12 [[ 9.99601282e-01 2.55416769e-02 1.20373905e-02 7.73614181e+00] [-2.55477969e-02 9.99673539e-01 3.54895170e-04 1.39870024e-01] [-1.20243961e-02 -6.62282473e-04 9.99927485e-01 -1.20674582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.505898227 meters 0.05179182057183837 Centerline is valid? [True, True] Translation: X:7.76, Y:0.14, Z:-0.13 [[ 9.99664163e-01 2.42569367e-02 9.11929889e-03 7.76434145e+00] [-2.42603996e-02 9.99705637e-01 2.69278599e-04 1.38977497e-01] [-9.11008263e-03 -4.90426000e-04 9.99958382e-01 -1.26455962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.535898226999999 meters 0.051436918537822826 Centerline is valid? [True, True] Translation: X:7.79, Y:0.14, Z:-0.13 [[ 9.99702862e-01 2.30128780e-02 8.03707896e-03 7.79256541e+00] [-2.30155303e-02 9.99735079e-01 2.37660104e-04 1.39358147e-01] [-8.02948053e-03 -4.22567120e-04 9.99967674e-01 -1.27438025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.565898226999998 meters 0.045152871464463284 Centerline is valid? [True, True] Translation: X:7.82, Y:0.13, Z:-0.13 [[ 9.99741461e-01 2.14807416e-02 7.45580137e-03 7.82180242e+00] [-2.14829840e-02 9.99769190e-01 2.20796471e-04 1.33247610e-01] [-7.44933762e-03 -3.80912248e-04 9.99972181e-01 -1.26330428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.595898227 meters 0.048611747976738555 Centerline is valid? [True, True] Translation: X:7.85, Y:0.14, Z:-0.13 [[ 9.99783978e-01 1.91431963e-02 8.09539401e-03 7.85081759e+00] [-1.91457669e-02 9.99816674e-01 2.40150755e-04 1.38100324e-01] [-8.08931266e-03 -3.95091404e-04 9.99967203e-01 -1.25682533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.625898226999999 meters 0.04444068331447626 Centerline is valid? [True, True] Translation: X:7.88, Y:0.13, Z:-0.12 [[ 9.99820076e-01 1.64508120e-02 9.44383640e-03 7.88045631e+00] [-1.64541929e-02 9.99864581e-01 2.80410016e-04 1.33961331e-01] [-9.43794455e-03 -4.35750269e-04 9.99955367e-01 -1.24562355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.655898226999998 meters 0.03590377690316897 Centerline is valid? [True, True] Translation: X:7.91, Y:0.12, Z:-0.12 [[ 9.99856249e-01 1.28398908e-02 1.10733224e-02 7.91053771e+00] [-1.28443214e-02 9.99917454e-01 3.29087302e-04 1.22608275e-01] [-1.10681829e-02 -4.71269307e-04 9.99938635e-01 -1.24044899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.685898227 meters 0.029820291126723145 Centerline is valid? [True, True] Translation: X:7.94, Y:0.11, Z:-0.12 [[ 9.99898647e-01 4.16912678e-03 1.36130460e-02 7.94016155e+00] [-4.17502402e-03 9.99991203e-01 4.04814988e-04 1.14827817e-01] [-1.36112385e-02 -4.61608752e-04 9.99907256e-01 -1.19891030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.715898226999998 meters 0.026263314827608318 Centerline is valid? [True, True] Translation: X:7.97, Y:0.11, Z:-0.12 [[ 9.99905325e-01 3.66474912e-04 1.37552133e-02 7.97123908e+00] [-3.72135763e-04 9.99999847e-01 4.08984950e-04 1.11973079e-01] [-1.37550613e-02 -4.14065036e-04 9.99905309e-01 -1.18601462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.745898227 meters 0.026329285963698948 Centerline is valid? [True, True] Translation: X:8.00, Y:0.11, Z:-0.12 [[ 9.99912323e-01 -3.23049384e-03 1.28417210e-02 8.00179706e+00] [ 3.22585925e-03 9.99994724e-01 3.81597782e-04 1.11993892e-01] [-1.28428860e-02 -3.40138740e-04 9.99917469e-01 -1.19440781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.775898226999999 meters 0.021757507872330235 Centerline is valid? [True, True] Translation: X:8.03, Y:0.11, Z:-0.12 [[ 9.99916387e-01 -5.83156322e-03 1.15417171e-02 8.03376380e+00] [ 5.82799620e-03 9.99982958e-01 3.42664087e-04 1.06067342e-01] [-1.15435187e-02 -2.75370353e-04 9.99933333e-01 -1.22377321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.805898226999998 meters 0.018183783522140846 Centerline is valid? [True, True] Translation: X:8.07, Y:0.10, Z:-0.12 [[ 9.99890113e-01 -1.05204569e-02 1.04442098e-02 8.06506772e+00] [ 1.05177950e-02 9.99944638e-01 3.09762591e-04 1.02773647e-01] [-1.04468905e-02 -1.99878494e-04 9.99945410e-01 -1.23944728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.835898227 meters 0.018302636346767213 Centerline is valid? [True, True] Translation: X:8.10, Y:0.10, Z:-0.12 [[ 9.99871731e-01 -1.22987120e-02 1.02598130e-02 8.09757054e+00] [ 1.22962432e-02 9.99924352e-01 3.03673671e-04 1.03910989e-01] [-1.02627717e-02 -1.77477563e-04 9.99947321e-01 -1.23460759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.865898226999999 meters 0.016559460166113902 Centerline is valid? [True, True] Translation: X:8.13, Y:0.11, Z:-0.12 [[ 9.99848110e-01 -1.36553642e-02 1.08299811e-02 8.12853684e+00] [ 1.36527130e-02 9.99906747e-01 3.18703935e-04 1.05492408e-01] [-1.08333232e-02 -1.70796903e-04 9.99941303e-01 -1.23082576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.895898226999998 meters 0.015304899569293462 Centerline is valid? [True, True] Translation: X:8.16, Y:0.10, Z:-0.12 [[ 9.99815328e-01 -1.54825046e-02 1.13842852e-02 8.16103754e+00] [ 1.54797147e-02 9.99880127e-01 3.33144015e-04 1.03892817e-01] [-1.13880784e-02 -1.56857005e-04 9.99935141e-01 -1.23835143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.925898227 meters 0.011606544985844172 Centerline is valid? [True, True] Translation: X:8.19, Y:0.10, Z:-0.12 [[ 9.99730135e-01 -1.95864772e-02 1.24910566e-02 8.19344461e+00] [ 1.95834666e-02 9.99808160e-01 3.63299291e-04 1.00807795e-01] [-1.24957761e-02 -1.18583060e-04 9.99921918e-01 -1.24286111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.955898226999999 meters 0.01258941925037608 Centerline is valid? [True, True] Translation: X:8.22, Y:0.10, Z:-0.12 [[ 9.99687562e-01 -2.18573273e-02 1.21257909e-02 8.22499270e+00] [ 2.18546811e-02 9.99761096e-01 3.50714608e-04 1.00852255e-01] [-1.21305597e-02 -8.55997389e-05 9.99926418e-01 -1.24039737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.985898226999998 meters 0.009788566496605111 Centerline is valid? [True, True] Translation: X:8.26, Y:0.10, Z:-0.12 [[ 9.99651263e-01 -2.37112847e-02 1.16244038e-02 8.25767661e+00] [ 2.37089992e-02 9.99718846e-01 3.34400398e-04 1.00850098e-01] [-1.16290646e-02 -5.86807996e-05 9.99932378e-01 -1.24146776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.015898227 meters 0.009514558365689435 Centerline is valid? [True, True] Translation: X:8.29, Y:0.10, Z:-0.13 [[ 9.99610426e-01 -2.57827237e-02 1.06886882e-02 8.29040582e+00] [ 2.57809278e-02 9.99667570e-01 3.05792878e-04 1.00762462e-01] [-1.06930192e-02 -3.01094490e-05 9.99942828e-01 -1.25525203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.045898226999999 meters 0.012842976590013187 Centerline is valid? [True, True] Translation: X:8.32, Y:0.10, Z:-0.13 [[ 9.99490163e-01 -3.04705545e-02 9.53728870e-03 8.32402788e+00] [ 3.04693524e-02 9.99535665e-01 2.71356638e-04 9.72856118e-02] [-9.54112859e-03 1.93767203e-05 9.99954482e-01 -1.29069136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.075898226999998 meters 0.011293382433646401 Centerline is valid? [True, True] Translation: X:8.36, Y:0.10, Z:-0.13 [[ 9.99418343e-01 -3.28357964e-02 9.20790265e-03 8.35556327e+00] [ 3.28347913e-02 9.99460759e-01 2.60350601e-04 9.59003810e-02] [-9.21148619e-03 4.21403953e-05 9.99957572e-01 -1.29311510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.105898226999999 meters 0.011666551938961723 Centerline is valid? [True, True] Translation: X:8.39, Y:0.10, Z:-0.13 [[ 9.99381113e-01 -3.40393987e-02 8.87186474e-03 8.38883420e+00] [ 3.40385251e-02 9.99420490e-01 2.49491750e-04 9.69714432e-02] [-8.87521596e-03 5.26478476e-05 9.99960613e-01 -1.29635458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.135898226999998 meters 0.012314645063029987 Centerline is valid? [True, True] Translation: X:8.42, Y:0.10, Z:-0.13 [[ 9.99348030e-01 -3.50067828e-02 8.83400200e-03 8.42003601e+00] [ 3.50059682e-02 9.99387073e-01 2.46867252e-04 9.76111133e-02] [-8.83722943e-03 6.25364907e-05 9.99960949e-01 -1.30098449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.165898227 meters 0.01634639787492276 Centerline is valid? [True, True] Translation: X:8.45, Y:0.10, Z:-0.13 [[ 9.99327818e-01 -3.55227356e-02 9.05799084e-03 8.45356216e+00] [ 3.55219092e-02 9.99368866e-01 2.52140568e-04 9.91520612e-02] [-9.06123076e-03 6.97860454e-05 9.99958944e-01 -1.30361553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.195898226999999 meters 0.01508843594633126 Centerline is valid? [True, True] Translation: X:8.49, Y:0.10, Z:-0.13 [[ 9.99211165e-01 -3.81851633e-02 1.09059779e-02 8.48583156e+00] [ 3.81841488e-02 9.99270674e-01 3.01308099e-04 9.81787805e-02] [-1.09095294e-02 1.15365068e-04 9.99940483e-01 -1.26594815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.225898226999998 meters 0.014807280146740678 Centerline is valid? [True, True] Translation: X:8.52, Y:0.10, Z:-0.12 [[ 9.99123494e-01 -4.02867326e-02 1.13676384e-02 8.51759369e+00] [ 4.02857877e-02 9.99188149e-01 3.12185015e-04 9.58094726e-02] [-1.13709865e-02 1.46042885e-04 9.99935338e-01 -1.24440756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.255898227 meters 0.0208513256871809 Centerline is valid? [True, True] Translation: X:8.55, Y:0.09, Z:-0.12 [[ 9.99002076e-01 -4.33314691e-02 1.08275424e-02 8.54886744e+00] [ 4.33308077e-02 9.99060736e-01 2.95776425e-04 9.21458067e-02] [-1.08301889e-02 1.73684893e-04 9.99941337e-01 -1.24991070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.285898226999999 meters 0.0204633938511764 Centerline is valid? [True, True] Translation: X:8.58, Y:0.08, Z:-0.13 [[ 9.98685648e-01 -5.02144856e-02 1.02704851e-02 8.57993711e+00] [ 5.02142656e-02 9.98738429e-01 2.79452003e-04 8.37218231e-02] [-1.02715607e-02 2.36640161e-04 9.99947218e-01 -1.27958185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.315898226999998 meters 0.02507810634905776 Centerline is valid? [True, True] Translation: X:8.61, Y:0.08, Z:-0.13 [[ 9.98494372e-01 -5.39298157e-02 1.00281450e-02 8.61014632e+00] [ 5.39297941e-02 9.98544692e-01 2.72769576e-04 7.53333971e-02] [-1.00282614e-02 2.68456907e-04 9.99949680e-01 -1.29254453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.345898227 meters 0.029852955584290013 Centerline is valid? [True, True] Translation: X:8.64, Y:0.07, Z:-0.13 [[ 9.98308366e-01 -5.72975668e-02 9.86887242e-03 8.64045981e+00] [ 5.72977114e-02 9.98357101e-01 2.68320234e-04 6.89798179e-02] [-9.86803296e-03 2.97597470e-04 9.99951265e-01 -1.30308984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.375898226999999 meters 0.030160537479685837 Centerline is valid? [True, True] Translation: X:8.67, Y:0.07, Z:-0.13 [[ 9.98172515e-01 -5.95948275e-02 1.00043562e-02 8.67236583e+00] [ 5.95950989e-02 9.98222596e-01 2.71251621e-04 6.51058246e-02] [-1.00027396e-02 3.25454684e-04 9.99949918e-01 -1.30207870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.405898226999998 meters 0.03343757860857433 Centerline is valid? [True, True] Translation: X:8.70, Y:0.06, Z:-0.13 [[ 9.98026455e-01 -6.20574990e-02 9.59488600e-03 8.70266782e+00] [ 6.20578725e-02 9.98072519e-01 2.59079518e-04 5.54993888e-02] [-9.59246987e-03 3.36870000e-04 9.99953934e-01 -1.30481612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.435898227 meters 0.029740191339269747 Centerline is valid? [True, True] Translation: X:8.73, Y:0.06, Z:-0.13 [[ 9.98067070e-01 -6.14233293e-02 9.44976989e-03 8.73485806e+00] [ 6.14236659e-02 9.98111751e-01 2.54868453e-04 5.82804655e-02] [-9.44758125e-03 3.26063699e-04 9.99955317e-01 -1.30825910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.465898226999998 meters 0.029740191339269747 Centerline is valid? [True, True] Translation: X:8.77, Y:0.06, Z:-0.13 [[ 9.98078439e-01 -6.12383121e-02 9.44981207e-03 8.76752911e+00] [ 6.12386554e-02 9.98123120e-01 2.53295672e-04 5.90464279e-02] [-9.44758731e-03 3.25884836e-04 9.99955317e-01 -1.31074861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.495898227 meters 0.032350550172387756 Centerline is valid? [True, True] Translation: X:8.80, Y:0.05, Z:-0.13 [[ 9.98166064e-01 -5.97321108e-02 9.82771294e-03 8.79949069e+00] [ 5.97324248e-02 9.98214390e-01 2.61824230e-04 5.39895136e-02] [-9.82580379e-03 3.25689063e-04 9.99951673e-01 -1.30228252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.525898226999999 meters 0.027917179613220117 Centerline is valid? [True, True] Translation: X:8.83, Y:0.06, Z:-0.13 [[ 9.98274928e-01 -5.77853354e-02 1.03933781e-02 8.83148225e+00] [ 5.77855907e-02 9.98328979e-01 2.75981381e-04 5.90543448e-02] [-1.03919582e-02 3.25082201e-04 9.99945949e-01 -1.28985262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.555898226999998 meters 0.02606286104307826 Centerline is valid? [True, True] Translation: X:8.86, Y:0.06, Z:-0.13 [[ 9.98381570e-01 -5.57307229e-02 1.13281238e-02 8.86348231e+00] [ 5.57309163e-02 9.98445780e-01 2.98848071e-04 6.11808609e-02] [-1.13271725e-02 3.32962315e-04 9.99935790e-01 -1.27595170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.585898227 meters 0.03161744466615877 Centerline is valid? [True, True] Translation: X:8.89, Y:0.06, Z:-0.13 [[ 9.98480022e-01 -5.38878514e-02 1.15648552e-02 8.89464285e+00] [ 5.38879510e-02 9.98546943e-01 3.03224419e-04 5.84458828e-02] [-1.15643909e-02 3.20442823e-04 9.99933079e-01 -1.27628684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.615898226999999 meters 0.022920448034916326 Centerline is valid? [True, True] Translation: X:8.93, Y:0.06, Z:-0.13 [[ 9.98610298e-01 -5.15992151e-02 1.07234893e-02 8.92607772e+00] [ 5.15991812e-02 9.98667836e-01 2.80020059e-04 6.32631669e-02] [-1.07236527e-02 2.73692351e-04 9.99942463e-01 -1.30420925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.645898226999998 meters 0.025221431499420764 Centerline is valid? [True, True] Translation: X:8.96, Y:0.06, Z:-0.13 [[ 9.98646205e-01 -5.09483598e-02 1.04891353e-02 8.95740904e+00] [ 5.09482978e-02 9.98701255e-01 2.73294756e-04 6.27214815e-02] [-1.04894365e-02 2.61478816e-04 9.99944950e-01 -1.30460255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.675898227 meters 0.026855738289074678 Centerline is valid? [True, True] Translation: X:8.99, Y:0.06, Z:-0.13 [[ 9.98685918e-01 -5.01706676e-02 1.04566249e-02 8.98909062e+00] [ 5.01705797e-02 9.98740627e-01 2.70883581e-04 6.17554085e-02] [-1.04570465e-02 2.54087316e-04 9.99945291e-01 -1.29257664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.705898226999999 meters 0.024112974042818272 Centerline is valid? [True, True] Translation: X:9.02, Y:0.07, Z:-0.13 [[ 9.98711731e-01 -4.97492565e-02 9.99451107e-03 9.02117149e+00] [ 4.97491695e-02 9.98761710e-01 2.57468385e-04 6.81850020e-02] [-9.99494383e-03 2.40081929e-04 9.99950020e-01 -1.29323513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.735898226999998 meters 0.024741329833418126 Centerline is valid? [True, True] Translation: X:9.05, Y:0.07, Z:-0.13 [[ 9.98712459e-01 -4.99642349e-02 8.77497022e-03 9.05414405e+00] [ 4.99641872e-02 9.98750985e-01 2.24791181e-04 7.20702833e-02] [-8.77524167e-03 2.13932501e-04 9.99961474e-01 -1.32119432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.765898227 meters 0.024933176965015874 Centerline is valid? [True, True] Translation: X:9.09, Y:0.07, Z:-0.13 [[ 9.98658445e-01 -5.10643997e-02 8.58703106e-03 9.08646368e+00] [ 5.10644076e-02 9.98695338e-01 2.18473222e-04 7.29947739e-02] [-8.58698409e-03 2.20311526e-04 9.99963107e-01 -1.33539664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.795898226999999 meters 0.03119852525860609 Centerline is valid? [True, True] Translation: X:9.12, Y:0.07, Z:-0.13 [[ 9.98326600e-01 -5.72095950e-02 8.42985960e-03 9.11644416e+00] [ 5.72098314e-02 9.98362154e-01 2.13288679e-04 6.87422183e-02] [-8.42825494e-03 2.69339085e-04 9.99964445e-01 -1.34643261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.825898226999998 meters 0.03215795774874264 Centerline is valid? [True, True] Translation: X:9.15, Y:0.07, Z:-0.14 [[ 9.98112463e-01 -6.08654135e-02 8.17998145e-03 9.14742738e+00] [ 6.08657584e-02 9.98145940e-01 2.07004777e-04 6.80881855e-02] [-8.17741470e-03 2.91266727e-04 9.99966522e-01 -1.35619288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.855898226999999 meters 0.035569060479553764 Centerline is valid? [True, True] Translation: X:9.18, Y:0.06, Z:-0.14 [[ 9.97876523e-01 -6.46508484e-02 7.91909553e-03 9.17900018e+00] [ 6.46512914e-02 9.97907897e-01 2.00312770e-04 6.49291133e-02] [-7.91547835e-03 3.12092342e-04 9.99968623e-01 -1.35961957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.885898226999998 meters 0.03863750440619045 Centerline is valid? [True, True] Translation: X:9.21, Y:0.06, Z:-0.14 [[ 9.97654144e-01 -6.79538260e-02 8.27567262e-03 9.20963586e+00] [ 6.79544247e-02 9.97688404e-01 2.09147092e-04 6.21096983e-02] [-8.27075496e-03 3.53712109e-04 9.99965734e-01 -1.35893604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.915898227 meters 0.04239526132974549 Centerline is valid? [True, True] Translation: X:9.24, Y:0.06, Z:-0.13 [[ 9.97480596e-01 -7.03933235e-02 8.78869898e-03 9.23936896e+00] [ 7.03940940e-02 9.97519234e-01 2.22020992e-04 5.91476316e-02] [-8.78252507e-03 3.97210872e-04 9.99961354e-01 -1.34669646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.945898226999999 meters 0.040305427750992065 Centerline is valid? [True, True] Translation: X:9.27, Y:0.06, Z:-0.13 [[ 9.97375187e-01 -7.18019622e-02 9.33889240e-03 9.27140312e+00] [ 7.18028946e-02 9.97418813e-01 2.35842016e-04 6.33558373e-02] [-9.33172089e-03 4.35336531e-04 9.99956364e-01 -1.33417022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.975898226999998 meters 0.04109010342953836 Centerline is valid? [True, True] Translation: X:9.30, Y:0.06, Z:-0.13 [[ 9.97240510e-01 -7.37866390e-02 8.17905354e-03 9.30206738e+00] [ 7.37874233e-02 9.97273971e-01 2.06237311e-04 6.48857799e-02] [-8.17197476e-03 3.97843084e-04 9.99966530e-01 -1.34353471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.005898227 meters 0.04491714752625895 Centerline is valid? [True, True] Translation: X:9.33, Y:0.06, Z:-0.14 [[ 9.97184325e-01 -7.46495678e-02 7.13186829e-03 9.33296325e+00] [ 7.46501864e-02 9.97209766e-01 1.79796402e-04 6.07292195e-02] [-7.12539043e-03 3.53105143e-04 9.99974552e-01 -1.37075049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.035898226999999 meters 0.04263754784518265 Centerline is valid? [True, True] Translation: X:9.37, Y:0.06, Z:-0.14 [[ 9.97111671e-01 -7.56699946e-02 6.50905581e-03 9.36502872e+00] [ 7.56705348e-02 9.97132861e-01 1.63587159e-04 6.39344392e-02] [-6.50277209e-03 3.29429069e-04 9.99978802e-01 -1.39556228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.065898226999998 meters 0.04645079129555693 Centerline is valid? [True, True] Translation: X:9.40, Y:0.06, Z:-0.14 [[ 9.97038090e-01 -7.66217112e-02 6.64529417e-03 9.39596509e+00] [ 7.66222976e-02 9.97060177e-01 1.66675087e-04 5.92081673e-02] [-6.63852911e-03 3.42996297e-04 9.99977906e-01 -1.40878778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.095898227 meters 0.05037610208568365 Centerline is valid? [True, True] Translation: X:9.43, Y:0.06, Z:-0.14 [[ 9.96855606e-01 -7.88600489e-02 7.74554754e-03 9.42635427e+00] [ 7.88609145e-02 9.96885610e-01 1.94065521e-04 5.56842743e-02] [-7.73672890e-03 4.17365660e-04 9.99969984e-01 -1.40330028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.125898226999999 meters 0.04860954570479303 Centerline is valid? [True, True] Translation: X:9.46, Y:0.06, Z:-0.14 [[ 9.96807404e-01 -7.95190661e-02 7.19144320e-03 9.45853984e+00] [ 7.95198295e-02 9.96833268e-01 1.80174009e-04 5.72945442e-02] [-7.18299710e-03 3.92263551e-04 9.99974125e-01 -1.40280087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.155898226999998 meters 0.05120102662932839 Centerline is valid? [True, True] Translation: X:9.49, Y:0.05, Z:-0.14 [[ 9.96771883e-01 -8.00611050e-02 6.00269040e-03 9.49030928e+00] [ 8.00616512e-02 9.96789902e-01 1.49630490e-04 5.35815516e-02] [-5.99540076e-03 3.31437840e-04 9.99981972e-01 -1.40977565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.185898227 meters 0.05129306136253772 Centerline is valid? [True, True] Translation: X:9.52, Y:0.05, Z:-0.14 [[ 9.96768886e-01 -8.01564241e-02 5.17073427e-03 9.52250954e+00] [ 8.01568336e-02 9.96782256e-01 1.28323402e-04 5.40791935e-02] [-5.16438211e-03 2.86560912e-04 9.99986623e-01 -1.41496314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.215898226999998 meters 0.05075370053319785 Centerline is valid? [True, True] Translation: X:9.55, Y:0.05, Z:-0.14 [[ 9.96853187e-01 -7.91605406e-02 4.16328234e-03 9.55484123e+00] [ 7.91607991e-02 9.96861855e-01 1.02906675e-04 5.31989755e-02] [-4.15836351e-03 2.26985910e-04 9.99991328e-01 -1.42900478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.245898226999998 meters 0.04946470386972313 Centerline is valid? [True, True] Translation: X:9.59, Y:0.05, Z:-0.14 [[ 9.96919481e-01 -7.82964086e-02 4.60655079e-03 9.58751650e+00] [ 7.82967212e-02 9.96930093e-01 1.12724926e-04 5.39807887e-02] [-4.60123507e-03 2.48300148e-04 9.99989383e-01 -1.43605185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.275898226999999 meters 0.048177273064684056 Centerline is valid? [True, True] Translation: X:9.62, Y:0.06, Z:-0.14 [[ 9.97019888e-01 -7.69286083e-02 5.77340744e-03 9.61858746e+00] [ 7.69290792e-02 9.97036557e-01 1.40789159e-04 5.54199073e-02] [-5.76712899e-03 3.03773326e-04 9.99983324e-01 -1.42600189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.305898226999998 meters 0.04829133673995751 Centerline is valid? [True, True] Translation: X:9.65, Y:0.06, Z:-0.14 [[ 9.97130383e-01 -7.53748203e-02 7.04527237e-03 9.65013514e+00] [ 7.53754842e-02 9.97155207e-01 1.71625796e-04 5.60910299e-02] [-7.03816629e-03 3.59907520e-04 9.99975167e-01 -1.40673756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.335898227 meters 0.03966399301013227 Centerline is valid? [True, True] Translation: X:9.68, Y:0.07, Z:-0.14 [[ 9.97403307e-01 -7.15989678e-02 7.76083106e-03 9.68060482e+00] [ 7.15996625e-02 9.97433433e-01 1.88656221e-04 6.97674656e-02] [-7.75441996e-03 3.67506545e-04 9.99969867e-01 -1.37748914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.365898226999999 meters 0.040375062427889706 Centerline is valid? [True, True] Translation: X:9.71, Y:0.07, Z:-0.14 [[ 9.97564149e-01 -6.93295369e-02 7.69306556e-03 9.71087700e+00] [ 6.93301525e-02 9.97593752e-01 1.86957160e-04 7.03616597e-02] [-7.68751580e-03 3.46859649e-04 9.99970390e-01 -1.38599537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.395898226999998 meters 0.04292024047732597 Centerline is valid? [True, True] Translation: X:9.74, Y:0.07, Z:-0.14 [[ 9.97665301e-01 -6.79215475e-02 7.11412790e-03 9.74116346e+00] [ 6.79220385e-02 9.97690617e-01 1.72837595e-04 6.91376827e-02] [-7.10943805e-03 3.10771999e-04 9.99974679e-01 -1.40488302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.425898227 meters 0.03793745478174677 Centerline is valid? [True, True] Translation: X:9.77, Y:0.08, Z:-0.14 [[ 9.97691156e-01 -6.75573238e-02 6.95456948e-03 9.77373019e+00] [ 6.75577840e-02 9.97715349e-01 1.68988240e-04 7.73427034e-02] [-6.95009711e-03 3.01237230e-04 9.99975802e-01 -1.41851278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.455898226999999 meters 0.04749247684981379 Centerline is valid? [True, True] Translation: X:9.80, Y:0.07, Z:-0.14 [[ 9.97489502e-01 -7.03391267e-02 8.19148846e-03 9.80430839e+00] [ 7.03398707e-02 9.97523064e-01 1.97595317e-04 6.81419983e-02] [-8.18509735e-03 3.79088984e-04 9.99966430e-01 -1.40850005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.485898226999998 meters 0.0430515906321858 Centerline is valid? [True, True] Translation: X:9.84, Y:0.08, Z:-0.14 [[ 9.97348500e-01 -7.21082339e-02 9.81688431e-03 9.83569012e+00] [ 7.21093895e-02 9.97396701e-01 2.36649526e-04 7.56060910e-02] [-9.80839240e-03 4.71867485e-04 9.99951785e-01 -1.38804809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.515898227 meters 0.04257743779414133 Centerline is valid? [True, True] Translation: X:9.87, Y:0.08, Z:-0.14 [[ 9.97198781e-01 -7.39691744e-02 1.10974044e-02 9.86659880e+00] [ 7.39707695e-02 9.97260374e-01 2.67218174e-04 7.80607821e-02] [-1.10867676e-02 5.54413908e-04 9.99938386e-01 -1.37208315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.545898226999999 meters 0.04480426818572986 Centerline is valid? [True, True] Translation: X:9.90, Y:0.08, Z:-0.14 [[ 9.97115325e-01 -7.50411379e-02 1.13954840e-02 9.89767116e+00] [ 7.50428987e-02 9.97180269e-01 2.73598078e-04 7.66526823e-02] [-1.13838829e-02 5.82341314e-04 9.99935032e-01 -1.37092054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.575898226999998 meters 0.05134223626345192 Centerline is valid? [True, True] Translation: X:9.93, Y:0.07, Z:-0.14 [[ 9.97123409e-01 -7.50701008e-02 1.04588138e-02 9.93039545e+00] [ 7.50716016e-02 9.97178115e-01 2.49582507e-04 7.12533282e-02] [-1.04480365e-02 5.36295346e-04 9.99945274e-01 -1.38457731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.605898226999999 meters 0.046039152492126076 Centerline is valid? [True, True] Translation: X:9.96, Y:0.08, Z:-0.14 [[ 9.97230051e-01 -7.38836220e-02 8.56952170e-03 9.96131973e+00] [ 7.38845951e-02 9.97266777e-01 2.03412122e-04 8.34134499e-02] [-8.56112811e-03 4.30306961e-04 9.99963260e-01 -1.40923549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.635898226999998 meters 0.044154839019249464 Centerline is valid? [True, True] Translation: X:9.99, Y:0.09, Z:-0.14 [[ 9.97289774e-01 -7.30446257e-02 8.80852096e-03 9.99352297e+00] [ 7.30456243e-02 9.97328578e-01 2.08726824e-04 8.97600803e-02] [-8.80023606e-03 4.35262787e-04 9.99961182e-01 -1.40324696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.665898227 meters 0.04341157607581856 Centerline is valid? [True, True] Translation: X:10.03, Y:0.10, Z:-0.14 [[ 9.97283949e-01 -7.31064418e-02 8.95395962e-03 1.00261272e+01] [ 7.31074890e-02 9.97324045e-01 2.10738229e-04 9.68611025e-02] [-8.94540555e-03 4.44435651e-04 9.99959890e-01 -1.40090009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.695898226999999 meters 0.044051608795792827 Centerline is valid? [True, True] Translation: X:10.06, Y:0.10, Z:-0.14 [[ 9.97158786e-01 -7.49375254e-02 7.66308685e-03 1.00561517e+01] [ 7.49383544e-02 9.97188152e-01 1.79300661e-04 9.93208464e-02] [-7.65497577e-03 3.95467889e-04 9.99970622e-01 -1.43049155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.725898226999998 meters 0.051555049431736985 Centerline is valid? [True, True] Translation: X:10.09, Y:0.09, Z:-0.15 [[ 9.97073976e-01 -7.62522615e-02 5.39257651e-03 1.00873559e+01] [ 7.62526907e-02 9.97088517e-01 1.26276508e-04 9.39388539e-02] [-5.38650499e-03 2.85291449e-04 9.99985452e-01 -1.47462589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.755898227 meters 0.05432426895206789 Centerline is valid? [True, True] Translation: X:10.12, Y:0.09, Z:-0.15 [[ 9.97000410e-01 -7.73348916e-02 3.08178439e-03 1.01188103e+01] [ 7.73350355e-02 9.97005159e-01 7.26143529e-05 9.26681368e-02] [-3.07817056e-03 1.65933366e-04 9.99995249e-01 -1.51356187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.785898226999999 meters 0.045358011278429144 Centerline is valid? [True, True] Translation: X:10.15, Y:0.11, Z:-0.15 [[ 9.96851889e-01 -7.92679914e-02 1.70210922e-03 1.01498925e+01] [ 7.92680389e-02 9.96853337e-01 3.96458534e-05 1.07594841e-01] [-1.69989590e-03 9.54018161e-05 9.99998551e-01 -1.51121817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.815898226999998 meters 0.05338264516502869 Centerline is valid? [True, True] Translation: X:10.18, Y:0.10, Z:-0.15 [[ 9.96422240e-01 -8.44422085e-02 3.49750255e-03 1.01797824e+01] [ 8.44424421e-02 9.96428355e-01 8.10845342e-05 1.02246989e-01] [-3.49185767e-03 2.14543223e-04 9.99993880e-01 -1.49135293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.845898227 meters 0.0538737751240044 Centerline is valid? [True, True] Translation: X:10.21, Y:0.10, Z:-0.15 [[ 9.96186723e-01 -8.71141719e-02 4.80981673e-03 1.02107106e+01] [ 8.71146444e-02 9.96198287e-01 1.11577025e-04 1.03598239e-01] [-4.80125112e-03 3.07853923e-04 9.99988427e-01 -1.47305557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.875898226999999 meters 0.06578763771912124 Centerline is valid? [True, True] Translation: X:10.24, Y:0.09, Z:-0.15 [[ 9.95990773e-01 -8.92778213e-02 5.64371730e-03 1.02412523e+01] [ 8.92785069e-02 9.96006692e-01 1.30845061e-04 8.93879473e-02] [-5.63286177e-03 3.73542181e-04 9.99984066e-01 -1.48243071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.905898226999998 meters 0.053400762025657904 Centerline is valid? [True, True] Translation: X:10.27, Y:0.11, Z:-0.15 [[ 9.95858381e-01 -9.07100572e-02 6.14576972e-03 1.02716950e+01] [ 9.07108972e-02 9.95877258e-01 1.42503300e-04 1.06929729e-01] [-6.13335878e-03 4.15575179e-04 9.99981104e-01 -1.49014190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.935898227 meters 0.055365589247825184 Centerline is valid? [True, True] Translation: X:10.30, Y:0.11, Z:-0.15 [[ 9.95601270e-01 -9.34127526e-02 7.22284858e-03 1.03029199e+01] [ 9.34139843e-02 9.95627340e-01 1.67381370e-04 1.07855348e-01] [-7.20690107e-03 5.08069960e-04 9.99973901e-01 -1.46678329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.965898226999998 meters 0.06146491033308558 Centerline is valid? [True, True] Translation: X:10.33, Y:0.10, Z:-0.15 [[ 9.95379585e-01 -9.56721545e-02 8.14378863e-03 1.03326192e+01] [ 9.56737968e-02 9.95412723e-01 1.88582656e-04 1.01417541e-01] [-8.12447292e-03 5.91435852e-04 9.99966821e-01 -1.45332617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.995898226999998 meters 0.06497176921931086 Centerline is valid? [True, True] Translation: X:10.36, Y:0.10, Z:-0.14 [[ 9.95155994e-01 -9.79320723e-02 8.59402003e-03 1.03629137e+01] [ 9.79339848e-02 9.95192893e-01 1.99027562e-04 9.77593767e-02] [-8.57219884e-03 6.43583155e-04 9.99963051e-01 -1.44182881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.025898226999999 meters 0.06509835539366067 Centerline is valid? [True, True] Translation: X:10.39, Y:0.10, Z:-0.14 [[ 9.95019233e-01 -9.92828844e-02 8.92379106e-03 1.03940676e+01] [ 9.92850005e-02 9.95059016e-01 2.06665006e-04 9.78605542e-02] [-8.90021705e-03 6.80362943e-04 9.99960161e-01 -1.44167314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.055898226999998 meters 0.06722605018051958 Centerline is valid? [True, True] Translation: X:10.43, Y:0.10, Z:-0.15 [[ 9.95041973e-01 -9.91202525e-02 8.16381128e-03 1.04262503e+01] [ 9.91220194e-02 9.95075268e-01 1.88901171e-04 9.50807821e-02] [-8.14233063e-03 6.21248867e-04 9.99966658e-01 -1.45126251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.085898227 meters 0.058015303149762276 Centerline is valid? [True, True] Translation: X:10.46, Y:0.11, Z:-0.15 [[ 9.95366809e-01 -9.60048489e-02 5.28995257e-03 1.04564548e+01] [ 9.60055511e-02 9.95380791e-01 1.21624987e-04 1.08915085e-01] [-5.27719377e-03 3.86803337e-04 9.99986001e-01 -1.48339317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.115898226999999 meters 0.059677646918260586 Centerline is valid? [True, True] Translation: X:10.49, Y:0.11, Z:-0.15 [[ 9.95568380e-01 -9.39423824e-02 4.29296282e-03 1.04863826e+01] [ 9.39428262e-02 9.95577589e-01 9.85951732e-05 1.08489046e-01] [-4.28323984e-03 3.05134824e-04 9.99990780e-01 -1.50031332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.145898226999998 meters 0.05922781732013329 Centerline is valid? [True, True] Translation: X:10.52, Y:0.11, Z:-0.15 [[ 9.95745205e-01 -9.20253834e-02 4.77658478e-03 1.05162747e+01] [ 9.20259109e-02 9.95756607e-01 1.09702372e-04 1.09470109e-01] [-4.76641125e-03 3.30333955e-04 9.99988586e-01 -1.49626450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.175898227 meters 0.05901749399873408 Centerline is valid? [True, True] Translation: X:10.55, Y:0.11, Z:-0.15 [[ 9.95866263e-01 -9.06458291e-02 5.80689829e-03 1.05473673e+01] [ 9.06465851e-02 9.95883115e-01 1.33406434e-04 1.09698584e-01] [-5.79508469e-03 3.93520533e-04 9.99983131e-01 -1.47882909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.205898226999999 meters 0.05664539048601247 Centerline is valid? [True, True] Translation: X:10.58, Y:0.12, Z:-0.15 [[ 9.96032980e-01 -8.86770154e-02 7.39531171e-03 1.05783648e+01] [ 8.86781891e-02 9.96060314e-01 1.69683033e-04 1.15125661e-01] [-7.38122349e-03 4.86792953e-04 9.99972640e-01 -1.45632112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.235898226999998 meters 0.05823024931499102 Centerline is valid? [True, True] Translation: X:10.61, Y:0.11, Z:-0.15 [[ 9.96114148e-01 -8.77601871e-02 7.39957263e-03 1.06086528e+01] [ 8.77613376e-02 9.96141515e-01 1.69698097e-04 1.14238857e-01] [-7.38591423e-03 4.80357717e-04 9.99972608e-01 -1.47011479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.265898227 meters 0.05825211880013368 Centerline is valid? [True, True] Translation: X:10.64, Y:0.12, Z:-0.15 [[ 9.96170065e-01 -8.71590906e-02 6.96374655e-03 1.06410635e+01] [ 8.71600948e-02 9.96194305e-01 1.59729092e-04 1.16585485e-01] [-6.95116649e-03 4.47843469e-04 9.99975740e-01 -1.48614177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.295898226999999 meters 0.053518915935886195 Centerline is valid? [True, True] Translation: X:10.67, Y:0.12, Z:-0.15 [[ 9.96224771e-01 -8.65257185e-02 7.03604620e-03 1.06736332e+01] [ 8.65267361e-02 9.96249516e-01 1.60222124e-04 1.24536007e-01] [-7.02352096e-03 4.49188864e-04 9.99975234e-01 -1.46936192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.325898226999998 meters 0.05676123207700425 Centerline is valid? [True, True] Translation: X:10.70, Y:0.12, Z:-0.14 [[ 9.96275580e-01 -8.58930240e-02 7.57341753e-03 1.07047568e+01] [ 8.58941883e-02 9.96304250e-01 1.71999659e-04 1.21316698e-01] [-7.56020165e-03 4.79153491e-04 9.99971306e-01 -1.44495382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.355898226999999 meters 0.05074180832118811 Centerline is valid? [True, True] Translation: X:10.74, Y:0.13, Z:-0.15 [[ 9.96323627e-01 -8.53399328e-02 7.50505049e-03 1.07368896e+01] [ 8.53410687e-02 9.96351782e-01 1.69356902e-04 1.30945155e-01] [-7.49212334e-03 4.71754747e-04 9.99971822e-01 -1.45055992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.385898226999998 meters 0.05074180832118811 Centerline is valid? [True, True] Translation: X:10.77, Y:0.13, Z:-0.15 [[ 9.96339354e-01 -8.51561281e-02 7.50507751e-03 1.07696127e+01] [ 8.51572679e-02 9.96367508e-01 1.68151217e-04 1.31580058e-01] [-7.49213448e-03 4.71576220e-04 9.99971822e-01 -1.45305291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.415898226999998 meters 0.05616466965843041 Centerline is valid? [True, True] Translation: X:10.80, Y:0.12, Z:-0.15 [[ 9.96410848e-01 -8.43431761e-02 7.18687227e-03 1.08012265e+01] [ 8.43442096e-02 9.96436666e-01 1.59712774e-04 1.24025838e-01] [-7.17473372e-03 4.47031520e-04 9.99974161e-01 -1.47876507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.445898226999999 meters 0.055283227957668706 Centerline is valid? [True, True] Translation: X:10.83, Y:0.12, Z:-0.15 [[ 9.96506076e-01 -8.32341400e-02 6.90781712e-03 1.08330419e+01] [ 8.32350727e-02 9.96529929e-01 1.52859739e-04 1.24583469e-01] [-6.89656966e-03 4.22647001e-04 9.99976129e-01 -1.50666129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.475898226999998 meters 0.05005746450369143 Centerline is valid? [True, True] Translation: X:10.86, Y:0.13, Z:-0.15 [[ 9.96752260e-01 -8.02878709e-02 6.22813715e-03 1.08633739e+01] [ 8.02885731e-02 9.96771652e-01 1.37603293e-04 1.32553972e-01] [-6.21907843e-03 3.62891851e-04 9.99980595e-01 -1.50738317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.505898227 meters 0.046965266329253026 Centerline is valid? [True, True] Translation: X:10.90, Y:0.14, Z:-0.15 [[ 9.96826958e-01 -7.93493997e-02 6.29985953e-03 1.08958401e+01] [ 7.93500992e-02 9.96846800e-01 1.39241588e-04 1.39751116e-01] [-6.29104355e-03 3.61094709e-04 9.99980146e-01 -1.48113378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.535898226999999 meters 0.045629372469091635 Centerline is valid? [True, True] Translation: X:10.93, Y:0.14, Z:-0.15 [[ 9.96930865e-01 -7.79907118e-02 6.80442086e-03 1.09268866e+01] [ 7.79915010e-02 9.96954013e-01 1.49690825e-04 1.42293509e-01] [-6.79536917e-03 3.81455592e-04 9.99976838e-01 -1.45003451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.565898226999998 meters 0.046965210073148786 Centerline is valid? [True, True] Translation: X:10.96, Y:0.14, Z:-0.14 [[ 9.97031198e-01 -7.66289598e-02 7.53613210e-03 1.09574156e+01] [ 7.66298905e-02 9.97059593e-01 1.65595482e-04 1.42466085e-01] [-7.52666221e-03 4.12389116e-04 9.99971589e-01 -1.44730355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.595898227 meters 0.04461376554237714 Centerline is valid? [True, True] Translation: X:10.99, Y:0.15, Z:-0.15 [[ 9.97203495e-01 -7.42785699e-02 8.23911275e-03 1.09879522e+01] [ 7.42796040e-02 9.97237438e-01 1.80844309e-04 1.45041411e-01] [-8.22978454e-03 4.31659455e-04 9.99966042e-01 -1.45825399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.625898226999999 meters 0.04049401161002869 Centerline is valid? [True, True] Translation: X:11.02, Y:0.15, Z:-0.15 [[ 9.97547837e-01 -6.94873916e-02 8.35554401e-03 1.10189253e+01] [ 6.94882883e-02 9.97582751e-01 1.83302876e-04 1.53300439e-01] [-8.34808381e-03 3.97759063e-04 9.99965075e-01 -1.47132706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.655898226999998 meters 0.04116118363445412 Centerline is valid? [True, True] Translation: X:11.05, Y:0.16, Z:-0.15 [[ 9.97726463e-01 -6.69574415e-02 7.65547036e-03 1.10489955e+01] [ 6.69581205e-02 9.97755773e-01 1.67858393e-04 1.55879246e-01] [-7.64952912e-03 3.45119146e-04 9.99970682e-01 -1.47190087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.685898227 meters 0.03880236074863049 Centerline is valid? [True, True] Translation: X:11.08, Y:0.16, Z:-0.15 [[ 9.97923833e-01 -6.39746056e-02 7.43467132e-03 1.10787371e+01] [ 6.39751634e-02 9.97951478e-01 1.63017022e-04 1.60351004e-01] [-7.42987018e-03 3.12955741e-04 9.99972349e-01 -1.46176724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.715898226999998 meters 0.03426990512269859 Centerline is valid? [True, True] Translation: X:11.11, Y:0.17, Z:-0.14 [[ 9.98246304e-01 -5.85208312e-02 8.92351777e-03 1.11090951e+01] [ 5.85214172e-02 9.98286134e-01 1.95658392e-04 1.74698453e-01] [-8.91967415e-03 3.26901640e-04 9.99960165e-01 -1.43751894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.745898226999998 meters 0.03131267723031653 Centerline is valid? [True, True] Translation: X:11.14, Y:0.18, Z:-0.14 [[ 9.98396537e-01 -5.56953216e-02 1.01186091e-02 1.11409924e+01] [ 5.56959312e-02 9.98447752e-01 2.21751170e-04 1.82018126e-01] [-1.01152530e-02 3.42169758e-04 9.99948781e-01 -1.42032035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.775898226999999 meters 0.028578261840342394 Centerline is valid? [True, True] Translation: X:11.17, Y:0.19, Z:-0.14 [[ 9.98538803e-01 -5.29537086e-02 1.07779044e-02 1.11720349e+01] [ 5.29542445e-02 9.98596912e-01 2.35851455e-04 1.90189455e-01] [-1.07752713e-02 3.35228955e-04 9.99941889e-01 -1.41218936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.805898226999998 meters 0.02863168593812233 Centerline is valid? [True, True] Translation: X:11.20, Y:0.20, Z:-0.14 [[ 9.98635616e-01 -5.11033635e-02 1.07402687e-02 1.12030691e+01] [ 5.11037936e-02 9.98693320e-01 2.34575021e-04 1.95722962e-01] [-1.07382222e-02 3.14613503e-04 9.99942294e-01 -1.42070243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.835898227 meters 0.02615989951247765 Centerline is valid? [True, True] Translation: X:11.24, Y:0.20, Z:-0.15 [[ 9.98732261e-01 -4.95392321e-02 8.92945418e-03 1.12354126e+01] [ 4.95394726e-02 9.98772148e-01 1.94379581e-04 2.04613056e-01] [-8.92811954e-03 2.48227293e-04 9.99960113e-01 -1.46705616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.865898226999999 meters 0.02875017949047632 Centerline is valid? [True, True] Translation: X:11.27, Y:0.21, Z:-0.15 [[ 9.98732406e-01 -4.97038807e-02 7.94387831e-03 1.12670046e+01] [ 4.97040797e-02 9.98763973e-01 1.72497405e-04 2.06666837e-01] [-7.94263326e-03 2.22564413e-04 9.99968432e-01 -1.48695537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.895898226999998 meters 0.027171314997709743 Centerline is valid? [True, True] Translation: X:11.30, Y:0.21, Z:-0.15 [[ 9.98723287e-01 -4.99241111e-02 7.70573674e-03 1.12993992e+01] [ 4.99243132e-02 9.98752990e-01 1.66236264e-04 2.09709254e-01] [-7.70442681e-03 2.18679587e-04 9.99970297e-01 -1.48961577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.925898227 meters 0.02746597830448653 Centerline is valid? [True, True] Translation: X:11.33, Y:0.21, Z:-0.15 [[ 9.98681307e-01 -5.07169860e-02 7.96452362e-03 1.13317233e+01] [ 5.07172374e-02 9.98713038e-01 1.70533660e-04 2.13671493e-01] [-7.96292253e-03 2.33629857e-04 9.99968268e-01 -1.47785497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.955898226999999 meters 0.030736346181361916 Centerline is valid? [True, True] Translation: X:11.36, Y:0.21, Z:-0.15 [[ 9.98655322e-01 -5.11289412e-02 8.56618826e-03 1.13634940e+01] [ 5.11292595e-02 9.98692027e-01 1.81971240e-04 2.11977778e-01] [-8.56428792e-03 2.56256316e-04 9.99963293e-01 -1.46502485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.985898226999998 meters 0.026666589205828272 Centerline is valid? [True, True] Translation: X:11.40, Y:0.22, Z:-0.15 [[ 9.98686727e-01 -5.05002734e-02 8.63389677e-03 1.13958180e+01] [ 5.05005845e-02 9.98724015e-01 1.82113042e-04 2.23675875e-01] [-8.63207680e-03 2.54142955e-04 9.99962711e-01 -1.48387357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.015898227 meters 0.02649375445621588 Centerline is valid? [True, True] Translation: X:11.43, Y:0.23, Z:-0.15 [[ 9.98736865e-01 -4.94660264e-02 8.81972414e-03 1.14271110e+01] [ 4.94663235e-02 9.98775775e-01 1.84591962e-04 2.27283600e-01] [-8.81805784e-03 2.51920530e-04 9.99961088e-01 -1.48233595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.045898226999999 meters 0.025262898020482722 Centerline is valid? [True, True] Translation: X:11.46, Y:0.23, Z:-0.15 [[ 9.98797778e-01 -4.81501959e-02 9.19548045e-03 1.14590131e+01] [ 4.81504763e-02 9.98840075e-01 1.91016806e-04 2.31427721e-01] [-9.19401188e-03 2.51979602e-04 9.99957702e-01 -1.47760428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.075898226999998 meters 0.024610234644349346 Centerline is valid? [True, True] Translation: X:11.49, Y:0.24, Z:-0.15 [[ 9.98855608e-01 -4.69554315e-02 9.09190288e-03 1.14913136e+01] [ 4.69556693e-02 9.98896957e-01 1.87415458e-04 2.36563499e-01] [-9.09067429e-03 2.39715404e-04 9.99958650e-01 -1.49031968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.105898226999999 meters 0.025998077521261164 Centerline is valid? [True, True] Translation: X:11.52, Y:0.24, Z:-0.15 [[ 9.98871887e-01 -4.68288967e-02 7.87445494e-03 1.15234336e+01] [ 4.68290800e-02 9.98902904e-01 1.61199748e-04 2.36400098e-01] [-7.87336471e-03 2.07735584e-04 9.99968983e-01 -1.51601604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.135898226999998 meters 0.02888226443602911 Centerline is valid? [True, True] Translation: X:11.56, Y:0.24, Z:-0.15 [[ 9.98824173e-01 -4.79659603e-02 7.03831884e-03 1.15550735e+01] [ 4.79661429e-02 9.98848952e-01 1.42949064e-04 2.35185533e-01] [-7.03707408e-03 1.94820026e-04 9.99975221e-01 -1.52082258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.165898226999998 meters 0.026035540756433467 Centerline is valid? [True, True] Translation: X:11.59, Y:0.24, Z:-0.15 [[ 9.98801723e-01 -4.85194618e-02 6.40156398e-03 1.15871598e+01] [ 4.85196266e-02 9.98822221e-01 1.29644612e-04 2.37006177e-01] [-6.40031464e-03 1.81112232e-04 9.99979501e-01 -1.52328467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.195898226999999 meters 0.026728906015471014 Centerline is valid? [True, True] Translation: X:11.62, Y:0.24, Z:-0.15 [[ 9.98807437e-01 -4.85003726e-02 5.60521060e-03 1.16198450e+01] [ 4.85005025e-02 9.98823152e-01 1.12825649e-04 2.38390917e-01] [-5.60408621e-03 1.59164433e-04 9.99984284e-01 -1.52807686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.225898226999998 meters 0.027568355128152366 Centerline is valid? [True, True] Translation: X:11.65, Y:0.24, Z:-0.15 [[ 9.98931171e-01 -4.57262672e-02 6.75462953e-03 1.16505563e+01] [ 4.57264037e-02 9.98953992e-01 1.34298848e-04 2.36495769e-01] [-6.75370511e-03 1.74709611e-04 9.99977178e-01 -1.53403528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.255898227 meters 0.022337050565627327 Centerline is valid? [True, True] Translation: X:11.68, Y:0.25, Z:-0.15 [[ 9.99050186e-01 -4.28725577e-02 7.78901719e-03 1.16822650e+01] [ 4.28726542e-02 9.99080533e-01 1.54656745e-04 2.45578035e-01] [-7.78848598e-03 1.79425991e-04 9.99969653e-01 -1.53298009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.285898226999999 meters 0.020215245383884396 Centerline is valid? [True, True] Translation: X:11.71, Y:0.25, Z:-0.15 [[ 9.99183575e-01 -3.94635998e-02 8.64917110e-03 1.17136176e+01] [ 3.94635950e-02 9.99220994e-01 1.71284970e-04 2.49078247e-01] [-8.64919287e-03 1.70182257e-04 9.99962581e-01 -1.52560224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.315898226999998 meters 0.017423824909547737 Centerline is valid? [True, True] Translation: X:11.74, Y:0.25, Z:-0.15 [[ 9.99304440e-01 -3.61306745e-02 9.23092110e-03 1.17442168e+01] [ 3.61305289e-02 9.99347063e-01 1.82595349e-04 2.52448732e-01] [-9.23149118e-03 1.51049719e-04 9.99957377e-01 -1.50490493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.345898227 meters 0.016560659551919845 Centerline is valid? [True, True] Translation: X:11.78, Y:0.26, Z:-0.15 [[ 9.99418706e-01 -3.28642682e-02 9.06590347e-03 1.17767595e+01] [ 3.28639962e-02 9.99459817e-01 1.79010590e-04 2.56966359e-01] [-9.06688927e-03 1.19035285e-04 9.99958888e-01 -1.49246861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.375898226999999 meters 0.014459101867044763 Centerline is valid? [True, True] Translation: X:11.81, Y:0.26, Z:-0.15 [[ 9.99524414e-01 -2.95869876e-02 8.69229940e-03 1.18080139e+01] [ 2.95866255e-02 9.99562205e-01 1.70272281e-04 2.58437057e-01] [-8.69353180e-03 8.69845047e-05 9.99962207e-01 -1.48863205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.405898226999998 meters 0.014462660588869199 Centerline is valid? [True, True] Translation: X:11.84, Y:0.26, Z:-0.15 [[ 9.99658004e-01 -2.43266049e-02 9.59645662e-03 1.18404026e+01] [ 2.43259365e-02 9.99704063e-01 1.86382646e-04 2.63595747e-01] [-9.59815073e-03 4.71238901e-05 9.99953936e-01 -1.50097837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.435898227 meters 0.01048126585190082 Centerline is valid? [True, True] Translation: X:11.87, Y:0.26, Z:-0.15 [[ 9.99686967e-01 -2.18370238e-02 1.22111685e-02 1.18722568e+01] [ 2.18357822e-02 9.99761543e-01 2.35008692e-04 2.63792763e-01] [-1.22133885e-02 3.17052888e-05 9.99925413e-01 -1.47173291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.465898226999998 meters 0.012829116246274086 Centerline is valid? [True, True] Translation: X:11.90, Y:0.26, Z:-0.14 [[ 9.99675600e-01 -2.05824611e-02 1.50019262e-02 1.19040817e+01] [ 2.05804794e-02 9.99788158e-01 2.86482698e-04 2.64782811e-01] [-1.50046447e-02 2.23570708e-05 9.99887424e-01 -1.44604475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.495898226999998 meters 0.011938793248952445 Centerline is valid? [True, True] Translation: X:11.94, Y:0.26, Z:-0.14 [[ 9.99645826e-01 -2.05919038e-02 1.68581306e-02 1.19357446e+01] [ 2.05894386e-02 9.99787964e-01 3.19794710e-04 2.60624994e-01] [-1.68611413e-02 2.74179992e-05 9.99857840e-01 -1.40689711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.525898226999999 meters 0.013792136388559499 Centerline is valid? [True, True] Translation: X:11.97, Y:0.26, Z:-0.14 [[ 9.99656456e-01 -2.11768403e-02 1.54437961e-02 1.19677864e+01] [ 2.11748702e-02 9.99775745e-01 2.91096815e-04 2.57009438e-01] [-1.54464973e-02 3.60235682e-05 9.99880695e-01 -1.44352031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.555898226999998 meters 0.010869971183503814 Centerline is valid? [True, True] Translation: X:12.00, Y:0.25, Z:-0.15 [[ 9.99676664e-01 -2.13637338e-02 1.37898002e-02 1.19990758e+01] [ 2.13622084e-02 9.99771769e-01 2.57928966e-04 2.52398238e-01] [-1.37921633e-02 3.67350178e-05 9.99904883e-01 -1.46866182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.585898227 meters 0.013411289607012893 Centerline is valid? [True, True] Translation: X:12.03, Y:0.25, Z:-0.15 [[ 9.99699070e-01 -2.13686224e-02 1.20479196e-02 1.20314568e+01] [ 2.13674787e-02 9.99771664e-01 2.23659290e-04 2.49335642e-01] [-1.20499479e-02 3.38416814e-05 9.99927396e-01 -1.50132095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.615898226999999 meters 0.011382683748782518 Centerline is valid? [True, True] Translation: X:12.06, Y:0.25, Z:-0.15 [[ 9.99727047e-01 -2.05090045e-02 1.11898053e-02 1.20629103e+01] [ 2.05079826e-02 9.99789668e-01 2.06066548e-04 2.46124697e-01] [-1.11916779e-02 2.34700308e-05 9.99937371e-01 -1.50263285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.645898226999998 meters 0.010286294368574872 Centerline is valid? [True, True] Translation: X:12.10, Y:0.24, Z:-0.15 [[ 9.99774399e-01 -1.83137365e-02 1.07591277e-02 1.20957028e+01] [ 1.83126825e-02 9.99832289e-01 1.96475713e-04 2.44428043e-01] [-1.07609215e-02 5.97102756e-07 9.99942100e-01 -1.50807860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.675898227 meters 0.0108681829881789 Centerline is valid? [True, True] Translation: X:12.13, Y:0.24, Z:-0.15 [[ 9.99868346e-01 -1.22652825e-02 1.06232719e-02 1.21277722e+01] [ 1.22639334e-02 9.99924777e-01 1.92133275e-04 2.43071200e-01] [-1.06248293e-02 -6.18248816e-05 9.99943553e-01 -1.50175739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.705898226999999 meters 0.014985691560497023 Centerline is valid? [True, True] Translation: X:12.16, Y:0.25, Z:-0.15 [[ 9.99906856e-01 -8.48001153e-03 1.06943284e-02 1.21586246e+01] [ 8.47844248e-03 9.99964039e-01 1.92047811e-04 2.45803797e-01] [-1.06955723e-02 -1.01358675e-04 9.99942796e-01 -1.49389788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.735898226999998 meters 0.017721120941050085 Centerline is valid? [True, True] Translation: X:12.19, Y:0.25, Z:-0.15 [[ 9.99934298e-01 -4.08951154e-03 1.07086984e-02 1.21892343e+01] [ 4.08769111e-03 9.99991627e-01 1.91877502e-04 2.49871716e-01] [-1.07093934e-02 -1.48091044e-04 9.99942642e-01 -1.48178952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.765898227 meters 0.021936095996998292 Centerline is valid? [True, True] Translation: X:12.22, Y:0.26, Z:-0.15 [[ 9.99915381e-01 5.45096317e-03 1.18117447e-02 1.22193323e+01] [-5.45384032e-03 9.99985105e-01 2.11386970e-04 2.57574287e-01] [-1.18104165e-02 -2.75788452e-04 9.99930217e-01 -1.46347052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.795898226999999 meters 0.025694332301185736 Centerline is valid? [True, True] Translation: X:12.25, Y:0.26, Z:-0.15 [[ 9.99880447e-01 9.36225253e-03 1.23060669e-02 1.22498409e+01] [-9.36567020e-03 9.99956117e-01 2.20120983e-04 2.62247553e-01] [-1.23034660e-02 -3.35349231e-04 9.99924253e-01 -1.46285043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.825898226999998 meters 0.028452076412021656 Centerline is valid? [True, True] Translation: X:12.28, Y:0.27, Z:-0.15 [[ 9.99850442e-01 1.23811476e-02 1.20748112e-02 1.22788184e+01] [-1.23846605e-02 9.99923284e-01 2.16191614e-04 2.65886701e-01] [-1.20712082e-02 -3.65701718e-04 9.99927073e-01 -1.47661192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.855898226999999 meters 0.03014642962329297 Centerline is valid? [True, True] Translation: X:12.31, Y:0.27, Z:-0.15 [[ 9.99828630e-01 1.46189754e-02 1.13576178e-02 1.23077787e+01] [-1.46222329e-02 9.99893069e-01 2.03820458e-04 2.67890635e-01] [-1.13534237e-02 -3.69859262e-04 9.99935479e-01 -1.49776668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.885898226999998 meters 0.03094279506290918 Centerline is valid? [True, True] Translation: X:12.34, Y:0.27, Z:-0.15 [[ 9.99825770e-01 1.58348256e-02 9.88372662e-03 1.23357151e+01] [-1.58373555e-02 9.99874565e-01 1.77742211e-04 2.70048946e-01] [-9.87967234e-03 -3.34243335e-04 9.99951139e-01 -1.52616305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.915898226999998 meters 0.03183667781204304 Centerline is valid? [True, True] Translation: X:12.36, Y:0.27, Z:-0.16 [[ 9.99851309e-01 1.57813225e-02 6.95053750e-03 1.23643234e+01] [-1.57825743e-02 9.99875440e-01 1.25287517e-04 2.71721536e-01] [-6.94769454e-03 -2.34966262e-04 9.99975837e-01 -1.56524402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.945898226999999 meters 0.031380203252711174 Centerline is valid? [True, True] Translation: X:12.39, Y:0.27, Z:-0.16 [[ 9.99862037e-01 1.50416788e-02 7.04659803e-03 1.23935171e+01] [-1.50429489e-02 9.99886840e-01 1.27268278e-04 2.72418585e-01] [-7.04388631e-03 -2.33252333e-04 9.99975164e-01 -1.56033247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.975898226999998 meters 0.03153725063030384 Centerline is valid? [True, True] Translation: X:12.42, Y:0.28, Z:-0.15 [[ 9.99857924e-01 1.46849181e-02 8.27558767e-03 1.24212620e+01] [-1.46866615e-02 9.99892134e-01 1.49937366e-04 2.76589533e-01] [-8.27249320e-03 -2.71456819e-04 9.99965745e-01 -1.53929433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.005898227 meters 0.032107190981043934 Centerline is valid? [True, True] Translation: X:12.45, Y:0.28, Z:-0.15 [[ 9.99859446e-01 1.41764686e-02 8.95079023e-03 1.24501435e+01] [-1.41784928e-02 9.99899467e-01 1.62728467e-04 2.78869327e-01] [-8.94758346e-03 -2.89614310e-04 9.99959928e-01 -1.52801105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.035898227 meters 0.02911047599807219 Centerline is valid? [True, True] Translation: X:12.48, Y:0.28, Z:-0.15 [[ 9.99857636e-01 1.39183048e-02 9.53877481e-03 1.24789412e+01] [-1.39205965e-02 9.99903089e-01 1.73887126e-04 2.78414635e-01] [-9.53543019e-03 -3.06647805e-04 9.99954490e-01 -1.52789994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.065898227 meters 0.029524414753021345 Centerline is valid? [True, True] Translation: X:12.51, Y:0.28, Z:-0.15 [[ 9.99863978e-01 1.39749299e-02 8.75935149e-03 1.25069256e+01] [-1.39768683e-02 9.99902306e-01 1.60106402e-04 2.83409209e-01] [-8.75625828e-03 -2.82512926e-04 9.99961623e-01 -1.54706536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.095898227 meters 0.0318292803350652 Centerline is valid? [True, True] Translation: X:12.53, Y:0.29, Z:-0.16 [[ 9.99865985e-01 1.39287856e-02 8.60235830e-03 1.25334169e+01] [-1.39306593e-02 9.99902951e-01 1.57936964e-04 2.87474710e-01] [-8.59932359e-03 -2.77752322e-04 9.99962987e-01 -1.55692735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.125898227 meters 0.03283297616197744 Centerline is valid? [True, True] Translation: X:12.56, Y:0.29, Z:-0.16 [[ 9.99860788e-01 1.42059409e-02 8.75195914e-03 1.25620240e+01] [-1.42078970e-02 9.99899050e-01 1.61374415e-04 2.91522306e-01] [-8.74878315e-03 -2.85698884e-04 9.99961688e-01 -1.55412165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.155898227 meters 0.03070958349190749 Centerline is valid? [True, True] Translation: X:12.59, Y:0.29, Z:-0.15 [[ 9.99863526e-01 1.34391692e-02 9.60822639e-03 1.25902289e+01] [-1.34414961e-02 9.99909643e-01 1.77645600e-04 2.94693052e-01] [-9.60497081e-03 -3.06770294e-04 9.99953824e-01 -1.52560251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.185898227 meters 0.02906246519552703 Centerline is valid? [True, True] Translation: X:12.62, Y:0.29, Z:-0.15 [[ 9.99884060e-01 1.15319316e-02 9.94388918e-03 1.26189979e+01] [-1.15343345e-02 9.99933460e-01 1.84326104e-04 2.93228618e-01] [-9.94110188e-03 -2.99000877e-04 9.99950541e-01 -1.51671160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.215898227 meters 0.02875511828325876 Centerline is valid? [True, True] Translation: X:12.65, Y:0.29, Z:-0.15 [[ 9.99914922e-01 8.58563357e-03 9.82014303e-03 1.26480960e+01] [-8.58783895e-03 9.99963107e-01 1.82431336e-04 2.90229042e-01] [-9.81821445e-03 -2.66749622e-04 9.99951765e-01 -1.52013443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.245898227 meters 0.02573505463477319 Centerline is valid? [True, True] Translation: X:12.68, Y:0.28, Z:-0.15 [[ 9.99936072e-01 5.94523323e-03 9.61796422e-03 1.26783220e+01] [-5.94722899e-03 9.99982299e-01 1.78916035e-04 2.84558535e-01] [-9.61673028e-03 -2.36104833e-04 9.99953730e-01 -1.52852654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.275898227 meters 0.02573505463477319 Centerline is valid? [True, True] Translation: X:12.71, Y:0.29, Z:-0.15 [[ 9.99936208e-01 5.92244448e-03 9.61795838e-03 1.27074679e+01] [-5.92444221e-03 9.99982434e-01 1.79229401e-04 2.85140716e-01] [-9.61672796e-03 -2.36199006e-04 9.99953730e-01 -1.53075827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.305898227 meters 0.02094907256060109 Centerline is valid? [True, True] Translation: X:12.74, Y:0.27, Z:-0.16 [[ 9.99950091e-01 3.61796213e-03 9.31266676e-03 1.27377809e+01] [-3.61973691e-03 9.99993434e-01 1.73729631e-04 2.74353729e-01] [-9.31197706e-03 -2.07430364e-04 9.99956621e-01 -1.55654214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.335898227 meters 0.02350555548769373 Centerline is valid? [True, True] Translation: X:12.77, Y:0.28, Z:-0.16 [[ 9.99956757e-01 1.89331348e-03 9.10490383e-03 1.27682069e+01] [-1.89493843e-03 9.99998190e-01 1.69846200e-04 2.75372960e-01] [-9.10456578e-03 -1.87092088e-04 9.99958535e-01 -1.57462518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.365898227 meters 0.026080183719725657 Centerline is valid? [True, True] Translation: X:12.80, Y:0.28, Z:-0.15 [[ 9.99946145e-01 3.64876612e-03 9.71568754e-03 1.28001705e+01] [-3.65069291e-03 9.99993320e-01 1.80589738e-04 2.75103852e-01] [-9.71496370e-03 -2.16049004e-04 9.99952785e-01 -1.54753723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.395898227 meters 0.026030627820745007 Centerline is valid? [True, True] Translation: X:12.83, Y:0.28, Z:-0.15 [[ 9.99932338e-01 6.92941052e-03 9.34355858e-03 1.28315000e+01] [-6.93133221e-03 9.99975963e-01 1.73302672e-04 2.75201390e-01] [-9.34213311e-03 -2.38054254e-04 9.99956333e-01 -1.54065943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.425898227 meters 0.025864943843827107 Centerline is valid? [True, True] Translation: X:12.86, Y:0.28, Z:-0.15 [[ 9.99903429e-01 1.08608617e-02 8.67030527e-03 1.28604626e+01] [-1.08626631e-02 9.99940987e-01 1.60707745e-04 2.75669422e-01] [-8.66804818e-03 -2.54874830e-04 9.99962399e-01 -1.54407951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.455898227 meters 0.04043689487335877 Centerline is valid? [True, True] Translation: X:12.89, Y:0.29, Z:-0.16 [[ 9.99788413e-01 1.86508771e-02 8.67606378e-03 1.28892223e+01] [-1.86529780e-02 9.99826005e-01 1.61278400e-04 2.88017024e-01] [-8.67154621e-03 -3.23078702e-04 9.99962349e-01 -1.56863537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.485898227 meters 0.0357604659519074 Centerline is valid? [True, True] Translation: X:12.92, Y:0.28, Z:-0.16 [[ 9.99698172e-01 2.21380390e-02 1.06523498e-02 1.29199141e+01] [-2.21414060e-02 9.99754829e-01 1.98236454e-04 2.79779326e-01] [-1.06453496e-02 -4.34034623e-04 9.99943242e-01 -1.55624001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.515898227 meters 0.04618567386265879 Centerline is valid? [True, True] Translation: X:12.95, Y:0.29, Z:-0.15 [[ 9.99627998e-01 2.44123682e-02 1.21614972e-02 1.29476942e+01] [-2.44169280e-02 9.99701837e-01 2.26579464e-04 2.92056329e-01] [-1.21523397e-02 -5.23441577e-04 9.99926021e-01 -1.52408140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.545898227000002 meters 0.04188754685132476 Centerline is valid? [True, True] Translation: X:12.98, Y:0.28, Z:-0.15 [[ 9.99580918e-01 2.57424313e-02 1.32407131e-02 1.29773258e+01] [-2.57479609e-02 9.99668436e-01 2.47295298e-04 2.83714835e-01] [-1.32299570e-02 -5.88113024e-04 9.99912307e-01 -1.51714202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.575898227 meters 0.04859286753384905 Centerline is valid? [True, True] Translation: X:13.00, Y:0.29, Z:-0.15 [[ 9.99570116e-01 2.60699789e-02 1.34141212e-02 1.30046266e+01] [-2.60756930e-02 9.99659940e-01 2.51228152e-04 2.93232117e-01] [-1.34030101e-02 -6.00902660e-04 9.99909995e-01 -1.49496105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.605898227 meters 0.04071927662841423 Centerline is valid? [True, True] Translation: X:13.03, Y:0.28, Z:-0.15 [[ 9.99605163e-01 2.52272570e-02 1.23734645e-02 1.30340432e+01] [-2.52320711e-02 9.99681593e-01 2.33092113e-04 2.80181338e-01] [-1.23636444e-02 -5.45208217e-04 9.99923419e-01 -1.52939235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.635898227000002 meters 0.04524354268461039 Centerline is valid? [True, True] Translation: X:13.06, Y:0.28, Z:-0.16 [[ 9.99705826e-01 2.19156050e-02 1.03907676e-02 1.30634107e+01] [-2.19188323e-02 9.99759734e-01 1.96798553e-04 2.82518954e-01] [-1.03839581e-02 -4.24494153e-04 9.99945995e-01 -1.56186861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.665898227 meters 0.0340223838971065 Centerline is valid? [True, True] Translation: X:13.09, Y:0.27, Z:-0.16 [[ 9.99766502e-01 1.94010693e-02 9.51528425e-03 1.30936184e+01] [-1.94036637e-02 9.99811715e-01 1.80404592e-04 2.65656676e-01] [-9.50999262e-03 -3.64993844e-04 9.99954712e-01 -1.57623873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.695898227 meters 0.040416286802945366 Centerline is valid? [True, True] Translation: X:13.12, Y:0.27, Z:-0.16 [[ 9.99829095e-01 1.62700555e-02 8.77874003e-03 1.31227120e+01] [-1.62721442e-02 9.99867586e-01 1.66552152e-04 2.72196321e-01] [-8.77486779e-03 -3.09372611e-04 9.99961452e-01 -1.57791712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.725898227000002 meters 0.03129496500546858 Centerline is valid? [True, True] Translation: X:13.15, Y:0.26, Z:-0.16 [[ 9.99877696e-01 1.28104577e-02 8.97133063e-03 1.31530400e+01] [-1.28125020e-02 9.99917902e-01 1.70430895e-04 2.56248746e-01] [-8.96841080e-03 -2.85355242e-04 9.99959742e-01 -1.58335273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.755898227 meters 0.028237404538868447 Centerline is valid? [True, True] Translation: X:13.18, Y:0.24, Z:-0.16 [[ 9.99932646e-01 3.40193082e-03 1.10963881e-02 1.31819847e+01] [-3.40448362e-03 9.99994182e-01 2.11175533e-04 2.43185153e-01] [-1.10956051e-02 -2.48938781e-04 9.99938411e-01 -1.56421350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.785898227 meters 0.021770431496637908 Centerline is valid? [True, True] Translation: X:13.21, Y:0.23, Z:-0.16 [[ 9.99931255e-01 -1.73101512e-03 1.15969660e-02 1.32126055e+01] [ 1.72856902e-03 9.99998482e-01 2.20945569e-04 2.31042570e-01] [-1.15973309e-02 -2.00884224e-04 9.99932729e-01 -1.55162770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.815898227 meters 0.017603084181195255 Centerline is valid? [True, True] Translation: X:13.24, Y:0.22, Z:-0.16 [[ 9.99918280e-01 -6.78877045e-03 1.08326469e-02 1.32447580e+01] [ 6.78693398e-03 9.99976947e-01 2.06283733e-04 2.20585961e-01] [-1.08337976e-02 -1.32746415e-04 9.99941304e-01 -1.55640373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.845898227 meters 0.012144658568089084 Centerline is valid? [True, True] Translation: X:13.28, Y:0.21, Z:-0.16 [[ 9.99889927e-01 -1.10183325e-02 9.93628711e-03 1.32774767e+01] [ 1.10170021e-02 9.99939293e-01 1.88616753e-04 2.07769228e-01] [-9.93776215e-03 -7.91278953e-05 9.99950616e-01 -1.57569112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.875898227 meters 0.010885899081733805 Centerline is valid? [True, True] Translation: X:13.31, Y:0.20, Z:-0.16 [[ 9.99857281e-01 -1.38641107e-02 9.65426482e-03 1.33099352e+01] [ 1.38630025e-02 9.99903887e-01 1.81704195e-04 2.00187283e-01] [-9.65585609e-03 -4.78411654e-05 9.99953380e-01 -1.58466967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.905898227 meters 0.014499813949036136 Centerline is valid? [True, True] Translation: X:13.34, Y:0.20, Z:-0.16 [[ 9.99831747e-01 -1.54383027e-02 9.90635928e-03 1.33414415e+01] [ 1.54372294e-02 9.99880822e-01 1.84799029e-04 1.95767904e-01] [-9.90803164e-03 -3.18411945e-05 9.99950914e-01 -1.58119572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.935898227 meters 0.011125867294139396 Centerline is valid? [True, True] Translation: X:13.37, Y:0.19, Z:-0.16 [[ 9.99847266e-01 -1.43910590e-02 9.91678567e-03 1.33732582e+01] [ 1.43899475e-02 9.99896443e-01 1.83436226e-04 1.93243557e-01] [-9.91839856e-03 -4.07061837e-05 9.99950811e-01 -1.55498039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.965898227 meters 0.013836049703960318 Centerline is valid? [True, True] Translation: X:13.41, Y:0.19, Z:-0.16 [[ 9.99869477e-01 -1.32497158e-02 9.24518587e-03 1.34056274e+01] [ 1.32487128e-02 9.99912218e-01 1.69723887e-04 1.94645113e-01] [-9.24662310e-03 -4.72149214e-05 9.99957248e-01 -1.56583205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.995898227 meters 0.012019841500030552 Centerline is valid? [True, True] Translation: X:13.44, Y:0.19, Z:-0.16 [[ 9.99874462e-01 -1.27568078e-02 9.39811098e-03 1.34377700e+01] [ 1.27557532e-02 9.99918627e-01 1.72144711e-04 1.94058333e-01] [-9.39954225e-03 -5.22431158e-05 9.99955822e-01 -1.56717295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.025898227 meters 0.01179920342188397 Centerline is valid? [True, True] Translation: X:13.47, Y:0.19, Z:-0.16 [[ 9.99862693e-01 -1.34058465e-02 9.74054315e-03 1.34703308e+01] [ 1.34047485e-02 9.99910136e-01 1.77996708e-04 1.89562078e-01] [-9.74205402e-03 -4.74027367e-05 9.99952544e-01 -1.58245961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.055898227 meters 0.014903761998637237 Centerline is valid? [True, True] Translation: X:13.50, Y:0.18, Z:-0.16 [[ 9.99816509e-01 -1.58039768e-02 1.08250506e-02 1.35013509e+01] [ 1.58027709e-02 9.99875109e-01 1.96930905e-04 1.83567641e-01] [-1.08268110e-02 -2.58289758e-05 9.99941388e-01 -1.57039483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.085898227 meters 0.01025077770286697 Centerline is valid? [True, True] Translation: X:13.53, Y:0.18, Z:-0.15 [[ 9.99785317e-01 -1.74939905e-02 1.11031709e-02 1.35336389e+01] [ 1.74928459e-02 9.99846968e-01 2.00207634e-04 1.80153870e-01] [-1.11049742e-02 -5.93859568e-06 9.99938338e-01 -1.54937444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.115898227 meters 0.01299834550615447 Centerline is valid? [True, True] Translation: X:13.57, Y:0.17, Z:-0.16 [[ 9.99714758e-01 -2.18715156e-02 9.59371658e-03 1.35667327e+01] [ 2.18708770e-02 9.99760789e-01 1.71485747e-04 1.73052762e-01] [-9.59517231e-03 3.83861628e-05 9.99953965e-01 -1.59038957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.145898227 meters 0.011739060522460475 Centerline is valid? [True, True] Translation: X:13.60, Y:0.17, Z:-0.16 [[ 9.99670400e-01 -2.37516652e-02 9.74422610e-03 1.35978251e+01] [ 2.37511122e-02 9.99717888e-01 1.72494026e-04 1.68250362e-01] [-9.74557415e-03 5.89990347e-05 9.99952509e-01 -1.59397848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.175898227 meters 0.012666141508027787 Centerline is valid? [True, True] Translation: X:13.63, Y:0.17, Z:-0.16 [[ 9.99628655e-01 -2.51390596e-02 1.05157276e-02 1.36293314e+01] [ 2.51385046e-02 9.99683961e-01 1.84971012e-04 1.65135120e-01] [-1.05170542e-02 7.94473420e-05 9.99944691e-01 -1.58259887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.205898227 meters 0.014264228918674984 Centerline is valid? [True, True] Translation: X:13.66, Y:0.17, Z:-0.16 [[ 9.99602039e-01 -2.58547264e-02 1.12825800e-02 1.36614912e+01] [ 2.58541538e-02 9.99665706e-01 1.96630766e-04 1.65433014e-01] [-1.12838922e-02 9.51490437e-05 9.99936330e-01 -1.57437279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.235898227 meters 0.013032324006302028 Centerline is valid? [True, True] Translation: X:13.69, Y:0.17, Z:-0.16 [[ 9.99609865e-01 -2.54908819e-02 1.14163611e-02 1.36934592e+01] [ 2.54902942e-02 9.99675050e-01 1.97006045e-04 1.65140011e-01] [-1.14176733e-02 9.40772181e-05 9.99934812e-01 -1.56468523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.265898227 meters 0.011995166131870516 Centerline is valid? [True, True] Translation: X:13.73, Y:0.17, Z:-0.16 [[ 9.99675064e-01 -2.37548966e-02 9.24506067e-03 1.37254780e+01] [ 2.37544496e-02 9.99717811e-01 1.58173496e-04 1.67268334e-01] [-9.24620921e-03 6.14892280e-05 9.99957251e-01 -1.62959130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.295898227000002 meters 0.011748383671569091 Centerline is valid? [True, True] Translation: X:13.76, Y:0.17, Z:-0.17 [[ 9.99694425e-01 -2.34603002e-02 7.78910411e-03 1.37585739e+01] [ 2.34599824e-02 9.99724768e-01 1.32174390e-04 1.68256294e-01] [-7.79006115e-03 5.05982451e-05 9.99969656e-01 -1.66887991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.325898227 meters 0.012133953466113455 Centerline is valid? [True, True] Translation: X:13.79, Y:0.17, Z:-0.17 [[ 9.99697172e-01 -2.37631802e-02 6.39338241e-03 1.37908360e+01] [ 2.37629785e-02 9.99717615e-01 1.07513330e-04 1.69251734e-01] [-6.39413187e-03 4.44450371e-05 9.99979556e-01 -1.67945142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.355898227 meters 0.012588618894990774 Centerline is valid? [True, True] Translation: X:13.82, Y:0.17, Z:-0.17 [[ 9.99686957e-01 -2.43296486e-02 5.83583770e-03 1.38232871e+01] [ 2.43294957e-02 9.99703989e-01 9.72045901e-05 1.71489705e-01] [-5.83647518e-03 4.48088274e-05 9.99982967e-01 -1.66677648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.385898227000002 meters 0.013145670093533885 Centerline is valid? [True, True] Translation: X:13.86, Y:0.17, Z:-0.17 [[ 9.99669411e-01 -2.49747439e-02 6.10983106e-03 1.38564238e+01] [ 2.49745951e-02 9.99688081e-01 1.00656386e-04 1.74676086e-01] [-6.11043915e-03 5.19674473e-05 9.99981330e-01 -1.65360466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.415898227 meters 0.013359735740497354 Centerline is valid? [True, True] Translation: X:13.89, Y:0.18, Z:-0.17 [[ 9.99630155e-01 -2.64800555e-02 6.19354829e-03 1.38885554e+01] [ 2.64799388e-02 9.99649340e-01 1.00852892e-04 1.75976064e-01] [-6.19404705e-03 6.31891879e-05 9.99980815e-01 -1.65746445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.445898227 meters 0.01923016481386701 Centerline is valid? [True, True] Translation: X:13.92, Y:0.17, Z:-0.17 [[ 9.99457419e-01 -3.23159189e-02 6.36787718e-03 1.39201003e+01] [ 3.23159217e-02 9.99477699e-01 1.02478922e-04 1.69797847e-01] [-6.36786293e-03 1.03360502e-04 9.99979720e-01 -1.69824549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.475898227000002 meters 0.02174040568900002 Centerline is valid? [True, True] Translation: X:13.95, Y:0.17, Z:-0.17 [[ 9.99348761e-01 -3.54706063e-02 6.62492175e-03 1.39511348e+01] [ 3.54706816e-02 9.99370712e-01 1.06160795e-04 1.67923558e-01] [-6.62451835e-03 1.28898831e-04 9.99978049e-01 -1.69330130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.505898227 meters 0.02283707463412926 Centerline is valid? [True, True] Translation: X:13.98, Y:0.17, Z:-0.17 [[ 9.99262581e-01 -3.78082473e-02 6.69562196e-03 1.39832975e+01] [ 3.78083840e-02 9.99285002e-01 1.06193605e-04 1.71472041e-01] [-6.69484960e-03 1.47035351e-04 9.99977578e-01 -1.67291094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.535898227 meters 0.02429073597256206 Centerline is valid? [True, True] Translation: X:14.02, Y:0.18, Z:-0.17 [[ 9.99147877e-01 -4.08450014e-02 5.93345380e-03 1.40157006e+01] [ 4.08451637e-02 9.99165484e-01 9.38713532e-05 1.76801280e-01] [-5.93233641e-03 1.48561529e-04 9.99982393e-01 -1.66588279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.565898227 meters 0.025512598037726927 Centerline is valid? [True, True] Translation: X:14.05, Y:0.18, Z:-0.17 [[ 9.99109442e-01 -4.18348468e-02 5.49255780e-03 1.40463897e+01] [ 4.18350023e-02 9.99124529e-01 8.66202689e-05 1.78321712e-01] [-5.49137297e-03 1.43238040e-04 9.99984912e-01 -1.69329559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.595898227 meters 0.025502547622483718 Centerline is valid? [True, True] Translation: X:14.08, Y:0.18, Z:-0.17 [[ 9.99078883e-01 -4.25987695e-02 5.17006526e-03 1.40782776e+01] [ 4.25989164e-02 9.99092251e-01 8.17591254e-05 1.81284020e-01] [-5.16885498e-03 1.38555362e-04 9.99986632e-01 -1.70731620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.625898227 meters 0.028420208953383964 Centerline is valid? [True, True] Translation: X:14.11, Y:0.18, Z:-0.17 [[ 9.99029719e-01 -4.37242670e-02 5.27344752e-03 1.41090876e+01] [ 4.37244401e-02 9.99043626e-01 8.25122347e-05 1.81043095e-01] [-5.27201191e-03 1.48146366e-04 9.99986092e-01 -1.71394973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.655898227 meters 0.0282190037933286 Centerline is valid? [True, True] Translation: X:14.14, Y:0.18, Z:-0.17 [[ 9.98945930e-01 -4.55272097e-02 5.85674136e-03 1.41410592e+01] [ 4.55274610e-02 9.98963083e-01 9.04766433e-05 1.82091492e-01] [-5.85478756e-03 1.76261289e-04 9.99982845e-01 -1.68893014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.685898227 meters 0.03266168313024729 Centerline is valid? [True, True] Translation: X:14.17, Y:0.18, Z:-0.17 [[ 9.98724109e-01 -4.99021189e-02 7.74159646e-03 1.41708025e+01] [ 4.99026928e-02 9.98754077e-01 1.19131492e-04 1.78963616e-01] [-7.73789594e-03 2.67347017e-04 9.99970026e-01 -1.65127557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.715898227 meters 0.035800279924609414 Centerline is valid? [True, True] Translation: X:14.20, Y:0.18, Z:-0.17 [[ 9.98582267e-01 -5.26401436e-02 7.90384510e-03 1.42009461e+01] [ 5.26408298e-02 9.98613503e-01 1.21334393e-04 1.75538054e-01] [-7.89927351e-03 2.94902591e-04 9.99968757e-01 -1.66397067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.745898227 meters 0.03915672549705918 Centerline is valid? [True, True] Translation: X:14.23, Y:0.17, Z:-0.17 [[ 9.98442960e-01 -5.53338983e-02 7.05802802e-03 1.42307195e+01] [ 5.53345125e-02 9.98467866e-01 1.08379275e-04 1.71832171e-01] [-7.05321122e-03 2.82342015e-04 9.99975086e-01 -1.69730863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.775898227 meters 0.04038290451084013 Centerline is valid? [True, True] Translation: X:14.26, Y:0.17, Z:-0.17 [[ 9.98333834e-01 -5.74579332e-02 5.30486775e-03 1.42619465e+01] [ 5.74583114e-02 9.98347903e-01 8.12242190e-05 1.68798160e-01] [-5.30077057e-03 2.23719857e-04 9.99985926e-01 -1.72550861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.805898227 meters 0.041916851904421314 Centerline is valid? [True, True] Translation: X:14.29, Y:0.17, Z:-0.17 [[ 9.98323598e-01 -5.78217713e-02 2.57625080e-03 1.42931728e+01] [ 5.78218600e-02 9.98326916e-01 4.00870117e-05 1.68714300e-01] [-2.57425841e-03 1.08943803e-04 9.99996681e-01 -1.74727030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.835898227 meters 0.04089724446966878 Centerline is valid? [True, True] Translation: X:14.33, Y:0.17, Z:-0.17 [[ 9.98402465e-01 -5.64393370e-02 2.66828963e-03 1.43250142e+01] [ 5.64394296e-02 9.98406024e-01 4.06102327e-05 1.71668337e-01] [-2.66632846e-03 1.10051389e-04 9.99996439e-01 -1.72708320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.865898227 meters 0.03966215046017346 Centerline is valid? [True, True] Translation: X:14.36, Y:0.17, Z:-0.17 [[ 9.98506639e-01 -5.44795948e-02 4.05769826e-03 1.43554366e+01] [ 5.44797949e-02 9.98514871e-01 6.12790532e-05 1.74651421e-01] [-4.05501052e-03 1.59875028e-04 9.99991766e-01 -1.70027398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.895898227 meters 0.036982398075183776 Centerline is valid? [True, True] Translation: X:14.39, Y:0.18, Z:-0.17 [[ 9.98621212e-01 -5.20632614e-02 6.71504208e-03 1.43874412e+01] [ 5.20637557e-02 9.98643758e-01 1.01302263e-04 1.79598369e-01] [-6.71120898e-03 2.48447721e-04 9.99977449e-01 -1.66352118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.925898227 meters 0.036285198842409355 Centerline is valid? [True, True] Translation: X:14.42, Y:0.18, Z:-0.16 [[ 9.98685250e-01 -5.05173613e-02 8.70448410e-03 1.44176706e+01] [ 5.05181360e-02 9.98723135e-01 1.30979714e-04 1.83246922e-01] [-8.69998640e-03 3.08926804e-04 9.99962107e-01 -1.63850277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.955898227 meters 0.03709976244231306 Centerline is valid? [True, True] Translation: X:14.45, Y:0.19, Z:-0.17 [[ 9.98687001e-01 -5.05498303e-02 8.30598799e-03 1.44496259e+01] [ 5.05505381e-02 9.98721496e-01 1.24832818e-04 1.85581641e-01] [-8.30167903e-03 2.95203250e-04 9.99965497e-01 -1.66561351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.985898227 meters 0.03943952173972675 Centerline is valid? [True, True] Translation: X:14.48, Y:0.18, Z:-0.17 [[ 9.98599760e-01 -5.22967558e-02 7.97296133e-03 1.44812575e+01] [ 5.22974703e-02 9.98631544e-01 1.18990047e-04 1.83496677e-01] [-7.96827347e-03 2.98142276e-04 9.99968208e-01 -1.68728187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.015898227 meters 0.04172257366948945 Centerline is valid? [True, True] Translation: X:14.51, Y:0.18, Z:-0.17 [[ 9.98480162e-01 -5.45842675e-02 7.61071855e-03 1.45127894e+01] [ 5.45849926e-02 9.98509122e-01 1.12574301e-04 1.82610541e-01] [-7.60551668e-03 3.03027809e-04 9.99971032e-01 -1.69028647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.045898227 meters 0.04506124596589498 Centerline is valid? [True, True] Translation: X:14.54, Y:0.18, Z:-0.17 [[ 9.98317604e-01 -5.75534375e-02 7.04007492e-03 1.45423920e+01] [ 5.75541326e-02 9.98342382e-01 1.03983357e-04 1.81406823e-01] [-7.03438976e-03 3.01376990e-04 9.99975213e-01 -1.69079882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.075898227 meters 0.048324101717988496 Centerline is valid? [True, True] Translation: X:14.57, Y:0.18, Z:-0.17 [[ 9.98128112e-01 -6.08915381e-02 5.70029859e-03 1.45729087e+01] [ 6.08920480e-02 9.98144354e-01 8.42157866e-05 1.80062577e-01] [-5.69484888e-03 2.63044711e-04 9.99983750e-01 -1.71197505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.105898227 meters 0.05431995512901841 Centerline is valid? [True, True] Translation: X:14.60, Y:0.18, Z:-0.17 [[ 9.97822710e-01 -6.57895509e-02 4.64489513e-03 1.46025819e+01] [ 6.57899421e-02 9.97833493e-01 6.86904802e-05 1.75724019e-01] [-4.63935104e-03 2.37046460e-04 9.99989210e-01 -1.73867398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.135898227000002 meters 0.055345277457800955 Centerline is valid? [True, True] Translation: X:14.63, Y:0.18, Z:-0.17 [[ 9.97723353e-01 -6.71839427e-02 5.86762748e-03 1.46338245e+01] [ 6.71845933e-02 9.97740559e-01 8.63751600e-05 1.76575739e-01] [-5.86017295e-03 3.08035652e-04 9.99982782e-01 -1.71375025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.165898227 meters 0.058770418292591955 Centerline is valid? [True, True] Translation: X:14.66, Y:0.18, Z:-0.17 [[ 9.97614608e-01 -6.85645321e-02 7.99992614e-03 1.46636770e+01] [ 6.85657875e-02 9.97646590e-01 1.17546787e-04 1.75847745e-01] [-7.98915857e-03 4.31254844e-04 9.99967993e-01 -1.67981163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.195898227 meters 0.058770418292591955 Centerline is valid? [True, True] Translation: X:14.70, Y:0.18, Z:-0.17 [[ 9.97625979e-01 -6.83988832e-02 7.99992699e-03 1.46963688e+01] [ 6.84001338e-02 9.97657961e-01 1.17488029e-04 1.76185954e-01] [-7.98922691e-03 4.29986967e-04 9.99967993e-01 -1.68231171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.225898227000002 meters 0.051817768709301756 Centerline is valid? [True, True] Translation: X:14.73, Y:0.19, Z:-0.17 [[ 9.97422055e-01 -7.10097158e-02 1.03375497e-02 1.47272897e+01] [ 7.10119614e-02 9.97475453e-01 1.50137234e-04 1.88294153e-01] [-1.03221132e-02 5.84339488e-04 9.99946555e-01 -1.65716826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.255898227 meters 0.0635143001958126 Centerline is valid? [True, True] Translation: X:14.76, Y:0.17, Z:-0.17 [[ 9.97399856e-01 -7.13310297e-02 1.02670036e-02 1.47586209e+01] [ 7.13332666e-02 9.97452527e-01 1.48625527e-04 1.74275945e-01] [-1.02514503e-02 5.84139823e-04 9.99947282e-01 -1.66905937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.285898227 meters 0.06362306259049061 Centerline is valid? [True, True] Translation: X:14.79, Y:0.18, Z:-0.17 [[ 9.97408377e-01 -7.12337232e-02 1.01136285e-02 1.47921737e+01] [ 7.12359014e-02 9.97459486e-01 1.45157910e-04 1.75337344e-01] [-1.00982748e-02 5.75671729e-04 9.99948845e-01 -1.68032219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.315898227 meters 0.06450021195289424 Centerline is valid? [True, True] Translation: X:14.82, Y:0.18, Z:-0.17 [[ 9.97440716e-01 -7.08647572e-02 9.49761244e-03 1.48232192e+01] [ 7.08666686e-02 9.97485788e-01 1.35561723e-04 1.76883721e-01] [-9.48333997e-03 5.37849370e-04 9.99954887e-01 -1.66900251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.345898227 meters 0.06410722187958824 Centerline is valid? [True, True] Translation: X:14.86, Y:0.18, Z:-0.17 [[ 9.97458406e-01 -7.07827234e-02 8.15681921e-03 1.48567404e+01] [ 7.07841381e-02 9.97491650e-01 1.15478965e-04 1.78362262e-01] [-8.14453297e-03 4.62187953e-04 9.99966726e-01 -1.68042518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.375898227 meters 0.06395332565636552 Centerline is valid? [True, True] Translation: X:14.89, Y:0.18, Z:-0.17 [[ 9.97498771e-01 -7.04377379e-02 5.89294012e-03 1.48893290e+01] [ 7.04384741e-02 9.97516122e-01 8.27844433e-05 1.79920115e-01] [-5.88413393e-03 3.32512330e-04 9.99982633e-01 -1.72195694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.405898227 meters 0.0642388310258344 Centerline is valid? [True, True] Translation: X:14.92, Y:0.18, Z:-0.18 [[ 9.97539810e-01 -6.99642289e-02 4.39694684e-03 1.49202379e+01] [ 6.99646359e-02 9.97549470e-01 6.13881197e-05 1.79627490e-01] [-4.39046696e-03 2.46393691e-04 9.99990331e-01 -1.75837843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.435898227 meters 0.06637724834960353 Centerline is valid? [True, True] Translation: X:14.95, Y:0.18, Z:-0.18 [[ 9.97590076e-01 -6.92369784e-02 4.50349313e-03 1.49518446e+01] [ 6.92374007e-02 9.97600210e-01 6.22582516e-05 1.79387511e-01] [-4.49699626e-03 2.49701944e-04 9.99989857e-01 -1.76053320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.465898227 meters 0.04830787510742469 Centerline is valid? [True, True] Translation: X:14.99, Y:0.20, Z:-0.17 [[ 9.97589708e-01 -6.90843216e-02 6.49085368e-03 1.49851473e+01] [ 6.90852035e-02 9.97610759e-01 8.85153243e-05 2.03963504e-01] [-6.48146049e-03 3.60119971e-04 9.99978930e-01 -1.70941034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.495898227 meters 0.04927537554768983 Centerline is valid? [True, True] Translation: X:15.02, Y:0.20, Z:-0.17 [[ 9.97574258e-01 -6.91497467e-02 7.99455069e-03 1.50172012e+01] [ 6.91511006e-02 9.97606192e-01 1.07267163e-04 2.04038240e-01] [-7.98283077e-03 4.45825019e-04 9.99968037e-01 -1.68574548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.525898227 meters 0.05001132859950132 Centerline is valid? [True, True] Translation: X:15.05, Y:0.20, Z:-0.17 [[ 9.97518173e-01 -6.98599664e-02 8.77945936e-03 1.50491233e+01] [ 6.98616397e-02 9.97556684e-01 1.16318232e-04 2.04485900e-01] [-8.76613435e-03 4.97317876e-04 9.99961453e-01 -1.69020825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.555898227 meters 0.05140378311362087 Centerline is valid? [True, True] Translation: X:15.08, Y:0.20, Z:-0.17 [[ 9.97436416e-01 -7.10638909e-02 8.39763771e-03 1.50808339e+01] [ 7.10654737e-02 9.97471647e-01 1.10142015e-04 2.02906619e-01] [-8.38423264e-03 4.86922445e-04 9.99964733e-01 -1.70425039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.585898227 meters 0.07300296716108513 Centerline is valid? [True, True] Translation: X:15.11, Y:0.18, Z:-0.18 [[ 9.97267039e-01 -7.35551760e-02 6.93464340e-03 1.51114135e+01] [ 7.35563184e-02 9.97291061e-01 9.05072867e-05 1.76071809e-01] [-6.92251515e-03 4.19826904e-04 9.99975951e-01 -1.75748171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.615898227 meters 0.055333350466502285 Centerline is valid? [True, True] Translation: X:15.14, Y:0.20, Z:-0.18 [[ 9.97211434e-01 -7.43611893e-02 6.30629306e-03 1.51432682e+01] [ 7.43621501e-02 9.97231299e-01 8.23056788e-05 1.99360157e-01] [-6.29495317e-03 3.86873347e-04 9.99980112e-01 -1.76496066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.645898227 meters 0.057728675509609424 Centerline is valid? [True, True] Translation: X:15.17, Y:0.20, Z:-0.18 [[ 9.97159094e-01 -7.50489639e-02 6.43379083e-03 1.51739050e+01] [ 7.50499803e-02 9.97179770e-01 8.36527965e-05 1.97060432e-01] [-6.42192411e-03 3.99440728e-04 9.99979299e-01 -1.76105334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.675898227 meters 0.05598506171532302 Centerline is valid? [True, True] Translation: X:15.21, Y:0.20, Z:-0.18 [[ 9.97126384e-01 -7.53905744e-02 7.43208039e-03 1.52062797e+01] [ 7.53919413e-02 9.97153973e-01 9.64713992e-05 1.99726486e-01] [-7.41820152e-03 4.64124791e-04 9.99972377e-01 -1.75077688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.705898227 meters 0.057969370158734296 Centerline is valid? [True, True] Translation: X:15.24, Y:0.20, Z:-0.17 [[ 9.97125882e-01 -7.52254418e-02 9.00606419e-03 1.52387283e+01] [ 7.52274572e-02 9.97166394e-01 1.15247715e-04 1.95861070e-01] [-8.98921410e-03 5.62586828e-04 9.99959438e-01 -1.73443768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.735898227 meters 0.05715330397168823 Centerline is valid? [True, True] Translation: X:15.27, Y:0.20, Z:-0.18 [[ 9.97131194e-01 -7.52618015e-02 8.06487854e-03 1.52707165e+01] [ 7.52634284e-02 9.97163681e-01 1.02015133e-04 1.97574793e-01] [-8.04968181e-03 5.05267937e-04 9.99967473e-01 -1.75444369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.765898227 meters 0.0602172468208268 Centerline is valid? [True, True] Translation: X:15.30, Y:0.19, Z:-0.18 [[ 9.97200204e-01 -7.44398746e-02 7.10336387e-03 1.53024919e+01] [ 7.44411231e-02 9.97225406e-01 8.88483620e-05 1.94929818e-01] [-7.09026879e-03 4.40182780e-04 9.99974767e-01 -1.77084655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.795898227 meters 0.05697018637895488 Centerline is valid? [True, True] Translation: X:15.33, Y:0.20, Z:-0.17 [[ 9.97338564e-01 -7.24446510e-02 8.21957547e-03 1.53329618e+01] [ 7.24462590e-02 9.97372312e-01 1.02328147e-04 2.00055638e-01] [-8.20539012e-03 4.93421686e-04 9.99966213e-01 -1.74847229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.825898227 meters 0.0504349417793563 Centerline is valid? [True, True] Translation: X:15.37, Y:0.21, Z:-0.17 [[ 9.97370109e-01 -7.19214314e-02 8.95400925e-03 1.53650287e+01] [ 7.19233205e-02 9.97410158e-01 1.11262682e-04 2.08720458e-01] [-8.93882196e-03 5.33032004e-04 9.99959906e-01 -1.74353109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.855898227 meters 0.05851612065568981 Centerline is valid? [True, True] Translation: X:15.40, Y:0.20, Z:-0.18 [[ 9.97422514e-01 -7.12595186e-02 8.39109556e-03 1.53965801e+01] [ 7.12611648e-02 9.97457686e-01 1.03014743e-04 1.95688757e-01] [-8.37710354e-03 4.95210019e-04 9.99964789e-01 -1.75501318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.885898227000002 meters 0.05662585866917651 Centerline is valid? [True, True] Translation: X:15.43, Y:0.20, Z:-0.18 [[ 9.97433127e-01 -7.13024018e-02 6.56700511e-03 1.54284829e+01] [ 7.13034157e-02 9.97454669e-01 7.99022006e-05 1.97446816e-01] [-6.55598713e-03 3.88552794e-04 9.99978434e-01 -1.78459586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.915898227 meters 0.059632427004453654 Centerline is valid? [True, True] Translation: X:15.46, Y:0.19, Z:-0.18 [[ 9.97438784e-01 -7.13123164e-02 5.51595211e-03 1.54596380e+01] [ 7.13130355e-02 9.97453982e-01 6.64404189e-05 1.91597482e-01] [-5.50664641e-03 3.27089038e-04 9.99984785e-01 -1.78956249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.945898227 meters 0.050972925227297405 Centerline is valid? [True, True] Translation: X:15.49, Y:0.20, Z:-0.18 [[ 9.97380449e-01 -7.19891186e-02 7.05735200e-03 1.54919321e+01] [ 7.19903217e-02 9.97405327e-01 8.37310164e-05 2.01430971e-01] [-7.04506820e-03 4.24549362e-04 9.99975093e-01 -1.76491772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.975898227000002 meters 0.052970419849039496 Centerline is valid? [True, True] Translation: X:15.52, Y:0.20, Z:-0.18 [[ 9.97328696e-01 -7.25319592e-02 8.63634842e-03 1.55234056e+01] [ 7.25337951e-02 9.97365950e-01 1.00865302e-04 1.96789374e-01] [-8.62091581e-03 5.25831267e-04 9.99962701e-01 -1.75982637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.005898227 meters 0.05463457072055052 Centerline is valid? [True, True] Translation: X:15.55, Y:0.19, Z:-0.18 [[ 9.97267005e-01 -7.33193625e-02 9.09897498e-03 1.55548031e+01] [ 7.33214457e-02 9.97308355e-01 1.04870803e-04 1.92479778e-01] [-9.08217282e-03 5.62565808e-04 9.99958598e-01 -1.76914220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.035898227 meters 0.055405408391228456 Centerline is valid? [True, True] Translation: X:15.59, Y:0.19, Z:-0.18 [[ 9.97295795e-01 -7.30435677e-02 8.10764288e-03 1.55860885e+01] [ 7.30452211e-02 9.97328625e-01 9.23928161e-05 1.89310228e-01] [-8.09273303e-03 5.00081600e-04 9.99967128e-01 -1.78643687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.065898227 meters 0.0532467587308253 Centerline is valid? [True, True] Translation: X:15.62, Y:0.19, Z:-0.18 [[ 9.97422818e-01 -7.14808278e-02 6.18176318e-03 1.56172881e+01] [ 7.14817640e-02 9.97441904e-01 6.96595730e-05 1.90101850e-01] [-6.17092896e-03 3.72403289e-04 9.99980890e-01 -1.80874738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.095898227 meters 0.05212054956708088 Centerline is valid? [True, True] Translation: X:15.65, Y:0.19, Z:-0.18 [[ 9.97679916e-01 -6.79357294e-02 4.41828265e-03 1.56473751e+01] [ 6.79361737e-02 9.97689668e-01 4.96185171e-05 1.90738919e-01] [-4.41144582e-03 2.50657819e-04 9.99990238e-01 -1.82796657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.125898227 meters 0.05143557925432239 Centerline is valid? [True, True] Translation: X:15.68, Y:0.19, Z:-0.18 [[ 9.97818996e-01 -6.57800366e-02 5.49893627e-03 1.56767568e+01] [ 6.57806919e-02 9.97834103e-01 6.18083543e-05 1.90966043e-01] [-5.49109189e-03 3.00050282e-04 9.99984879e-01 -1.81252655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.155898227 meters 0.049415318130854334 Centerline is valid? [True, True] Translation: X:15.71, Y:0.19, Z:-0.18 [[ 9.97940350e-01 -6.38354624e-02 6.33181446e-03 1.57077358e+01] [ 6.38362945e-02 9.97960381e-01 7.07978302e-05 1.93696559e-01] [-6.32341938e-03 3.33547561e-04 9.99979951e-01 -1.79378750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.185898227 meters 0.04570030700275319 Centerline is valid? [True, True] Translation: X:15.74, Y:0.20, Z:-0.18 [[ 9.98048005e-01 -6.21438992e-02 6.18989695e-03 1.57395254e+01] [ 6.21446622e-02 9.98067150e-01 6.91780715e-05 2.00514389e-01] [-6.18223180e-03 3.15626019e-04 9.99980840e-01 -1.79300259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.215898227 meters 0.04313539838265849 Centerline is valid? [True, True] Translation: X:15.77, Y:0.20, Z:-0.18 [[ 9.98155418e-01 -6.04012374e-02 6.11973747e-03 1.57705848e+01] [ 6.04019519e-02 9.98174133e-01 6.81723322e-05 2.04525576e-01] [-6.11268134e-03 3.01597506e-04 9.99981272e-01 -1.80535159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.245898227 meters 0.04575684726592757 Centerline is valid? [True, True] Translation: X:15.80, Y:0.20, Z:-0.18 [[ 9.98092078e-01 -6.12532485e-02 7.76172055e-03 1.58012847e+01] [ 6.12544253e-02 9.98122181e-01 8.62409567e-05 2.01547136e-01] [-7.75242799e-03 3.89363316e-04 9.99969874e-01 -1.79328374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.275898227 meters 0.0489975047922915 Centerline is valid? [True, True] Translation: X:15.83, Y:0.20, Z:-0.18 [[ 9.97913131e-01 -6.37591099e-02 1.02058506e-02 1.58310273e+01] [ 6.37612776e-02 9.97965173e-01 1.13171294e-04 1.98013391e-01] [-1.01922991e-02 5.37802950e-04 9.99947913e-01 -1.76123859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.305898227 meters 0.05308655037719184 Centerline is valid? [True, True] Translation: X:15.86, Y:0.19, Z:-0.17 [[ 9.97612708e-01 -6.79564844e-02 1.22801415e-02 1.58622355e+01] [ 6.79599408e-02 9.97688041e-01 1.36090706e-04 1.92473685e-01] [-1.22609986e-02 6.98791873e-04 9.99924587e-01 -1.73950982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.335898227 meters 0.05809114337532948 Centerline is valid? [True, True] Translation: X:15.89, Y:0.19, Z:-0.17 [[ 9.97239211e-01 -7.30744672e-02 1.31938703e-02 1.58930343e+01] [ 7.30789063e-02 9.97326151e-01 1.45997940e-04 1.86263579e-01] [-1.31692606e-02 8.18598737e-04 9.99912946e-01 -1.73813634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.365898227 meters 0.05875768271633791 Centerline is valid? [True, True] Translation: X:15.92, Y:0.18, Z:-0.18 [[ 9.96861972e-01 -7.80354834e-02 1.32917753e-02 1.59238942e+01] [ 7.80404295e-02 9.96950184e-01 1.46939256e-04 1.83624391e-01] [-1.32627043e-02 8.90817697e-04 9.99911650e-01 -1.75127853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.395898227 meters 0.06588436783468761 Centerline is valid? [True, True] Translation: X:15.95, Y:0.17, Z:-0.18 [[ 9.96339040e-01 -8.47454242e-02 1.12574384e-02 1.59548041e+01] [ 8.47493988e-02 9.96402290e-01 1.24378946e-04 1.74312582e-01] [-1.12274780e-02 8.30137539e-04 9.99936625e-01 -1.78202502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.425898227 meters 0.07613664302443955 Centerline is valid? [True, True] Translation: X:15.99, Y:0.16, Z:-0.18 [[ 9.96274249e-01 -8.55721492e-02 1.07251373e-02 1.59862863e+01] [ 8.55758095e-02 9.96331655e-01 1.18009785e-04 1.62120945e-01] [-1.06958921e-02 8.00242196e-04 9.99942477e-01 -1.78434272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.455898227 meters 0.06784345127445261 Centerline is valid? [True, True] Translation: X:16.02, Y:0.17, Z:-0.18 [[ 9.96295998e-01 -8.52166083e-02 1.15071509e-02 1.60188519e+01] [ 8.52208142e-02 9.96362081e-01 1.25237911e-04 1.73140068e-01] [-1.14759611e-02 8.55874737e-04 9.99933783e-01 -1.77753326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.485898227 meters 0.06859965564163693 Centerline is valid? [True, True] Translation: X:16.05, Y:0.17, Z:-0.18 [[ 9.96417381e-01 -8.37619240e-02 1.16766074e-02 1.60489705e+01] [ 8.37661602e-02 9.96485431e-01 1.26662568e-04 1.74225548e-01] [-1.16461787e-02 8.51895785e-04 9.99931818e-01 -1.77252154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.515898227 meters 0.0690362686980012 Centerline is valid? [True, True] Translation: X:16.08, Y:0.17, Z:-0.18 [[ 9.96851810e-01 -7.86231005e-02 1.02409550e-02 1.60786035e+01] [ 7.86260888e-02 9.96904171e-01 1.11105962e-04 1.74887880e-01] [-1.02179863e-02 6.94450061e-04 9.99947554e-01 -1.77943865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.545898227 meters 0.06654955124104117 Centerline is valid? [True, True] Translation: X:16.11, Y:0.18, Z:-0.18 [[ 9.97090720e-01 -7.55944566e-02 9.77620760e-03 1.61089722e+01] [ 7.55970347e-02 9.97138444e-01 1.06088313e-04 1.79415465e-01] [-9.75625213e-03 6.33272633e-04 9.99952206e-01 -1.78997432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.575898227 meters 0.058638690823555654 Centerline is valid? [True, True] Translation: X:16.14, Y:0.19, Z:-0.18 [[ 9.97347508e-01 -7.21747339e-02 9.42109502e-03 1.61392523e+01] [ 7.21769768e-02 9.97391836e-01 1.02151923e-04 1.91238359e-01] [-9.40389604e-03 5.78105191e-04 9.99955615e-01 -1.79798357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.605898227 meters 0.0532162770867534 Centerline is valid? [True, True] Translation: X:16.17, Y:0.20, Z:-0.18 [[ 9.97909529e-01 -6.39737209e-02 9.16157602e-03 1.61693262e+01] [ 6.39754976e-02 9.97951465e-01 9.92996714e-05 2.01574274e-01] [-9.14916078e-03 4.87024297e-04 9.99958027e-01 -1.79730305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.635898227000002 meters 0.041718336979062756 Centerline is valid? [True, True] Translation: X:16.20, Y:0.22, Z:-0.18 [[ 9.98184775e-01 -5.95369479e-02 9.08333067e-03 1.62002795e+01] [ 5.95385120e-02 9.98226004e-01 9.83503757e-05 2.18755722e-01] [-9.07307236e-03 4.42636144e-04 9.99958741e-01 -1.79701001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.665898227 meters 0.04678683572265151 Centerline is valid? [True, True] Translation: X:16.23, Y:0.22, Z:-0.18 [[ 9.98426382e-01 -5.53982934e-02 8.70572631e-03 1.62304753e+01] [ 5.53995738e-02 9.98464260e-01 9.41922390e-05 2.15605955e-01] [-8.69757466e-03 3.88249510e-04 9.99962100e-01 -1.80538815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.695898227 meters 0.03850471018312244 Centerline is valid? [True, True] Translation: X:16.26, Y:0.23, Z:-0.18 [[ 9.98899083e-01 -4.59921294e-02 9.23829370e-03 1.62614414e+01] [ 4.59931696e-02 9.98941749e-01 9.99361580e-05 2.29914155e-01] [-9.23311355e-03 3.25072273e-04 9.99957321e-01 -1.81623227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.725898227000002 meters 0.03271554806099296 Centerline is valid? [True, True] Translation: X:16.29, Y:0.24, Z:-0.18 [[ 9.99101329e-01 -4.10641645e-02 1.05008515e-02 1.62925262e+01] [ 4.10652357e-02 9.99156461e-01 1.13673277e-04 2.39060650e-01] [-1.04966615e-02 3.17648819e-04 9.99944858e-01 -1.80441066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.755898227 meters 0.025402308933199173 Centerline is valid? [True, True] Translation: X:16.32, Y:0.25, Z:-0.18 [[ 9.99257781e-01 -3.65755603e-02 1.20878246e-02 1.63226985e+01] [ 3.65766522e-02 9.99330842e-01 1.30802842e-04 2.52724185e-01] [-1.20845201e-02 3.11426398e-04 9.99926931e-01 -1.78301873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.785898227 meters 0.0235232489571074 Centerline is valid? [True, True] Translation: X:16.35, Y:0.26, Z:-0.18 [[ 9.99367636e-01 -3.29058525e-02 1.34734340e-02 1.63535094e+01] [ 3.29068775e-02 9.99458411e-01 1.45665874e-04 2.58982999e-01] [-1.34709302e-02 2.97794883e-04 9.99909219e-01 -1.75879386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.815898227 meters 0.024396267190445946 Centerline is valid? [True, True] Translation: X:16.38, Y:0.26, Z:-0.17 [[ 9.99454503e-01 -3.01537810e-02 1.34702145e-02 1.63841062e+01] [ 3.01545589e-02 9.99545237e-01 1.45394886e-04 2.60176249e-01] [-1.34684730e-02 2.60872802e-04 9.99909262e-01 -1.74506271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.845898227 meters 0.02293199620013756 Centerline is valid? [True, True] Translation: X:16.42, Y:0.26, Z:-0.18 [[ 9.99532109e-01 -2.78755099e-02 1.25904560e-02 1.64156698e+01] [ 2.78760148e-02 9.99611379e-01 1.35427577e-04 2.63501757e-01] [-1.25893382e-02 2.15607525e-04 9.99920728e-01 -1.76186403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.875898227 meters 0.016814044827275713 Centerline is valid? [True, True] Translation: X:16.45, Y:0.27, Z:-0.18 [[ 9.99647175e-01 -2.47312680e-02 9.68972820e-03 1.64474472e+01] [ 2.47314246e-02 9.99694126e-01 1.03688858e-04 2.74415904e-01] [-9.68932872e-03 1.35988508e-04 9.99953048e-01 -1.83282054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.905898227 meters 0.016558479538903555 Centerline is valid? [True, True] Translation: X:16.48, Y:0.28, Z:-0.18 [[ 9.99699058e-01 -2.27894012e-02 9.07949207e-03 1.64783990e+01] [ 2.27894627e-02 9.99740282e-01 9.66970523e-05 2.76353578e-01] [-9.07933763e-03 1.10248794e-04 9.99958776e-01 -1.84841081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.935898227 meters 0.01728026456678586 Centerline is valid? [True, True] Translation: X:16.51, Y:0.28, Z:-0.18 [[ 9.99743147e-01 -2.05599413e-02 9.53568073e-03 1.65100823e+01] [ 2.05599217e-02 9.99788617e-01 1.00089996e-04 2.78674292e-01] [-9.53572290e-03 9.59885615e-05 9.99954529e-01 -1.83333592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.965898227 meters 0.014092789456258165 Centerline is valid? [True, True] Translation: X:16.54, Y:0.29, Z:-0.18 [[ 9.99785041e-01 -1.76046604e-02 1.09520832e-02 1.65427192e+01] [ 1.76044772e-02 9.99845023e-01 1.13139826e-04 2.87821190e-01] [-1.09523776e-02 7.96901931e-05 9.99940018e-01 -1.81222758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.995898227 meters 0.014913646354217377 Centerline is valid? [True, True] Translation: X:16.57, Y:0.30, Z:-0.18 [[ 9.99847318e-01 -1.16199894e-02 1.30505312e-02 1.65744884e+01] [ 1.16192514e-02 9.99932485e-01 1.32377013e-04 2.98299871e-01] [-1.30511883e-02 1.92806011e-05 9.99914829e-01 -1.76285975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.025898227 meters 0.012401630850963566 Centerline is valid? [True, True] Translation: X:16.61, Y:0.30, Z:-0.18 [[ 9.99874938e-01 -9.28838797e-03 1.27997638e-02 1.66078368e+01] [ 9.28751541e-03 9.99956862e-01 1.27610906e-04 3.01278023e-01] [-1.28003970e-02 -8.71694326e-06 9.99918072e-01 -1.77952433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.055898227 meters 0.013071418070762182 Centerline is valid? [True, True] Translation: X:16.64, Y:0.30, Z:-0.18 [[ 9.99898037e-01 -8.34987954e-03 1.15842540e-02 1.66394988e+01] [ 8.34912481e-03 9.99965139e-01 1.13511375e-04 3.02434056e-01] [-1.15847979e-02 -1.67814192e-05 9.99932894e-01 -1.80897508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.085898227 meters 0.013071418070762182 Centerline is valid? [True, True] Translation: X:16.67, Y:0.30, Z:-0.18 [[ 9.99898613e-01 -8.28058521e-03 1.15842695e-02 1.66720657e+01] [ 8.27984446e-03 9.99965715e-01 1.11903218e-04 3.02638517e-01] [-1.15847990e-02 -1.59759223e-05 9.99932894e-01 -1.81145375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.115898227 meters 0.014576982749490744 Centerline is valid? [True, True] Translation: X:16.70, Y:0.30, Z:-0.19 [[ 9.99896005e-01 -1.14179126e-02 8.80963895e-03 1.67034212e+01] [ 1.14176111e-02 9.99934813e-01 8.45244327e-05 2.97351669e-01] [-8.81002977e-03 1.60693885e-05 9.99961191e-01 -1.86621514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.145898227 meters 0.012870417524744812 Centerline is valid? [True, True] Translation: X:16.74, Y:0.29, Z:-0.19 [[ 9.99853733e-01 -1.45759178e-02 8.94740392e-03 1.67362433e+01] [ 1.45757454e-02 9.99893765e-01 8.44805692e-05 2.91844838e-01] [-8.94768478e-03 4.59468689e-05 9.99959968e-01 -1.86585625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.175898227 meters 0.01650486838498067 Centerline is valid? [True, True] Translation: X:16.77, Y:0.29, Z:-0.18 [[ 9.99784539e-01 -1.81928197e-02 9.99486453e-03 1.67676145e+01] [ 1.81928010e-02 9.99834493e-01 9.27921808e-05 2.86710084e-01] [-9.99489847e-03 8.90623942e-05 9.99950046e-01 -1.84432652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.205898227 meters 0.016583697500301926 Centerline is valid? [True, True] Translation: X:16.80, Y:0.28, Z:-0.18 [[ 9.99710073e-01 -2.06783066e-02 1.23360260e-02 1.67991410e+01] [ 2.06784821e-02 9.99786171e-01 1.13337473e-04 2.80790891e-01] [-1.23357318e-02 1.41785680e-04 9.99923902e-01 -1.80016415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.235898227 meters 0.017571307296312424 Centerline is valid? [True, True] Translation: X:16.83, Y:0.28, Z:-0.18 [[ 9.99654176e-01 -2.22215112e-02 1.40617730e-02 1.68318472e+01] [ 2.22219165e-02 9.99753055e-01 1.27446591e-04 2.78704208e-01] [-1.40611326e-02 1.85077029e-04 9.99901120e-01 -1.77315450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.265898227 meters 0.018422889731486095 Centerline is valid? [True, True] Translation: X:16.86, Y:0.28, Z:-0.18 [[ 9.99638704e-01 -2.26126667e-02 1.45302809e-02 1.68629987e+01] [ 2.26131739e-02 9.99744281e-01 1.29407807e-04 2.76422321e-01] [-1.45294915e-02 1.99214717e-04 9.99894422e-01 -1.75189743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.295898227 meters 0.01825393244188362 Centerline is valid? [True, True] Translation: X:16.90, Y:0.28, Z:-0.18 [[ 9.99713948e-01 -1.98939885e-02 1.32759694e-02 1.68957499e+01] [ 1.98941902e-02 9.99802084e-01 1.16886946e-04 2.77953683e-01] [-1.32756672e-02 1.47261150e-04 9.99911864e-01 -1.77895056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.325898227 meters 0.013987485201743014 Centerline is valid? [True, True] Translation: X:16.93, Y:0.28, Z:-0.18 [[ 9.99777422e-01 -1.64350811e-02 1.32285197e-02 1.69283486e+01] [ 1.64349964e-02 9.99864930e-01 1.15122727e-04 2.80699466e-01] [-1.32286250e-02 1.02313570e-04 9.99912493e-01 -1.80628418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.355898227 meters 0.013048352264604475 Centerline is valid? [True, True] Translation: X:16.96, Y:0.28, Z:-0.18 [[ 9.99827218e-01 -1.31711921e-02 1.31169470e-02 1.69594508e+01] [ 1.31708511e-02 9.99913254e-01 1.12388526e-04 2.81485240e-01] [-1.31172894e-02 6.03922479e-05 9.99913963e-01 -1.80984892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.385898227000002 meters 0.012181445039206122 Centerline is valid? [True, True] Translation: X:16.99, Y:0.28, Z:-0.18 [[ 9.99860934e-01 -9.69065550e-03 1.35721973e-02 1.69902740e+01] [ 9.68999159e-03 9.99953044e-01 1.14677784e-04 2.83585985e-01] [-1.35726713e-02 1.68526420e-05 9.99907887e-01 -1.79619996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.415898227 meters 0.015165858952267032 Centerline is valid? [True, True] Translation: X:17.02, Y:0.29, Z:-0.18 [[ 9.99896788e-01 -3.37951189e-03 1.39639280e-02 1.70220418e+01] [ 3.37821477e-03 9.99994287e-01 1.16477606e-04 2.91417287e-01] [-1.39642419e-02 -6.92924361e-05 9.99902493e-01 -1.76725818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.445898227 meters 0.013683486484011477 Centerline is valid? [True, True] Translation: X:17.05, Y:0.29, Z:-0.18 [[ 9.99906753e-01 -8.08068316e-04 1.36319971e-02 1.70544535e+01] [ 8.06602727e-04 9.99999668e-01 1.13008655e-04 2.93933279e-01] [-1.36320839e-02 -1.02002511e-04 9.99907074e-01 -1.77918548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.475898227000002 meters 0.014835262317544687 Centerline is valid? [True, True] Translation: X:17.09, Y:0.30, Z:-0.18 [[ 9.99916012e-01 1.10472666e-03 1.29131264e-02 1.70868732e+01] [-1.10619377e-03 9.99999382e-01 1.06472152e-04 2.96087699e-01] [-1.29130008e-02 -1.20747629e-04 9.99916616e-01 -1.79825704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.505898227 meters 0.01982933700438478 Centerline is valid? [True, True] Translation: X:17.12, Y:0.30, Z:-0.18 [[ 9.99905788e-01 4.67433209e-03 1.29060327e-02 1.71194344e+01] [-4.67608720e-03 9.99989061e-01 1.05818216e-04 3.00520909e-01] [-1.29053969e-02 -1.66157981e-04 9.99916708e-01 -1.81670349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.535898227 meters 0.01779204949674336 Centerline is valid? [True, True] Translation: X:17.15, Y:0.30, Z:-0.18 [[ 9.99891388e-01 6.76866360e-03 1.30918764e-02 1.71511025e+01] [-6.77064179e-03 9.99977073e-01 1.06784162e-04 3.01331504e-01] [-1.30908535e-02 -1.95412970e-04 9.99914292e-01 -1.81336441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.565898227 meters 0.02000989364630125 Centerline is valid? [True, True] Translation: X:17.18, Y:0.30, Z:-0.18 [[ 9.99880339e-01 8.14944344e-03 1.31489425e-02 1.71808329e+01] [-8.15155406e-03 9.99966770e-01 1.06928657e-04 3.04124331e-01] [-1.31476341e-02 -2.14100177e-04 9.99913543e-01 -1.81331170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.595898227 meters 0.017959823457029987 Centerline is valid? [True, True] Translation: X:17.21, Y:0.30, Z:-0.18 [[ 9.99875539e-01 8.72579969e-03 1.31440533e-02 1.72094349e+01] [-8.72796123e-03 9.99961905e-01 1.07094853e-04 3.04312733e-01] [-1.31426181e-02 -2.21802311e-04 9.99913607e-01 -1.81327240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.625898227 meters 0.020783525949458367 Centerline is valid? [True, True] Translation: X:17.24, Y:0.31, Z:-0.18 [[ 9.99880317e-01 8.25228380e-03 1.30862840e-02 1.72369208e+01] [-8.25439536e-03 9.99965926e-01 1.07351759e-04 3.05404534e-01] [-1.30849522e-02 -2.15358273e-04 9.99914365e-01 -1.81526747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.655898227 meters 0.01819951016504531 Centerline is valid? [True, True] Translation: X:17.27, Y:0.30, Z:-0.18 [[ 9.99883039e-01 6.79783428e-03 1.37002872e-02 1.72661582e+01] [-6.80002143e-03 9.99976873e-01 1.13064711e-04 3.02360952e-01] [-1.36992018e-02 -2.06213734e-04 9.99906140e-01 -1.82139836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.685898227 meters 0.018203694683592557 Centerline is valid? [True, True] Translation: X:17.30, Y:0.30, Z:-0.18 [[ 9.99898266e-01 5.57240626e-03 1.31303599e-02 1.72962501e+01] [-5.57431186e-03 9.99984458e-01 1.08535286e-04 3.01125361e-01] [-1.31295510e-02 -1.81716966e-04 9.99913787e-01 -1.82959589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.715898227 meters 0.016230474550120378 Centerline is valid? [True, True] Translation: X:17.33, Y:0.30, Z:-0.18 [[ 9.99913917e-01 4.75082017e-03 1.22306085e-02 1.73274506e+01] [-4.75241076e-03 9.99988702e-01 1.00989648e-04 2.99705416e-01] [-1.22299905e-02 -1.59105830e-04 9.99925198e-01 -1.83890249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.745898227 meters 0.01863841579086011 Centerline is valid? [True, True] Translation: X:17.36, Y:0.30, Z:-0.19 [[ 9.99936616e-01 4.54177921e-03 1.03022393e-02 1.73591719e+01] [-4.54289444e-03 9.99989677e-01 8.48519888e-05 2.99982573e-01] [-1.03017476e-02 -1.31648596e-04 9.99946927e-01 -1.86197754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.775898227 meters 0.0169984664780742 Centerline is valid? [True, True] Translation: X:17.39, Y:0.30, Z:-0.19 [[ 9.99951984e-01 5.67985026e-03 7.98560284e-03 1.73895518e+01] [-5.68055547e-03 9.99983863e-01 6.56316342e-05 2.98709800e-01] [-7.98510120e-03 -1.10991143e-04 9.99968112e-01 -1.90139404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.805898227 meters 0.01855718410781536 Centerline is valid? [True, True] Translation: X:17.42, Y:0.30, Z:-0.19 [[ 9.99945748e-01 6.82811862e-03 7.86630525e-03 1.74179019e+01] [-6.82883850e-03 9.99976681e-01 6.46589571e-05 3.00421235e-01] [-7.86568032e-03 -1.18373177e-04 9.99969058e-01 -1.90449423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.835898227 meters 0.018904833646176403 Centerline is valid? [True, True] Translation: X:17.45, Y:0.30, Z:-0.19 [[ 9.99920669e-01 8.72306216e-03 9.08645932e-03 1.74465576e+01] [-8.72410439e-03 9.99961941e-01 7.50706642e-05 3.00441192e-01] [-9.08545866e-03 -1.54335928e-04 9.99958714e-01 -1.88667823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.865898227 meters 0.020230920087628418 Centerline is valid? [True, True] Translation: X:17.47, Y:0.30, Z:-0.19 [[ 9.99887847e-01 1.02748217e-02 1.08959138e-02 1.74746639e+01] [-1.02764194e-02 9.99947192e-01 9.06518206e-05 3.03245842e-01] [-1.08944070e-02 -2.02612633e-04 9.99940634e-01 -1.85353697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.895898227 meters 0.021328345863206203 Centerline is valid? [True, True] Translation: X:17.50, Y:0.30, Z:-0.18 [[ 9.99845673e-01 1.25686189e-02 1.22743543e-02 1.75030378e+01] [-1.25708289e-02 9.99920979e-01 1.02915404e-04 3.02871766e-01] [-1.22720909e-02 -2.57198330e-04 9.99924662e-01 -1.82704652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.925898227 meters 0.023122441109335815 Centerline is valid? [True, True] Translation: X:17.53, Y:0.31, Z:-0.18 [[ 9.99843485e-01 1.32466919e-02 1.17273648e-02 1.75306789e+01] [-1.32487641e-02 9.99912226e-01 9.90206206e-05 3.05298876e-01] [-1.17250237e-02 -2.54378212e-04 9.99931227e-01 -1.83719977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.955898227 meters 0.02205129404827178 Centerline is valid? [True, True] Translation: X:17.56, Y:0.30, Z:-0.19 [[ 9.99858638e-01 1.35618838e-02 9.93878282e-03 1.75591067e+01] [-1.35633926e-02 9.99908009e-01 8.44217887e-05 3.02077980e-01] [-9.93672363e-03 -2.19213468e-04 9.99950606e-01 -1.87421578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.985898227 meters 0.024029317470371018 Centerline is valid? [True, True] Translation: X:17.59, Y:0.30, Z:-0.19 [[ 9.99881388e-01 1.31723329e-02 7.98114797e-03 1.75878145e+01] [-1.31732959e-02 9.99913226e-01 6.81049914e-05 3.01793284e-01] [-7.97955832e-03 -1.73234937e-04 9.99968148e-01 -1.91184274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.015898227 meters 0.02242392579559667 Centerline is valid? [True, True] Translation: X:17.62, Y:0.30, Z:-0.19 [[ 9.99845885e-01 1.49487564e-02 9.20544277e-03 1.76162384e+01] [-1.49501177e-02 9.99888238e-01 7.90763787e-05 3.00273482e-01] [-9.20323186e-03 -2.16686645e-04 9.99957626e-01 -1.89780101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.045898227 meters 0.023423174189559803 Centerline is valid? [True, True] Translation: X:17.64, Y:0.30, Z:-0.19 [[ 9.99810699e-01 1.57193068e-02 1.14659902e-02 1.76371075e+01] [-1.57989876e-02 9.99851434e-01 6.89214990e-03 2.99705841e-01] [-1.13559470e-02 -7.07199625e-03 9.99910511e-01 -1.93750911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.075898227 meters 0.02692851348300312 Centerline is valid? [True, True] Translation: X:17.67, Y:0.31, Z:-0.18 [[ 9.99824705e-01 1.53279177e-02 1.07523681e-02 1.76738958e+01] [-1.52533357e-02 9.99859267e-01 -6.98437935e-03 3.12131842e-01] [-1.08579108e-02 6.81914555e-03 9.99917799e-01 -1.79096589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.105898227 meters 0.03353273784503385 Centerline is valid? [True, True] Translation: X:17.70, Y:0.31, Z:-0.19 [[ 9.99666913e-01 2.25470304e-02 1.25576253e-02 1.77028529e+01] [-2.25540066e-02 9.99745540e-01 4.14176667e-04 3.14450918e-01] [-1.25450915e-02 -6.97263474e-04 9.99921064e-01 -1.85337429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.135898227 meters 0.032320546163364494 Centerline is valid? [True, True] Translation: X:17.73, Y:0.31, Z:-0.19 [[ 9.99595870e-01 2.51689697e-02 1.32143877e-02 1.77323022e+01] [-2.51726861e-02 9.99683111e-01 1.14965668e-04 3.14748531e-01] [-1.32073066e-02 -4.47560840e-04 9.99912680e-01 -1.85831149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.165898227 meters 0.03228798475341631 Centerline is valid? [True, True] Translation: X:17.76, Y:0.31, Z:-0.19 [[ 9.99561279e-01 2.63696136e-02 1.34867688e-02 1.77610765e+01] [-2.63736003e-02 9.99652149e-01 1.17800061e-04 3.14139601e-01] [-1.34789710e-02 -4.73443029e-04 9.99909042e-01 -1.87287603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.195898227 meters 0.032725175179119666 Centerline is valid? [True, True] Translation: X:17.79, Y:0.31, Z:-0.19 [[ 9.99549516e-01 2.66287151e-02 1.38447472e-02 1.77896056e+01] [-2.66329505e-02 9.99645273e-01 1.21602245e-04 3.14156974e-01] [-1.38365979e-02 -4.90273930e-04 9.99904150e-01 -1.86973753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.225898227000002 meters 0.05035022284175992 Centerline is valid? [True, True] Translation: X:17.81, Y:0.34, Z:-0.17 [[ 9.99645631e-01 2.51677567e-02 8.67161277e-03 1.78143423e+01] [-2.50771105e-02 9.99631338e-01 -1.04080280e-02 3.43693673e-01] [-8.93036259e-03 1.01868807e-02 9.99908234e-01 -1.67878695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.255898227 meters 0.03235341583893265 Centerline is valid? [True, True] Translation: X:17.85, Y:0.31, Z:-0.19 [[ 9.99507932e-01 2.74670301e-02 1.51478000e-02 1.78479205e+01] [-2.76236273e-02 9.99566073e-01 1.02274357e-02 3.10836447e-01] [-1.48603097e-02 -1.06408403e-02 9.99832958e-01 -1.89861000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.285898227 meters 0.053639639014697156 Centerline is valid? [True, True] Translation: X:17.87, Y:0.35, Z:-0.16 [[ 9.99690255e-01 2.30484907e-02 9.38942532e-03 1.78737078e+01] [-2.29664382e-02 9.99697902e-01 -8.75489383e-03 3.51703527e-01] [-9.58837588e-03 8.53654039e-03 9.99917592e-01 -1.63723858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.315898227 meters 0.03304936076018935 Centerline is valid? [True, True] Translation: X:17.90, Y:0.30, Z:-0.22 [[ 9.99604858e-01 2.18563604e-02 1.76756184e-02 1.78976488e+01] [-2.23329617e-02 9.99379647e-01 2.72315938e-02 3.04552822e-01] [-1.70694697e-02 -2.76155824e-02 9.99472867e-01 -2.15444478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.345898227 meters 0.03280520925376779 Centerline is valid? [True, True] Translation: X:17.94, Y:0.32, Z:-0.18 [[ 9.99495331e-01 2.61490491e-02 1.80363682e-02 1.79382080e+01] [-2.59219223e-02 9.99583122e-01 -1.27136333e-02 3.16108563e-01] [-1.83612987e-02 1.22396797e-02 9.99756497e-01 -1.83691746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.375898227 meters 0.03205900255258242 Centerline is valid? [True, True] Translation: X:17.96, Y:0.30, Z:-0.22 [[ 9.99635989e-01 2.00983069e-02 1.79985477e-02 1.79587655e+01] [-2.04735755e-02 9.99571622e-01 2.09142255e-02 3.04377281e-01] [-1.75704970e-02 -2.12751071e-02 9.99619251e-01 -2.15819839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.405898227 meters 0.03370333517063593 Centerline is valid? [True, True] Translation: X:17.99, Y:0.32, Z:-0.20 [[ 9.99619031e-01 2.04800511e-02 1.85029919e-02 1.79866562e+01] [-2.05461721e-02 9.99783156e-01 3.39050131e-03 3.16995261e-01] [-1.84295420e-02 -3.76937529e-03 9.99823056e-01 -1.99060697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.435898227 meters 0.041714069073743164 Centerline is valid? [True, True] Translation: X:18.01, Y:0.33, Z:-0.20 [[ 9.99541325e-01 2.34807794e-02 1.91256912e-02 1.80067294e+01] [-2.35290653e-02 9.99720499e-01 2.30353063e-03 3.27303337e-01] [-1.90662568e-02 -2.75248369e-03 9.99814434e-01 -1.96911067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.465898227 meters 0.03711669087855892 Centerline is valid? [True, True] Translation: X:18.06, Y:0.33, Z:-0.17 [[ 9.99458374e-01 2.85301963e-02 1.64008077e-02 1.80556318e+01] [-2.80537557e-02 9.99197743e-01 -2.85807090e-02 3.32836086e-01] [-1.72030632e-02 2.81051247e-02 9.99456931e-01 -1.68871595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.495898227 meters 0.03840063851354055 Centerline is valid? [True, True] Translation: X:18.07, Y:0.32, Z:-0.21 [[ 9.99729788e-01 2.05321844e-02 1.08986660e-02 1.80727562e+01] [-2.06859094e-02 9.99685393e-01 1.41847547e-02 3.22636114e-01] [-1.06039932e-02 -1.44063707e-02 9.99839993e-01 -2.10724483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.525898227 meters 0.042641424482646295 Centerline is valid? [True, True] Translation: X:18.09, Y:0.33, Z:-0.22 [[ 9.99691662e-01 2.02353089e-02 1.43914627e-02 1.80938867e+01] [-2.04302136e-02 9.99699761e-01 1.35275104e-02 3.27237703e-01] [-1.41134085e-02 -1.38173601e-02 9.99804927e-01 -2.15997288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.555898227 meters 0.03379568741793877 Centerline is valid? [True, True] Translation: X:18.12, Y:0.32, Z:-0.21 [[ 9.99724822e-01 1.89168378e-02 1.38720202e-02 1.81237894e+01] [-1.89322710e-02 9.99820286e-01 9.82053246e-04 3.19628319e-01] [-1.38509498e-02 -1.24441185e-03 9.99903297e-01 -2.05188403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.585898227 meters 0.03155893941083811 Centerline is valid? [True, True] Translation: X:18.17, Y:0.32, Z:-0.18 [[ 9.99621471e-01 2.23439571e-02 1.60518485e-02 1.81680441e+01] [-2.19798185e-02 9.99504875e-01 -2.25142621e-02 3.22368242e-01] [-1.65469585e-02 2.21529231e-02 9.99617650e-01 -1.82173331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.615898227 meters 0.02750651177809089 Centerline is valid? [True, True] Translation: X:18.19, Y:0.31, Z:-0.21 [[ 9.99887354e-01 9.86999160e-03 1.13076438e-02 1.81941602e+01] [-9.92238495e-03 9.99940252e-01 4.58675055e-03 3.07570028e-01] [-1.12616970e-02 -4.69843266e-03 9.99925547e-01 -2.06365649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.645898227 meters 0.023743033309391932 Centerline is valid? [True, True] Translation: X:18.23, Y:0.30, Z:-0.20 [[ 9.99762881e-01 1.18421269e-02 1.82741806e-02 1.82258598e+01] [-1.17736364e-02 9.99923273e-01 -3.85098760e-03 3.04622964e-01] [-1.83183823e-02 3.63492090e-03 9.99825597e-01 -1.97156790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.675898227 meters 0.023101327234764442 Centerline is valid? [True, True] Translation: X:18.25, Y:0.30, Z:-0.20 [[ 9.99778879e-01 9.31902043e-03 1.88507230e-02 1.82540182e+01] [-9.32379256e-03 9.99956519e-01 1.65279403e-04 3.01885770e-01] [-1.88483631e-02 -3.41003088e-04 9.99822296e-01 -2.01284466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.705898227 meters 0.021966230953461112 Centerline is valid? [True, True] Translation: X:18.27, Y:0.29, Z:-0.24 [[ 9.99796999e-01 -2.63191710e-03 1.99758229e-02 1.82732872e+01] [ 1.92085187e-03 9.99366680e-01 3.55323698e-02 2.88014808e-01] [-2.00566900e-02 -3.54867861e-02 9.99168863e-01 -2.35836893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.735898227 meters 0.020943893985722144 Centerline is valid? [True, True] Translation: X:18.32, Y:0.31, Z:-0.17 [[ 9.99780106e-01 6.85103521e-03 1.98192441e-02 1.83161653e+01] [-6.17703598e-03 9.99407127e-01 -3.38709045e-02 3.13415543e-01] [-2.00395445e-02 3.37410324e-02 9.99229683e-01 -1.72818505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.765898227 meters 0.019380940743056727 Centerline is valid? [True, True] Translation: X:18.35, Y:0.29, Z:-0.22 [[ 9.99834493e-01 -6.08380772e-03 1.71456954e-02 1.83495250e+01] [ 5.72386159e-03 9.99763829e-01 2.09648334e-02 2.88602277e-01] [-1.72691921e-02 -2.08632239e-02 9.99633183e-01 -2.24051169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.795898227 meters 0.019943352346643944 Centerline is valid? [True, True] Translation: X:18.38, Y:0.31, Z:-0.18 [[ 9.99788100e-01 3.92237720e-03 2.02081792e-02 1.83769200e+01] [-3.49995099e-03 9.99775511e-01 -2.08968517e-02 3.08704698e-01] [-2.02856080e-02 2.08216961e-02 9.99577386e-01 -1.82885442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.825898227 meters 0.019189076742069662 Centerline is valid? [True, True] Translation: X:18.41, Y:0.30, Z:-0.20 [[ 9.99788526e-01 2.21231985e-03 2.04452476e-02 1.84089416e+01] [-2.21638142e-03 9.99997528e-01 1.75998634e-04 2.99000661e-01] [-2.04448077e-02 -2.21275882e-04 9.99790959e-01 -2.01787880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.855898227 meters 0.018881314300473257 Centerline is valid? [True, True] Translation: X:18.44, Y:0.30, Z:-0.20 [[ 9.99781912e-01 5.07975749e-04 2.08775165e-02 1.84399786e+01] [-5.11798622e-04 9.99999853e-01 1.77766832e-04 2.97406077e-01] [-2.08774231e-02 -1.88413147e-04 9.99782025e-01 -2.02565638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.885898227 meters 0.01941876067395546 Centerline is valid? [True, True] Translation: X:18.47, Y:0.29, Z:-0.22 [[ 9.99781575e-01 -1.30055692e-02 1.63602701e-02 1.84650442e+01] [ 1.26966402e-02 9.99741758e-01 1.88471070e-02 2.87261998e-01] [-1.66011625e-02 -1.86352698e-02 9.99688516e-01 -2.21326904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.915898227 meters 0.02355889132411147 Centerline is valid? [True, True] Translation: X:18.50, Y:0.28, Z:-0.22 [[ 9.99508984e-01 -2.26356520e-02 2.16660756e-02 1.85003823e+01] [ 2.23501107e-02 9.99661310e-01 1.33318605e-02 2.78487857e-01] [-2.19605128e-02 -1.28410752e-02 9.99676369e-01 -2.16646932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.945898227 meters 0.018248052852143024 Centerline is valid? [True, True] Translation: X:18.53, Y:0.29, Z:-0.18 [[ 9.99629651e-01 -1.12342049e-02 2.47861428e-02 1.85348254e+01] [ 1.19806918e-02 9.99472765e-01 -3.01770590e-02 2.89532042e-01] [-2.44340595e-02 3.04628381e-02 9.99237205e-01 -1.75642804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.975898227000002 meters 0.01951300749136466 Centerline is valid? [True, True] Translation: X:18.57, Y:0.27, Z:-0.20 [[ 9.99583742e-01 -1.43676577e-02 2.50182570e-02 1.85661124e+01] [ 1.43673685e-02 9.99896766e-01 1.91322024e-04 2.71747668e-01] [-2.50184231e-02 1.68204132e-04 9.99686976e-01 -2.01050432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.005898227 meters 0.01951300749136466 Centerline is valid? [True, True] Translation: X:18.60, Y:0.27, Z:-0.20 [[ 9.99586248e-01 -1.41921890e-02 2.50182873e-02 1.85987790e+01] [ 1.41919456e-02 9.99899272e-01 1.87294324e-04 2.71858844e-01] [-2.50184254e-02 1.67841343e-04 9.99686976e-01 -2.01432898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.035898227 meters 0.03059612459866858 Centerline is valid? [True, True] Translation: X:18.59, Y:0.21, Z:-0.30 [[ 9.98762813e-01 -1.50052521e-02 4.74097648e-02 1.85897927e+01] [ 1.05536397e-02 9.95629882e-01 9.27887865e-02 2.08563560e-01] [-4.85948977e-02 -9.21736438e-02 9.94556462e-01 -3.01283877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.065898227 meters 0.01894533446796405 Centerline is valid? [True, True] Translation: X:18.66, Y:0.31, Z:-0.13 [[ 9.99562676e-01 -1.16702275e-02 2.71709920e-02 1.86625787e+01] [ 1.39941793e-02 9.96112178e-01 -8.69752413e-02 3.06312353e-01] [-2.60503352e-02 8.73174407e-02 9.95839869e-01 -1.29844531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.095898227 meters 0.026200372888711194 Centerline is valid? [True, True] Translation: X:18.70, Y:0.27, Z:-0.22 [[ 9.99437142e-01 -2.56253613e-02 2.16503907e-02 1.87048889e+01] [ 2.53806644e-02 9.99611683e-01 1.15024192e-02 2.70095598e-01] [-2.19367372e-02 -1.09464436e-02 9.99699432e-01 -2.20857161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.125898227 meters 0.018565836272676446 Centerline is valid? [True, True] Translation: X:18.72, Y:0.28, Z:-0.20 [[ 9.99576773e-01 -1.07519404e-02 2.70309351e-02 1.87240662e+01] [ 1.10722766e-02 9.99869908e-01 -1.17291145e-02 2.81458296e-01] [-2.69013079e-02 1.20234444e-02 9.99565784e-01 -1.95057838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.155898227 meters 0.02604157922408506 Centerline is valid? [True, True] Translation: X:18.72, Y:0.22, Z:-0.31 [[ 9.98714100e-01 -1.18108769e-02 4.93016146e-02 1.87187976e+01] [ 7.13669938e-03 9.95553349e-01 9.39286831e-02 2.16712737e-01] [-5.01917676e-02 -9.34560494e-02 9.94357458e-01 -3.08246707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.185898227 meters 0.040694254579623446 Centerline is valid? [True, True] Translation: X:18.75, Y:0.21, Z:-0.32 [[ 9.96859381e-01 -5.73471086e-03 7.89841011e-02 1.87457430e+01] [ 4.70423910e-05 9.97417274e-01 7.18246450e-02 2.10282611e-01] [-7.91920004e-02 -7.15953555e-02 9.94285036e-01 -3.24047875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.215898227 meters 0.034471260979477114 Centerline is valid? [True, True] Translation: X:18.79, Y:0.28, Z:-0.17 [[ 9.99057073e-01 -1.31670457e-02 4.13714180e-02 1.87887816e+01] [ 1.61245679e-02 9.97275239e-01 -7.19867756e-02 2.76038106e-01] [-4.03108376e-02 7.25859936e-02 9.96547194e-01 -1.69106954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.245898227 meters 0.023081957886852193 Centerline is valid? [True, True] Translation: X:18.85, Y:0.30, Z:-0.13 [[ 0.99947867 -0.01899388 0.02610797 18.85450329] [ 0.02108556 0.99638226 -0.08232733 0.30059835] [-0.0244498 0.08283491 0.99626331 -0.13464583] [ 0. 0. 0. 1. ]] SLAMing on 22.275898227 meters 0.028332803279860114 Centerline is valid? [True, True] Translation: X:18.90, Y:0.27, Z:-0.21 [[ 9.99201759e-01 -3.61596196e-02 1.69801961e-02 1.89031642e+01] [ 3.61220938e-02 9.99344228e-01 2.51159821e-03 2.66275067e-01] [-1.70598794e-02 -1.89623311e-03 9.99852672e-01 -2.10843741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.305898227 meters 0.04605106550343585 Centerline is valid? [True, True] Translation: X:18.89, Y:0.15, Z:-0.35 [[ 9.97667467e-01 -1.64072309e-02 6.62603096e-02 1.88860346e+01] [ 8.56276401e-03 9.93097260e-01 1.16980814e-01 1.54494116e-01] [-6.77222631e-02 -1.16140581e-01 9.90921319e-01 -3.49013890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.335898227 meters 0.02618206165811121 Centerline is valid? [True, True] Translation: X:18.97, Y:0.29, Z:-0.11 [[ 9.99567984e-01 -1.46155567e-02 2.54996183e-02 1.89655739e+01] [ 1.76242993e-02 9.92365107e-01 -1.22069151e-01 2.92481475e-01] [-2.35208229e-02 1.22465828e-01 9.92193979e-01 -1.13509059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.365898227 meters 0.041693255361173756 Centerline is valid? [True, True] Translation: X:18.95, Y:0.17, Z:-0.33 [[ 9.99019330e-01 -7.23469498e-03 4.36810936e-02 1.89509702e+01] [ 3.23771837e-03 9.95855687e-01 9.08898694e-02 1.68486379e-01] [-4.41576260e-02 -9.06593093e-02 9.94902505e-01 -3.27316318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.395898227 meters 0.02188068073785061 Centerline is valid? [True, True] Translation: X:19.03, Y:0.29, Z:-0.15 [[ 9.99650468e-01 -1.21099267e-02 2.35008933e-02 1.90273170e+01] [ 1.40578822e-02 9.96317781e-01 -8.45769211e-02 2.87065762e-01] [-2.23901375e-02 8.48777315e-02 9.96139776e-01 -1.50820072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.425898227 meters 0.022408226035018176 Centerline is valid? [True, True] Translation: X:19.06, Y:0.26, Z:-0.22 [[ 9.99584046e-01 -1.26125739e-02 2.59356684e-02 1.90574371e+01] [ 1.26162873e-02 9.99920411e-01 2.04581393e-05 2.58505920e-01] [-2.59338623e-02 3.06762214e-04 9.99663614e-01 -2.18768256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.455898227 meters 0.043693467378277714 Centerline is valid? [True, True] Translation: X:19.06, Y:0.17, Z:-0.36 [[ 9.97824042e-01 -2.01693014e-02 6.27724503e-02 1.90565958e+01] [ 1.28146329e-02 9.93232522e-01 1.15433718e-01 1.74184313e-01] [-6.46758566e-02 -1.14378133e-01 9.91329751e-01 -3.60762140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.485898227 meters 0.025216455369657123 Centerline is valid? [True, True] Translation: X:19.13, Y:0.30, Z:-0.12 [[ 9.99488482e-01 -1.37508376e-02 2.88736740e-02 1.91268017e+01] [ 1.68600160e-02 9.93748598e-01 -1.10360606e-01 2.99563193e-01] [-2.71756223e-02 1.10790965e-01 9.93472117e-01 -1.21925104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.515898227 meters 0.056439444011830174 Centerline is valid? [True, True] Translation: X:19.12, Y:0.16, Z:-0.34 [[ 9.98543723e-01 -1.59758244e-02 5.15287028e-02 1.91165163e+01] [ 1.09705470e-02 9.95321340e-01 9.59951984e-02 1.59861733e-01] [-5.28212199e-02 -9.52901047e-02 9.94047139e-01 -3.42178329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.545898227 meters 0.07604798735131303 Centerline is valid? [True, True] Translation: X:19.14, Y:0.14, Z:-0.37 [[ 9.96436059e-01 -3.82323559e-03 8.42648366e-02 1.91392495e+01] [-2.33539346e-03 9.97338927e-01 7.28670723e-02 1.40875100e-01] [-8.43191897e-02 -7.28041699e-02 9.93775542e-01 -3.69911982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.575898227 meters 0.03147504995109838 Centerline is valid? [True, True] Translation: X:19.22, Y:0.30, Z:-0.11 [[ 0.99930823 -0.0217238 0.03018499 19.21907132] [ 0.02572236 0.98994171 -0.13911785 0.30382315] [-0.02685922 0.13979804 0.98981569 -0.10820504] [ 0. 0. 0. 1. ]] SLAMing on 22.605898227 meters 0.05583053893812155 Centerline is valid? [True, True] Translation: X:19.24, Y:0.21, Z:-0.27 [[ 0.99851177 -0.04553334 0.03001604 19.24016953] [ 0.04414896 0.99799855 0.04527438 0.21191065] [-0.03201746 -0.04388183 0.99852354 -0.27452839] [ 0. 0. 0. 1. ]] SLAMing on 22.635898227 meters 0.06987501047985038 Centerline is valid? [True, True] Translation: X:19.25, Y:0.18, Z:-0.29 [[ 0.99822926 -0.02757523 0.05270634 19.2475942 ] [ 0.02533126 0.99876338 0.04277887 0.18028476] [-0.0538208 -0.04136801 0.99769334 -0.28937821] [ 0. 0. 0. 1. ]] SLAMing on 22.665898227 meters 0.03344230283853696 Centerline is valid? [True, True] Translation: X:19.31, Y:0.29, Z:-0.14 [[ 0.99922613 -0.02410712 0.03108029 19.31487141] [ 0.02679167 0.995665 -0.08906972 0.28877966] [-0.02879834 0.08983349 0.99554036 -0.14048231] [ 0. 0. 0. 1. ]] SLAMing on 22.695898227 meters 0.032728015076722475 Centerline is valid? [True, True] Translation: X:19.35, Y:0.26, Z:-0.22 [[ 9.99242763e-01 -2.40582486e-02 3.05794359e-02 1.93459763e+01] [ 2.40714828e-02 9.99710238e-01 -6.46684558e-05 2.58360734e-01] [-3.05690193e-02 8.00711852e-04 9.99532338e-01 -2.19565652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.725898227000002 meters 0.07939090516789461 Centerline is valid? [True, True] Translation: X:19.33, Y:0.12, Z:-0.38 [[ 9.97602058e-01 -9.32749851e-03 6.85793886e-02 1.93261722e+01] [ 1.11593660e-03 9.92915954e-01 1.18813562e-01 1.20871547e-01] [-6.92018024e-02 -1.18452124e-01 9.90545408e-01 -3.78672778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.755898227 meters 0.03138271761747898 Centerline is valid? [True, True] Translation: X:19.41, Y:0.30, Z:-0.13 [[ 0.99933687 -0.02120259 0.02960187 19.41179586] [ 0.02429534 0.99381431 -0.10836441 0.3025007 ] [-0.02712116 0.10901173 0.99367041 -0.1343348 ] [ 0. 0. 0. 1. ]] SLAMing on 22.785898227 meters 0.030120149865107398 Centerline is valid? [True, True] Translation: X:19.44, Y:0.26, Z:-0.23 [[ 9.99169834e-01 -2.59372486e-02 3.14150057e-02 1.94413261e+01] [ 2.59525301e-02 9.99663173e-01 -7.87183676e-05 2.64179460e-01] [-3.14023825e-02 8.93951899e-04 9.99506424e-01 -2.30216287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.815898227 meters 0.03789703340977047 Centerline is valid? [True, True] Translation: X:19.47, Y:0.26, Z:-0.23 [[ 9.99065838e-01 -2.85416438e-02 3.24472675e-02 1.94719170e+01] [ 2.85593373e-02 9.99592096e-01 -8.18782966e-05 2.55016315e-01] [-3.24316952e-02 1.00847427e-03 9.99473445e-01 -2.25742976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.845898227 meters 0.035680320849832116 Centerline is valid? [True, True] Translation: X:19.50, Y:0.26, Z:-0.23 [[ 9.98939207e-01 -3.23435542e-02 3.27773450e-02 1.95032788e+01] [ 3.23636712e-02 9.99476156e-01 -8.32543002e-05 2.56998073e-01] [-3.27574821e-02 1.14396120e-03 9.99462675e-01 -2.27378289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.875898227 meters 0.03858194480421323 Centerline is valid? [True, True] Translation: X:19.53, Y:0.25, Z:-0.23 [[ 9.98800409e-01 -3.65637267e-02 3.25704933e-02 1.95336429e+01] [ 3.65858487e-02 9.99330510e-01 -8.32966145e-05 2.51321784e-01] [-3.25456421e-02 1.27481583e-03 9.99469437e-01 -2.29739945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.905898227 meters 0.05079883197457557 Centerline is valid? [True, True] Translation: X:19.56, Y:0.23, Z:-0.23 [[ 9.98434985e-01 -4.59668587e-02 3.18532485e-02 1.95629526e+01] [ 4.59928168e-02 9.98941767e-01 -8.23230517e-05 2.30925824e-01] [-3.18157562e-02 1.54721484e-03 9.99492553e-01 -2.32842649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.935898227 meters 0.0494489941477573 Centerline is valid? [True, True] Translation: X:19.59, Y:0.23, Z:-0.24 [[ 9.98238156e-01 -5.05162611e-02 3.11238140e-02 1.95938310e+01] [ 5.05432796e-02 9.98721868e-01 -8.14681346e-05 2.30871050e-01] [-3.10799182e-02 1.65442424e-03 9.99515533e-01 -2.35800922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.965898227 meters 0.052323085724002176 Centerline is valid? [True, True] Translation: X:19.62, Y:0.23, Z:-0.24 [[ 9.98070346e-01 -5.45652256e-02 2.96347959e-02 1.96249230e+01] [ 5.45915136e-02 9.98508768e-01 -7.81085462e-05 2.25649309e-01] [-2.95863415e-02 1.69576619e-03 9.99560790e-01 -2.37626796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.995898227 meters 0.09631485382513756 Centerline is valid? [True, True] Translation: X:19.68, Y:0.20, Z:-0.23 [[ 9.95448103e-01 -9.33079796e-02 1.94086380e-02 1.96838955e+01] [ 9.34594166e-02 9.95598160e-01 -7.04563170e-03 1.99316675e-01] [-1.86657906e-02 8.82748069e-03 9.99786809e-01 -2.30644782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.025898227 meters 0.054223447744905846 Centerline is valid? [True, True] Translation: X:19.71, Y:0.25, Z:-0.24 [[ 9.96375499e-01 -8.22553274e-02 2.16778011e-02 1.97051122e+01] [ 8.22313808e-02 9.96611268e-01 1.99527038e-03 2.45433622e-01] [-2.17684624e-02 -2.05443010e-04 9.99763018e-01 -2.43686593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.055898227 meters 0.06956664251208743 Centerline is valid? [True, True] Translation: X:19.70, Y:0.22, Z:-0.24 [[ 9.97109484e-01 -7.00433711e-02 2.94381208e-02 1.96968217e+01] [ 7.01275008e-02 9.97536350e-01 -1.83392676e-03 2.16275639e-01] [-2.92371412e-02 3.89304760e-03 9.99564922e-01 -2.35782274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.085898227 meters 0.06737267785989969 Centerline is valid? [True, True] Translation: X:19.73, Y:0.22, Z:-0.24 [[ 9.97243834e-01 -6.77943502e-02 3.01440263e-02 1.97273989e+01] [ 6.78160414e-02 9.97697796e-01 3.03367558e-04 2.16420103e-01] [-3.00951952e-02 1.74171711e-03 9.99545520e-01 -2.35704071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.115898227 meters 0.05143717973841693 Centerline is valid? [True, True] Translation: X:19.76, Y:0.24, Z:-0.24 [[ 9.97435927e-01 -6.48142946e-02 3.03426784e-02 1.97581092e+01] [ 6.48349069e-02 9.97895957e-01 3.05083403e-04 2.36205061e-01] [-3.02986099e-02 1.66296359e-03 9.99539508e-01 -2.39119277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.145898227 meters 0.042602960776089036 Centerline is valid? [True, True] Translation: X:19.79, Y:0.25, Z:-0.24 [[ 9.97902447e-01 -5.72798716e-02 3.01616028e-02 1.97884401e+01] [ 5.72968141e-02 9.98357142e-01 3.02967600e-04 2.46013825e-01] [-3.01294055e-02 1.42583164e-03 9.99544989e-01 -2.40708647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.175898227 meters 0.04005217998725957 Centerline is valid? [True, True] Translation: X:19.82, Y:0.25, Z:-0.24 [[ 9.98121383e-01 -5.30954305e-02 3.05709083e-02 1.98184495e+01] [ 5.31108822e-02 9.98588574e-01 3.06926787e-04 2.48294156e-01] [-3.05440561e-02 1.31729772e-03 9.99532553e-01 -2.39781348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.205898227 meters 0.05314845571538953 Centerline is valid? [True, True] Translation: X:19.86, Y:0.23, Z:-0.24 [[ 9.98182470e-01 -5.01551079e-02 3.34098988e-02 1.98594565e+01] [ 4.99687843e-02 9.98730343e-01 6.38923106e-03 2.30613472e-01] [-3.36879322e-02 -4.70816641e-03 9.99421311e-01 -2.41900338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.235898227 meters 0.05088628214241282 Centerline is valid? [True, True] Translation: X:19.89, Y:0.24, Z:-0.24 [[ 9.98253599e-01 -4.88936982e-02 3.31535648e-02 1.98938421e+01] [ 4.88026724e-02 9.98802132e-01 3.54974220e-03 2.35377641e-01] [-3.32874112e-02 -1.92556037e-03 9.99443966e-01 -2.40444518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.265898227 meters 0.03763162486106751 Centerline is valid? [True, True] Translation: X:19.91, Y:0.26, Z:-0.23 [[ 9.98574971e-01 -4.42225068e-02 2.98730022e-02 1.99111952e+01] [ 4.45038919e-02 9.98970269e-01 -8.82077821e-03 2.57244731e-01] [-2.94521641e-02 1.01376732e-02 9.99514781e-01 -2.31054428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.295898227 meters 0.03547955181750294 Centerline is valid? [True, True] Translation: X:19.95, Y:0.25, Z:-0.26 [[ 0.99839407 -0.04550199 0.03374685 19.95321764] [ 0.04464688 0.99867287 0.02567407 0.2466392 ] [-0.03487029 -0.02412614 0.99910059 -0.26136704] [ 0. 0. 0. 1. ]] SLAMing on 23.325898227 meters 0.03401042376279885 Centerline is valid? [True, True] Translation: X:19.97, Y:0.27, Z:-0.22 [[ 0.99856886 -0.04412466 0.03022001 19.97481763] [ 0.04489346 0.99867257 -0.02525219 0.26954194] [-0.02906565 0.02657273 0.99922424 -0.22167223] [ 0. 0. 0. 1. ]] SLAMing on 23.355898227 meters 0.03541194190841569 Centerline is valid? [True, True] Translation: X:20.01, Y:0.26, Z:-0.24 [[ 9.98507446e-01 -4.54832671e-02 3.02349567e-02 2.00062050e+01] [ 4.54951732e-02 9.98964515e-01 2.94383271e-04 2.57321236e-01] [-3.02170384e-02 1.08160070e-03 9.99542776e-01 -2.44273195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.385898227 meters 0.038138996134885264 Centerline is valid? [True, True] Translation: X:20.04, Y:0.26, Z:-0.25 [[ 9.98464645e-01 -4.65937856e-02 2.99561766e-02 2.00375290e+01] [ 4.66061022e-02 9.98913304e-01 2.87319632e-04 2.55595331e-01] [-2.99370106e-02 1.10926213e-03 9.99551172e-01 -2.45637732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.415898227 meters 0.03764556739244885 Centerline is valid? [True, True] Translation: X:20.07, Y:0.24, Z:-0.27 [[ 0.99817277 -0.04864578 0.03584293 20.07355463] [ 0.047314 0.9981904 0.03711205 0.24031895] [-0.03758342 -0.03534837 0.9986681 -0.27428463] [ 0. 0. 0. 1. ]] SLAMing on 23.445898227 meters 0.04191428508053486 Centerline is valid? [True, True] Translation: X:20.10, Y:0.27, Z:-0.22 [[ 0.99832849 -0.04998355 0.02901499 20.10140455] [ 0.05103586 0.9980209 -0.0367372 0.26808551] [-0.02712131 0.0381566 0.99890365 -0.21661944] [ 0. 0. 0. 1. ]] SLAMing on 23.475898227000002 meters 0.04264446356045581 Centerline is valid? [True, True] Translation: X:20.13, Y:0.25, Z:-0.25 [[ 9.98251207e-01 -5.18493969e-02 2.83930876e-02 2.01328606e+01] [ 5.18627488e-02 9.98654187e-01 2.66462432e-04 2.51172110e-01] [-2.83686917e-02 1.20654713e-03 9.99596800e-01 -2.48325813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.505898227 meters 0.04593448207917669 Centerline is valid? [True, True] Translation: X:20.16, Y:0.25, Z:-0.25 [[ 9.98060017e-01 -5.55125982e-02 2.81878171e-02 2.01637150e+01] [ 5.55272900e-02 9.98457136e-01 2.61878435e-04 2.47299534e-01] [-2.81588647e-02 1.30382270e-03 9.99602610e-01 -2.50369187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.535898227 meters 0.045644834756598085 Centerline is valid? [True, True] Translation: X:20.19, Y:0.25, Z:-0.25 [[ 9.97947124e-01 -5.77674140e-02 2.76489389e-02 2.01949464e+01] [ 5.77824214e-02 9.98329167e-01 2.56539739e-04 2.48326884e-01] [-2.76175618e-02 1.34160954e-03 9.99617662e-01 -2.52573330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.565898227 meters 0.04485054847830018 Centerline is valid? [True, True] Translation: X:20.22, Y:0.23, Z:-0.27 [[ 0.99800118 -0.05416252 0.03255875 20.21990855] [ 0.05338725 0.99827994 0.02422735 0.2347942 ] [-0.03381496 -0.0224407 0.99917614 -0.27114137] [ 0. 0. 0. 1. ]] SLAMing on 23.595898227 meters 0.04399174568844488 Centerline is valid? [True, True] Translation: X:20.26, Y:0.26, Z:-0.24 [[ 0.99779153 -0.06024987 0.02796453 20.25697298] [ 0.06088631 0.99789122 -0.02249387 0.25897348] [-0.02655031 0.02414685 0.9993558 -0.23596245] [ 0. 0. 0. 1. ]] SLAMing on 23.625898227 meters 0.05083383033162422 Centerline is valid? [True, True] Translation: X:20.28, Y:0.21, Z:-0.29 [[ 0.99772558 -0.05607703 0.03740373 20.2785376 ] [ 0.05447351 0.99760632 0.04259424 0.21497157] [-0.03970275 -0.04045985 0.99839205 -0.28655083] [ 0. 0. 0. 1. ]] SLAMing on 23.655898227 meters 0.07897064747623946 Centerline is valid? [True, True] Translation: X:20.33, Y:0.22, Z:-0.24 [[ 9.96558078e-01 -7.07894459e-02 4.31375970e-02 2.03345416e+01] [ 7.13638474e-02 9.97379094e-01 -1.19224333e-02 2.21099948e-01] [-4.21805550e-02 1.49598621e-02 9.98998000e-01 -2.35157923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.685898227 meters 0.04173492529122366 Centerline is valid? [True, True] Translation: X:20.34, Y:0.24, Z:-0.27 [[ 9.97742904e-01 -5.58290998e-02 3.73123245e-02 2.03410651e+01] [ 5.53367393e-02 9.98368166e-01 1.41014251e-02 2.37025814e-01] [-3.80387069e-02 -1.20048545e-02 9.99204153e-01 -2.70914153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.715898227 meters 0.04099771483002838 Centerline is valid? [True, True] Translation: X:20.37, Y:0.24, Z:-0.26 [[ 9.97749290e-01 -5.59353583e-02 3.69809319e-02 2.03737299e+01] [ 5.60904056e-02 9.98420669e-01 -3.16770082e-03 2.44942460e-01] [-3.67453403e-02 5.23484672e-03 9.99310951e-01 -2.59851897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.745898227 meters 0.04308030380324833 Centerline is valid? [True, True] Translation: X:20.40, Y:0.24, Z:-0.27 [[ 9.97875755e-01 -5.47612270e-02 3.52871876e-02 2.04037443e+01] [ 5.46683469e-02 9.98498106e-01 3.59233835e-03 2.37834353e-01] [-3.54309108e-02 -1.65561513e-03 9.99370757e-01 -2.65378271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.775898227 meters 0.047126539344105545 Centerline is valid? [True, True] Translation: X:20.45, Y:0.25, Z:-0.23 [[ 0.9977589 -0.06139937 0.0265951 20.4496274 ] [ 0.06251357 0.99710381 -0.04331323 0.25399137] [-0.02385867 0.04487872 0.9987075 -0.22873451] [ 0. 0. 0. 1. ]] SLAMing on 23.805898227 meters 0.04285899353543322 Centerline is valid? [True, True] Translation: X:20.48, Y:0.21, Z:-0.30 [[ 0.99761884 -0.06001272 0.03398716 20.48489942] [ 0.05850919 0.99733306 0.0436284 0.21488817] [-0.03651478 -0.04153595 0.99846955 -0.30105283] [ 0. 0. 0. 1. ]] SLAMing on 23.835898227 meters 0.04778594647030685 Centerline is valid? [True, True] Translation: X:20.51, Y:0.25, Z:-0.23 [[ 0.99781044 -0.06039546 0.02695777 20.512486 ] [ 0.06152573 0.99716681 -0.04327747 0.24729727] [-0.02426763 0.04484131 0.99869932 -0.23278832] [ 0. 0. 0. 1. ]] SLAMing on 23.865898227 meters 0.04168962912448597 Centerline is valid? [True, True] Translation: X:20.54, Y:0.22, Z:-0.28 [[ 9.98064223e-01 -5.43094358e-02 3.03033181e-02 2.05365505e+01] [ 5.36797830e-02 9.98332721e-01 2.12193212e-02 2.20090600e-01] [-3.14052034e-02 -1.95515698e-02 9.99315490e-01 -2.83761933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.895898227 meters 0.04168962912448597 Centerline is valid? [True, True] Translation: X:20.57, Y:0.23, Z:-0.27 [[ 9.98091355e-01 -5.35539800e-02 3.07509115e-02 2.05695319e+01] [ 5.35511640e-02 9.98564687e-01 9.15725035e-04 2.29302481e-01] [-3.07558150e-02 7.32769865e-04 9.99526659e-01 -2.68806427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.925898227 meters 0.041700666482128224 Centerline is valid? [True, True] Translation: X:20.60, Y:0.23, Z:-0.27 [[ 9.98136819e-01 -5.40372708e-02 2.83348684e-02 2.06029505e+01] [ 5.41326014e-02 9.98530351e-01 -2.60765425e-03 2.28826170e-01] [-2.81523156e-02 4.13663585e-03 9.99595086e-01 -2.68450788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.955898227 meters 0.0448458246117418 Centerline is valid? [True, True] Translation: X:20.64, Y:0.23, Z:-0.26 [[ 9.97977241e-01 -5.91672172e-02 2.32522321e-02 2.06398017e+01] [ 5.95887713e-02 9.98062958e-01 -1.78748332e-02 2.32840461e-01] [-2.21495875e-02 1.92242487e-02 9.99569819e-01 -2.59526559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.985898227 meters 0.04361924600664863 Centerline is valid? [True, True] Translation: X:20.67, Y:0.22, Z:-0.28 [[ 9.98158268e-01 -5.39991384e-02 2.76435400e-02 2.06659204e+01] [ 5.36322791e-02 9.98464764e-01 1.38453409e-02 2.15697191e-01] [-2.83487371e-02 -1.23372554e-02 9.99521956e-01 -2.82921637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.015898227 meters 0.04555225579227518 Centerline is valid? [True, True] Translation: X:20.69, Y:0.21, Z:-0.29 [[ 9.98191919e-01 -4.99535135e-02 3.34296120e-02 2.06877884e+01] [ 4.93989329e-02 9.98630753e-01 1.72152496e-02 2.07362686e-01] [-3.42438008e-02 -1.55327359e-02 9.99292798e-01 -2.86780156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.045898227 meters 0.04741979718389559 Centerline is valid? [True, True] Translation: X:20.72, Y:0.21, Z:-0.28 [[ 9.98056701e-01 -5.10657080e-02 3.57087573e-02 2.07200687e+01] [ 5.08973600e-02 9.98688142e-01 5.60831326e-03 2.09234966e-01] [-3.59483050e-02 -3.77993315e-03 9.99346502e-01 -2.77379478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.075898227 meters 0.04860726825146105 Centerline is valid? [True, True] Translation: X:20.76, Y:0.23, Z:-0.25 [[ 0.99766309 -0.06211812 0.02845529 20.76444374] [ 0.06305286 0.99745706 -0.03322267 0.22814559] [-0.0263192 0.03493922 0.99904282 -0.24555082] [ 0. 0. 0. 1. ]] SLAMing on 24.105898227 meters 0.058134671253196844 Centerline is valid? [True, True] Translation: X:20.79, Y:0.20, Z:-0.27 [[ 9.97421862e-01 -6.66851718e-02 2.65087960e-02 2.07937518e+01] [ 6.67025524e-02 9.97772878e-01 2.29049983e-04 2.00422387e-01] [-2.64650319e-02 1.53974489e-03 9.99648554e-01 -2.74722253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.135898227 meters 0.05971446519625603 Centerline is valid? [True, True] Translation: X:20.83, Y:0.20, Z:-0.28 [[ 9.97377895e-01 -6.76425715e-02 2.57258052e-02 2.08250117e+01] [ 6.76592633e-02 9.97708462e-01 2.22046878e-04 1.97288924e-01] [-2.56818734e-02 1.51912438e-03 9.99669012e-01 -2.75953306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.165898227 meters 0.05507145001185751 Centerline is valid? [True, True] Translation: X:20.86, Y:0.20, Z:-0.28 [[ 9.97309485e-01 -6.91992683e-02 2.41919876e-02 2.08561924e+01] [ 6.92145067e-02 9.97601779e-01 2.07885079e-04 2.03517220e-01] [-2.41483553e-02 1.46711072e-03 9.99707309e-01 -2.78349028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.195898227 meters 0.05863015656242524 Centerline is valid? [True, True] Translation: X:20.89, Y:0.20, Z:-0.28 [[ 9.97172546e-01 -7.15223418e-02 2.30535945e-02 2.08868260e+01] [ 7.15368082e-02 9.97437941e-01 1.97633838e-04 2.00086635e-01] [-2.30086650e-02 1.45210553e-03 9.99734211e-01 -2.80241945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.225898227000002 meters 0.044352556380781935 Centerline is valid? [True, True] Translation: X:20.91, Y:0.20, Z:-0.29 [[ 9.97309591e-01 -6.84440434e-02 2.62486626e-02 2.09079592e+01] [ 6.79462915e-02 9.97500174e-01 1.94088773e-02 2.04888482e-01] [-2.75114676e-02 -1.75731602e-02 9.99467010e-01 -2.92000300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.255898227 meters 0.06203121573241621 Centerline is valid? [True, True] Translation: X:20.95, Y:0.20, Z:-0.26 [[ 9.96944264e-01 -7.39038784e-02 2.53051551e-02 2.09488044e+01] [ 7.43806687e-02 9.97059266e-01 -1.84481879e-02 2.00379383e-01] [-2.38673468e-02 2.02740295e-02 9.99509536e-01 -2.64956164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.285898227 meters 0.04354311838328979 Centerline is valid? [True, True] Translation: X:20.95, Y:0.19, Z:-0.31 [[ 0.99730003 -0.06720431 0.02960119 20.94649062] [ 0.06583059 0.9968081 0.04516568 0.18933089] [-0.03254204 -0.04309507 0.99854085 -0.31398252] [ 0. 0. 0. 1. ]] SLAMing on 24.315898227 meters 0.06619386090279437 Centerline is valid? [True, True] Translation: X:21.01, Y:0.20, Z:-0.25 [[ 0.99677108 -0.07642928 0.02461661 21.0125005 ] [ 0.07742977 0.99608556 -0.04264019 0.2013756 ] [-0.02126129 0.04440856 0.99878718 -0.25039299] [ 0. 0. 0. 1. ]] SLAMing on 24.345898227 meters 0.07199726562914541 Centerline is valid? [True, True] Translation: X:21.05, Y:0.17, Z:-0.29 [[ 9.97037103e-01 -7.30207961e-02 2.41863150e-02 2.10450063e+01] [ 7.30598470e-02 9.97327289e-01 -7.33707579e-04 1.69729226e-01] [-2.40680961e-02 2.49858216e-03 9.99707199e-01 -2.85393504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.375898227 meters 0.07070996178806824 Centerline is valid? [True, True] Translation: X:21.07, Y:0.17, Z:-0.29 [[ 9.96719033e-01 -7.80636857e-02 2.13829509e-02 2.10726612e+01] [ 7.80546709e-02 9.96948287e-01 1.25715568e-03 1.72086241e-01] [-2.14158345e-02 4.16008209e-04 9.99770568e-01 -2.88596077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.405898227 meters 0.06190205194910783 Centerline is valid? [True, True] Translation: X:21.07, Y:0.15, Z:-0.32 [[ 0.99763116 -0.06054798 0.03264989 21.06922083] [ 0.05892495 0.99708012 0.04857042 0.14869605] [-0.0354954 -0.04653147 0.99828598 -0.32345992] [ 0. 0. 0. 1. ]] SLAMing on 24.435898227 meters 0.047032831551367074 Centerline is valid? [True, True] Translation: X:21.12, Y:0.21, Z:-0.27 [[ 0.99780739 -0.06116908 0.02527367 21.122286 ] [ 0.06195097 0.9975849 -0.03140757 0.20800047] [-0.02329146 0.03290443 0.99918707 -0.2658892 ] [ 0. 0. 0. 1. ]] SLAMing on 24.465898227 meters 0.0632867270868522 Centerline is valid? [True, True] Translation: X:21.16, Y:0.18, Z:-0.29 [[ 9.97695299e-01 -6.31351964e-02 2.48603722e-02 2.11564346e+01] [ 6.32230162e-02 9.97995603e-01 -2.76172861e-03 1.75096529e-01] [-2.46361798e-02 4.32711136e-03 9.99687118e-01 -2.88870438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.495898227 meters 0.05168215207879117 Centerline is valid? [True, True] Translation: X:21.19, Y:0.19, Z:-0.29 [[ 9.97797733e-01 -6.18564675e-02 2.39470618e-02 2.11873930e+01] [ 6.18726295e-02 9.98084051e-01 6.61585280e-05 1.89505464e-01] [-2.39052728e-02 1.41565485e-03 9.99713226e-01 -2.91558181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.525898227 meters 0.05863222053862101 Centerline is valid? [True, True] Translation: X:21.22, Y:0.18, Z:-0.29 [[ 9.97915740e-01 -5.94171022e-02 2.51750799e-02 2.12169113e+01] [ 5.94342086e-02 9.98232223e-01 6.88672243e-05 1.77616879e-01] [-2.51346679e-02 1.42753727e-03 9.99683055e-01 -2.91027765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.555898227 meters 0.04933231847757397 Centerline is valid? [True, True] Translation: X:21.25, Y:0.18, Z:-0.29 [[ 9.97976006e-01 -5.78615964e-02 2.63804441e-02 2.12486291e+01] [ 5.78798298e-02 9.98323555e-01 7.25245890e-05 1.84583060e-01] [-2.63404151e-02 1.45451782e-03 9.99651973e-01 -2.91653327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.585898227 meters 0.053860353959685414 Centerline is valid? [True, True] Translation: X:21.25, Y:0.15, Z:-0.32 [[ 0.99840214 -0.0449988 0.0341799 21.25262873] [ 0.04383606 0.9984587 0.03403847 0.15157881] [-0.03565891 -0.03248577 0.99883588 -0.31836487] [ 0. 0. 0. 1. ]] SLAMing on 24.615898227 meters 0.059806234448625366 Centerline is valid? [True, True] Translation: X:21.32, Y:0.18, Z:-0.27 [[ 9.97894963e-01 -6.04602861e-02 2.34562748e-02 2.13160261e+01] [ 6.13212993e-02 9.97397831e-01 -3.79112836e-02 1.82494676e-01] [-2.11031105e-02 3.92698482e-02 9.99005775e-01 -2.67725199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.645898227 meters 0.051201071557370116 Centerline is valid? [True, True] Translation: X:21.35, Y:0.17, Z:-0.30 [[ 9.97829953e-01 -6.19363763e-02 2.23443435e-02 2.13471355e+01] [ 6.19491804e-02 9.98079298e-01 1.19369157e-04 1.74797783e-01] [-2.23088200e-02 1.26510365e-03 9.99750327e-01 -2.97489054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.675898227 meters 0.05053127915604083 Centerline is valid? [True, True] Translation: X:21.38, Y:0.17, Z:-0.30 [[ 9.97828364e-01 -6.19620927e-02 2.23440272e-02 2.13799140e+01] [ 6.19749813e-02 9.98077697e-01 1.15850194e-04 1.69019472e-01] [-2.23082536e-02 1.26917206e-03 9.99750334e-01 -2.97752548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.705898227 meters 0.04834922579857871 Centerline is valid? [True, True] Translation: X:21.41, Y:0.17, Z:-0.30 [[ 9.97807603e-01 -6.22844278e-02 2.23749283e-02 2.14126370e+01] [ 6.22975121e-02 9.98057617e-01 1.12462608e-04 1.69282924e-01] [-2.23384723e-02 1.28168632e-03 9.99749644e-01 -2.98575501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.735898227 meters 0.04618217598086627 Centerline is valid? [True, True] Translation: X:21.42, Y:0.15, Z:-0.32 [[ 0.99827817 -0.05078926 0.02934544 21.41620146] [ 0.0498982 0.99829341 0.03033865 0.1468555 ] [-0.03083623 -0.02882213 0.99910881 -0.31820183] [ 0. 0. 0. 1. ]] SLAMing on 24.765898227 meters 0.048318179785124676 Centerline is valid? [True, True] Translation: X:21.48, Y:0.17, Z:-0.27 [[ 0.99772285 -0.06168666 0.02727416 21.47634369] [ 0.06244854 0.99765465 -0.02802462 0.17155103] [-0.02548144 0.02966404 0.99923508 -0.27329355] [ 0. 0. 0. 1. ]] SLAMing on 24.795898227 meters 0.05511041943254493 Centerline is valid? [True, True] Translation: X:21.51, Y:0.15, Z:-0.29 [[ 9.97691982e-01 -6.17714731e-02 2.81956549e-02 2.15069540e+01] [ 6.17925090e-02 9.98089009e-01 1.25468986e-04 1.47512094e-01] [-2.81495237e-02 1.61710086e-03 9.99602416e-01 -2.93280144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.825898227 meters 0.05556065636256738 Centerline is valid? [True, True] Translation: X:21.54, Y:0.14, Z:-0.29 [[ 9.97632504e-01 -6.26888582e-02 2.82753243e-02 2.15391456e+01] [ 6.27104910e-02 9.98031753e-01 1.21905011e-04 1.44484429e-01] [-2.82273135e-02 1.65154307e-03 9.99600166e-01 -2.93854040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.855898227 meters 0.048811323574578826 Centerline is valid? [True, True] Translation: X:21.57, Y:0.15, Z:-0.30 [[ 9.97545367e-01 -6.42237265e-02 2.79025846e-02 2.15700159e+01] [ 6.42454233e-02 9.97934122e-01 1.19119743e-04 1.51079933e-01] [-2.78525916e-02 1.67378601e-03 9.99610640e-01 -2.96171076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.885898227 meters 0.0590073172918899 Centerline is valid? [True, True] Translation: X:21.60, Y:0.13, Z:-0.30 [[ 9.97312399e-01 -6.83520468e-02 2.63813670e-02 2.15995912e+01] [ 6.83729007e-02 9.97659829e-01 1.11808886e-04 1.30764471e-01] [-2.63272725e-02 1.69226220e-03 9.99651945e-01 -2.99642763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.915898227 meters 0.060661230454688464 Centerline is valid? [True, True] Translation: X:21.63, Y:0.12, Z:-0.30 [[ 9.97176313e-01 -7.05710000e-02 2.56736367e-02 2.16306555e+01] [ 7.05915147e-02 9.97505301e-01 1.07514564e-04 1.24685495e-01] [-2.56171761e-02 1.70512993e-03 9.99670372e-01 -3.01474774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.945898227 meters 0.06116048851311589 Centerline is valid? [True, True] Translation: X:21.66, Y:0.12, Z:-0.30 [[ 9.97043228e-01 -7.28209863e-02 2.45337526e-02 2.16614070e+01] [ 7.28404018e-02 9.97343604e-01 1.02537991e-04 1.20284884e-01] [-2.44760482e-02 1.68481359e-03 9.99698997e-01 -3.03533719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.975898227000002 meters 0.06533562617115617 Centerline is valid? [True, True] Translation: X:21.69, Y:0.11, Z:-0.31 [[ 9.96952160e-01 -7.46018376e-02 2.28244616e-02 2.16915068e+01] [ 7.46191105e-02 9.97212103e-01 9.51580781e-05 1.11914676e-01] [-2.27679283e-02 1.60827297e-03 9.99739484e-01 -3.05158469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.005898227 meters 0.06496007278534018 Centerline is valid? [True, True] Translation: X:21.72, Y:0.11, Z:-0.31 [[ 9.97081460e-01 -7.33266775e-02 2.12546521e-02 2.17231909e+01] [ 7.33413846e-02 9.97306890e-01 8.77855557e-05 1.06733905e-01] [-2.12038480e-02 1.47131626e-03 9.99774091e-01 -3.07495088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.035898227 meters 0.06767955384452445 Centerline is valid? [True, True] Translation: X:21.75, Y:0.10, Z:-0.31 [[ 9.97273972e-01 -7.04876477e-02 2.18200796e-02 2.17530407e+01] [ 7.05024907e-02 9.97511599e-01 8.92389302e-05 1.01259189e-01] [-2.17720728e-02 1.44937430e-03 9.99761910e-01 -3.08321258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.065898227 meters 0.05244217335539176 Centerline is valid? [True, True] Translation: X:21.78, Y:0.12, Z:-0.31 [[ 9.97466770e-01 -6.74818656e-02 2.24997908e-02 2.17834367e+01] [ 6.74968819e-02 9.97719481e-01 9.22317258e-05 1.19921629e-01] [-2.24547036e-02 1.42666764e-03 9.99746843e-01 -3.07416060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.095898227 meters 0.04948108135903149 Centerline is valid? [True, True] Translation: X:21.81, Y:0.12, Z:-0.31 [[ 9.98040195e-01 -5.80519260e-02 2.33611654e-02 2.18128148e+01] [ 5.80655419e-02 9.98312768e-01 9.56383222e-05 1.23300954e-01] [-2.33273017e-02 1.26102784e-03 9.99727086e-01 -3.06506656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.125898227 meters 0.04477459150470081 Centerline is valid? [True, True] Translation: X:21.84, Y:0.13, Z:-0.31 [[ 9.98345089e-01 -5.27467241e-02 2.29099574e-02 2.18433913e+01] [ 5.27584307e-02 9.98607300e-01 9.35631826e-05 1.29990414e-01] [-2.28829858e-02 1.11528505e-03 9.99737528e-01 -3.07687519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.155898227 meters 0.038617362367306174 Centerline is valid? [True, True] Translation: X:21.87, Y:0.14, Z:-0.31 [[ 9.98629734e-01 -4.73739943e-02 2.22341700e-02 2.18738673e+01] [ 4.73836951e-02 9.98876758e-01 9.06235874e-05 1.39197532e-01] [-2.22134889e-02 9.63037725e-04 9.99752786e-01 -3.08888120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.185898227 meters 0.03880062585565438 Centerline is valid? [True, True] Translation: X:21.90, Y:0.14, Z:-0.31 [[ 9.98836382e-01 -4.31496193e-02 2.15404781e-02 2.19033264e+01] [ 4.31577438e-02 9.99068267e-01 8.77754394e-05 1.42171821e-01] [-2.15241956e-02 8.41965132e-04 9.99767973e-01 -3.11081814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.215898227 meters 0.03320261889466923 Centerline is valid? [True, True] Translation: X:21.93, Y:0.15, Z:-0.31 [[ 9.99002375e-01 -3.81424895e-02 2.32250909e-02 2.19338254e+01] [ 3.81505798e-02 9.99271997e-01 9.48045062e-05 1.52029709e-01] [-2.32117990e-02 7.91340755e-04 9.99730257e-01 -3.08522200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.245898227 meters 0.03341412443692768 Centerline is valid? [True, True] Translation: X:21.97, Y:0.16, Z:-0.31 [[ 9.98995903e-01 -3.77530847e-02 2.41223957e-02 2.19665555e+01] [ 3.77616993e-02 9.99286768e-01 9.84611068e-05 1.55030087e-01] [-2.41089081e-02 8.12540411e-04 9.99709008e-01 -3.08278848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.275898227 meters 0.03143605255781655 Centerline is valid? [True, True] Translation: X:22.00, Y:0.16, Z:-0.31 [[ 9.98958610e-01 -3.77172562e-02 2.56730384e-02 2.20002211e+01] [ 3.77270429e-02 9.99288076e-01 1.03221467e-04 1.58716129e-01] [-2.56586544e-02 8.65453850e-04 9.99670388e-01 -3.06847230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.305898227 meters 0.031227397805719686 Centerline is valid? [True, True] Translation: X:22.03, Y:0.16, Z:-0.31 [[ 9.98884995e-01 -3.90128027e-02 2.65851051e-02 2.20319282e+01] [ 3.90238894e-02 9.99238273e-01 1.01862947e-04 1.61593820e-01] [-2.65688284e-02 9.35704831e-04 9.99646548e-01 -3.06505140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.335898227 meters 0.03409879119757867 Centerline is valid? [True, True] Translation: X:22.06, Y:0.16, Z:-0.31 [[ 9.98870061e-01 -4.00575253e-02 2.55733320e-02 2.20633132e+01] [ 4.00682207e-02 9.99196942e-01 9.42631416e-05 1.59866685e-01] [-2.55565711e-02 9.30521281e-04 9.99672944e-01 -3.08930411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.365898227 meters 0.03540101294677724 Centerline is valid? [True, True] Translation: X:22.10, Y:0.16, Z:-0.31 [[ 9.98868314e-01 -4.03939650e-02 2.51081326e-02 2.20953066e+01] [ 4.04044320e-02 9.99183403e-01 9.05111539e-05 1.59266854e-01] [-2.50912855e-02 9.24071112e-04 9.99684737e-01 -3.10625791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.395898227 meters 0.03573361724161877 Centerline is valid? [True, True] Translation: X:22.13, Y:0.16, Z:-0.31 [[ 9.98885546e-01 -4.00834345e-02 2.49195446e-02 2.21262766e+01] [ 4.00937480e-02 9.99195919e-01 8.58276918e-05 1.58290948e-01] [-2.49029475e-02 9.13385898e-04 9.99689456e-01 -3.11015199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.425898227 meters 0.03524856487015135 Centerline is valid? [True, True] Translation: X:22.16, Y:0.16, Z:-0.31 [[ 9.98965774e-01 -3.76621972e-02 2.54743388e-02 2.21570408e+01] [ 3.76722880e-02 9.99290144e-01 8.38569112e-05 1.59221598e-01] [-2.54594139e-02 8.75906443e-04 9.99675473e-01 -3.11284020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.455898227 meters 0.03206276546749547 Centerline is valid? [True, True] Translation: X:22.19, Y:0.16, Z:-0.31 [[ 9.99041424e-01 -3.52342952e-02 2.59764679e-02 2.21883577e+01] [ 3.52439837e-02 9.99378734e-01 8.49111378e-05 1.60930834e-01] [-2.59633214e-02 8.30684467e-04 9.99662551e-01 -3.10183260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.485898227 meters 0.029245743601706994 Centerline is valid? [True, True] Translation: X:22.22, Y:0.16, Z:-0.31 [[ 9.99138113e-01 -3.23184059e-02 2.60490404e-02 2.22202162e+01] [ 3.23271740e-02 9.99477337e-01 8.45566905e-05 1.64507593e-01] [-2.60381582e-02 7.57608050e-04 9.99660663e-01 -3.10787231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.515898227 meters 0.023198048828462513 Centerline is valid? [True, True] Translation: X:22.25, Y:0.17, Z:-0.31 [[ 9.99381152e-01 -2.42665083e-02 2.54646644e-02 2.22501998e+01] [ 2.42722962e-02 9.99705381e-01 8.18232521e-05 1.74614528e-01] [-2.54591476e-02 5.36313261e-04 9.99675720e-01 -3.10944932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.545898227 meters 0.02099965524531783 Centerline is valid? [True, True] Translation: X:22.28, Y:0.18, Z:-0.31 [[ 9.99523028e-01 -1.98207858e-02 2.36823216e-02 2.22817796e+01] [ 1.98245488e-02 9.99803471e-01 7.58961788e-05 1.82185937e-01] [-2.36791717e-02 3.93631363e-04 9.99719532e-01 -3.14654725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.575898227 meters 0.01592384228855778 Centerline is valid? [True, True] Translation: X:22.31, Y:0.19, Z:-0.32 [[ 9.99624577e-01 -1.55249833e-02 2.25760724e-02 2.23135995e+01] [ 1.55273313e-02 9.99879441e-01 7.12986440e-05 1.89317207e-01] [-2.25744576e-02 2.79274279e-04 9.99745125e-01 -3.15412155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.605898227 meters 0.013856253384406159 Centerline is valid? [True, True] Translation: X:22.34, Y:0.20, Z:-0.32 [[ 9.99696594e-01 -1.11814608e-02 2.19475701e-02 2.23446694e+01] [ 1.11826475e-02 9.99937470e-01 6.86674953e-05 1.95762746e-01] [-2.19469656e-02 1.76785278e-04 9.99759121e-01 -3.17221586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.635898227 meters 0.012030310481892199 Centerline is valid? [True, True] Translation: X:22.38, Y:0.21, Z:-0.31 [[ 9.99698411e-01 -5.90285570e-03 2.38378383e-02 2.23764521e+01] [ 5.90285181e-03 9.99982576e-01 7.05296334e-05 2.06935478e-01] [-2.38378392e-02 7.02028643e-05 9.99715836e-01 -3.13786465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.665898227 meters 0.011968939203524173 Centerline is valid? [True, True] Translation: X:22.41, Y:0.21, Z:-0.31 [[ 9.99669452e-01 -5.04797349e-03 2.52092116e-02 2.24085538e+01] [ 5.04772825e-03 9.99987257e-01 7.33634208e-05 2.09868483e-01] [-2.52092607e-02 5.39100789e-05 9.99682195e-01 -3.12567645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.695898227 meters 0.015306467023592112 Centerline is valid? [True, True] Translation: X:22.44, Y:0.21, Z:-0.32 [[ 9.99667656e-01 -4.93282133e-03 2.53030701e-02 2.24419382e+01] [ 4.93256616e-03 9.99987832e-01 7.24990980e-05 2.10565801e-01] [-2.53031199e-02 5.23340643e-05 9.99679823e-01 -3.15488267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.725898227 meters 0.012289076028388477 Centerline is valid? [True, True] Translation: X:22.47, Y:0.21, Z:-0.32 [[ 9.99667851e-01 -6.30604302e-03 2.49884110e-02 2.24736177e+01] [ 6.30633533e-03 9.99980113e-01 6.71080729e-05 2.08475023e-01] [-2.49883372e-02 9.04995159e-05 9.99687739e-01 -3.16062930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.755898227 meters 0.012899595984953233 Centerline is valid? [True, True] Translation: X:22.51, Y:0.21, Z:-0.32 [[ 9.99665503e-01 -8.04023687e-03 2.45812467e-02 2.25062203e+01] [ 8.04114496e-03 9.99967668e-01 6.19044558e-05 2.05608561e-01] [-2.45809496e-02 1.35777619e-04 9.99697834e-01 -3.17101653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.785898227 meters 0.013973201822284217 Centerline is valid? [True, True] Translation: X:22.54, Y:0.20, Z:-0.32 [[ 9.99653332e-01 -9.91063284e-03 2.43925149e-02 2.25373635e+01] [ 9.91217621e-03 9.99950872e-01 5.76394955e-05 2.01848100e-01] [-2.43918878e-02 1.84163392e-04 9.99702457e-01 -3.18208517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.815898227 meters 0.015243904673880253 Centerline is valid? [True, True] Translation: X:22.57, Y:0.20, Z:-0.32 [[ 9.99614580e-01 -1.18453474e-02 2.51073547e-02 2.25685884e+01] [ 1.18476866e-02 9.99929812e-01 5.55919733e-05 1.97465048e-01] [-2.51062510e-02 2.41893522e-04 9.99684759e-01 -3.17869801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.845898227 meters 0.015243904673880253 Centerline is valid? [True, True] Translation: X:22.60, Y:0.20, Z:-0.32 [[ 9.99616652e-01 -1.16691882e-02 2.51073622e-02 2.26012304e+01] [ 1.16715621e-02 9.99931884e-01 5.19963353e-05 1.97386481e-01] [-2.51062587e-02 2.41065735e-04 9.99684759e-01 -3.18696925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.875898227 meters 0.017117485117330095 Centerline is valid? [True, True] Translation: X:22.63, Y:0.19, Z:-0.32 [[ 9.99546388e-01 -1.39233207e-02 2.67050463e-02 2.26338050e+01] [ 1.39269434e-02 9.99903014e-01 5.03441304e-05 1.91106423e-01] [-2.67031572e-02 3.21598373e-04 9.99643355e-01 -3.15155135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.905898227 meters 0.01833506376678692 Centerline is valid? [True, True] Translation: X:22.67, Y:0.19, Z:-0.32 [[ 9.99553464e-01 -1.34594106e-02 2.66780243e-02 2.26670138e+01] [ 1.34629706e-02 9.99909369e-01 4.61746570e-05 1.89018897e-01] [-2.66762279e-02 3.13011417e-04 9.99644077e-01 -3.17495254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.935898227 meters 0.016318343153175367 Centerline is valid? [True, True] Translation: X:22.70, Y:0.19, Z:-0.32 [[ 9.99585403e-01 -1.22389629e-02 2.60620499e-02 2.26985087e+01] [ 1.22420613e-02 9.99925062e-01 4.06719833e-05 1.86587038e-01] [-2.60605947e-02 2.78398091e-04 9.99660326e-01 -3.18563128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.965898227 meters 0.017093569752102664 Centerline is valid? [True, True] Translation: X:22.73, Y:0.19, Z:-0.32 [[ 9.99608510e-01 -1.03434979e-02 2.59969176e-02 2.27306341e+01] [ 1.03460352e-02 9.99946478e-01 3.69081886e-05 1.85140748e-01] [-2.59959079e-02 2.32071284e-04 9.99662022e-01 -3.22296849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.995898227 meters 0.013973834192673253 Centerline is valid? [True, True] Translation: X:22.76, Y:0.19, Z:-0.32 [[ 9.99635415e-01 -5.81087847e-03 2.63679874e-02 2.27634305e+01] [ 5.81201731e-03 9.99983110e-01 3.34491559e-05 1.85724974e-01] [-2.63677364e-02 1.19814238e-04 9.99652304e-01 -3.21424804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.025898227 meters 0.011899615542760053 Centerline is valid? [True, True] Translation: X:22.80, Y:0.19, Z:-0.32 [[ 9.99642392e-01 -2.55586252e-03 2.66187250e-02 2.27955048e+01] [ 2.55593000e-03 9.99996733e-01 3.14888890e-05 1.88045555e-01] [-2.66187185e-02 3.65579694e-05 9.99645658e-01 -3.20601485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.055898227 meters 0.01206961052034992 Centerline is valid? [True, True] Translation: X:22.83, Y:0.19, Z:-0.32 [[ 9.99652113e-01 1.31554377e-03 2.63424128e-02 2.28273152e+01] [-1.31671628e-03 9.99999133e-01 2.71645126e-05 1.90779897e-01] [-2.63423542e-02 -6.18405461e-05 9.99652978e-01 -3.21922263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.085898227 meters 0.014592404741375537 Centerline is valid? [True, True] Translation: X:22.86, Y:0.19, Z:-0.32 [[ 9.99611964e-01 7.19067601e-03 2.69112623e-02 2.28588976e+01] [-7.19391272e-03 9.99974123e-01 2.34578355e-05 1.93742936e-01] [-2.69103972e-02 -2.17046005e-04 9.99637826e-01 -3.21839941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.115898227 meters 0.015764726608535767 Centerline is valid? [True, True] Translation: X:22.89, Y:0.19, Z:-0.32 [[ 9.99569909e-01 8.90443603e-03 2.79411681e-02 2.28912903e+01] [-8.90856017e-03 9.99960318e-01 2.31198634e-05 1.93638096e-01] [-2.79398535e-02 -2.72025498e-04 9.99609569e-01 -3.21368649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.145898227 meters 0.016066315953559254 Centerline is valid? [True, True] Translation: X:22.92, Y:0.19, Z:-0.32 [[ 9.99543243e-01 9.01392218e-03 2.88453554e-02 2.29238545e+01] [-9.01823881e-03 9.99959335e-01 1.95542731e-05 1.91923336e-01] [-2.88440061e-02 -2.79679645e-04 9.99583886e-01 -3.20883909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.175898227 meters 0.013664186423735913 Centerline is valid? [True, True] Translation: X:22.96, Y:0.18, Z:-0.32 [[ 9.99593788e-01 6.18456244e-03 2.78210463e-02 2.29558476e+01] [-6.18739919e-03 9.99980858e-01 1.58780079e-05 1.81120666e-01] [-2.78204156e-02 -1.88011478e-04 9.99612920e-01 -3.24622459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.205898227 meters 0.012554717311693442 Centerline is valid? [True, True] Translation: X:22.99, Y:0.17, Z:-0.33 [[ 9.99651080e-01 3.97013638e-03 2.61142985e-02 2.29874704e+01] [-3.97178461e-03 9.99992112e-01 1.12469831e-05 1.74343169e-01] [-2.61140479e-02 -1.14963428e-04 9.99658963e-01 -3.27449436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.235898227 meters 0.011824220777864224 Centerline is valid? [True, True] Translation: X:23.02, Y:0.17, Z:-0.33 [[ 9.99686522e-01 8.80592853e-04 2.50216430e-02 2.30192911e+01] [-8.81055925e-04 9.99999612e-01 7.48239409e-06 1.65905915e-01] [-2.50216267e-02 -2.95255153e-05 9.99686910e-01 -3.30641190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.265898227 meters 0.0120193776883128 Centerline is valid? [True, True] Translation: X:23.05, Y:0.16, Z:-0.33 [[ 9.99715324e-01 -2.66915172e-03 2.37096315e-02 2.30524370e+01] [ 2.66981149e-03 9.99996436e-01 3.82749321e-06 1.55939784e-01] [-2.37095572e-02 5.94738430e-05 9.99718887e-01 -3.33704792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.295898227 meters 0.013723827547299979 Centerline is valid? [True, True] Translation: X:23.08, Y:0.15, Z:-0.34 [[ 9.99719330e-01 -6.35538684e-03 2.28225841e-02 2.30842972e+01] [ 6.35704451e-03 9.99979794e-01 -8.13023507e-08 1.45381793e-01] [-2.28221224e-02 1.45165462e-04 9.99739531e-01 -3.36481504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.325898227 meters 0.019905023665211737 Centerline is valid? [True, True] Translation: X:23.11, Y:0.13, Z:-0.34 [[ 9.99686265e-01 -1.20832322e-02 2.19400674e-02 2.31148701e+01] [ 1.20862177e-02 9.99926959e-01 -3.47327098e-06 1.26572320e-01] [-2.19384229e-02 2.68644611e-04 9.99759288e-01 -3.39885831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.355898227 meters 0.01899557393184735 Centerline is valid? [True, True] Translation: X:23.15, Y:0.12, Z:-0.34 [[ 9.99677203e-01 -1.30296819e-02 2.18109194e-02 2.31471586e+01] [ 1.30328869e-02 9.99915068e-01 -4.80025223e-06 1.20468451e-01] [-2.18090044e-02 2.89057948e-04 9.99762114e-01 -3.39667196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.385898227 meters 0.01715806564101415 Centerline is valid? [True, True] Translation: X:23.18, Y:0.12, Z:-0.34 [[ 9.99698998e-01 -1.27967570e-02 2.09321660e-02 2.31804496e+01] [ 1.27997254e-02 9.99918080e-01 -7.82984860e-06 1.16474079e-01] [-2.09303510e-02 2.75753468e-04 9.99780898e-01 -3.40569605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.415898227 meters 0.01610645255311087 Centerline is valid? [True, True] Translation: X:23.21, Y:0.12, Z:-0.34 [[ 9.99725115e-01 -1.11999029e-02 2.05975148e-02 2.32126596e+01] [ 1.12024747e-02 9.99937250e-01 -9.47787054e-06 1.15147922e-01] [-2.05961161e-02 2.40218403e-04 9.99787849e-01 -3.41939236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.445898227 meters 0.015685180552072825 Centerline is valid? [True, True] Translation: X:23.25, Y:0.12, Z:-0.34 [[ 9.99759929e-01 -8.64566741e-03 2.01329959e-02 2.32451423e+01] [ 8.64761198e-03 9.99962609e-01 -9.52636291e-06 1.16189439e-01] [-2.01321608e-02 1.83626413e-04 9.99797311e-01 -3.44549872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.475898227 meters 0.013215684189158304 Centerline is valid? [True, True] Translation: X:23.28, Y:0.12, Z:-0.35 [[ 9.99793803e-01 -5.33490650e-03 1.95931331e-02 2.32767439e+01] [ 5.33617521e-03 9.99985762e-01 -1.24718132e-05 1.15918527e-01] [-1.95927876e-02 1.17021633e-04 9.99808036e-01 -3.46288077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.505898227 meters 0.011832940796433008 Centerline is valid? [True, True] Translation: X:23.31, Y:0.12, Z:-0.35 [[ 9.99803755e-01 7.59131030e-04 1.97958225e-02 2.33087157e+01] [-7.58957580e-04 9.99999712e-01 -1.62747676e-05 1.19703832e-01] [-1.97958292e-02 1.24738422e-06 9.99804043e-01 -3.45689048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.535898227 meters 0.012041004137679404 Centerline is valid? [True, True] Translation: X:23.34, Y:0.12, Z:-0.34 [[ 9.99765517e-01 3.40367105e-03 2.13851703e-02 2.33404369e+01] [-3.40404914e-03 9.99994206e-01 -1.87223403e-05 1.22137242e-01] [-2.13851101e-02 -5.40782204e-05 9.99771311e-01 -3.43344663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.565898227 meters 0.015353397682827459 Centerline is valid? [True, True] Translation: X:23.37, Y:0.12, Z:-0.34 [[ 9.99703384e-01 5.59026408e-03 2.37042756e-02 2.33738819e+01] [-5.59132280e-03 9.99984368e-01 -2.16151658e-05 1.24415629e-01] [-2.37040259e-02 -1.10929502e-04 9.99719014e-01 -3.41278531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.595898227 meters 0.013358661642624918 Centerline is valid? [True, True] Translation: X:23.41, Y:0.13, Z:-0.34 [[ 9.99645477e-01 7.90063484e-03 2.54263694e-02 2.34056140e+01] [-7.90255216e-03 9.99968774e-01 -2.50765331e-05 1.26226183e-01] [-2.54257736e-02 -1.75865568e-04 9.99676697e-01 -3.38544459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.625898227 meters 0.015321364947151396 Centerline is valid? [True, True] Translation: X:23.44, Y:0.13, Z:-0.34 [[ 9.99604470e-01 1.13371959e-02 2.57365783e-02 2.34372938e+01] [-1.13401998e-02 9.99935697e-01 -2.92363965e-05 1.29196009e-01] [-2.57352548e-02 -2.62633108e-04 9.99668759e-01 -3.40216217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.655898227 meters 0.01644404245392524 Centerline is valid? [True, True] Translation: X:23.47, Y:0.13, Z:-0.34 [[ 9.99602187e-01 1.33131382e-02 2.48641991e-02 2.34692805e+01] [-1.33165272e-02 9.99911331e-01 -2.92817935e-05 1.31489751e-01] [-2.48623842e-02 -3.01834638e-04 9.99690838e-01 -3.41923445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.685898227 meters 0.017964707599687605 Centerline is valid? [True, True] Translation: X:23.50, Y:0.14, Z:-0.34 [[ 9.99585991e-01 1.58889435e-02 2.39872329e-02 2.35003280e+01] [-1.58927447e-02 9.99873702e-01 -3.21786897e-05 1.35232399e-01] [-2.39847147e-02 -3.49057601e-04 9.99712264e-01 -3.42925921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.715898227 meters 0.02551839621746128 Centerline is valid? [True, True] Translation: X:23.53, Y:0.15, Z:-0.35 [[ 9.99555784e-01 1.82282932e-02 2.35788799e-02 2.35292374e+01] [-1.82326043e-02 9.99833772e-01 -3.21510062e-05 1.48060386e-01] [-2.35755465e-02 -3.97767663e-04 9.99721979e-01 -3.45317594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.745898227 meters 0.020559035590927147 Centerline is valid? [True, True] Translation: X:23.56, Y:0.14, Z:-0.34 [[ 9.99438129e-01 2.13153757e-02 2.58665967e-02 2.35591136e+01] [-2.13215732e-02 9.99772669e-01 -3.62173934e-05 1.42903725e-01] [-2.58614884e-02 -5.15319490e-04 9.99665403e-01 -3.40899445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.775898227 meters 0.021151789397203455 Centerline is valid? [True, True] Translation: X:23.59, Y:0.14, Z:-0.34 [[ 9.99370476e-01 2.19294414e-02 2.78881833e-02 2.35868163e+01] [-2.19369081e-02 9.99759356e-01 -3.82189551e-05 1.44803360e-01] [-2.78823103e-02 -5.73585620e-04 9.99611048e-01 -3.38838864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.805898227 meters 0.026642318735427925 Centerline is valid? [True, True] Translation: X:23.62, Y:0.15, Z:-0.34 [[ 9.99334444e-01 2.21728881e-02 2.89660409e-02 2.36150602e+01] [-2.21811022e-02 9.99753968e-01 -3.77494417e-05 1.52830591e-01] [-2.89597513e-02 -6.04774395e-04 9.99580395e-01 -3.37552734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.835898227 meters 0.02122006367944731 Centerline is valid? [True, True] Translation: X:23.64, Y:0.15, Z:-0.34 [[ 9.99343209e-01 2.19843502e-02 2.88069268e-02 2.36433636e+01] [-2.19924443e-02 9.99758136e-01 -3.58617395e-05 1.47967368e-01] [-2.88007479e-02 -5.97696549e-04 9.99584994e-01 -3.38718823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.865898227 meters 0.019493438009866734 Centerline is valid? [True, True] Translation: X:23.67, Y:0.14, Z:-0.35 [[ 9.99384233e-01 1.93664548e-02 2.92591154e-02 2.36713625e+01] [-1.95708540e-02 9.99785918e-01 6.71565394e-03 1.43676485e-01] [-2.91227931e-02 -7.28414453e-03 9.99549301e-01 -3.48725792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.895898227 meters 0.018311194806183487 Centerline is valid? [True, True] Translation: X:23.70, Y:0.15, Z:-0.34 [[ 9.99532574e-01 1.77329407e-02 2.49033268e-02 2.37012530e+01] [-1.75694317e-02 9.99822730e-01 -6.76929142e-03 1.47409788e-01] [-2.50189516e-02 6.32858998e-03 9.99666945e-01 -3.41668787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.925898227 meters 0.017134158669510853 Centerline is valid? [True, True] Translation: X:23.73, Y:0.14, Z:-0.35 [[ 9.99561335e-01 1.57376950e-02 2.50890780e-02 2.37309415e+01] [-1.57419281e-02 9.99876088e-01 -2.87891445e-05 1.41257509e-01] [-2.50864223e-02 -3.66173946e-04 9.99685219e-01 -3.46941822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.955898227 meters 0.016151867132046888 Centerline is valid? [True, True] Translation: X:23.76, Y:0.14, Z:-0.35 [[ 9.99570307e-01 1.40090104e-02 2.57477905e-02 2.37607852e+01] [-1.40129118e-02 9.99901814e-01 -2.89102235e-05 1.37861674e-01] [-2.57456674e-02 -3.31903716e-04 9.99668470e-01 -3.46790236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.985898227 meters 0.014347820559071961 Centerline is valid? [True, True] Translation: X:23.79, Y:0.13, Z:-0.35 [[ 9.99591772e-01 1.08767916e-02 2.64194042e-02 2.37924760e+01] [-1.08798132e-02 9.99940813e-01 -2.93750084e-05 1.30273041e-01] [-2.64181601e-02 -2.58075167e-04 9.99650946e-01 -3.46794411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.015898227 meters 0.01413958570078411 Centerline is valid? [True, True] Translation: X:23.82, Y:0.13, Z:-0.35 [[ 9.99613355e-01 9.81580890e-03 2.60151892e-02 2.38235214e+01] [-9.81836138e-03 9.99951798e-01 -2.96210246e-05 1.27796079e-01] [-2.60142260e-02 -2.25816957e-04 9.99661547e-01 -3.47941547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.045898227 meters 0.013880638154556892 Centerline is valid? [True, True] Translation: X:23.86, Y:0.12, Z:-0.35 [[ 9.99647631e-01 9.41707127e-03 2.48179875e-02 2.38568941e+01] [-9.41918039e-03 9.99955638e-01 -3.19179670e-05 1.24261720e-01] [-2.48171871e-02 -2.01858381e-04 9.99691986e-01 -3.50101306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.075898227 meters 0.014591458860806409 Centerline is valid? [True, True] Translation: X:23.89, Y:0.12, Z:-0.35 [[ 9.99663529e-01 1.13952286e-02 2.33018949e-02 2.38892644e+01] [-1.13975300e-02 9.99935045e-01 -3.40471637e-05 1.20452810e-01] [-2.33007693e-02 -2.31548340e-04 9.99728473e-01 -3.53239737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.105898227 meters 0.017456574001066795 Centerline is valid? [True, True] Translation: X:23.92, Y:0.12, Z:-0.35 [[ 9.99620466e-01 1.44995918e-02 2.34240519e-02 2.39202914e+01] [-1.45026768e-02 9.99894830e-01 -3.81834964e-05 1.23861314e-01] [-2.34221420e-02 -3.01542448e-04 9.99725619e-01 -3.54000108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.135898227 meters 0.021272006680700364 Centerline is valid? [True, True] Translation: X:23.95, Y:0.13, Z:-0.35 [[ 9.99547356e-01 1.83378040e-02 2.38497087e-02 2.39510129e+01] [-1.83419991e-02 9.99831770e-01 -4.28659841e-05 1.26016227e-01] [-2.38464826e-02 -3.94604756e-04 9.99715554e-01 -3.54786401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.165898227 meters 0.027293773283812467 Centerline is valid? [True, True] Translation: X:23.98, Y:0.14, Z:-0.35 [[ 9.99337591e-01 2.78272481e-02 2.34525702e-02 2.39802622e+01] [-2.78339150e-02 9.99612561e-01 -4.21769472e-05 1.38693890e-01] [-2.34446574e-02 -6.10627837e-04 9.99724950e-01 -3.54200545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.195898227 meters 0.029813846624818882 Centerline is valid? [True, True] Translation: X:24.01, Y:0.14, Z:-0.36 [[ 9.99249611e-01 3.14140824e-02 2.26576840e-02 2.40100643e+01] [-3.14212315e-02 9.99506230e-01 -4.05034587e-05 1.41917111e-01] [-2.26477687e-02 -6.71459269e-04 9.99743281e-01 -3.57246157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.225898227 meters 0.032464981430982344 Centerline is valid? [True, True] Translation: X:24.04, Y:0.15, Z:-0.36 [[ 9.99190014e-01 3.35965500e-02 2.21492353e-02 2.40389332e+01] [-3.36039280e-02 9.99435228e-01 -3.91175280e-05 1.45979266e-01] [-2.21380402e-02 -7.05215463e-04 9.99754675e-01 -3.59279053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.255898227 meters 0.034174357243002405 Centerline is valid? [True, True] Translation: X:24.07, Y:0.15, Z:-0.36 [[ 9.99145460e-01 3.46199790e-02 2.25789122e-02 2.40662179e+01] [-3.46279218e-02 9.99400273e-01 -3.92223882e-05 1.49355408e-01] [-2.25667289e-02 -7.42671935e-04 9.99745063e-01 -3.59505351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.285898227 meters 0.03166045379444511 Centerline is valid? [True, True] Translation: X:24.10, Y:0.15, Z:-0.36 [[ 9.99133867e-01 3.33891472e-02 2.48330616e-02 2.40954704e+01] [-3.33984430e-02 9.99442116e-01 -4.04477329e-05 1.48350089e-01] [-2.48205582e-02 -7.88972894e-04 9.99691611e-01 -3.56780120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.315898227 meters 0.0294150135467524 Centerline is valid? [True, True] Translation: X:24.12, Y:0.15, Z:-0.36 [[ 9.99190824e-01 3.13994239e-02 2.51351116e-02 2.41248705e+01] [-3.14083411e-02 9.99506636e-01 -4.00361059e-05 1.46226050e-01] [-2.51239680e-02 -7.49448451e-04 9.99684062e-01 -3.55953519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.345898227 meters 0.02840360049289094 Centerline is valid? [True, True] Translation: X:24.15, Y:0.14, Z:-0.36 [[ 9.99276142e-01 2.91071680e-02 2.44941820e-02 2.41522761e+01] [-2.91149954e-02 9.99576068e-01 -3.70816812e-05 1.43957176e-01] [-2.44848775e-02 -6.76093158e-04 9.99699972e-01 -3.58149098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.375898227 meters 0.02491420568510167 Centerline is valid? [True, True] Translation: X:24.18, Y:0.14, Z:-0.36 [[ 9.99440696e-01 2.44787361e-02 2.27834689e-02 2.41810627e+01] [-2.44843368e-02 9.99700213e-01 -3.31431017e-05 1.35158989e-01] [-2.27774500e-02 -5.24713561e-04 9.99740423e-01 -3.63033245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.405898227 meters 0.02281392936861905 Centerline is valid? [True, True] Translation: X:24.21, Y:0.13, Z:-0.36 [[ 9.99504688e-01 2.18823726e-02 2.26172432e-02 2.42095404e+01] [-2.18872380e-02 9.99760445e-01 -3.24378951e-05 1.30319741e-01] [-2.26125350e-02 -4.62607157e-04 9.99744197e-01 -3.64008388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.435898227 meters 0.018983280904115524 Centerline is valid? [True, True] Translation: X:24.24, Y:0.13, Z:-0.36 [[ 9.99546244e-01 1.91402922e-02 2.32584441e-02 2.42428934e+01] [-1.89771323e-02 9.99793880e-01 -7.21568778e-03 1.26220547e-01] [-2.33917605e-02 6.77103505e-03 9.99703445e-01 -3.56473875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.465898227 meters 0.01626344785740531 Centerline is valid? [True, True] Translation: X:24.27, Y:0.11, Z:-0.36 [[ 9.99512597e-01 1.49755302e-02 2.73916295e-02 2.42698642e+01] [-1.51709939e-02 9.99860815e-01 6.94203404e-03 1.08519431e-01] [-2.72838563e-02 -7.35420872e-03 9.99600674e-01 -3.62415312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.495898227 meters 0.01688605670569692 Centerline is valid? [True, True] Translation: X:24.30, Y:0.11, Z:-0.36 [[ 9.99518721e-01 1.30375352e-02 2.81487015e-02 2.43011368e+01] [-1.30415113e-02 9.99914955e-01 -4.23372013e-05 1.06355658e-01] [-2.81468595e-02 -3.24784782e-04 9.99603746e-01 -3.58341033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.525898227 meters 0.019723300661664212 Centerline is valid? [True, True] Translation: X:24.33, Y:0.10, Z:-0.36 [[ 9.99544365e-01 1.12261811e-02 2.80184950e-02 2.43324356e+01] [-1.12292862e-02 9.99936948e-01 -4.65211592e-05 9.88018132e-02] [-2.80172507e-02 -2.68127738e-04 9.99607404e-01 -3.61941078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.555898227 meters 0.014950439583713638 Centerline is valid? [True, True] Translation: X:24.36, Y:0.09, Z:-0.36 [[ 9.99580954e-01 1.07047541e-02 2.68946979e-02 2.43638537e+01] [-1.07073222e-02 9.99942674e-01 -4.85279958e-05 9.28054951e-02] [-2.68936756e-02 -2.39462535e-04 9.99638271e-01 -3.61465855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.585898227 meters 0.01710117059634392 Centerline is valid? [True, True] Translation: X:24.40, Y:0.09, Z:-0.35 [[ 9.99569888e-01 1.37442919e-02 2.59062281e-02 2.43990079e+01] [-1.34376958e-02 9.99838036e-01 -1.19720135e-02 9.39271570e-02] [-2.60665790e-02 1.16187442e-02 9.99592686e-01 -3.52693021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.615898227 meters 0.019601189088523787 Centerline is valid? [True, True] Translation: X:24.43, Y:0.08, Z:-0.37 [[ 9.99508262e-01 1.82521957e-02 2.54968825e-02 2.44262540e+01] [-1.85213268e-02 9.99774796e-01 1.03594617e-02 8.43427435e-02] [-2.53020576e-02 -1.08266037e-02 9.99621224e-01 -3.68564007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.645898227 meters 0.02361989024756382 Centerline is valid? [True, True] Translation: X:24.46, Y:0.09, Z:-0.36 [[ 9.99398995e-01 2.34530188e-02 2.55265652e-02 2.44563350e+01] [-2.34594568e-02 9.99724788e-01 -4.72705960e-05 9.28855429e-02] [-2.55206486e-02 -5.51597168e-04 9.99674143e-01 -3.62958425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.675898227 meters 0.035593911426525425 Centerline is valid? [True, True] Translation: X:24.49, Y:0.11, Z:-0.36 [[ 9.99112479e-01 3.41762739e-02 2.46218722e-02 2.44852980e+01] [-3.41855158e-02 9.99415503e-01 -4.55942988e-05 1.08333824e-01] [-2.46090391e-02 -7.96157568e-04 9.99696835e-01 -3.64828368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.705898227 meters 0.035593911426525425 Centerline is valid? [True, True] Translation: X:24.51, Y:0.11, Z:-0.37 [[ 9.99114818e-01 3.41078277e-02 2.46218721e-02 2.45127522e+01] [-3.41170467e-02 9.99417843e-01 -4.56797783e-05 1.08409925e-01] [-2.46090963e-02 -7.94386216e-04 9.99696835e-01 -3.65516533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.735898227 meters 0.037248217833884094 Centerline is valid? [True, True] Translation: X:24.54, Y:0.11, Z:-0.37 [[ 9.98949320e-01 3.90681121e-02 2.39570284e-02 2.45431518e+01] [-3.90783038e-02 9.99236150e-01 -4.27799143e-05 1.11064998e-01] [-2.39404001e-02 -8.93465066e-04 9.99712988e-01 -3.67239400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.765898227 meters 0.04188207466780046 Centerline is valid? [True, True] Translation: X:24.57, Y:0.12, Z:-0.37 [[ 9.98805297e-01 4.32667168e-02 2.27149512e-02 2.45721026e+01] [-4.32769646e-02 9.99063112e-01 -4.04692882e-05 1.17597819e-01] [-2.26954208e-02 -9.42613200e-04 9.99741981e-01 -3.69953929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.795898227 meters 0.04404304405751659 Centerline is valid? [True, True] Translation: X:24.60, Y:0.12, Z:-0.37 [[ 9.98703972e-01 4.57881983e-02 2.22220110e-02 2.46023622e+01] [-4.57986295e-02 9.98950691e-01 -3.95647691e-05 1.21230195e-01] [-2.22005048e-02 -9.78224155e-04 9.99753060e-01 -3.72055799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.825898227 meters 0.045331411791226225 Centerline is valid? [True, True] Translation: X:24.63, Y:0.12, Z:-0.38 [[ 9.98719442e-01 4.60273151e-02 2.09990976e-02 2.46306655e+01] [-4.60366735e-02 9.98939750e-01 -3.77975821e-05 1.22906494e-01] [-2.09785730e-02 -9.28979419e-04 9.99779494e-01 -3.78220459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.855898227 meters 0.045482006788976514 Centerline is valid? [True, True] Translation: X:24.66, Y:0.13, Z:-0.38 [[ 9.98781752e-01 4.48347848e-02 2.06119934e-02 2.46583037e+01] [-4.48436261e-02 9.98994018e-01 -3.32975655e-05 1.27074606e-01] [-2.05927510e-02 -8.91059525e-04 9.99787550e-01 -3.76424131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.885898227 meters 0.04393930195428135 Centerline is valid? [True, True] Translation: X:24.69, Y:0.13, Z:-0.38 [[ 9.98869674e-01 4.25558203e-02 2.11748998e-02 2.46873552e+01] [-4.25646865e-02 9.99093713e-01 -3.20202541e-05 1.25939276e-01] [-2.11570719e-02 -8.69318911e-04 9.99775786e-01 -3.76239388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.915898227 meters 0.036911319541072914 Centerline is valid? [True, True] Translation: X:24.72, Y:0.12, Z:-0.37 [[ 9.98963205e-01 3.98422792e-02 2.20251494e-02 2.47169949e+01] [-3.98512252e-02 9.99205624e-01 -3.27702643e-05 1.16659643e-01] [-2.20089588e-02 -8.44992902e-04 9.99757416e-01 -3.74496440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.945898227 meters 0.030373274945429102 Centerline is valid? [True, True] Translation: X:24.75, Y:0.11, Z:-0.37 [[ 9.99165923e-01 3.24205943e-02 2.48266850e-02 2.47467610e+01] [-3.24296905e-02 9.99474019e-01 -3.62537988e-05 1.07011375e-01] [-2.48148020e-02 -7.68898151e-04 9.99691770e-01 -3.69523498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.975898227 meters 0.031057393490333728 Centerline is valid? [True, True] Translation: X:24.78, Y:0.11, Z:-0.36 [[ 9.99291709e-01 2.86925969e-02 2.43477993e-02 2.47805223e+01] [-2.84329811e-02 9.99535802e-01 -1.09429021e-02 1.11475625e-01] [-2.46504774e-02 1.02428708e-02 9.99643655e-01 -3.62403352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.005898227 meters 0.025305533694682015 Centerline is valid? [True, True] Translation: X:24.81, Y:0.09, Z:-0.38 [[ 9.99434424e-01 2.44000084e-02 2.31402595e-02 2.48054290e+01] [-2.46402582e-02 9.99644808e-01 1.01546183e-02 9.00230425e-02] [-2.28842675e-02 -1.07190571e-02 9.99680655e-01 -3.82850605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.035898227 meters 0.0226994425961413 Centerline is valid? [True, True] Translation: X:24.83, Y:0.09, Z:-0.38 [[ 9.99559880e-01 2.13094304e-02 2.06386538e-02 2.48330916e+01] [-2.13134035e-02 9.99772843e-01 -2.74595026e-05 8.85854883e-02] [-2.06345507e-02 -4.12432538e-04 9.99787000e-01 -3.81770241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.065898227 meters 0.01837196352335843 Centerline is valid? [True, True] Translation: X:24.86, Y:0.08, Z:-0.38 [[ 9.99674596e-01 1.58873058e-02 1.99573410e-02 2.48630818e+01] [-1.58899668e-02 9.99873746e-01 -2.52430566e-05 7.55914124e-02] [-1.99552223e-02 -2.91886643e-04 9.99800832e-01 -3.84663446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.095898227 meters 0.017530013243539318 Centerline is valid? [True, True] Translation: X:24.89, Y:0.07, Z:-0.38 [[ 9.99623633e-01 1.44727182e-02 2.33052159e-02 2.48915699e+01] [-1.44759813e-02 9.99895217e-01 -2.86911482e-05 7.16830873e-02] [-2.33031892e-02 -3.08685521e-04 9.99728396e-01 -3.79461256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.125898227 meters 0.01686462921999657 Centerline is valid? [True, True] Translation: X:24.92, Y:0.07, Z:-0.37 [[ 9.99535433e-01 1.47689144e-02 2.66607971e-02 2.49227981e+01] [-1.47733162e-02 9.99890868e-01 -3.18710442e-05 6.80083194e-02] [-2.66583582e-02 -3.62012146e-04 9.99644537e-01 -3.71917816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.155898227 meters 0.01945743911574468 Centerline is valid? [True, True] Translation: X:24.95, Y:0.07, Z:-0.37 [[ 9.99470451e-01 1.85766863e-02 2.67156249e-02 2.49548134e+01] [-1.85824476e-02 9.99827331e-01 -3.26176560e-05 6.75042304e-02] [-2.67116179e-02 -4.63841315e-04 9.99643073e-01 -3.68093925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.185898227 meters 0.022456019992499576 Centerline is valid? [True, True] Translation: X:24.99, Y:0.07, Z:-0.38 [[ 9.99518023e-01 2.19732172e-02 2.19294165e-02 2.49853697e+01] [-2.19778939e-02 9.99758457e-01 -2.77542339e-05 6.95332817e-02] [-2.19247295e-02 -4.54221533e-04 9.99759521e-01 -3.75639663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.215898227 meters 0.026461702990695554 Centerline is valid? [True, True] Translation: X:25.01, Y:0.07, Z:-0.39 [[ 9.99512846e-01 2.62623152e-02 1.68629945e-02 2.50149814e+01] [-2.62656886e-02 9.99654997e-01 -2.14387703e-05 7.25095509e-02] [-1.68577397e-02 -4.21489834e-04 9.99857809e-01 -3.85996800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.245898227 meters 0.03228634756038583 Centerline is valid? [True, True] Translation: X:25.05, Y:0.08, Z:-0.39 [[ 9.99303108e-01 3.29588028e-02 1.75218476e-02 2.50451475e+01] [-3.29634784e-02 9.99456557e-01 -2.19795945e-05 7.72770819e-02] [-1.75130499e-02 -5.55616768e-04 9.99846480e-01 -3.92805600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.275898227 meters 0.03278826377479009 Centerline is valid? [True, True] Translation: X:25.07, Y:0.08, Z:-0.39 [[ 9.99153316e-01 3.39515731e-02 2.32366680e-02 2.50743564e+01] [-3.39600653e-02 9.99423190e-01 -2.91654842e-05 7.69769935e-02] [-2.32242551e-02 -7.59977972e-04 9.99729992e-01 -3.86063485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.305898227 meters 0.03382566893453869 Centerline is valid? [True, True] Translation: X:25.10, Y:0.08, Z:-0.38 [[ 9.98979423e-01 3.43637131e-02 2.93129301e-02 2.51024795e+01] [-3.43774598e-02 9.99408920e-01 -3.50165667e-05 7.69369129e-02] [-2.92968071e-02 -9.72723247e-04 9.99570283e-01 -3.75324055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.335898227 meters 0.034204173566344705 Centerline is valid? [True, True] Translation: X:25.13, Y:0.07, Z:-0.36 [[ 9.98828439e-01 3.51927838e-02 3.32147202e-02 2.51318414e+01] [-3.52109637e-02 9.99379901e-01 -3.76002075e-05 7.38999369e-02] [-3.31954471e-02 -1.13196615e-03 9.99448238e-01 -3.63342998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.365898227 meters 0.03784347490652609 Centerline is valid? [True, True] Translation: X:25.16, Y:0.08, Z:-0.37 [[ 9.98986852e-01 3.57163353e-02 2.73790614e-02 2.51597787e+01] [-3.57289116e-02 9.99361518e-01 -2.98814963e-05 7.65213698e-02] [-2.73626476e-02 -9.48372843e-04 9.99625123e-01 -3.71034937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.395898227 meters 0.039066340164301334 Centerline is valid? [True, True] Translation: X:25.19, Y:0.08, Z:-0.39 [[ 9.99174068e-01 3.61589939e-02 1.85394083e-02 2.51885500e+01] [-3.61648477e-02 9.99345838e-01 -1.95292413e-05 7.51497683e-02] [-1.85279867e-02 -6.50961766e-04 9.99828130e-01 -3.86827472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.425898227 meters 0.04528356119055044 Centerline is valid? [True, True] Translation: X:25.22, Y:0.07, Z:-0.40 [[ 9.99246774e-01 3.64800450e-02 1.32321571e-02 2.52172220e+01] [-3.64830601e-02 9.99334271e-01 -1.35326994e-05 7.32317958e-02] [-1.32238418e-02 -4.69227077e-04 9.99912451e-01 -4.02572658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.455898227 meters 0.0423927836023961 Centerline is valid? [True, True] Translation: X:25.24, Y:0.08, Z:-0.39 [[ 9.99031180e-01 3.87466408e-02 2.08662077e-02 2.52448418e+01] [-3.87546567e-02 9.99248756e-01 -2.02332171e-05 7.93172237e-02] [-2.08513160e-02 -7.88449100e-04 9.99782277e-01 -3.90175010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.485898227 meters 0.039473051222074645 Centerline is valid? [True, True] Translation: X:25.27, Y:0.08, Z:-0.38 [[ 9.98813083e-01 3.99828513e-02 2.78171982e-02 2.52733776e+01] [-3.99976496e-02 9.99199774e-01 -2.44559039e-05 7.50528567e-02] [-2.77959159e-02 -1.08819567e-03 9.99613027e-01 -3.80318617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.515898227 meters 0.04067366250132383 Centerline is valid? [True, True] Translation: X:25.30, Y:0.07, Z:-0.38 [[ 9.98661217e-01 4.10926817e-02 3.14191745e-02 2.53027349e+01] [-4.11121746e-02 9.99154537e-01 -2.56223692e-05 7.14623026e-02] [-3.13936636e-02 -1.26612252e-03 9.99506296e-01 -3.79329118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.545898227 meters 0.045445810514937984 Centerline is valid? [True, True] Translation: X:25.33, Y:0.08, Z:-0.38 [[ 9.98642441e-01 4.19005063e-02 3.09454670e-02 2.53302080e+01] [-4.19198511e-02 9.99120976e-01 -2.36641783e-05 7.62149639e-02] [-3.09192568e-02 -1.27359732e-03 9.99521074e-01 -3.78410335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.575898227 meters 0.04099219317520011 Centerline is valid? [True, True] Translation: X:25.36, Y:0.07, Z:-0.39 [[ 9.98806456e-01 4.31365876e-02 2.29106519e-02 2.53585284e+01] [-4.31475354e-02 9.99068711e-01 -1.65026848e-05 6.69899743e-02] [-2.28900274e-02 -9.72055176e-04 9.99737516e-01 -3.90025563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.605898227 meters 0.04274834560593091 Centerline is valid? [True, True] Translation: X:25.39, Y:0.07, Z:-0.40 [[ 9.98893409e-01 4.32927296e-02 1.83765489e-02 2.53865491e+01] [-4.32998089e-02 9.99062123e-01 -1.26603781e-05 6.89799436e-02] [-1.83598621e-02 -7.83054690e-04 9.99831137e-01 -3.97222835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.635898227 meters 0.04278733274730376 Centerline is valid? [True, True] Translation: X:25.41, Y:0.07, Z:-0.40 [[ 9.98959204e-01 4.26079218e-02 1.62810809e-02 2.54139677e+01] [-4.26133967e-02 9.99091637e-01 -1.06559375e-05 6.96824310e-02] [-1.62667458e-02 -6.83147312e-04 9.99867454e-01 -4.00544322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.665898227 meters 0.03999422472874821 Centerline is valid? [True, True] Translation: X:25.44, Y:0.07, Z:-0.39 [[ 9.98933527e-01 4.01610596e-02 2.27793133e-02 2.54446047e+01] [-4.01712154e-02 9.99192811e-01 -1.17715482e-05 6.94237289e-02] [-2.27613989e-02 -9.03313708e-04 9.99740518e-01 -3.89365750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.695898227 meters 0.041375332242776584 Centerline is valid? [True, True] Translation: X:25.47, Y:0.07, Z:-0.38 [[ 9.98868408e-01 3.87584936e-02 2.75623532e-02 2.54731507e+01] [-3.87728451e-02 9.99248050e-01 -1.37538825e-05 7.17389716e-02] [-2.75421608e-02 -1.05493253e-03 9.99620086e-01 -3.82773939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.725898227 meters 0.038085257800307144 Centerline is valid? [True, True] Translation: X:25.50, Y:0.06, Z:-0.38 [[ 9.98928730e-01 3.65000551e-02 2.84453667e-02 2.55034098e+01] [-3.65144633e-02 9.99333125e-01 -1.29246136e-05 6.48553855e-02] [-2.84268689e-02 -1.02575653e-03 9.99595349e-01 -3.84004431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.755898227 meters 0.02981527250978214 Centerline is valid? [True, True] Translation: X:25.53, Y:0.05, Z:-0.40 [[ 9.99246085e-01 3.07282665e-02 2.37283595e-02 2.55334516e+01] [-3.07366705e-02 9.99527517e-01 -1.05421212e-05 4.56646339e-02] [-2.37174722e-02 -7.18796596e-04 9.99718443e-01 -3.95656262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.785898227 meters 0.029227265001142328 Centerline is valid? [True, True] Translation: X:25.56, Y:0.04, Z:-0.40 [[ 9.99323321e-01 2.78095365e-02 2.40734216e-02 2.55622466e+01] [-2.78173413e-02 9.99613023e-01 -1.06717528e-05 4.33451685e-02] [-2.40644025e-02 -6.58994053e-04 9.99710193e-01 -3.95286415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.815898226999998 meters 0.026666818290862315 Centerline is valid? [True, True] Translation: X:25.59, Y:0.04, Z:-0.39 [[ 9.99369831e-01 2.55234324e-02 2.46676927e-02 2.55913076e+01] [-2.55309543e-02 9.99674032e-01 -1.00158758e-05 3.91989773e-02] [-2.46599075e-02 -6.19780172e-04 9.99695706e-01 -3.92428829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.845898227 meters 0.027775220394360985 Centerline is valid? [True, True] Translation: X:25.62, Y:0.04, Z:-0.39 [[ 9.99430901e-01 2.41620920e-02 2.35386358e-02 2.56186756e+01] [-2.41685882e-02 9.99707897e-01 -8.50911206e-06 3.91332598e-02] [-2.35319657e-02 -5.60391327e-04 9.99722928e-01 -3.93220440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.875898227 meters 0.02684082441963359 Centerline is valid? [True, True] Translation: X:25.65, Y:0.03, Z:-0.41 [[ 9.99528884e-01 2.55401373e-02 1.70209017e-02 2.56475435e+01] [-2.55437463e-02 9.99673705e-01 -5.37416547e-06 3.07064187e-02] [-1.70154851e-02 -4.29405960e-04 9.99855134e-01 -4.05874766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.905898227 meters 0.02910440325385045 Centerline is valid? [True, True] Translation: X:25.68, Y:0.03, Z:-0.41 [[ 9.99501260e-01 2.71348670e-02 1.61533261e-02 2.56750038e+01] [-2.71383308e-02 9.99631688e-01 -4.77215609e-06 3.17451652e-02] [-1.61475061e-02 -4.33604532e-04 9.99869527e-01 -4.08876226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.935898227 meters 0.03059201758929667 Centerline is valid? [True, True] Translation: X:25.70, Y:0.03, Z:-0.41 [[ 9.99406249e-01 2.87880970e-02 1.89313190e-02 2.57025732e+01] [-2.87931754e-02 9.99585391e-01 -4.31792262e-06 3.32769100e-02] [-1.89235942e-02 -5.40777428e-04 9.99820787e-01 -4.05845488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.965898227 meters 0.03427558222724678 Centerline is valid? [True, True] Translation: X:25.73, Y:0.04, Z:-0.40 [[ 9.99232404e-01 3.10288406e-02 2.39126210e-02 2.57306427e+01] [-3.10376430e-02 9.99518216e-01 -3.04479270e-06 3.77776028e-02] [-2.39011948e-02 -7.39148937e-04 9.99714052e-01 -3.98675988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.995898227 meters 0.037734346588802266 Centerline is valid? [True, True] Translation: X:25.76, Y:0.04, Z:-0.39 [[ 9.98797431e-01 3.72826255e-02 3.18386215e-02 2.57617818e+01] [-3.73014932e-02 9.99304057e-01 -1.36099222e-06 3.62811130e-02] [-3.18165143e-02 -1.18626877e-03 9.99493023e-01 -3.86274006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.025898227 meters 0.03769621373203391 Centerline is valid? [True, True] Translation: X:25.79, Y:0.03, Z:-0.39 [[ 9.98811817e-01 3.90304345e-02 2.91818423e-02 2.57899176e+01] [-3.90470407e-02 9.99237374e-01 -7.95876884e-07 3.18589334e-02] [-2.91596185e-02 -1.13866965e-03 9.99574119e-01 -3.90472378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.055898227 meters 0.04054118619279028 Centerline is valid? [True, True] Translation: X:25.82, Y:0.03, Z:-0.40 [[ 9.99033266e-01 4.00305888e-02 1.81682603e-02 2.58172617e+01] [-4.00372047e-02 9.99198190e-01 4.13050234e-07 3.39132033e-02] [-1.81536762e-02 -7.27819005e-04 9.99834944e-01 -4.03692648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.085898227 meters 0.045502540154526226 Centerline is valid? [True, True] Translation: X:25.85, Y:0.04, Z:-0.41 [[ 9.99019998e-01 4.14976573e-02 1.53944182e-02 2.58453858e+01] [-4.15025882e-02 9.99138396e-01 8.33409340e-07 4.08521550e-02] [-1.53811197e-02 -6.39740791e-04 9.99881499e-01 -4.10097244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.115898227 meters 0.04678556503998793 Centerline is valid? [True, True] Translation: X:25.88, Y:0.04, Z:-0.41 [[ 9.98930283e-01 4.31458749e-02 1.66350192e-02 2.58752715e+01] [-4.31518829e-02 9.99068524e-01 2.22883268e-06 4.16765388e-02] [-1.66194279e-02 -7.20058848e-04 9.99861628e-01 -4.11730749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.145898227 meters 0.0440673827199486 Centerline is valid? [True, True] Translation: X:25.90, Y:0.04, Z:-0.41 [[ 9.98827396e-01 4.37329152e-02 2.07669447e-02 2.59046194e+01] [-4.37424173e-02 9.99042842e-01 3.31442676e-06 3.60446554e-02] [-2.07469225e-02 -9.11706900e-04 9.99784344e-01 -4.08235801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.175898227 meters 0.045179609577187536 Centerline is valid? [True, True] Translation: X:25.93, Y:0.04, Z:-0.40 [[ 9.98784716e-01 4.26523943e-02 2.46954497e-02 2.59322840e+01] [-4.26655387e-02 9.99089411e-01 5.36486259e-06 3.54536924e-02] [-2.46727335e-02 -1.05900301e-03 9.99695021e-01 -4.02861366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.205898227 meters 0.04029371895124776 Centerline is valid? [True, True] Translation: X:25.96, Y:0.03, Z:-0.40 [[ 9.98990769e-01 3.83811541e-02 2.33308890e-02 2.59623549e+01] [-3.83917713e-02 9.99262764e-01 7.15832382e-06 2.73876394e-02] [-2.33134139e-02 -9.02865257e-04 9.99727798e-01 -4.02686764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.235898227 meters 0.03892021268271728 Centerline is valid? [True, True] Translation: X:25.99, Y:0.02, Z:-0.41 [[ 9.99142004e-01 3.63622319e-02 1.98253443e-02 2.59911484e+01] [-3.63694968e-02 9.99338411e-01 5.89544404e-06 2.48762290e-02] [-1.98120137e-02 -7.26928182e-04 9.99803459e-01 -4.08355069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.265898227 meters 0.0393047544914946 Centerline is valid? [True, True] Translation: X:26.02, Y:0.02, Z:-0.41 [[ 9.99200745e-01 3.52965351e-02 1.87623346e-02 2.60185511e+01] [-3.53028682e-02 9.99376659e-01 6.33451363e-06 2.41890950e-02] [-1.87504156e-02 -6.68693675e-04 9.99823972e-01 -4.11396642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.295898227 meters 0.038289956700943775 Centerline is valid? [True, True] Translation: X:26.05, Y:0.02, Z:-0.41 [[ 9.99147207e-01 3.53585857e-02 2.13220147e-02 2.60474566e+01] [-3.53668115e-02 9.99374399e-01 8.70951607e-06 2.17846467e-02] [-2.13083676e-02 -7.62793763e-04 9.99772660e-01 -4.07138227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.325898227 meters 0.04371693354052588 Centerline is valid? [True, True] Translation: X:26.08, Y:0.03, Z:-0.40 [[ 9.99020341e-01 3.68449566e-02 2.45113906e-02 2.60756842e+01] [-3.68563078e-02 9.99320575e-01 1.13359879e-05 2.80410294e-02] [-2.44943193e-02 -9.14724238e-04 9.99699551e-01 -4.02135736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.355898227 meters 0.043952818419360766 Centerline is valid? [True, True] Translation: X:26.11, Y:0.03, Z:-0.41 [[ 9.98781988e-01 4.32371972e-02 2.37715105e-02 2.61055819e+01] [-4.32497132e-02 9.99064293e-01 1.23960742e-05 2.64543885e-02] [-2.37487313e-02 -1.04049199e-03 9.99717418e-01 -4.05447532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.385898227 meters 0.04613629870148999 Centerline is valid? [True, True] Translation: X:26.14, Y:0.03, Z:-0.41 [[ 9.98715277e-01 4.61940279e-02 2.08304220e-02 2.61353992e+01] [-4.62042807e-02 9.98932012e-01 1.09363216e-05 2.83938458e-02] [-2.08076702e-02 -9.73376937e-04 9.99783023e-01 -4.12347860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.415898227 meters 0.05418818858809233 Centerline is valid? [True, True] Translation: X:26.16, Y:0.04, Z:-0.42 [[ 9.98637430e-01 4.81265440e-02 2.01771810e-02 2.61635026e+01] [-4.81365576e-02 9.98840764e-01 1.06142745e-05 3.80461953e-02] [-2.01532800e-02 -9.81859845e-04 9.99796420e-01 -4.16062363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.445898227 meters 0.05401747954989351 Centerline is valid? [True, True] Translation: X:26.19, Y:0.04, Z:-0.41 [[ 9.98575315e-01 4.84920423e-02 2.22679491e-02 2.61923827e+01] [-4.85043627e-02 9.98822971e-01 1.31831867e-05 3.85745527e-02] [-2.22410998e-02 -1.09325709e-03 9.99752038e-01 -4.12724866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.475898227 meters 0.04822839624958593 Centerline is valid? [True, True] Translation: X:26.22, Y:0.03, Z:-0.41 [[ 9.98559799e-01 4.71589763e-02 2.55804443e-02 2.62216287e+01] [-4.71748352e-02 9.98886648e-01 1.65047021e-05 2.98934402e-02] [-2.55511859e-02 -1.22323418e-03 9.99672767e-01 -4.05850480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.505898227 meters 0.04594548837769832 Centerline is valid? [True, True] Translation: X:26.25, Y:0.02, Z:-0.41 [[ 9.98694548e-01 4.51617396e-02 2.38666445e-02 2.62511521e+01] [-4.51750009e-02 9.98979088e-01 1.64949227e-05 2.37077733e-02] [-2.38415338e-02 -1.09464908e-03 9.99715151e-01 -4.09394773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.535898227 meters 0.051338886903489526 Centerline is valid? [True, True] Translation: X:26.28, Y:0.03, Z:-0.42 [[ 9.98839894e-01 4.33040872e-02 2.10623471e-02 2.62793836e+01] [-4.33140094e-02 9.99061508e-01 1.49055323e-05 2.66053035e-02] [-2.10419347e-02 -9.27182939e-04 9.99778164e-01 -4.18172075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.565898226999998 meters 0.0441997228326254 Centerline is valid? [True, True] Translation: X:26.31, Y:0.02, Z:-0.42 [[ 9.98910444e-01 4.24411149e-02 1.94081751e-02 2.63082183e+01] [-4.24493933e-02 9.99098618e-01 1.45829928e-05 1.74833672e-02] [-1.93900620e-02 -8.38432363e-04 9.99811644e-01 -4.18880285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.595898227 meters 0.044015156053563355 Centerline is valid? [True, True] Translation: X:26.34, Y:0.02, Z:-0.42 [[ 9.98881796e-01 4.27375773e-02 2.02152763e-02 2.63374778e+01] [-4.27466402e-02 9.99085944e-01 1.62193174e-05 1.67672951e-02] [-2.01961052e-02 -8.80336323e-04 9.99795650e-01 -4.18108261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.625898227 meters 0.044015156053563355 Centerline is valid? [True, True] Translation: X:26.36, Y:0.02, Z:-0.42 [[ 9.98884891e-01 4.26651683e-02 2.02152756e-02 2.63649482e+01] [-4.26742339e-02 9.99089040e-01 1.70857680e-05 1.69161453e-02] [-2.01961313e-02 -8.79738113e-04 9.99795650e-01 -4.18793476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.655898227 meters 0.04545354884774505 Centerline is valid? [True, True] Translation: X:26.39, Y:0.02, Z:-0.42 [[ 9.98810616e-01 4.32372934e-02 2.25364094e-02 2.63925806e+01] [-4.32487492e-02 9.99064335e-01 2.09465225e-05 1.79314210e-02] [-2.25144172e-02 -9.95593127e-04 9.99746023e-01 -4.16218426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.685898227 meters 0.04488181730110051 Centerline is valid? [True, True] Translation: X:26.42, Y:0.02, Z:-0.41 [[ 9.98753401e-01 4.33354034e-02 2.47727190e-02 2.64218082e+01] [-4.33493092e-02 9.99059977e-01 2.43348303e-05 1.57609226e-02] [-2.47483775e-02 -1.09818475e-03 9.99693109e-01 -4.13276189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.715898227 meters 0.04797858172970175 Centerline is valid? [True, True] Translation: X:26.45, Y:0.02, Z:-0.42 [[ 9.98835791e-01 4.26032527e-02 2.26279743e-02 2.64500575e+01] [-4.26146890e-02 9.99091581e-01 2.32205441e-05 1.69070652e-02] [-2.26064294e-02 -9.87477599e-04 9.99743954e-01 -4.16531101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.745898227 meters 0.04758819124592639 Centerline is valid? [True, True] Translation: X:26.48, Y:0.02, Z:-0.42 [[ 9.98920083e-01 4.24183668e-02 1.89565379e-02 2.64787845e+01] [-4.24263725e-02 9.99099596e-01 2.01753178e-05 1.54634611e-02] [-1.89386136e-02 -8.24410669e-04 9.99820308e-01 -4.23328969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.775898227 meters 0.0459266081361349 Centerline is valid? [True, True] Translation: X:26.51, Y:0.01, Z:-0.43 [[ 9.98987532e-01 4.20879447e-02 1.58907776e-02 2.65075186e+01] [-4.20935369e-02 9.99113674e-01 1.74589854e-05 1.26898565e-02] [-1.58759583e-02 -6.86340341e-04 9.99873733e-01 -4.29279383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.805898227 meters 0.04202084206879029 Centerline is valid? [True, True] Translation: X:26.54, Y:0.01, Z:-0.43 [[ 9.98989000e-01 4.14016145e-02 1.75181296e-02 2.65360566e+01] [-4.14083222e-02 9.99142307e-01 2.01911633e-05 8.00380173e-03] [-1.75022685e-02 -7.45567105e-04 9.99846546e-01 -4.25783181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.835898227 meters 0.048130525931177434 Centerline is valid? [True, True] Translation: X:26.56, Y:0.02, Z:-0.42 [[ 9.98939815e-01 4.10111555e-02 2.09124522e-02 2.65643978e+01] [-4.10206566e-02 9.99158298e-01 2.53778554e-05 1.52806443e-02] [-2.08938094e-02 -8.83193469e-04 9.99781310e-01 -4.22612283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.865898227 meters 0.04222698623009518 Centerline is valid? [True, True] Translation: X:26.59, Y:0.01, Z:-0.42 [[ 9.98928558e-01 3.99495450e-02 2.33617091e-02 2.65929315e+01] [-3.99611431e-02 9.99201234e-01 2.96370653e-05 5.43415834e-03] [-2.33418646e-02 -9.63165913e-04 9.99727078e-01 -4.19341917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.895898227 meters 0.03813899610511638 Centerline is valid? [True, True] Translation: X:26.62, Y:-0.00, Z:-0.42 [[ 9.98958214e-01 3.89083721e-02 2.38458773e-02 2.66231399e+01] [-3.88704216e-02 9.99242150e-01 -2.05311781e-03 -1.86114055e-03] [-2.39076892e-02 1.12407959e-03 9.99713538e-01 -4.19180357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.925898227 meters 0.039944456516162054 Centerline is valid? [True, True] Translation: X:26.65, Y:-0.00, Z:-0.43 [[ 9.99133500e-01 3.70895553e-02 1.88842051e-02 2.66499543e+01] [-3.71348276e-02 9.99308157e-01 2.05225362e-03 -3.72091036e-03] [-1.87950230e-02 -2.75173704e-03 9.99819571e-01 -4.31347293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.955898227 meters 0.041850948623252705 Centerline is valid? [True, True] Translation: X:26.68, Y:0.00, Z:-0.43 [[ 9.99140986e-01 3.81454385e-02 1.61930540e-02 2.66796233e+01] [-3.81508372e-02 9.99271992e-01 2.45048590e-05 9.61996906e-04] [-1.61803306e-02 -6.42262376e-04 9.99868884e-01 -4.33818729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.985898227 meters 0.04517413402650111 Centerline is valid? [True, True] Translation: X:26.71, Y:0.01, Z:-0.43 [[ 9.99052507e-01 4.07728070e-02 1.52206101e-02 2.67090823e+01] [-4.07778875e-02 9.99168236e-01 2.34585648e-05 7.71907575e-03] [-1.52069936e-02 -6.44100663e-04 9.99884160e-01 -4.34971015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.015898227 meters 0.0514659263070505 Centerline is valid? [True, True] Translation: X:26.74, Y:0.02, Z:-0.43 [[ 9.98871973e-01 4.45666414e-02 1.63889184e-02 2.67385198e+01] [-4.45730443e-02 9.99006128e-01 2.54378756e-05 1.85592063e-02] [-1.63714962e-02 -7.55913168e-04 9.99865692e-01 -4.33816157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.045898227 meters 0.05123732897455071 Centerline is valid? [True, True] Translation: X:26.77, Y:0.02, Z:-0.43 [[ 9.98637494e-01 4.87332767e-02 1.86607623e-02 2.67693056e+01] [-4.87423162e-02 9.98811386e-01 2.96211915e-05 2.00184129e-02] [-1.86371384e-02 -9.39149609e-04 9.99825872e-01 -4.30611876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.075898227 meters 0.05897753877533534 Centerline is valid? [True, True] Translation: X:26.80, Y:0.03, Z:-0.43 [[ 9.98235879e-01 5.56803678e-02 2.06113015e-02 2.67983574e+01] [-5.56928739e-02 9.98447947e-01 3.27986359e-05 3.14588838e-02] [-2.05774854e-02 -1.18064339e-03 9.99787564e-01 -4.31433557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.105898227 meters 0.06609011066440701 Centerline is valid? [True, True] Translation: X:26.83, Y:0.04, Z:-0.43 [[ 9.98187984e-01 5.69247475e-02 1.95018619e-02 2.68270226e+01] [-5.69361743e-02 9.98377820e-01 3.07477130e-05 4.21299758e-02] [-1.94684761e-02 -1.14105340e-03 9.99809820e-01 -4.34061063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.135898227 meters 0.05931519155755121 Centerline is valid? [True, True] Translation: X:26.86, Y:0.04, Z:-0.43 [[ 9.98235279e-01 5.63393842e-02 1.87670546e-02 2.68556792e+01] [-5.63498661e-02 9.98411084e-01 2.97654439e-05 3.61090127e-02] [-1.87355584e-02 -1.08723393e-03 9.99823883e-01 -4.34890995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.165898227 meters 0.0612331535057716 Centerline is valid? [True, True] Translation: X:26.88, Y:0.04, Z:-0.43 [[ 9.98327332e-01 5.45592949e-02 1.91264450e-02 2.68841326e+01] [-5.45699356e-02 9.98509950e-01 3.44747402e-05 4.08055238e-02] [-1.90960647e-02 -1.07814595e-03 9.99817072e-01 -4.34736803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.195898227 meters 0.059380740873625305 Centerline is valid? [True, True] Translation: X:26.91, Y:0.04, Z:-0.43 [[ 9.98431753e-01 5.19326256e-02 2.09054492e-02 2.69135294e+01] [-5.19447835e-02 9.98649958e-01 3.85955104e-05 3.97531937e-02] [-2.08752216e-02 -1.12446401e-03 9.99781456e-01 -4.32623751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.225898227 meters 0.05513721013664936 Centerline is valid? [True, True] Translation: X:26.94, Y:0.03, Z:-0.43 [[ 9.98506216e-01 4.87365421e-02 2.46999307e-02 2.69438481e+01] [-4.87525558e-02 9.98810886e-01 4.62017041e-05 3.29324972e-02] [-2.46683079e-02 -1.25031744e-03 9.99694909e-01 -4.29643422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.255898227 meters 0.055455836317429764 Centerline is valid? [True, True] Translation: X:26.97, Y:0.03, Z:-0.43 [[ 9.98530364e-01 4.80961187e-02 2.49775163e-02 2.69720174e+01] [-4.81122966e-02 9.98841932e-01 4.67972166e-05 3.34905393e-02] [-2.49463399e-02 -1.24845411e-03 9.99688012e-01 -4.31372346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.285898227 meters 0.05394945179853846 Centerline is valid? [True, True] Translation: X:27.00, Y:0.03, Z:-0.43 [[ 9.98599873e-01 4.74211637e-02 2.34419754e-02 2.70009944e+01] [-4.74352510e-02 9.98874314e-01 4.49332824e-05 3.27942259e-02] [-2.34134563e-02 -1.15684636e-03 9.99725198e-01 -4.34888827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.315898226999998 meters 0.049807518117673165 Centerline is valid? [True, True] Translation: X:27.03, Y:0.03, Z:-0.44 [[ 9.98693617e-01 4.60584739e-02 2.21286301e-02 2.70294748e+01] [-4.60707141e-02 9.98938180e-01 4.33804127e-05 2.83348201e-02] [-2.21031354e-02 -1.06280553e-03 9.99755131e-01 -4.37853763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.345898227 meters 0.04431728420392174 Centerline is valid? [True, True] Translation: X:27.06, Y:0.02, Z:-0.44 [[ 9.98896120e-01 4.08690444e-02 2.31573490e-02 2.70595327e+01] [-4.08810860e-02 9.99164018e-01 4.66185881e-05 1.96162962e-02] [-2.31360846e-02 -9.93264703e-04 9.99731832e-01 -4.38349931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.375898227 meters 0.040266646938558116 Centerline is valid? [True, True] Translation: X:27.09, Y:0.01, Z:-0.43 [[ 9.98950157e-01 3.81022232e-02 2.54323417e-02 2.70897141e+01] [-3.81158654e-02 9.99273325e-01 5.16863760e-05 1.40058088e-02] [-2.54118913e-02 -1.02100783e-03 9.99676544e-01 -4.34207777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.405898227 meters 0.037526842593641786 Centerline is valid? [True, True] Translation: X:27.12, Y:0.01, Z:-0.43 [[ 9.99085771e-01 3.24409695e-02 2.78424983e-02 2.71194716e+01] [-3.24551365e-02 9.99473192e-01 5.69550863e-05 6.96851321e-03] [-2.78259829e-02 -9.60535098e-04 9.99612321e-01 -4.31815272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.435898227 meters 0.035529296088839396 Centerline is valid? [True, True] Translation: X:27.15, Y:0.00, Z:-0.43 [[ 9.99162748e-01 3.02289780e-02 2.75683085e-02 2.71488963e+01] [-3.02420375e-02 9.99542603e-01 5.68040886e-05 1.60399245e-03] [-2.75539817e-02 -8.90478350e-04 9.99619920e-01 -4.33321234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.465898227 meters 0.034498353119266176 Centerline is valid? [True, True] Translation: X:27.18, Y:-0.01, Z:-0.44 [[ 9.99242200e-01 2.81296783e-02 2.69025352e-02 2.71779462e+01] [-2.81413714e-02 9.99603952e-01 5.60655122e-05 -6.41182228e-03] [-2.68903034e-02 -8.13097261e-04 9.99638060e-01 -4.37419224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.495898227 meters 0.030818070089563235 Centerline is valid? [True, True] Translation: X:27.21, Y:-0.01, Z:-0.44 [[ 9.99299127e-01 2.64634783e-02 2.64752593e-02 2.72062714e+01] [-2.64742434e-02 9.99649494e-01 5.61123660e-05 -1.07538521e-02] [-2.64644946e-02 -7.56985497e-04 9.99649467e-01 -4.35387988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.525898227 meters 0.030228347197319167 Centerline is valid? [True, True] Translation: X:27.24, Y:-0.01, Z:-0.44 [[ 9.99353951e-01 2.46742156e-02 2.61316648e-02 2.72351431e+01] [-2.46841151e-02 9.99695299e-01 5.62786948e-05 -1.45198380e-02] [-2.61223139e-02 -7.01279359e-04 9.99658508e-01 -4.35428961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.555898227 meters 0.026942431495019955 Centerline is valid? [True, True] Translation: X:27.27, Y:-0.02, Z:-0.44 [[ 9.99358959e-01 2.38220930e-02 2.67241242e-02 2.72650868e+01] [-2.38321528e-02 9.99715972e-01 5.79451097e-05 -2.36438569e-02] [-2.67151535e-02 -6.94801376e-04 9.99642845e-01 -4.35581909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.585898227 meters 0.029441663704771824 Centerline is valid? [True, True] Translation: X:27.29, Y:-0.03, Z:-0.44 [[ 9.99355836e-01 2.41781410e-02 2.65203837e-02 2.72940762e+01] [-2.41881906e-02 9.99707421e-01 5.81585637e-05 -3.18854637e-02] [-2.65112182e-02 -6.99601194e-04 9.99648271e-01 -4.37150772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.615898227 meters 0.030998085734337905 Centerline is valid? [True, True] Translation: X:27.32, Y:-0.04, Z:-0.44 [[ 9.99361636e-01 2.53659551e-02 2.51572734e-02 2.73234236e+01] [-2.53753952e-02 9.99677991e-01 5.60249503e-05 -3.51128721e-02] [-2.51477514e-02 -6.94364939e-04 9.99683504e-01 -4.40294657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.645898227 meters 0.033160225668317465 Centerline is valid? [True, True] Translation: X:27.35, Y:-0.04, Z:-0.44 [[ 9.99356507e-01 2.69231426e-02 2.37005588e-02 2.73520291e+01] [-2.69319701e-02 9.99637267e-01 5.32850846e-05 -3.60233824e-02] [-2.36905272e-02 -6.91553538e-04 9.99719101e-01 -4.42210586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.675898227 meters 0.03212886670853959 Centerline is valid? [True, True] Translation: X:27.38, Y:-0.04, Z:-0.44 [[ 9.99322365e-01 2.85062981e-02 2.32852220e-02 2.73814195e+01] [-2.85152651e-02 9.99593356e-01 5.30832231e-05 -4.01582642e-02] [-2.32742400e-02 -7.17031530e-04 9.99728861e-01 -4.42643813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.705898227 meters 0.03570296117032161 Centerline is valid? [True, True] Translation: X:27.41, Y:-0.04, Z:-0.44 [[ 9.99217593e-01 3.09212833e-02 2.46591926e-02 2.74101042e+01] [-3.09320902e-02 9.99521487e-01 5.68431610e-05 -4.35512929e-02] [-2.46456352e-02 -8.19559058e-04 9.99695914e-01 -4.41859552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.735898227 meters 0.039570386682959736 Centerline is valid? [True, True] Translation: X:27.44, Y:-0.04, Z:-0.44 [[ 9.99156833e-01 3.22866815e-02 2.53612571e-02 2.74381708e+01] [-3.22985683e-02 9.99478263e-01 5.91010595e-05 -4.31187518e-02] [-2.53461170e-02 -8.78183522e-04 9.99678350e-01 -4.42734962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.765898227 meters 0.03683885526906958 Centerline is valid? [True, True] Translation: X:27.47, Y:-0.05, Z:-0.44 [[ 9.99137589e-01 3.28030089e-02 2.54566600e-02 2.74669535e+01] [-3.28151910e-02 9.99461435e-01 6.08303985e-05 -5.10636096e-02] [-2.54409545e-02 -8.96143100e-04 9.99675925e-01 -4.44338847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.795898227 meters 0.03574063286352115 Centerline is valid? [True, True] Translation: X:27.50, Y:-0.06, Z:-0.45 [[ 9.99165086e-01 3.24807953e-02 2.47816419e-02 2.74957810e+01] [-3.24922693e-02 9.99471985e-01 6.03726579e-05 -5.73768412e-02] [-2.47665959e-02 -8.65534035e-04 9.99692886e-01 -4.46776429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.825898227 meters 0.03447286741803625 Centerline is valid? [True, True] Translation: X:27.52, Y:-0.07, Z:-0.45 [[ 9.99310017e-01 2.80983736e-02 2.42893142e-02 2.75249285e+01] [-2.81081314e-02 9.99604887e-01 6.03422171e-05 -7.00836215e-02] [-2.42780216e-02 -7.43027815e-04 9.99704969e-01 -4.47341715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.855898227 meters 0.02922028523011631 Centerline is valid? [True, True] Translation: X:27.55, Y:-0.08, Z:-0.45 [[ 9.99384847e-01 2.49106748e-02 2.46857409e-02 2.75543769e+01] [-2.49197971e-02 9.99689452e-01 6.19309251e-05 -8.29167641e-02] [-2.46765321e-02 -6.77056484e-04 9.99695259e-01 -4.46298182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.885898227 meters 0.027288678007802623 Centerline is valid? [True, True] Translation: X:27.58, Y:-0.09, Z:-0.45 [[ 9.99444196e-01 2.14516396e-02 2.55171886e-02 2.75838949e+01] [-2.14602766e-02 9.99769700e-01 6.46462859e-05 -9.04171547e-02] [-2.55099252e-02 -6.12216281e-04 9.99674381e-01 -4.45031331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.915898227 meters 0.02027343184372375 Centerline is valid? [True, True] Translation: X:27.61, Y:-0.11, Z:-0.44 [[ 9.99509241e-01 1.46808647e-02 2.76721914e-02 2.76146116e+01] [-1.46884371e-02 9.99892117e-01 7.03870172e-05 -1.11573565e-01] [-2.76681727e-02 -4.76813718e-04 9.99617049e-01 -4.42351557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.945898227 meters 0.017912490137830805 Centerline is valid? [True, True] Translation: X:27.65, Y:-0.12, Z:-0.44 [[ 9.99557264e-01 1.22886519e-02 2.70973354e-02 2.76469538e+01] [-1.22950136e-02 9.99924411e-01 6.81669093e-05 -1.21271815e-01] [-2.70944495e-02 -4.01298838e-04 9.99632797e-01 -4.44364967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.975898227 meters 0.017150875964694206 Centerline is valid? [True, True] Translation: X:27.68, Y:-0.13, Z:-0.45 [[ 9.99625743e-01 1.11173174e-02 2.49955824e-02 2.76779947e+01] [-1.11222660e-02 9.99938144e-01 5.89594265e-05 -1.28666275e-01] [-2.49933808e-02 -3.36944877e-04 9.99687560e-01 -4.48498528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.005898227 meters 0.018130782953886697 Centerline is valid? [True, True] Translation: X:27.71, Y:-0.13, Z:-0.45 [[ 9.99674854e-01 1.04815064e-02 2.32448809e-02 2.77086923e+01] [-1.04855354e-02 9.99945024e-01 5.14474752e-05 -1.32531143e-01] [-2.32430637e-02 -2.95165768e-04 9.99729800e-01 -4.52872414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.035898227 meters 0.016778406466743015 Centerline is valid? [True, True] Translation: X:27.74, Y:-0.14, Z:-0.45 [[ 9.99654426e-01 9.74072724e-03 2.44161044e-02 2.77409514e+01] [-9.74485484e-03 9.99952517e-01 5.00714378e-05 -1.43420432e-01] [-2.44144573e-02 -2.87985528e-04 9.99701881e-01 -4.49620553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.065898226999998 meters 0.016060556123584313 Centerline is valid? [True, True] Translation: X:27.77, Y:-0.15, Z:-0.45 [[ 9.99626956e-01 9.93370065e-03 2.54415295e-02 2.77737845e+01] [-9.93813590e-03 9.99950614e-01 4.78928781e-05 -1.47787801e-01] [-2.54397973e-02 -3.00716389e-04 9.99676311e-01 -4.46017658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.095898227 meters 0.016597502790892497 Centerline is valid? [True, True] Translation: X:27.81, Y:-0.15, Z:-0.45 [[ 9.99634918e-01 1.03467668e-02 2.49594807e-02 2.78054777e+01] [-1.03510482e-02 9.99946426e-01 4.23363654e-05 -1.49346680e-01] [-2.49577055e-02 -3.00677696e-04 9.99688463e-01 -4.46540981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.125898227 meters 0.017566276264300233 Centerline is valid? [True, True] Translation: X:27.84, Y:-0.15, Z:-0.45 [[ 9.99700345e-01 1.12878408e-02 2.17210609e-02 2.78370397e+01] [-1.12912324e-02 9.99936251e-01 3.35019462e-05 -1.52389318e-01] [-2.17192980e-02 -2.78749454e-04 9.99764069e-01 -4.53743644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.155898227 meters 0.01649822611565397 Centerline is valid? [True, True] Translation: X:27.87, Y:-0.16, Z:-0.45 [[ 9.99692709e-01 1.14290783e-02 2.19969220e-02 2.78697320e+01] [-1.14325193e-02 9.99934646e-01 3.06779226e-05 -1.55596678e-01] [-2.19951338e-02 -2.82148731e-04 9.99758038e-01 -4.54563957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.185898227 meters 0.016572295334220714 Centerline is valid? [True, True] Translation: X:27.90, Y:-0.16, Z:-0.45 [[ 9.99668364e-01 1.09486640e-02 2.33085424e-02 2.79013339e+01] [-1.09522829e-02 9.99940022e-01 2.76015255e-05 -1.55990292e-01] [-2.33068421e-02 -2.82874121e-04 9.99728319e-01 -4.54222239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.215898227 meters 0.016023976221192 Centerline is valid? [True, True] Translation: X:27.93, Y:-0.16, Z:-0.45 [[ 9.99652560e-01 1.05128789e-02 2.41710354e-02 2.79336225e+01] [-1.05165477e-02 9.99944699e-01 2.46726241e-05 -1.57176137e-01] [-2.41694393e-02 -2.78859899e-04 9.99707838e-01 -4.53779045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.245898227 meters 0.014334263707595893 Centerline is valid? [True, True] Translation: X:27.97, Y:-0.16, Z:-0.45 [[ 9.99655601e-01 8.35686507e-03 2.48765532e-02 2.79661373e+01] [-8.35997823e-03 9.99965055e-01 2.11452644e-05 -1.59851820e-01] [-2.48755071e-02 -2.29105425e-04 9.99690530e-01 -4.54204467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.275898227 meters 0.013328288943693856 Centerline is valid? [True, True] Translation: X:28.00, Y:-0.16, Z:-0.46 [[ 9.99686799e-01 6.88463722e-03 2.40604547e-02 2.79984952e+01] [-6.88703054e-03 9.99976284e-01 1.66071244e-05 -1.62374560e-01] [-2.40597698e-02 -1.82307009e-04 9.99710505e-01 -4.56396552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.305898227 meters 0.01286790917138725 Centerline is valid? [True, True] Translation: X:28.03, Y:-0.16, Z:-0.46 [[ 9.99737836e-01 5.55982428e-03 2.22114108e-02 2.80291995e+01] [-5.56146093e-03 9.99984535e-01 1.19136134e-05 -1.63603960e-01] [-2.22110011e-02 -1.35438384e-04 9.99753296e-01 -4.60818594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.335898227 meters 0.011881344686370435 Centerline is valid? [True, True] Translation: X:28.06, Y:-0.16, Z:-0.47 [[ 9.99811582e-01 2.20893988e-03 1.92852700e-02 2.80613127e+01] [-2.20950499e-03 9.99997559e-01 7.99547654e-06 -1.64032429e-01] [-1.92852052e-02 -5.06048704e-05 9.99814022e-01 -4.66157390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.365898227 meters 0.011292113279553989 Centerline is valid? [True, True] Translation: X:28.09, Y:-0.17, Z:-0.46 [[ 9.99789794e-01 -5.08573459e-05 2.05027960e-02 2.80940240e+01] [ 5.07733530e-05 9.99999999e-01 4.61720664e-06 -1.65281473e-01] [-2.05027962e-02 -3.57524037e-06 9.99789796e-01 -4.64295036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.395898227 meters 0.011716517921749383 Centerline is valid? [True, True] Translation: X:28.13, Y:-0.17, Z:-0.46 [[ 9.99726457e-01 -3.07875953e-03 2.31847534e-02 2.81258951e+01] [ 3.07956872e-03 9.99995258e-01 8.02660814e-07 -1.67853037e-01] [-2.31846459e-02 7.05966000e-05 9.99731197e-01 -4.61791745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.425898227 meters 0.01328741891726682 Centerline is valid? [True, True] Translation: X:28.16, Y:-0.17, Z:-0.46 [[ 9.99654110e-01 -6.85754654e-03 2.53896588e-02 2.81579226e+01] [ 6.85986127e-03 9.99976471e-01 -4.06944888e-06 -1.71835509e-01] [-2.53890335e-02 1.78237578e-04 9.99677631e-01 -4.59622304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.455898227 meters 0.018868542437918367 Centerline is valid? [True, True] Translation: X:28.19, Y:-0.18, Z:-0.46 [[ 9.99633375e-01 -1.53003591e-02 2.23386133e-02 2.81884913e+01] [ 1.53043393e-02 9.99882882e-01 -7.21539781e-06 -1.83441075e-01] [-2.23358867e-02 3.49090470e-04 9.99750462e-01 -4.64923491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.485898227 meters 0.02240222516421194 Centerline is valid? [True, True] Translation: X:28.22, Y:-0.19, Z:-0.47 [[ 9.99635741e-01 -1.94163440e-02 1.87454094e-02 2.82182863e+01] [ 1.94198744e-02 9.99811416e-01 -6.30422034e-06 -1.90429614e-01] [-1.87417519e-02 3.70335421e-04 9.99824289e-01 -4.72154942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.515898227 meters 0.02240222516421194 Centerline is valid? [True, True] Translation: X:28.25, Y:-0.19, Z:-0.47 [[ 9.99637112e-01 -1.93456607e-02 1.87454096e-02 2.82508154e+01] [ 1.93491705e-02 9.99812787e-01 -5.86819266e-06 -1.90561485e-01] [-1.87417867e-02 3.68574190e-04 9.99824289e-01 -4.72965483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.545898227 meters 0.026878360809925197 Centerline is valid? [True, True] Translation: X:28.28, Y:-0.20, Z:-0.48 [[ 9.99578912e-01 -2.36456775e-02 1.68190745e-02 2.82810790e+01] [ 2.36491338e-02 9.99720320e-01 -6.60780079e-06 -1.99221325e-01] [-1.68142143e-02 4.04361563e-04 9.99858549e-01 -4.78164859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.575898227 meters 0.030582380023580092 Centerline is valid? [True, True] Translation: X:28.31, Y:-0.21, Z:-0.48 [[ 9.99456561e-01 -2.80086618e-02 1.73809701e-02 2.83120161e+01] [ 2.80130238e-02 9.99607558e-01 -7.49996595e-06 -2.06567148e-01] [-1.73739391e-02 4.94389420e-04 9.99848940e-01 -4.79314190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.605898227 meters 0.03511415662280964 Centerline is valid? [True, True] Translation: X:28.34, Y:-0.21, Z:-0.47 [[ 9.99224012e-01 -3.35947394e-02 2.05612945e-02 2.83430423e+01] [ 3.36020320e-02 9.99435292e-01 -9.19241858e-06 -2.14829657e-01] [-2.05493746e-02 7.00086561e-04 9.99788594e-01 -4.71659941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.635898227 meters 0.03990946593444426 Centerline is valid? [True, True] Translation: X:28.38, Y:-0.21, Z:-0.47 [[ 9.99237111e-01 -3.32664770e-02 2.04581837e-02 2.83752570e+01] [ 3.32736145e-02 9.99446280e-01 -8.49253383e-06 -2.14317721e-01] [-2.04465731e-02 6.89203773e-04 9.99790709e-01 -4.72488830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.665898227 meters 0.03574227008860381 Centerline is valid? [True, True] Translation: X:28.41, Y:-0.21, Z:-0.47 [[ 9.99335559e-01 -3.05765172e-02 1.98372544e-02 2.84061433e+01] [ 3.05827792e-02 9.99532237e-01 -1.23046356e-05 -2.12722442e-01] [-1.98275990e-02 6.18974832e-04 9.99803222e-01 -4.69327695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.695898227 meters 0.02558407056258117 Centerline is valid? [True, True] Translation: X:28.44, Y:-0.19, Z:-0.47 [[ 9.99590174e-01 -2.18642445e-02 1.84780706e-02 2.84369879e+01] [ 2.18682020e-02 9.99760862e-01 -1.21157190e-05 -1.94202297e-01] [-1.84733869e-02 4.16192935e-04 9.99829266e-01 -4.72761520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.725898227 meters 0.022862835051542168 Centerline is valid? [True, True] Translation: X:28.47, Y:-0.19, Z:-0.48 [[ 9.99679355e-01 -1.69891544e-02 1.87764951e-02 2.84678332e+01] [ 1.69923696e-02 9.99855619e-01 -1.16912880e-05 -1.88315372e-01] [-1.87735855e-02 3.30744682e-04 9.99823706e-01 -4.75751159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.755898227 meters 0.02214712638507155 Centerline is valid? [True, True] Translation: X:28.50, Y:-0.18, Z:-0.48 [[ 9.99708436e-01 -1.34895146e-02 2.00268780e-02 2.84987564e+01] [ 1.34924804e-02 9.99908972e-01 -1.29721986e-05 -1.80917898e-01] [-2.00248800e-02 2.83180676e-04 9.99799442e-01 -4.77867163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.785898227 meters 0.015547728276741401 Centerline is valid? [True, True] Translation: X:28.53, Y:-0.17, Z:-0.47 [[ 9.99702058e-01 -1.02664962e-02 2.21448589e-02 2.85288948e+01] [ 1.02814705e-02 9.99946986e-01 -5.62442410e-04 -1.72360636e-01] [-2.21379106e-02 7.89956547e-04 9.99754614e-01 -4.72374603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.815898226999998 meters 0.01763196477924539 Centerline is valid? [True, True] Translation: X:28.56, Y:-0.17, Z:-0.47 [[ 9.99666257e-01 -1.24589636e-02 2.26307067e-02 2.85622482e+01] [ 1.24484226e-02 9.99922331e-01 6.06607947e-04 -1.73722527e-01] [-2.26365067e-02 -3.24688896e-04 9.99743709e-01 -4.72608968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.845898227 meters 0.020405107651974213 Centerline is valid? [True, True] Translation: X:28.59, Y:-0.18, Z:-0.48 [[ 9.99667185e-01 -1.51435452e-02 2.08852189e-02 2.85937226e+01] [ 1.51471841e-02 9.99885275e-01 -1.60401411e-05 -1.78253364e-01] [-2.08825800e-02 3.32387059e-04 9.99781880e-01 -4.75991904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.875898227 meters 0.02281975257610882 Centerline is valid? [True, True] Translation: X:28.63, Y:-0.18, Z:-0.48 [[ 9.99633667e-01 -1.86670524e-02 1.95977679e-02 2.86255465e+01] [ 1.86709383e-02 9.99825683e-01 -1.53142644e-05 -1.82679859e-01] [-1.95940658e-02 3.81217369e-04 9.99807945e-01 -4.78398253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.905898227 meters 0.027001286226169898 Centerline is valid? [True, True] Translation: X:28.66, Y:-0.19, Z:-0.47 [[ 9.99449867e-01 -2.46970057e-02 2.21364368e-02 2.86565382e+01] [ 2.47035350e-02 9.99694821e-01 -2.15055059e-05 -1.89666245e-01] [-2.21291501e-02 5.68341914e-04 9.99754959e-01 -4.74682930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.935898227 meters 0.030046792272794505 Centerline is valid? [True, True] Translation: X:28.69, Y:-0.19, Z:-0.47 [[ 9.99335422e-01 -2.66906491e-02 2.48258584e-02 2.86877174e+01] [ 2.66994845e-02 9.99643505e-01 -2.44351570e-05 -1.94860596e-01] [-2.48163560e-02 6.87256542e-04 9.99691791e-01 -4.71310179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.965898227 meters 0.03190431356668961 Centerline is valid? [True, True] Translation: X:28.72, Y:-0.20, Z:-0.47 [[ 9.99260617e-01 -2.84335815e-02 2.58795447e-02 2.87201333e+01] [ 2.84438708e-02 9.99595391e-01 -2.94790282e-05 -1.98808772e-01] [-2.58682354e-02 7.65571657e-04 9.99665068e-01 -4.69966149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.995898227 meters 0.0350317155133556 Centerline is valid? [True, True] Translation: X:28.75, Y:-0.20, Z:-0.47 [[ 9.99259403e-01 -3.03731784e-02 2.36244709e-02 2.87507817e+01] [ 3.03823173e-02 9.99538350e-01 -2.79227549e-05 -2.04407071e-01] [-2.36127166e-02 7.45668247e-04 9.99720903e-01 -4.74532711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.025898227 meters 0.030273284665383534 Centerline is valid? [True, True] Translation: X:28.78, Y:-0.20, Z:-0.48 [[ 9.99278976e-01 -3.01170561e-02 2.31190441e-02 2.87815727e+01] [ 2.99470725e-02 9.99522104e-01 7.66395528e-03 -2.02167376e-01] [-2.33388114e-02 -6.96608170e-03 9.99703343e-01 -4.80620601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.055898227 meters 0.03235068773462525 Centerline is valid? [True, True] Translation: X:28.81, Y:-0.20, Z:-0.48 [[ 9.99360682e-01 -2.88678078e-02 2.10921233e-02 2.88135051e+01] [ 2.90357047e-02 9.99548735e-01 -7.69770349e-03 -1.98868562e-01] [-2.08603894e-02 8.30520687e-03 9.99747902e-01 -4.77329701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.085898227 meters 0.02751465128194162 Centerline is valid? [True, True] Translation: X:28.84, Y:-0.20, Z:-0.48 [[ 9.99407491e-01 -2.70443588e-02 2.12901295e-02 2.88446572e+01] [ 2.70511329e-02 9.99634051e-01 -3.02011007e-05 -1.96142281e-01] [-2.12815216e-02 6.06105328e-04 9.99773339e-01 -4.79226513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.115898227 meters 0.028869353861692183 Centerline is valid? [True, True] Translation: X:28.88, Y:-0.20, Z:-0.48 [[ 9.99457299e-01 -2.47246373e-02 2.17669637e-02 2.88754426e+01] [ 2.47311805e-02 9.99694137e-01 -3.14232542e-05 -1.97959243e-01] [-2.17595291e-02 5.69728911e-04 9.99763071e-01 -4.79581513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.145898226999996 meters 0.024528250827341724 Centerline is valid? [True, True] Translation: X:28.91, Y:-0.19, Z:-0.48 [[ 9.99541830e-01 -2.12362986e-02 2.15673367e-02 2.89069491e+01] [ 2.12419221e-02 9.99774364e-01 -3.16566970e-05 -1.89615039e-01] [-2.15617981e-02 4.89773881e-04 9.99767397e-01 -4.79298592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.175898227 meters 0.025063262550325156 Centerline is valid? [True, True] Translation: X:28.94, Y:-0.19, Z:-0.48 [[ 9.99535834e-01 -2.04498637e-02 2.25813976e-02 2.89386966e+01] [ 2.04558395e-02 9.99790757e-01 -3.36505369e-05 -1.89242198e-01] [-2.25759844e-02 4.95556363e-04 9.99745007e-01 -4.78701482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.205898227 meters 0.026648482965047734 Centerline is valid? [True, True] Translation: X:28.97, Y:-0.19, Z:-0.48 [[ 9.99457595e-01 -2.16816167e-02 2.47875469e-02 2.89697565e+01] [ 2.16892276e-02 9.99764760e-01 -3.81997622e-05 -1.90930253e-01] [-2.47808876e-02 5.75801787e-04 9.99692741e-01 -4.76761631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.235898227 meters 0.028820204173594637 Centerline is valid? [True, True] Translation: X:29.00, Y:-0.19, Z:-0.48 [[ 9.99416631e-01 -2.34413816e-02 2.48374616e-02 2.90010335e+01] [ 2.34496578e-02 9.99725018e-01 -4.19672515e-05 -1.94463748e-01] [-2.48296479e-02 6.24372743e-04 9.99691502e-01 -4.78166738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.265898227 meters 0.02871160777880637 Centerline is valid? [True, True] Translation: X:29.03, Y:-0.19, Z:-0.48 [[ 9.99383282e-01 -2.55056959e-02 2.41353351e-02 2.90330793e+01] [ 2.55141579e-02 9.99674460e-01 -4.26795428e-05 -1.94713283e-01] [-2.41263895e-02 6.58445972e-04 9.99708699e-01 -4.79373701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.295898227 meters 0.03155753355046572 Centerline is valid? [True, True] Translation: X:29.06, Y:-0.20, Z:-0.48 [[ 9.99364295e-01 -2.69549869e-02 2.33331256e-02 2.90640687e+01] [ 2.69633109e-02 9.99636423e-01 -4.21489834e-05 -1.98680913e-01] [-2.33235061e-02 6.71260508e-04 9.99727745e-01 -4.81285542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.325898227 meters 0.03556163802828973 Centerline is valid? [True, True] Translation: X:29.10, Y:-0.20, Z:-0.48 [[ 9.99362125e-01 -2.85725034e-02 2.14232463e-02 2.90950984e+01] [ 2.85799543e-02 9.99591509e-01 -4.16403985e-05 -2.03520013e-01] [-2.14133053e-02 6.53889238e-04 9.99770495e-01 -4.82533679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.355898227 meters 0.033277842964402 Centerline is valid? [True, True] Translation: X:29.13, Y:-0.20, Z:-0.48 [[ 9.99367840e-01 -2.84119195e-02 2.13701279e-02 2.91277575e+01] [ 2.84193718e-02 9.99596087e-01 -4.50478177e-05 -2.00454193e-01] [-2.13602163e-02 6.52344949e-04 9.99771632e-01 -4.82664999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.385898227 meters 0.031946322272236566 Centerline is valid? [True, True] Translation: X:29.16, Y:-0.20, Z:-0.48 [[ 9.99367899e-01 -2.79093213e-02 2.20198212e-02 2.91598266e+01] [ 2.79171347e-02 9.99610240e-01 -4.74502662e-05 -1.98944771e-01] [-2.20099144e-02 6.62150586e-04 9.99757533e-01 -4.82581874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.415898227 meters 0.034003375848304755 Centerline is valid? [True, True] Translation: X:29.19, Y:-0.20, Z:-0.48 [[ 9.99393001e-01 -2.63422057e-02 2.27973158e-02 2.91915270e+01] [ 2.63501977e-02 9.99652772e-01 -5.01922629e-05 -2.02739169e-01] [-2.27880777e-02 6.50875574e-04 9.99740106e-01 -4.83721606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.445898227 meters 0.028288156935800328 Centerline is valid? [True, True] Translation: X:29.22, Y:-0.20, Z:-0.49 [[ 9.99423021e-01 -2.53625532e-02 2.25912716e-02 2.92241655e+01] [ 2.53701785e-02 9.99678124e-01 -5.09441290e-05 -1.95184358e-01] [-2.25827079e-02 6.24059328e-04 9.99744783e-01 -4.85475008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.475898227 meters 0.029643336195046742 Centerline is valid? [True, True] Translation: X:29.26, Y:-0.20, Z:-0.49 [[ 9.99455008e-01 -2.43802110e-02 2.22551466e-02 2.92550846e+01] [ 2.43874076e-02 9.99702582e-01 -5.19779281e-05 -1.97185241e-01] [-2.22472603e-02 5.94694932e-04 9.99752322e-01 -4.86923081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.505898227 meters 0.030535006110500057 Centerline is valid? [True, True] Translation: X:29.29, Y:-0.20, Z:-0.48 [[ 9.99395379e-01 -2.57283831e-02 2.33864542e-02 2.92877020e+01] [ 2.57367910e-02 9.99668752e-01 -5.85516915e-05 -1.96446869e-01] [-2.33772010e-02 6.60408572e-04 9.99726498e-01 -4.84166484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.535898227 meters 0.032792686836416514 Centerline is valid? [True, True] Translation: X:29.32, Y:-0.20, Z:-0.48 [[ 9.99348181e-01 -2.69330921e-02 2.40379184e-02 2.93187578e+01] [ 2.69423484e-02 9.99636987e-01 -6.12293174e-05 -1.98834257e-01] [-2.40275433e-02 7.08827380e-04 9.99711046e-01 -4.82908886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.565898227 meters 0.03283906367792048 Centerline is valid? [True, True] Translation: X:29.35, Y:-0.20, Z:-0.48 [[ 9.99318976e-01 -2.76909643e-02 2.43884090e-02 2.93512844e+01] [ 2.77008089e-02 9.99616257e-01 -6.58456791e-05 -1.98731103e-01] [-2.43772267e-02 7.41379493e-04 9.99702556e-01 -4.83095166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.595898227 meters 0.035258651321130645 Centerline is valid? [True, True] Translation: X:29.38, Y:-0.20, Z:-0.49 [[ 9.99292943e-01 -2.80431956e-02 2.50438219e-02 2.93823810e+01] [ 2.80537166e-02 9.99606415e-01 -6.87891372e-05 -2.01715095e-01] [-2.50320359e-02 7.71312779e-04 9.99686352e-01 -4.85647259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.625898227 meters 0.034937336190468425 Centerline is valid? [True, True] Translation: X:29.42, Y:-0.20, Z:-0.49 [[ 9.99300760e-01 -2.79770050e-02 2.48047889e-02 2.94153789e+01] [ 2.79873579e-02 9.99608275e-01 -7.02420026e-05 -2.00263120e-01] [-2.47931071e-02 7.64413390e-04 9.99692311e-01 -4.86424999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.655898227 meters 0.035744485244597016 Centerline is valid? [True, True] Translation: X:29.45, Y:-0.20, Z:-0.49 [[ 9.99297844e-01 -2.86147867e-02 2.41870329e-02 2.94459940e+01] [ 2.86249212e-02 9.99590220e-01 -7.28097218e-05 -1.99232958e-01] [-2.41750381e-02 7.65110507e-04 9.99707448e-01 -4.87755687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.685898227 meters 0.03460124759484104 Centerline is valid? [True, True] Translation: X:29.48, Y:-0.19, Z:-0.49 [[ 9.99284072e-01 -2.95771075e-02 2.35910640e-02 2.94784343e+01] [ 2.95870241e-02 9.99562206e-01 -7.13473479e-05 -1.94829855e-01] [-2.35786257e-02 7.69285647e-04 9.99721690e-01 -4.88654954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.715898227 meters 0.03770344760911137 Centerline is valid? [True, True] Translation: X:29.51, Y:-0.20, Z:-0.49 [[ 9.99216381e-01 -3.29511002e-02 2.19282512e-02 2.95097033e+01] [ 3.29605586e-02 9.99456651e-01 -6.99471473e-05 -1.95244288e-01] [-2.19140317e-02 7.92659745e-04 9.99759545e-01 -4.92879850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.745898227 meters 0.04009050942298794 Centerline is valid? [True, True] Translation: X:29.54, Y:-0.20, Z:-0.50 [[ 9.99141245e-01 -3.54060514e-02 2.15217339e-02 2.95405317e+01] [ 3.54157420e-02 9.99372663e-01 -6.91698159e-05 -1.97377953e-01] [-2.15057835e-02 8.31318591e-04 9.99768378e-01 -4.95146588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.775898227 meters 0.044337169847860125 Centerline is valid? [True, True] Translation: X:29.57, Y:-0.20, Z:-0.50 [[ 9.99065880e-01 -3.80674903e-02 2.04507842e-02 2.95704522e+01] [ 3.80767978e-02 9.99274814e-01 -6.57742910e-05 -1.99761154e-01] [-2.04334497e-02 8.44413223e-04 9.99790859e-01 -4.99957131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.805898227 meters 0.045116202002486894 Centerline is valid? [True, True] Translation: X:29.60, Y:-0.20, Z:-0.50 [[ 9.98876625e-01 -4.29032157e-02 2.01197054e-02 2.96015116e+01] [ 4.29132271e-02 9.99078801e-01 -6.59135267e-05 -1.98515255e-01] [-2.00983433e-02 9.29240969e-04 9.99797576e-01 -4.99365681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.835898227 meters 0.047182586680669186 Centerline is valid? [True, True] Translation: X:29.63, Y:-0.20, Z:-0.50 [[ 9.98774668e-01 -4.50886436e-02 2.04003888e-02 2.96330731e+01] [ 4.50993911e-02 9.98982503e-01 -6.68305503e-05 -1.98739265e-01] [-2.03766182e-02 9.86793774e-04 9.99791888e-01 -5.00199189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.865898227 meters 0.05381926353579379 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.21, Z:-0.50 [[ 9.98715887e-01 -4.63977292e-02 2.03427504e-02 2.96645227e+01] [ 4.64086914e-02 9.98922534e-01 -6.68665310e-05 -2.05504913e-01] [-2.03177293e-02 1.01086109e-03 9.99793063e-01 -5.01615799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.895898226999996 meters 0.0494511667336039 Centerline is valid? [True, True] Translation: X:29.70, Y:-0.20, Z:-0.50 [[ 9.98690764e-01 -4.70950296e-02 1.99703714e-02 2.96971308e+01] [ 4.71057544e-02 9.98889906e-01 -6.67054128e-05 -1.97708561e-01] [-1.99450609e-02 1.00733749e-03 9.99800570e-01 -5.03054741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.925898227 meters 0.0529162352286607 Centerline is valid? [True, True] Translation: X:29.73, Y:-0.20, Z:-0.51 [[ 9.98626946e-01 -4.93553084e-02 1.75578168e-02 2.97270612e+01] [ 4.93640082e-02 9.98780852e-01 -6.21816731e-05 -1.98123911e-01] [-1.75333422e-02 9.28820505e-04 9.99845848e-01 -5.07510401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.955898227 meters 0.06066761316054214 Centerline is valid? [True, True] Translation: X:29.76, Y:-0.21, Z:-0.51 [[ 9.98539128e-01 -5.13269304e-02 1.68865721e-02 2.97574538e+01] [ 5.13352572e-02 9.98681475e-01 -5.97138048e-05 -2.06860681e-01] [-1.68612418e-02 9.26503091e-04 9.99857410e-01 -5.09949184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.985898227 meters 0.05733736018605437 Centerline is valid? [True, True] Translation: X:29.79, Y:-0.20, Z:-0.51 [[ 9.98397865e-01 -5.37304499e-02 1.77409912e-02 2.97880764e+01] [ 5.37400212e-02 9.98554959e-01 -6.28618002e-05 -2.01294810e-01] [-1.77119771e-02 1.01616233e-03 9.99842614e-01 -5.08073158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.015898227 meters 0.060014467953169344 Centerline is valid? [True, True] Translation: X:29.82, Y:-0.20, Z:-0.51 [[ 9.98207075e-01 -5.66185424e-02 1.94158944e-02 2.98188483e+01] [ 5.66305631e-02 9.98395200e-01 -6.94155054e-05 -2.03043263e-01] [-1.93808056e-02 1.16882408e-03 9.99811491e-01 -5.05699912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.045898227 meters 0.06116842820890502 Centerline is valid? [True, True] Translation: X:29.85, Y:-0.20, Z:-0.50 [[ 9.97905068e-01 -6.08485555e-02 2.19756493e-02 2.98497446e+01] [ 6.08649793e-02 9.98146005e-01 -7.86603413e-05 -2.00788028e-01] [-2.19301202e-02 1.41604299e-03 9.99758503e-01 -5.00760283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.075898227 meters 0.06684326308153649 Centerline is valid? [True, True] Translation: X:29.88, Y:-0.21, Z:-0.50 [[ 9.97852051e-01 -6.17867058e-02 2.17643539e-02 2.98811873e+01] [ 6.18030361e-02 9.98088362e-01 -7.78461814e-05 -2.06915041e-01] [-2.17179385e-02 1.42278212e-03 9.99763125e-01 -5.02167929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.105898227 meters 0.06556195437200424 Centerline is valid? [True, True] Translation: X:29.91, Y:-0.21, Z:-0.51 [[ 9.97894170e-01 -6.15515007e-02 2.04606411e-02 2.99136998e+01] [ 6.15659045e-02 9.98103018e-01 -7.42187541e-05 -2.05108443e-01] [-2.04172594e-02 1.33374034e-03 9.99790656e-01 -5.05641072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.135898227 meters 0.061083630693328055 Centerline is valid? [True, True] Translation: X:29.94, Y:-0.20, Z:-0.51 [[ 9.97999385e-01 -6.04039022e-02 1.86707400e-02 2.99446701e+01] [ 6.04157634e-02 9.98173297e-01 -7.13651646e-05 -1.98183925e-01] [-1.86323234e-02 1.19922940e-03 9.99825684e-01 -5.09211994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.165898227 meters 0.06789013239090799 Centerline is valid? [True, True] Translation: X:29.98, Y:-0.21, Z:-0.51 [[ 9.98026752e-01 -5.95658102e-02 1.98624176e-02 2.99762299e+01] [ 5.95790661e-02 9.98223587e-01 -7.57808232e-05 -2.05892640e-01] [-1.98226198e-02 1.25901558e-03 9.99802720e-01 -5.08220007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.195898227 meters 0.06689964170343182 Centerline is valid? [True, True] Translation: X:30.01, Y:-0.20, Z:-0.50 [[ 9.98019263e-01 -5.90080347e-02 2.18083262e-02 3.00089136e+01] [ 5.90239608e-02 9.98256562e-01 -8.67535266e-05 -2.02867303e-01] [-2.17651856e-02 1.37379548e-03 9.99762166e-01 -5.04953735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.225898227 meters 0.06259740534403947 Centerline is valid? [True, True] Translation: X:30.04, Y:-0.19, Z:-0.50 [[ 9.97946196e-01 -5.96280735e-02 2.34069134e-02 3.00416137e+01] [ 5.96466805e-02 9.98219547e-01 -9.69535627e-05 -1.93854192e-01] [-2.33594574e-02 1.49289913e-03 9.99726016e-01 -5.02120366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.255898227 meters 0.06412378020036595 Centerline is valid? [True, True] Translation: X:30.07, Y:-0.20, Z:-0.50 [[ 9.97875139e-01 -6.08644645e-02 2.32534829e-02 3.00713567e+01] [ 6.08832521e-02 9.98144889e-01 -1.00178431e-04 -1.95885346e-01] [-2.32042478e-02 1.51571323e-03 9.99729596e-01 -5.04188885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.285898227 meters 0.06247265085000317 Centerline is valid? [True, True] Translation: X:30.10, Y:-0.19, Z:-0.51 [[ 9.97789958e-01 -6.23970323e-02 2.28431767e-02 3.01028671e+01] [ 6.24155612e-02 9.98050243e-01 -9.83634840e-05 -1.94768979e-01] [-2.27925005e-02 1.52391579e-03 9.99739056e-01 -5.06849703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.315898227 meters 0.06521514287902595 Centerline is valid? [True, True] Translation: X:30.13, Y:-0.20, Z:-0.51 [[ 9.97665236e-01 -6.45640059e-02 2.22613198e-02 3.01339740e+01] [ 6.45821506e-02 9.97912389e-01 -9.63631053e-05 -1.99554689e-01] [-2.22086253e-02 1.53382203e-03 9.99752181e-01 -5.10492218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.345898227 meters 0.07412931642872467 Centerline is valid? [True, True] Translation: X:30.16, Y:-0.22, Z:-0.51 [[ 9.97442925e-01 -6.75508660e-02 2.33343677e-02 3.01632615e+01] [ 6.75716276e-02 9.97714420e-01 -1.01512255e-04 -2.17006602e-01] [-2.32741779e-02 1.67799389e-03 9.99727711e-01 -5.08288457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.375898227 meters 0.06850632055142686 Centerline is valid? [True, True] Translation: X:30.20, Y:-0.21, Z:-0.51 [[ 9.97458972e-01 -6.74010850e-02 2.30801400e-02 3.01963196e+01] [ 6.74213391e-02 9.97724588e-01 -9.96468430e-05 -2.12628304e-01] [-2.30209068e-02 1.65548758e-03 9.99733613e-01 -5.08351230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.405898227 meters 0.065984263684321 Centerline is valid? [True, True] Translation: X:30.23, Y:-0.21, Z:-0.51 [[ 9.97556346e-01 -6.64861503e-02 2.14692450e-02 3.02273261e+01] [ 6.65035519e-02 9.97786184e-01 -9.67900729e-05 -2.13559986e-01] [-2.14152808e-02 1.52433460e-03 9.99769505e-01 -5.10961785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.435898227 meters 0.06759575211072597 Centerline is valid? [True, True] Translation: X:30.26, Y:-0.22, Z:-0.51 [[ 9.97644435e-01 -6.52289698e-02 2.12311983e-02 3.02576367e+01] [ 6.52457153e-02 9.97869224e-01 -9.62397183e-05 -2.17696681e-01] [-2.11796818e-02 1.48125774e-03 9.99774588e-01 -5.11746043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.465898227 meters 0.06759575211072597 Centerline is valid? [True, True] Translation: X:30.29, Y:-0.22, Z:-0.51 [[ 9.97656134e-01 -6.50497901e-02 2.12312001e-02 3.02902855e+01] [ 6.50664873e-02 9.97880926e-01 -9.58643765e-05 -2.17981615e-01] [-2.11799736e-02 1.47707929e-03 9.99774588e-01 -5.12559778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.495898227 meters 0.06724458024469594 Centerline is valid? [True, True] Translation: X:30.32, Y:-0.22, Z:-0.51 [[ 9.97768061e-01 -6.34038562e-02 2.09487041e-02 3.03199204e+01] [ 6.34198432e-02 9.97986931e-01 -9.90062766e-05 -2.19053737e-01] [-2.09002556e-02 1.42734883e-03 9.99780547e-01 -5.12926161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.525898227 meters 0.061006799726937136 Centerline is valid? [True, True] Translation: X:30.35, Y:-0.21, Z:-0.51 [[ 9.97875292e-01 -6.16792128e-02 2.09899035e-02 3.03505352e+01] [ 6.16948829e-02 9.98095051e-01 -9.92009900e-05 -2.11671651e-01] [-2.09438002e-02 1.39395985e-03 9.99779683e-01 -5.12599851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.555898227 meters 0.06612794299928003 Centerline is valid? [True, True] Translation: X:30.38, Y:-0.22, Z:-0.51 [[ 9.97980446e-01 -5.99389534e-02 2.10321484e-02 3.03806269e+01] [ 5.99543018e-02 9.98201118e-01 -9.94006449e-05 -2.18846885e-01] [-2.09883561e-02 1.36016767e-03 9.99778795e-01 -5.13198625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.585898227 meters 0.059162451866811225 Centerline is valid? [True, True] Translation: X:30.41, Y:-0.21, Z:-0.51 [[ 9.98121211e-01 -5.74622336e-02 2.12635829e-02 3.04116638e+01] [ 5.74773615e-02 9.98346805e-01 -1.00465170e-04 -2.09841445e-01] [-2.12226571e-02 1.32245106e-03 9.99773899e-01 -5.14182641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.615898227 meters 0.06341368051622506 Centerline is valid? [True, True] Translation: X:30.44, Y:-0.21, Z:-0.52 [[ 9.98218959e-01 -5.58866232e-02 2.08709031e-02 3.04424853e+01] [ 5.59008563e-02 9.98436320e-01 -9.87131140e-05 -2.13617311e-01] [-2.08327510e-02 1.26523866e-03 9.99782174e-01 -5.18183305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.645898226999996 meters 0.05710689547065629 Centerline is valid? [True, True] Translation: X:30.47, Y:-0.21, Z:-0.52 [[ 9.98321957e-01 -5.39982472e-02 2.09155480e-02 3.04732604e+01] [ 5.40121393e-02 9.98540274e-01 -9.94500317e-05 -2.06901008e-01] [-2.08796469e-02 1.22897664e-03 9.99781241e-01 -5.17440732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.675898227 meters 0.05483249579191563 Centerline is valid? [True, True] Translation: X:30.50, Y:-0.20, Z:-0.52 [[ 9.98531985e-01 -5.09423224e-02 1.84052994e-02 3.05037000e+01] [ 5.09525654e-02 9.98701071e-01 -8.77096469e-05 -2.03377911e-01] [-1.83769241e-02 1.02537811e-03 9.99830604e-01 -5.22224227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.705898227 meters 0.05452605658046661 Centerline is valid? [True, True] Translation: X:30.53, Y:-0.20, Z:-0.52 [[ 9.98603448e-01 -4.97278083e-02 1.78409509e-02 3.05338988e+01] [ 4.97372415e-02 9.98762334e-01 -8.51410540e-05 -2.02702811e-01] [-1.78146359e-02 9.72381836e-04 9.99840834e-01 -5.23705986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.735898227 meters 0.057236941095450314 Centerline is valid? [True, True] Translation: X:30.56, Y:-0.21, Z:-0.52 [[ 9.98682330e-01 -4.80723833e-02 1.79624732e-02 3.05639897e+01] [ 4.80816822e-02 9.98843403e-01 -8.59264480e-05 -2.05563112e-01] [-1.79375672e-02 9.49479153e-04 9.99838658e-01 -5.24032231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.765898227 meters 0.04973771501491461 Centerline is valid? [True, True] Translation: X:30.60, Y:-0.19, Z:-0.52 [[ 9.98855106e-01 -4.36784817e-02 1.95106887e-02 3.05950943e+01] [ 4.36886218e-02 9.99045192e-01 -9.35829704e-05 -1.92447481e-01] [-1.94879722e-02 9.45870929e-04 9.99809644e-01 -5.21313922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.795898227 meters 0.05006496022669049 Centerline is valid? [True, True] Translation: X:30.62, Y:-0.19, Z:-0.52 [[ 9.98925874e-01 -4.15731766e-02 2.04638681e-02 3.06247069e+01] [ 4.15838979e-02 9.99135011e-01 -9.84782618e-05 -1.90385497e-01] [-2.04420730e-02 9.49339886e-04 9.99790588e-01 -5.21148042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.825898227 meters 0.0421283721439092 Centerline is valid? [True, True] Translation: X:30.66, Y:-0.18, Z:-0.52 [[ 9.98993002e-01 -3.93514190e-02 2.15510300e-02 3.06560803e+01] [ 3.93627862e-02 9.99224980e-01 -1.03339633e-04 -1.77380391e-01] [-2.15302609e-02 9.51544154e-04 9.99767744e-01 -5.19902235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.855898227 meters 0.04318381558870071 Centerline is valid? [True, True] Translation: X:30.69, Y:-0.17, Z:-0.52 [[ 9.99055010e-01 -3.76325687e-02 2.17457233e-02 3.06869884e+01] [ 3.76437469e-02 9.99291217e-01 -1.04783160e-04 -1.74902965e-01] [-2.17263671e-02 9.23274646e-04 9.99763528e-01 -5.22161427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.885898227 meters 0.04029280330695759 Centerline is valid? [True, True] Translation: X:30.72, Y:-0.17, Z:-0.52 [[ 9.99102955e-01 -3.73686474e-02 1.99215999e-02 3.07203871e+01] [ 3.73779680e-02 9.99301195e-01 -9.55887480e-05 -1.69376483e-01] [-1.99041065e-02 8.40131924e-04 9.99801541e-01 -5.24114983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.915898227 meters 0.044323523496711426 Centerline is valid? [True, True] Translation: X:30.75, Y:-0.17, Z:-0.53 [[ 9.99063530e-01 -3.91052404e-02 1.85160469e-02 3.07504376e+01] [ 3.91136631e-02 9.99234764e-01 -9.28203646e-05 -1.72839065e-01] [-1.84982479e-02 8.16963859e-04 9.99828559e-01 -5.27212800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.945898227 meters 0.0491734671009768 Centerline is valid? [True, True] Translation: X:30.78, Y:-0.18, Z:-0.53 [[ 9.98968289e-01 -4.18100298e-02 1.77279155e-02 3.07808841e+01] [ 4.18181986e-02 9.99125232e-01 -9.01728749e-05 -1.77456088e-01] [-1.77086376e-02 8.31429335e-04 9.99842844e-01 -5.29087693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.975898227 meters 0.052969018160383484 Centerline is valid? [True, True] Translation: X:30.81, Y:-0.18, Z:-0.53 [[ 9.98595701e-01 -4.93421490e-02 1.92867184e-02 3.08114830e+01] [ 4.93532241e-02 9.98781382e-01 -9.83920192e-05 -1.81927375e-01] [-1.92583604e-02 1.05011558e-03 9.99813989e-01 -5.29214245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.005898227 meters 0.05710344030866592 Centerline is valid? [True, True] Translation: X:30.84, Y:-0.19, Z:-0.53 [[ 9.98349274e-01 -5.36745938e-02 2.04393003e-02 3.08424188e+01] [ 5.36879375e-02 9.98557757e-01 -1.04280115e-04 -1.87902496e-01] [-2.04042246e-02 1.20145185e-03 9.99791090e-01 -5.28793739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.035898227 meters 0.05883323034237257 Centerline is valid? [True, True] Translation: X:30.87, Y:-0.19, Z:-0.53 [[ 9.98095512e-01 -5.78985107e-02 2.12863954e-02 3.08738610e+01] [ 5.79139489e-02 9.98321573e-01 -1.08999835e-04 -1.90794915e-01] [-2.12443568e-02 1.34157146e-03 9.99773413e-01 -5.27643387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.065898227 meters 0.06210190517258093 Centerline is valid? [True, True] Translation: X:30.90, Y:-0.20, Z:-0.53 [[ 9.97854034e-01 -6.18050082e-02 2.16210185e-02 3.09049366e+01] [ 6.18218576e-02 9.98087193e-01 -1.11131940e-04 -1.95602176e-01] [-2.15727932e-02 1.44754498e-03 9.99766232e-01 -5.27629193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.095898227 meters 0.06758309852502306 Centerline is valid? [True, True] Translation: X:30.94, Y:-0.21, Z:-0.53 [[ 9.97437638e-01 -6.82254476e-02 2.15278085e-02 3.09353988e+01] [ 6.82436491e-02 9.97668678e-01 -1.11114817e-04 -2.05307485e-01] [-2.14700394e-02 1.57996631e-03 9.99768244e-01 -5.30060981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.125898227 meters 0.06974948570419863 Centerline is valid? [True, True] Translation: X:30.97, Y:-0.21, Z:-0.53 [[ 9.97281855e-01 -7.03289613e-02 2.19713132e-02 3.09658140e+01] [ 7.03484285e-02 9.97522474e-01 -1.13414360e-04 -2.08249306e-01] [-2.19089024e-02 1.65875344e-03 9.99758595e-01 -5.32859145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.155898227 meters 0.07138493673965349 Centerline is valid? [True, True] Translation: X:31.00, Y:-0.21, Z:-0.53 [[ 9.97188949e-01 -7.15070761e-02 2.23816408e-02 3.09973009e+01] [ 7.15275745e-02 9.97438616e-01 -1.15622704e-04 -2.12009439e-01] [-2.23160450e-02 1.71620216e-03 9.99749493e-01 -5.32557365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.185898227 meters 0.07186540056957055 Centerline is valid? [True, True] Translation: X:31.03, Y:-0.21, Z:-0.53 [[ 9.97174525e-01 -7.17287385e-02 2.23148940e-02 3.10297286e+01] [ 7.17491733e-02 9.97422700e-01 -1.15429699e-04 -2.14595858e-01] [-2.22491022e-02 1.71617876e-03 9.99750985e-01 -5.33175256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.215898227 meters 0.0746957694263768 Centerline is valid? [True, True] Translation: X:31.06, Y:-0.22, Z:-0.54 [[ 9.97240639e-01 -7.11708885e-02 2.11142513e-02 3.10607866e+01] [ 7.11891303e-02 9.97462829e-01 -1.12629228e-04 -2.20290538e-01] [-2.10526649e-02 1.61542363e-03 9.99777063e-01 -5.36273425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.245898227 meters 0.07119556766040507 Centerline is valid? [True, True] Translation: X:31.09, Y:-0.22, Z:-0.53 [[ 9.97385462e-01 -6.88987780e-02 2.17990419e-02 3.10911427e+01] [ 6.89177335e-02 9.97622339e-01 -1.18601798e-04 -2.18994937e-01] [-2.17390396e-02 1.62063227e-03 9.99762366e-01 -5.32946837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.275898227 meters 0.06767334360675188 Centerline is valid? [True, True] Translation: X:31.12, Y:-0.21, Z:-0.53 [[ 9.97616612e-01 -6.50494867e-02 2.30143174e-02 3.11218838e+01] [ 6.50695979e-02 9.97880720e-01 -1.25276998e-04 -2.14415067e-01] [-2.29573944e-02 1.62251079e-03 9.99735128e-01 -5.31335214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.305898227 meters 0.0549480495472083 Centerline is valid? [True, True] Translation: X:31.15, Y:-0.20, Z:-0.53 [[ 9.98255911e-01 -5.41681554e-02 2.34722619e-02 3.11530362e+01] [ 5.41860842e-02 9.98530847e-01 -1.28014592e-04 -1.95508421e-01] [-2.34308432e-02 1.39966128e-03 9.99724480e-01 -5.31287244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.335898227 meters 0.055851842468660165 Centerline is valid? [True, True] Translation: X:31.18, Y:-0.19, Z:-0.53 [[ 9.98597519e-01 -4.78092620e-02 2.27435538e-02 3.11823293e+01] [ 4.78244533e-02 9.98855748e-01 -1.24176349e-04 -1.94701713e-01] [-2.27115926e-02 1.21170022e-03 9.99741324e-01 -5.32814650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.365898227 meters 0.05017164203336272 Centerline is valid? [True, True] Translation: X:31.21, Y:-0.18, Z:-0.53 [[ 9.98887923e-01 -4.15887553e-02 2.22101719e-02 3.12118762e+01] [ 4.16017098e-02 9.99134267e-01 -1.21340888e-04 -1.84857303e-01] [-2.21858974e-02 1.04518708e-03 9.99753316e-01 -5.34236331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.395898226999996 meters 0.039327274078444274 Centerline is valid? [True, True] Translation: X:31.24, Y:-0.16, Z:-0.53 [[ 9.99288636e-01 -3.04670892e-02 2.22256466e-02 3.12429054e+01] [ 3.04773115e-02 9.99535451e-01 -1.21265309e-04 -1.63836105e-01] [-2.22116271e-02 7.98556999e-04 9.99752972e-01 -5.33382441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.425898227 meters 0.03458876066536895 Centerline is valid? [True, True] Translation: X:31.27, Y:-0.15, Z:-0.53 [[ 9.99418339e-01 -2.58589421e-02 2.22328518e-02 3.12733878e+01] [ 2.58680427e-02 9.99665359e-01 -1.21783967e-04 -1.53139208e-01] [-2.22222626e-02 6.96833491e-04 9.99752812e-01 -5.33072583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.455898227 meters 0.0313813431965952 Centerline is valid? [True, True] Translation: X:31.30, Y:-0.14, Z:-0.54 [[ 9.99530574e-01 -2.12648277e-02 2.20553367e-02 3.13041134e+01] [ 2.12726702e-02 9.99773704e-01 -1.21001659e-04 -1.39543375e-01] [-2.20477726e-02 5.90120761e-04 9.99756744e-01 -5.35714309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.485898227 meters 0.02090209514825981 Centerline is valid? [True, True] Translation: X:31.34, Y:-0.12, Z:-0.53 [[ 9.99682584e-01 -1.34793310e-02 2.12847336e-02 3.13350712e+01] [ 1.34848786e-02 9.99909068e-01 -1.17121546e-04 -1.19505014e-01] [-2.12812194e-02 4.04106417e-04 9.99773448e-01 -5.34875544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.515898227 meters 0.02028434351440108 Centerline is valid? [True, True] Translation: X:31.37, Y:-0.11, Z:-0.54 [[ 9.99728847e-01 -1.03040021e-02 2.08820331e-02 3.13663799e+01] [ 1.03086428e-02 9.99946858e-01 -1.14597795e-04 -1.14073794e-01] [-2.08797426e-02 3.29832141e-04 9.99781940e-01 -5.37470449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.545898227 meters 0.0206898499125392 Centerline is valid? [True, True] Translation: X:31.40, Y:-0.10, Z:-0.54 [[ 9.99751808e-01 -7.85131683e-03 2.08489506e-02 3.13984110e+01] [ 7.85545434e-03 9.99969139e-01 -1.16559889e-04 -1.03208925e-01] [-2.08473921e-02 2.80308939e-04 9.99782630e-01 -5.39226019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.575898227 meters 0.016353211704666172 Centerline is valid? [True, True] Translation: X:31.43, Y:-0.10, Z:-0.54 [[ 9.99738684e-01 -5.98300726e-03 2.20628137e-02 3.14297326e+01] [ 5.98720392e-03 9.99982069e-01 -1.24163314e-04 -9.90707896e-02] [-2.20616752e-02 2.56225432e-04 9.99756579e-01 -5.37150403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.605898227 meters 0.021605657576116544 Centerline is valid? [True, True] Translation: X:31.46, Y:-0.09, Z:-0.54 [[ 9.99714282e-01 -4.39396881e-03 2.34956770e-02 3.14623661e+01] [ 4.39838418e-03 9.99990318e-01 -1.36246660e-04 -8.95701454e-02] [-2.34948509e-02 2.39550745e-04 9.99723929e-01 -5.38364389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.635898227 meters 0.014991428079439515 Centerline is valid? [True, True] Translation: X:31.49, Y:-0.09, Z:-0.54 [[ 9.99716899e-01 -4.36421359e-03 2.33896651e-02 3.14944208e+01] [ 4.36860197e-03 9.99990448e-01 -1.36526592e-04 -8.76614735e-02] [-2.33888458e-02 2.38668078e-04 9.99726415e-01 -5.37089918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.665898227 meters 0.01506897675569567 Centerline is valid? [True, True] Translation: X:31.53, Y:-0.08, Z:-0.54 [[ 9.99752295e-01 -4.98946501e-03 2.16899544e-02 3.15265748e+01] [ 4.99347011e-03 9.99987524e-01 -1.30495489e-04 -8.25747112e-02] [-2.16890327e-02 2.38771304e-04 9.99764737e-01 -5.41502884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.695898227 meters 0.014950314090726821 Centerline is valid? [True, True] Translation: X:31.56, Y:-0.08, Z:-0.54 [[ 9.99766404e-01 -4.56301205e-03 2.11261935e-02 3.15591947e+01] [ 4.56673501e-03 9.99989564e-01 -1.27983884e-04 -8.09402760e-02] [-2.11253890e-02 2.24431715e-04 9.99776809e-01 -5.43997089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.725898227 meters 0.014759107175815979 Centerline is valid? [True, True] Translation: X:31.59, Y:-0.08, Z:-0.55 [[ 9.99762780e-01 -3.75874599e-03 2.14535665e-02 3.15902054e+01] [ 3.76242734e-03 9.99992913e-01 -1.31235214e-04 -8.02587053e-02] [-2.14529212e-02 2.11921568e-04 9.99769837e-01 -5.45430358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.755898227 meters 0.013805989161507807 Centerline is valid? [True, True] Translation: X:31.62, Y:-0.08, Z:-0.55 [[ 9.99759162e-01 -2.62004538e-03 2.17888381e-02 3.16221309e+01] [ 2.62365327e-03 9.99996549e-01 -1.36999115e-04 -7.90514290e-02] [-2.17884040e-02 1.94132476e-04 9.99762586e-01 -5.45119798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.785898227 meters 0.012414507233513646 Centerline is valid? [True, True] Translation: X:31.65, Y:-0.08, Z:-0.54 [[ 9.99703891e-01 7.47934777e-04 2.43222207e-02 3.16536829e+01] [-7.44403838e-04 9.99999711e-01 -1.54227204e-04 -7.62794321e-02] [-2.43223290e-02 1.36075981e-04 9.99704159e-01 -5.41730884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.815898227 meters 0.011607855593540037 Centerline is valid? [True, True] Translation: X:31.69, Y:-0.07, Z:-0.54 [[ 9.99656458e-01 2.81046929e-03 2.60589161e-02 3.16859071e+01] [-2.80709038e-03 9.99996046e-01 -1.66244444e-04 -7.41636399e-02] [-2.60592803e-02 9.30375998e-05 9.99660395e-01 -5.39672444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.845898227 meters 0.0112650327878003 Centerline is valid? [True, True] Translation: X:31.72, Y:-0.07, Z:-0.54 [[ 9.99614333e-01 4.91012390e-03 2.73326903e-02 3.17184572e+01] [-4.90714504e-03 9.99987944e-01 -1.76059946e-04 -7.22947855e-02] [-2.73332252e-02 4.18665699e-05 9.99626377e-01 -5.39183367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.875898227 meters 0.011227135780621818 Centerline is valid? [True, True] Translation: X:31.75, Y:-0.07, Z:-0.54 [[ 9.99653464e-01 8.75236167e-03 2.48263402e-02 3.17501769e+01] [-8.75098863e-03 9.99961696e-01 -1.63951569e-04 -6.79777205e-02] [-2.48268242e-02 -5.33602668e-05 9.99691765e-01 -5.44461611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.905898227 meters 0.011637564728950129 Centerline is valid? [True, True] Translation: X:31.78, Y:-0.07, Z:-0.55 [[ 9.99691221e-01 1.05659154e-02 2.24905547e-02 3.17828730e+01] [-1.05651673e-02 9.99944175e-01 -1.52085938e-04 -6.64820887e-02] [-2.24909061e-02 -8.55774970e-05 9.99747044e-01 -5.49740100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.935898227 meters 0.012219022378472066 Centerline is valid? [True, True] Translation: X:31.81, Y:-0.07, Z:-0.55 [[ 9.99695989e-01 1.22515932e-02 2.13969143e-02 3.18147115e+01] [-1.22512188e-02 9.99924940e-01 -1.48588348e-04 -6.50894685e-02] [-2.13971286e-02 -1.13595102e-04 9.99771049e-01 -5.51681420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.965898227 meters 0.013205668023691252 Centerline is valid? [True, True] Translation: X:31.85, Y:-0.06, Z:-0.55 [[ 9.99664971e-01 1.40895715e-02 2.17124105e-02 3.18459386e+01] [-1.40895341e-02 9.99900726e-01 -1.54704007e-04 -6.25892393e-02] [-2.17124348e-02 -1.51265572e-04 9.99764246e-01 -5.51519865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.995898227 meters 0.014723141148801107 Centerline is valid? [True, True] Translation: X:31.88, Y:-0.06, Z:-0.55 [[ 9.99558308e-01 1.74426523e-02 2.40612251e-02 3.18783384e+01] [-1.74435202e-02 9.99847835e-01 -1.73833424e-04 -5.94305732e-02] [-2.40605959e-02 -2.45955821e-04 9.99710472e-01 -5.46395605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.025898227 meters 0.01555171189785992 Centerline is valid? [True, True] Translation: X:31.91, Y:-0.06, Z:-0.55 [[ 9.99527482e-01 1.87693558e-02 2.43418276e-02 3.19094391e+01] [-1.87705362e-02 9.99823802e-01 -1.80017925e-04 -5.77799809e-02] [-2.43409174e-02 -2.76976292e-04 9.99703678e-01 -5.45406025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.055898227 meters 0.017139613004512836 Centerline is valid? [True, True] Translation: X:31.94, Y:-0.05, Z:-0.54 [[ 9.99489309e-01 1.99136378e-02 2.49913553e-02 3.19398680e+01] [-1.99152245e-02 9.99801655e-01 -1.85425645e-04 -5.48441575e-02] [-2.49900908e-02 -3.12377500e-04 9.99687650e-01 -5.44957941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.085898227 meters 0.018124839621180708 Centerline is valid? [True, True] Translation: X:31.97, Y:-0.05, Z:-0.55 [[ 9.99446199e-01 2.11251003e-02 2.57104270e-02 3.19700653e+01] [-2.11271727e-02 9.99776778e-01 -1.91062130e-04 -5.42780288e-02] [-2.57087241e-02 -3.52232310e-04 9.99669414e-01 -5.45881790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.115898227 meters 0.016895268567670277 Centerline is valid? [True, True] Translation: X:32.00, Y:-0.06, Z:-0.55 [[ 9.99411891e-01 2.09043120e-02 2.71823722e-02 3.20010088e+01] [-2.09065471e-02 9.99781414e-01 -2.02000610e-04 -5.93959282e-02] [-2.71806532e-02 -3.66407731e-04 9.99630471e-01 -5.46124686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.145898226999996 meters 0.016470494444731105 Centerline is valid? [True, True] Translation: X:32.03, Y:-0.06, Z:-0.55 [[ 9.99420830e-01 2.01593967e-02 2.74153944e-02 3.20316841e+01] [-2.01613902e-02 9.99796718e-01 -2.03732271e-04 -6.18775458e-02] [-2.74139285e-02 -3.49118189e-04 9.99624107e-01 -5.46098699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.175898227 meters 0.015813290278497073 Centerline is valid? [True, True] Translation: X:32.06, Y:-0.06, Z:-0.55 [[ 9.99429259e-01 1.96514043e-02 2.74768885e-02 3.20626048e+01] [-1.96532131e-02 9.99806836e-01 -2.04250700e-04 -6.49431081e-02] [-2.74755947e-02 -3.35875018e-04 9.99622418e-01 -5.45687378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.205898227 meters 0.014393594682041176 Centerline is valid? [True, True] Translation: X:32.09, Y:-0.07, Z:-0.55 [[ 9.99489137e-01 1.75504062e-02 2.67104455e-02 3.20943167e+01] [-1.75513417e-02 9.99845943e-01 -1.99437494e-04 -7.46222401e-02] [-2.67098307e-02 -2.69468545e-04 9.99643193e-01 -5.49283182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.235898227 meters 0.013415414487692458 Centerline is valid? [True, True] Translation: X:32.13, Y:-0.08, Z:-0.55 [[ 9.99545904e-01 1.59418762e-02 2.55703611e-02 3.21252619e+01] [-1.59421017e-02 9.99872898e-01 -1.95052679e-04 -8.20232831e-02] [-2.55702206e-02 -2.12681190e-04 9.99673006e-01 -5.52693198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.265898227 meters 0.012902501926738735 Centerline is valid? [True, True] Translation: X:32.16, Y:-0.09, Z:-0.56 [[ 9.99578892e-01 1.48675260e-02 2.49197959e-02 3.21565895e+01] [-1.48673119e-02 9.99889457e-01 -1.93873343e-04 -8.85810781e-02] [-2.49199236e-02 -1.76698678e-04 9.99689435e-01 -5.55012974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.295898227 meters 0.012735657079072545 Centerline is valid? [True, True] Translation: X:32.19, Y:-0.09, Z:-0.56 [[ 9.99598994e-01 1.48067720e-02 2.41373296e-02 3.21897087e+01] [-1.48064670e-02 9.99890360e-01 -1.91363563e-04 -9.35197380e-02] [-2.41375166e-02 -1.66101749e-04 9.99708634e-01 -5.56442280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.325898226999996 meters 0.012735657079072545 Centerline is valid? [True, True] Translation: X:32.22, Y:-0.09, Z:-0.56 [[ 9.99596151e-01 1.49975429e-02 2.41372923e-02 3.22223075e+01] [-1.49971827e-02 9.99887517e-01 -1.95955823e-04 -9.39375500e-02] [-2.41375161e-02 -1.66114696e-04 9.99708634e-01 -5.57252609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.355898227 meters 0.013306051645059627 Centerline is valid? [True, True] Translation: X:32.26, Y:-0.10, Z:-0.56 [[ 9.99573925e-01 1.62644354e-02 2.42370874e-02 3.22551040e+01] [-1.62643319e-02 9.99867707e-01 -2.01410848e-04 -1.02132153e-01] [-2.42371569e-02 -1.92875003e-04 9.99706218e-01 -5.57344764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.385898227 meters 0.013980467606794927 Centerline is valid? [True, True] Translation: X:32.29, Y:-0.11, Z:-0.56 [[ 9.99555426e-01 1.75710057e-02 2.40875372e-02 3.22872236e+01] [-1.75711728e-02 9.99845594e-01 -2.04732620e-04 -1.06408611e-01] [-2.40874153e-02 -2.18604678e-04 9.99709832e-01 -5.58070311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.415898227 meters 0.01493283683568014 Centerline is valid? [True, True] Translation: X:32.32, Y:-0.11, Z:-0.56 [[ 9.99529255e-01 1.92262298e-02 2.39085975e-02 3.23191349e+01] [-1.92267735e-02 9.99815127e-01 -2.07155986e-04 -1.09814982e-01] [-2.39081603e-02 -2.52626720e-04 9.99714127e-01 -5.58426995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.445898227 meters 0.018937369497190257 Centerline is valid? [True, True] Translation: X:32.35, Y:-0.11, Z:-0.56 [[ 9.99408292e-01 2.33502655e-02 2.52553066e-02 3.23497659e+01] [-2.33520780e-02 9.99727278e-01 -2.23203311e-04 -1.10994862e-01] [-2.52536308e-02 -3.66692649e-04 9.99681009e-01 -5.55942291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.475898227 meters 0.020912411495371392 Centerline is valid? [True, True] Translation: X:32.38, Y:-0.11, Z:-0.56 [[ 9.99326184e-01 2.58813280e-02 2.60256677e-02 3.23801695e+01] [-2.58841029e-02 9.99664924e-01 -2.30315332e-04 -1.11800040e-01] [-2.60229080e-02 -4.43490917e-04 9.99661248e-01 -5.55817398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.505898227 meters 0.022584519150220826 Centerline is valid? [True, True] Translation: X:32.41, Y:-0.11, Z:-0.56 [[ 9.99237016e-01 2.87363417e-02 2.64501287e-02 3.24098932e+01] [-2.87402084e-02 9.99586887e-01 -2.34035189e-04 -1.13830945e-01] [-2.64459272e-02 -5.26325589e-04 9.99650107e-01 -5.56405236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.535898227 meters 0.029912376352854746 Centerline is valid? [True, True] Translation: X:32.44, Y:-0.11, Z:-0.56 [[ 9.99174629e-01 3.12861500e-02 2.59082611e-02 3.24379550e+01] [-3.12907326e-02 9.99510299e-01 -2.28613562e-04 -1.12343102e-01] [-2.59027262e-02 -5.82263600e-04 9.99664299e-01 -5.61349711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.565898227 meters 0.02998597710074285 Centerline is valid? [True, True] Translation: X:32.47, Y:-0.12, Z:-0.56 [[ 9.99095066e-01 3.55051948e-02 2.34185787e-02 3.24679711e+01] [-3.55101210e-02 9.99369296e-01 -2.05596340e-04 -1.15162889e-01] [-2.34111083e-02 -6.26186277e-04 9.99725726e-01 -5.63841975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.595898227 meters 0.030147232283797242 Centerline is valid? [True, True] Translation: X:32.50, Y:-0.12, Z:-0.57 [[ 9.99072825e-01 3.67043714e-02 2.25006402e-02 3.24970650e+01] [-3.67092270e-02 9.99325970e-01 -1.97347430e-04 -1.18107648e-01] [-2.24927176e-02 -6.28816653e-04 9.99746809e-01 -5.65421638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.625898227 meters 0.031032201781596085 Centerline is valid? [True, True] Translation: X:32.53, Y:-0.12, Z:-0.57 [[ 9.99030478e-01 3.76403551e-02 2.28321444e-02 3.25260784e+01] [-3.76456245e-02 9.99291132e-01 -1.99142814e-04 -1.20270767e-01] [-2.28234552e-02 -6.60580592e-04 9.99739293e-01 -5.65380877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.655898227 meters 0.033198143616964854 Centerline is valid? [True, True] Translation: X:32.56, Y:-0.13, Z:-0.56 [[ 9.98886685e-01 3.98343787e-02 2.52708018e-02 3.25559881e+01] [-3.98415695e-02 9.99205985e-01 -2.19080559e-04 -1.25535279e-01] [-2.52594634e-02 -7.87991752e-04 9.99680618e-01 -5.63009567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.685898227 meters 0.03582160408206809 Centerline is valid? [True, True] Translation: X:32.58, Y:-0.13, Z:-0.56 [[ 9.98825880e-01 4.09860008e-02 2.58265081e-02 3.25836745e+01] [-4.09939132e-02 9.99159371e-01 -2.23232698e-04 -1.26358816e-01] [-2.58139470e-02 -8.35759033e-04 9.99666415e-01 -5.63138814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.715898227 meters 0.034877858054968375 Centerline is valid? [True, True] Translation: X:32.61, Y:-0.13, Z:-0.56 [[ 9.98791619e-01 4.18763394e-02 2.57230339e-02 3.26125318e+01] [-4.18845227e-02 9.99122434e-01 -2.20812754e-04 -1.30823239e-01] [-2.57097070e-02 -8.56851068e-04 9.99669084e-01 -5.64658490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.745898227 meters 0.03998619063659163 Centerline is valid? [True, True] Translation: X:32.64, Y:-0.13, Z:-0.57 [[ 9.98727871e-01 4.39952481e-02 2.46385475e-02 3.26404471e+01] [-4.40034275e-02 9.99031358e-01 -2.10361547e-04 -1.30803690e-01] [-2.46239365e-02 -8.74086600e-04 9.99696403e-01 -5.68574533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.775898227 meters 0.03947567938848268 Centerline is valid? [True, True] Translation: X:32.67, Y:-0.13, Z:-0.57 [[ 9.98621369e-01 4.61187402e-02 2.50683677e-02 3.26700643e+01] [-4.61279064e-02 9.98935519e-01 -2.12803128e-04 -1.32015417e-01] [-2.50514971e-02 -9.43841567e-04 9.99685716e-01 -5.66812880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.805898227 meters 0.04369383264739873 Centerline is valid? [True, True] Translation: X:32.70, Y:-0.13, Z:-0.57 [[ 9.98502785e-01 4.81080159e-02 2.60347427e-02 3.26986501e+01] [-4.81185952e-02 9.98841605e-01 -2.20340131e-04 -1.30027216e-01] [-2.60151843e-02 -1.03274501e-03 9.99661014e-01 -5.66431544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.835898227 meters 0.04496314967650659 Centerline is valid? [True, True] Translation: X:32.73, Y:-0.13, Z:-0.57 [[ 9.98394915e-01 5.00074983e-02 2.65865281e-02 3.27281814e+01] [-5.00192287e-02 9.98748230e-01 -2.24054275e-04 -1.31997797e-01] [-2.65644523e-02 -1.10614298e-03 9.99646491e-01 -5.66094837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.865898227 meters 0.05077709657630702 Centerline is valid? [True, True] Translation: X:32.76, Y:-0.13, Z:-0.57 [[ 9.98178684e-01 5.41247554e-02 2.66425351e-02 3.27583293e+01] [-5.41380144e-02 9.98533437e-01 -2.23928533e-04 -1.31120327e-01] [-2.66155822e-02 -1.21885326e-03 9.99645000e-01 -5.67531734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.895898226999996 meters 0.053947285444142665 Centerline is valid? [True, True] Translation: X:32.79, Y:-0.13, Z:-0.57 [[ 9.98061243e-01 5.61419868e-02 2.68669263e-02 3.27866327e+01] [-5.61562034e-02 9.98421970e-01 -2.25663543e-04 -1.28802603e-01] [-2.68371987e-02 -1.28351854e-03 9.99638994e-01 -5.65458394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.925898227 meters 0.0539116573342913 Centerline is valid? [True, True] Translation: X:32.82, Y:-0.13, Z:-0.57 [[ 9.97932303e-01 5.83531924e-02 2.69448196e-02 3.28162553e+01] [-5.83683286e-02 9.98295090e-01 -2.25084822e-04 -1.32837291e-01] [-2.69120156e-02 -1.34810467e-03 9.99636897e-01 -5.66780107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.955898227 meters 0.05978571494042729 Centerline is valid? [True, True] Translation: X:32.85, Y:-0.13, Z:-0.57 [[ 9.97688070e-01 6.22881776e-02 2.71790024e-02 3.28454841e+01] [-6.23050498e-02 9.98057127e-01 -2.26453421e-04 -1.32776528e-01] [-2.71403024e-02 -1.46745922e-03 9.99630557e-01 -5.66985849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.985898227 meters 0.05794443548692879 Centerline is valid? [True, True] Translation: X:32.87, Y:-0.14, Z:-0.57 [[ 9.97613026e-01 6.34941547e-02 2.71430175e-02 3.28745981e+01] [-6.35114290e-02 9.97981086e-01 -2.26082814e-04 -1.39110373e-01] [-2.71025730e-02 -1.49834867e-03 9.99631535e-01 -5.68330870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.015898227 meters 0.05639682550294586 Centerline is valid? [True, True] Translation: X:32.90, Y:-0.15, Z:-0.57 [[ 9.97575229e-01 6.43729822e-02 2.64533890e-02 3.29036467e+01] [-6.43897228e-02 9.97924805e-01 -2.19375918e-04 -1.45178397e-01] [-2.64126149e-02 -1.48448240e-03 9.99650024e-01 -5.70305676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.045898227 meters 0.065789856464184 Centerline is valid? [True, True] Translation: X:32.93, Y:-0.14, Z:-0.57 [[ 9.97503419e-01 6.59381899e-02 2.52801182e-02 3.29325490e+01] [-6.59540089e-02 9.97822642e-01 -2.08445965e-04 -1.42049249e-01] [-2.52388189e-02 -1.45939958e-03 9.99680385e-01 -5.72889299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.075898226999996 meters 0.0604705253459581 Centerline is valid? [True, True] Translation: X:32.96, Y:-0.15, Z:-0.58 [[ 9.97509735e-01 6.62534224e-02 2.41829134e-02 3.29608996e+01] [-6.62680102e-02 9.97801840e-01 -1.98547959e-04 -1.52692042e-01] [-2.41429100e-02 -1.40450003e-03 9.99707531e-01 -5.75401062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.105898227 meters 0.06184699255923055 Centerline is valid? [True, True] Translation: X:32.99, Y:-0.15, Z:-0.58 [[ 9.97519810e-01 6.64949769e-02 2.30791248e-02 3.29898986e+01] [-6.65083522e-02 9.97785851e-01 -1.88406851e-04 -1.54695443e-01] [-2.30405523e-02 -1.34701499e-03 9.99733624e-01 -5.78905671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.135898227 meters 0.06381704153522394 Centerline is valid? [True, True] Translation: X:33.02, Y:-0.16, Z:-0.58 [[ 9.97455975e-01 6.73075723e-02 2.34791052e-02 3.30177671e+01] [-6.73216668e-02 9.97731305e-01 -1.90515179e-04 -1.58409361e-01] [-2.34386614e-02 -1.39062199e-03 9.99724310e-01 -5.78390740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.165898227 meters 0.07001911679704233 Centerline is valid? [True, True] Translation: X:33.05, Y:-0.15, Z:-0.58 [[ 9.97474989e-01 6.67617890e-02 2.42179772e-02 3.30460469e+01] [-6.67766620e-02 9.97767929e-01 -1.94969414e-04 -1.53961396e-01] [-2.41769374e-02 -1.42271856e-03 9.99706683e-01 -5.78077818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.195898227 meters 0.06306166715790472 Centerline is valid? [True, True] Translation: X:33.07, Y:-0.17, Z:-0.58 [[ 9.97523207e-01 6.57357983e-02 2.50251127e-02 3.30745016e+01] [-6.57513892e-02 9.97836016e-01 -2.00216995e-04 -1.66140619e-01] [-2.49841202e-02 -1.44571483e-03 9.99686803e-01 -5.77348015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.225898227 meters 0.0626276316509643 Centerline is valid? [True, True] Translation: X:33.10, Y:-0.17, Z:-0.58 [[ 9.97570661e-01 6.49200710e-02 2.52618502e-02 3.31030706e+01] [-6.49357288e-02 9.97889428e-01 -2.00879648e-04 -1.69607840e-01] [-2.52215744e-02 -1.44000501e-03 9.99680848e-01 -5.77725937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.255898227 meters 0.06187450920800467 Centerline is valid? [True, True] Translation: X:33.13, Y:-0.18, Z:-0.58 [[ 9.97646895e-01 6.38316616e-02 2.50238131e-02 3.31311024e+01] [-6.38467141e-02 9.97959698e-01 -1.97794729e-04 -1.76742295e-01] [-2.49853826e-02 -1.40035895e-03 9.99686836e-01 -5.81377572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.285898227 meters 0.0637706613952753 Centerline is valid? [True, True] Translation: X:33.16, Y:-0.18, Z:-0.59 [[ 9.97698855e-01 6.34328897e-02 2.39429346e-02 3.31588862e+01] [-6.34465809e-02 9.97985218e-01 -1.88166550e-04 -1.78878530e-01] [-2.39066308e-02 -1.33136379e-03 9.99713309e-01 -5.85627986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.315898227 meters 0.056062039273868235 Centerline is valid? [True, True] Translation: X:33.19, Y:-0.19, Z:-0.58 [[ 9.97742526e-01 6.28366642e-02 2.36939879e-02 3.31881818e+01] [-6.28499378e-02 9.98022971e-01 -1.84794718e-04 -1.91107892e-01] [-2.36587561e-02 -1.30478812e-03 9.99719241e-01 -5.84918849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.345898227 meters 0.06546624615455009 Centerline is valid? [True, True] Translation: X:33.22, Y:-0.18, Z:-0.58 [[ 9.97892331e-01 6.05850805e-02 2.32453093e-02 3.32167088e+01] [-6.05972668e-02 9.98162281e-01 -1.80438536e-04 -1.83835000e-01] [-2.32135228e-02 -1.22854398e-03 9.99729775e-01 -5.84258136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.375898227 meters 0.064018328268662 Centerline is valid? [True, True] Translation: X:33.25, Y:-0.19, Z:-0.59 [[ 9.97940516e-01 5.98768271e-02 2.30106780e-02 3.32455916e+01] [-5.98886000e-02 9.98205051e-01 -1.77780810e-04 -1.88691746e-01] [-2.29800200e-02 -1.20066262e-03 9.99735203e-01 -5.85070084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.405898227 meters 0.05806966414768512 Centerline is valid? [True, True] Translation: X:33.27, Y:-0.20, Z:-0.59 [[ 9.97990090e-01 5.91991044e-02 2.26107783e-02 3.32746953e+01] [-5.92103211e-02 9.98245515e-01 -1.73666540e-04 -2.01265043e-01] [-2.25813889e-02 -1.16547396e-03 9.99744329e-01 -5.87713081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.435898227 meters 0.05621411637882707 Centerline is valid? [True, True] Translation: X:33.30, Y:-0.21, Z:-0.59 [[ 9.97958979e-01 5.94806100e-02 2.32364660e-02 3.33037097e+01] [-5.94925520e-02 9.98228734e-01 -1.77632179e-04 -2.09576381e-01] [-2.32058737e-02 -1.20512703e-03 9.99729981e-01 -5.86047550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.465898227 meters 0.06295246435564987 Centerline is valid? [True, True] Translation: X:33.33, Y:-0.20, Z:-0.59 [[ 9.97902237e-01 6.01856729e-02 2.38497529e-02 3.33314154e+01] [-6.01984819e-02 9.98186410e-01 -1.81175539e-04 -2.03935644e-01] [-2.38174034e-02 -1.25492344e-03 9.99715538e-01 -5.85482461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.495898227 meters 0.05756363854608638 Centerline is valid? [True, True] Translation: X:33.36, Y:-0.21, Z:-0.58 [[ 9.97835458e-01 6.12622050e-02 2.39027532e-02 3.33606877e+01] [-6.12754309e-02 9.98120879e-01 -1.79402922e-04 -2.13935697e-01] [-2.38688276e-02 -1.28563690e-03 9.99714272e-01 -5.84332167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.525898227 meters 0.06895829546001164 Centerline is valid? [True, True] Translation: X:33.39, Y:-0.20, Z:-0.58 [[ 9.97736484e-01 6.25856430e-02 2.45956634e-02 3.33897297e+01] [-6.26000795e-02 9.98038675e-01 -1.83324279e-04 -2.03024540e-01] [-2.45588968e-02 -1.35678116e-03 9.99697464e-01 -5.83984707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.555898227 meters 0.06883070429970316 Centerline is valid? [True, True] Translation: X:33.42, Y:-0.21, Z:-0.58 [[ 9.97494957e-01 6.57281606e-02 2.61461037e-02 3.34196758e+01] [-6.57455767e-02 9.97836400e-01 -1.93909598e-04 -2.12500395e-01] [-2.61022793e-02 -1.52556682e-03 9.99658113e-01 -5.81868153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.585898227 meters 0.06575655514502424 Centerline is valid? [True, True] Translation: X:33.45, Y:-0.22, Z:-0.58 [[ 9.97361639e-01 6.74172913e-02 2.69196961e-02 3.34488215e+01] [-6.74363699e-02 9.97723557e-01 -1.99529974e-04 -2.19769543e-01] [-2.68718668e-02 -1.61636304e-03 9.99637579e-01 -5.81787220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.615898227 meters 0.0625194605234649 Centerline is valid? [True, True] Translation: X:33.48, Y:-0.23, Z:-0.58 [[ 9.97290669e-01 6.83510451e-02 2.71929344e-02 3.34781957e+01] [-6.83708852e-02 9.97659953e-01 -2.00586511e-04 -2.26272716e-01] [-2.71430120e-02 -1.65916194e-03 9.99630184e-01 -5.82243739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.645898226999996 meters 0.07147977540744814 Centerline is valid? [True, True] Translation: X:33.51, Y:-0.22, Z:-0.58 [[ 9.97240795e-01 6.89039478e-02 2.76232383e-02 3.35061148e+01] [-6.89246546e-02 9.97621848e-01 -2.02958653e-04 -2.18010576e-01] [-2.75715307e-02 -1.70152351e-03 9.99618385e-01 -5.82320224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.675898227 meters 0.06919159565201023 Centerline is valid? [True, True] Translation: X:33.53, Y:-0.23, Z:-0.58 [[ 9.97224138e-01 6.93211759e-02 2.71770581e-02 3.35342808e+01] [-6.93414182e-02 9.97592967e-01 -1.98018214e-04 -2.25161103e-01] [-2.71253689e-02 -1.68702721e-03 9.99630616e-01 -5.84219510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.705898227 meters 0.07089898635519261 Centerline is valid? [True, True] Translation: X:33.56, Y:-0.23, Z:-0.59 [[ 9.97111319e-01 7.10157312e-02 2.69403565e-02 3.35634388e+01] [-7.10362797e-02 9.97473713e-01 -1.94744413e-04 -2.31051314e-01] [-2.68861274e-02 -1.71956084e-03 9.99637024e-01 -5.89035464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.735898227 meters 0.06884487083449657 Centerline is valid? [True, True] Translation: X:33.59, Y:-0.23, Z:-0.59 [[ 9.96988330e-01 7.26267833e-02 2.71959681e-02 3.35928966e+01] [-7.26483473e-02 9.97357599e-01 -1.95608066e-04 -2.34897653e-01] [-2.71383118e-02 -1.78072317e-03 9.99630102e-01 -5.87368849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.765898227 meters 0.07280342250785979 Centerline is valid? [True, True] Translation: X:33.62, Y:-0.23, Z:-0.59 [[ 9.96933805e-01 7.34037698e-02 2.71085958e-02 3.36209754e+01] [-7.34255095e-02 9.97300685e-01 -1.93935819e-04 -2.31521637e-01] [-2.70496568e-02 -1.79712128e-03 9.99632476e-01 -5.88778795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.795898227 meters 0.07680626738938721 Centerline is valid? [True, True] Translation: X:33.65, Y:-0.23, Z:-0.59 [[ 9.96973055e-01 7.37196932e-02 2.47008912e-02 3.36486999e+01] [-7.37378709e-02 9.97277642e-01 -1.75352497e-04 -2.29969716e-01] [-2.46465735e-02 -1.64656941e-03 9.99694871e-01 -5.92367477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.825898226999996 meters 0.07928097773213291 Centerline is valid? [True, True] Translation: X:33.68, Y:-0.23, Z:-0.60 [[ 9.97050334e-01 7.30361145e-02 2.35872427e-02 3.36768086e+01] [-7.30525308e-02 9.97328081e-01 -1.66090382e-04 -2.30444842e-01] [-2.35363501e-02 -1.55750730e-03 9.99721768e-01 -5.96230752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.855898227 meters 0.0785169186771968 Centerline is valid? [True, True] Translation: X:33.71, Y:-0.24, Z:-0.60 [[ 9.97167372e-01 7.14004606e-02 2.36475446e-02 3.37067519e+01] [-7.14165301e-02 9.97446566e-01 -1.65373385e-04 -2.35239562e-01] [-2.35989699e-02 -1.52392064e-03 9.99720344e-01 -5.98505132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.885898227 meters 0.06648209448474332 Centerline is valid? [True, True] Translation: X:33.74, Y:-0.25, Z:-0.59 [[ 9.97282853e-01 6.91837355e-02 2.53085406e-02 3.37370889e+01] [-6.92014398e-02 9.97602691e-01 -1.76675236e-04 -2.52698599e-01] [-2.52600913e-02 -1.57519227e-03 9.99679672e-01 -5.94805760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.915898227 meters 0.06297882976478492 Centerline is valid? [True, True] Translation: X:33.77, Y:-0.26, Z:-0.59 [[ 9.97617591e-01 6.39190060e-02 2.59519140e-02 3.37668246e+01] [-6.39358642e-02 9.97953993e-01 -1.80503604e-04 -2.63485953e-01] [-2.59103539e-02 -1.47918448e-03 9.99663176e-01 -5.92315292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.945898227 meters 0.06132040529577089 Centerline is valid? [True, True] Translation: X:33.80, Y:-0.27, Z:-0.60 [[ 9.97830622e-01 6.10857955e-02 2.45474044e-02 3.37963517e+01] [-6.11000301e-02 9.98131633e-01 -1.70434104e-04 -2.74487860e-01] [-2.45119519e-02 -1.32978278e-03 9.99698653e-01 -5.97625600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.975898227 meters 0.057693557506034776 Centerline is valid? [True, True] Translation: X:33.82, Y:-0.28, Z:-0.60 [[ 9.97948039e-01 5.95226291e-02 2.35959192e-02 3.38245139e+01] [-5.95353506e-02 9.98226184e-01 -1.63610281e-04 -2.82147852e-01] [-2.35638029e-02 -1.24151676e-03 9.99721564e-01 -5.96677347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.005898227 meters 0.058249395100175995 Centerline is valid? [True, True] Translation: X:33.85, Y:-0.29, Z:-0.60 [[ 9.97992573e-01 5.82335319e-02 2.48933756e-02 3.38527624e+01] [-5.82473233e-02 9.98302169e-01 -1.71339015e-04 -2.93476009e-01] [-2.48610886e-02 -1.27897743e-03 9.99690097e-01 -5.95228211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.035898227 meters 0.06281530029469905 Centerline is valid? [True, True] Translation: X:33.88, Y:-0.29, Z:-0.60 [[ 9.97952390e-01 5.88180204e-02 2.51290217e-02 3.38805271e+01] [-5.88322897e-02 9.98267866e-01 -1.71737295e-04 -2.93421101e-01] [-2.50955961e-02 -1.30701224e-03 9.99684202e-01 -5.95773120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.065898227 meters 0.05774519250578959 Centerline is valid? [True, True] Translation: X:33.91, Y:-0.31, Z:-0.60 [[ 9.97901114e-01 5.98950495e-02 2.46160572e-02 3.39100211e+01] [-5.99091040e-02 9.98203823e-01 -1.66793641e-04 -3.06084485e-01] [-2.45818325e-02 -1.30828237e-03 9.99696965e-01 -5.97647133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.095898227 meters 0.06540790764748679 Centerline is valid? [True, True] Translation: X:33.94, Y:-0.31, Z:-0.60 [[ 9.97715696e-01 6.37579623e-02 2.23229061e-02 3.39392432e+01] [-6.37704943e-02 9.97964579e-01 -1.50737491e-04 -3.07937045e-01] [-2.22870803e-02 -1.27314959e-03 9.99750802e-01 -6.01968300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.125898227 meters 0.06640185172345314 Centerline is valid? [True, True] Translation: X:33.97, Y:-0.31, Z:-0.60 [[ 9.97503929e-01 6.71504070e-02 2.18342300e-02 3.39700765e+01] [-6.71632121e-02 9.97741991e-01 -1.47142999e-04 -3.10784384e-01] [-2.17948088e-02 -1.31968130e-03 9.99761594e-01 -6.02280880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.155898227 meters 0.06835412176013365 Centerline is valid? [True, True] Translation: X:34.00, Y:-0.31, Z:-0.60 [[ 9.97199789e-01 7.13048554e-02 2.25432535e-02 3.40008674e+01] [-7.13195633e-02 9.97453506e-01 -1.51908839e-04 -3.11277958e-01] [-2.24966791e-02 -1.45629153e-03 9.99745857e-01 -6.01050314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.185898227 meters 0.07611858235378424 Centerline is valid? [True, True] Translation: X:34.03, Y:-0.31, Z:-0.60 [[ 9.96617674e-01 7.82293037e-02 2.51671981e-02 3.40298876e+01] [-7.82498322e-02 9.96933767e-01 -1.69610902e-04 -3.07001329e-01] [-2.51032982e-02 -1.80029181e-03 9.99683242e-01 -5.98305071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.215898227 meters 0.0786177146892124 Centerline is valid? [True, True] Translation: X:34.06, Y:-0.31, Z:-0.60 [[ 9.96413731e-01 8.05008990e-02 2.60630414e-02 3.40599361e+01] [-8.05236851e-02 9.96752680e-01 -1.75777419e-04 -3.08859253e-01] [-2.59925566e-02 -1.92354510e-03 9.99660286e-01 -6.00567054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.245898227 meters 0.0786177146892124 Centerline is valid? [True, True] Translation: X:34.09, Y:-0.31, Z:-0.60 [[ 9.96419516e-01 8.04292573e-02 2.60630436e-02 3.40874772e+01] [-8.04520277e-02 9.96758466e-01 -1.75443906e-04 -3.08913822e-01] [-2.59926702e-02 -1.92200898e-03 9.99660286e-01 -6.01253612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.275898227 meters 0.0791184407059591 Centerline is valid? [True, True] Translation: X:34.12, Y:-0.31, Z:-0.60 [[ 9.96270904e-01 8.20356786e-02 2.67288981e-02 3.41175235e+01] [-8.20602524e-02 9.96627354e-01 -1.78066687e-04 -3.11268191e-01] [-2.66533588e-02 -2.01597746e-03 9.99642703e-01 -6.00168541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.305898227 meters 0.08113491018225365 Centerline is valid? [True, True] Translation: X:34.15, Y:-0.31, Z:-0.60 [[ 9.96219531e-01 8.25521316e-02 2.70516556e-02 3.41453553e+01] [-8.25775036e-02 9.96584629e-01 -1.79789178e-04 -3.11797288e-01] [-2.69741062e-02 -2.05474870e-03 9.99634021e-01 -6.00949701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.335898227 meters 0.07803740448294703 Centerline is valid? [True, True] Translation: X:34.17, Y:-0.32, Z:-0.60 [[ 9.96311371e-01 8.15647167e-02 2.66617661e-02 3.41746557e+01] [-8.15890530e-02 9.96666040e-01 -1.75607531e-04 -3.21708216e-01] [-2.65872002e-02 -2.00034847e-03 9.99644497e-01 -6.02960945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.365898227 meters 0.08241834123649451 Centerline is valid? [True, True] Translation: X:34.20, Y:-0.32, Z:-0.60 [[ 9.96398477e-01 8.06079378e-02 2.63141820e-02 3.42024164e+01] [-8.06313647e-02 9.96743976e-01 -1.71295380e-04 -3.19665534e-01] [-2.62423101e-02 -1.95106995e-03 9.99653707e-01 -6.03820487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.395898226999996 meters 0.08073265446964002 Centerline is valid? [True, True] Translation: X:34.23, Y:-0.33, Z:-0.60 [[ 9.96494398e-01 7.95457832e-02 2.59110786e-02 3.42326612e+01] [-7.95681867e-02 9.96829412e-01 -1.66879754e-04 -3.25785655e-01] [-2.58421998e-02 -1.89540280e-03 9.99664238e-01 -6.04623096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.425898227 meters 0.0792680756860037 Centerline is valid? [True, True] Translation: X:34.26, Y:-0.33, Z:-0.61 [[ 9.96727258e-01 7.67471090e-02 2.53900637e-02 3.42623193e+01] [-7.67677241e-02 9.97048991e-01 -1.63233447e-04 -3.34620594e-01] [-2.53276651e-02 -1.78643818e-03 9.99677607e-01 -6.05662584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.455898227 meters 0.07890156909317142 Centerline is valid? [True, True] Translation: X:34.29, Y:-0.34, Z:-0.61 [[ 9.96839586e-01 7.52755721e-02 2.53855807e-02 3.42925197e+01] [-7.52957139e-02 9.97161235e-01 -1.62854583e-04 -3.38379225e-01] [-2.53257760e-02 -1.74908553e-03 9.99677721e-01 -6.06459390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.485898227 meters 0.07775859240130895 Centerline is valid? [True, True] Translation: X:34.32, Y:-0.34, Z:-0.61 [[ 9.96934020e-01 7.39064565e-02 2.56981495e-02 3.43222566e+01] [-7.39266528e-02 9.97263668e-01 -1.64552691e-04 -3.43879130e-01] [-2.56399923e-02 -1.73573000e-03 9.99669734e-01 -6.06629401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.515898227 meters 0.07583882933530124 Centerline is valid? [True, True] Translation: X:34.35, Y:-0.35, Z:-0.61 [[ 9.97066775e-01 7.20891460e-02 2.57099603e-02 3.43523877e+01] [-7.21087743e-02 9.97396760e-01 -1.64048166e-04 -3.51013005e-01] [-2.56548572e-02 -1.69034675e-03 9.99669431e-01 -6.06561139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.545898227 meters 0.07006700260736609 Centerline is valid? [True, True] Translation: X:34.38, Y:-0.37, Z:-0.61 [[ 9.97463355e-01 6.61392270e-02 2.63146077e-02 3.43813669e+01] [-6.61577352e-02 9.97809163e-01 -1.67594173e-04 -3.68837950e-01] [-2.62680412e-02 -1.57374580e-03 9.99653697e-01 -6.05648700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.575898226999996 meters 0.05878944556389751 Centerline is valid? [True, True] Translation: X:34.41, Y:-0.39, Z:-0.61 [[ 9.97674895e-01 6.29035376e-02 2.62287841e-02 3.44112591e+01] [-6.29208202e-02 9.98018508e-01 -1.66692157e-04 -3.88605920e-01] [-2.61872975e-02 -1.48403203e-03 9.99655952e-01 -6.06637416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.605898227 meters 0.05849886419892687 Centerline is valid? [True, True] Translation: X:34.44, Y:-0.39, Z:-0.61 [[ 9.97850960e-01 6.00602849e-02 2.61958597e-02 3.44403674e+01] [-6.00765495e-02 9.98193759e-01 -1.66398508e-04 -3.94248029e-01] [-2.61585376e-02 -1.40771595e-03 9.99656816e-01 -6.07399678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.635898227 meters 0.05602174219920505 Centerline is valid? [True, True] Translation: X:34.47, Y:-0.41, Z:-0.61 [[ 9.98054549e-01 5.64979936e-02 2.63646262e-02 3.44700484e+01] [-5.65132433e-02 9.98401836e-01 -1.66927697e-04 -4.09016899e-01] [-2.63319223e-02 -1.32334759e-03 9.99652379e-01 -6.07490620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.665898227 meters 0.05654866114401061 Centerline is valid? [True, True] Translation: X:34.50, Y:-0.41, Z:-0.61 [[ 9.98063423e-01 5.65793679e-02 2.58491611e-02 3.45007318e+01] [-5.65940604e-02 9.98397258e-01 -1.63415358e-04 -4.14284823e-01] [-2.58169775e-02 -1.29981010e-03 9.99665841e-01 -6.09042225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.695898227 meters 0.0548482761258122 Centerline is valid? [True, True] Translation: X:34.53, Y:-0.42, Z:-0.61 [[ 9.97982960e-01 5.83622152e-02 2.49772579e-02 3.45310480e+01] [-5.83764896e-02 9.98294626e-01 -1.57903288e-04 -4.22099606e-01] [-2.49438779e-02 -1.30049984e-03 9.99688007e-01 -6.10969999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.725898227 meters 0.06316574695360397 Centerline is valid? [True, True] Translation: X:34.56, Y:-0.42, Z:-0.61 [[ 9.97557646e-01 6.57530528e-02 2.35643380e-02 3.45603031e+01] [-6.57678117e-02 9.97834943e-01 -1.48961242e-04 -4.20644559e-01] [-2.35231145e-02 -1.40117752e-03 9.99722311e-01 -6.13527978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.755898227 meters 0.07195713730782957 Centerline is valid? [True, True] Translation: X:34.59, Y:-0.41, Z:-0.62 [[ 9.97264358e-01 7.01353364e-02 2.33416861e-02 3.45899901e+01] [-7.01510083e-02 9.97536372e-01 -1.47748535e-04 -4.13059274e-01] [-2.32945433e-02 -1.49009847e-03 9.99727535e-01 -6.15090830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.785898227 meters 0.06987163870143646 Centerline is valid? [True, True] Translation: X:34.62, Y:-0.42, Z:-0.61 [[ 9.96918470e-01 7.47555809e-02 2.37732353e-02 3.46198809e+01] [-7.47731516e-02 9.97200558e-01 -1.50213854e-04 -4.19116184e-01] [-2.37179128e-02 -1.62784876e-03 9.99717365e-01 -6.14954210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.815898227 meters 0.07461029554246741 Centerline is valid? [True, True] Translation: X:34.65, Y:-0.42, Z:-0.62 [[ 9.96575846e-01 7.91006399e-02 2.40763796e-02 3.46491411e+01] [-7.91199294e-02 9.96865093e-01 -1.51857034e-04 -4.16440649e-01] [-2.40129144e-02 -1.75358440e-03 9.99710110e-01 -6.15051495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.845898227 meters 0.08601160190148606 Centerline is valid? [True, True] Translation: X:34.68, Y:-0.41, Z:-0.62 [[ 9.96234112e-01 8.31977588e-02 2.44075350e-02 3.46779601e+01] [-8.32188057e-02 9.96531287e-01 -1.53913713e-04 -4.05616496e-01] [-2.43356776e-02 -1.87783183e-03 9.99702080e-01 -6.15881198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.875898227 meters 0.09356928501046945 Centerline is valid? [True, True] Translation: X:34.71, Y:-0.40, Z:-0.62 [[ 9.95761911e-01 8.86524150e-02 2.44737856e-02 3.47071607e+01] [-8.86752261e-02 9.96060581e-01 -1.53771995e-04 -4.01073001e-01] [-2.43910054e-02 -2.01709818e-03 9.99700460e-01 -6.17224748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.905898227 meters 0.08710695689266851 Centerline is valid? [True, True] Translation: X:34.74, Y:-0.41, Z:-0.62 [[ 9.95597624e-01 9.05246647e-02 2.43034084e-02 3.47377120e+01] [-9.05477256e-02 9.95892106e-01 -1.52177520e-04 -4.11237633e-01] [-2.42173483e-02 -2.04911077e-03 9.99704617e-01 -6.18311320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.935898227 meters 0.08678927387424112 Centerline is valid? [True, True] Translation: X:34.77, Y:-0.41, Z:-0.62 [[ 9.95467214e-01 9.19665377e-02 2.42318443e-02 3.47676096e+01] [-9.19898865e-02 9.95759930e-01 -1.51746276e-04 -4.13546775e-01] [-2.41430552e-02 -2.07802617e-03 9.99706354e-01 -6.19260185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.965898227 meters 0.09165871873786315 Centerline is valid? [True, True] Translation: X:34.80, Y:-0.41, Z:-0.62 [[ 9.95295396e-01 9.39369663e-02 2.37259601e-02 3.47972437e+01] [-9.39599123e-02 9.95575970e-01 -1.48289337e-04 -4.12592428e-01] [-2.36349256e-02 -2.08169744e-03 9.99718489e-01 -6.20141163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.995898227 meters 0.09302162925763942 Centerline is valid? [True, True] Translation: X:34.83, Y:-0.41, Z:-0.62 [[ 9.95297455e-01 9.41995825e-02 2.25702115e-02 3.48252907e+01] [-9.42204103e-02 9.95551352e-01 -1.41209574e-04 -4.14265206e-01] [-2.24831065e-02 -1.98602906e-03 9.99745250e-01 -6.22140934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.025898227 meters 0.10358583455529496 Centerline is valid? [True, False] Translation: X:34.85, Y:-0.42, Z:-0.63 [[ 9.96072489e-01 8.24703427e-02 3.22217202e-02 3.48516937e+01] [-8.29110130e-02 9.96477475e-01 1.25859256e-02 -4.18487540e-01] [-3.10702528e-02 -1.52080297e-02 9.99401499e-01 -6.29816562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.055898227 meters 0.11301267398396894 Centerline is valid? [False, False] Translation: X:34.84, Y:-0.42, Z:-0.63 [[ 9.97123230e-01 6.61443675e-02 3.70160225e-02 3.48369441e+01] [-6.69120369e-02 9.97560451e-01 1.98979052e-02 -4.21875911e-01] [-3.56095858e-02 -2.23174810e-02 9.99116553e-01 -6.31084400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.085898227 meters 0.09195564380839949 Centerline is valid? [False, True] Translation: X:34.83, Y:-0.42, Z:-0.63 [[ 9.98021689e-01 5.24680975e-02 3.46382294e-02 3.48347259e+01] [-5.33554598e-02 9.98257296e-01 2.52104403e-02 -4.22623280e-01] [-3.32551214e-02 -2.70087048e-02 9.99081892e-01 -6.28631809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.115898227 meters 0.0903466039505642 Centerline is valid? [True, True] Translation: X:34.87, Y:-0.42, Z:-0.62 [[ 9.97948262e-01 5.25855123e-02 3.65243727e-02 3.48658426e+01] [-5.26637521e-02 9.98611601e-01 1.18269727e-03 -4.15131639e-01] [-3.64114695e-02 -3.10378119e-03 9.99332063e-01 -6.24121543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.145898226999996 meters 0.0846481581364543 Centerline is valid? [True, True] Translation: X:34.90, Y:-0.42, Z:-0.63 [[ 9.98009086e-01 5.14750924e-02 3.64441831e-02 3.48974445e+01] [-5.15522233e-02 9.98669604e-01 1.17925890e-03 -4.23786090e-01] [-3.63349954e-02 -3.05568976e-03 9.99334994e-01 -6.26347044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.175898227 meters 0.08924267557665438 Centerline is valid? [True, True] Translation: X:34.93, Y:-0.42, Z:-0.63 [[ 9.98117997e-01 5.12304755e-02 3.37031375e-02 3.49288984e+01] [-5.12962800e-02 9.98682884e-01 1.09014380e-03 -4.20922043e-01] [-3.36028980e-02 -2.81693773e-03 9.99431293e-01 -6.32629909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.205898227 meters 0.08968637576416887 Centerline is valid? [True, True] Translation: X:34.96, Y:-0.42, Z:-0.63 [[ 9.98063297e-01 5.21699399e-02 3.38814391e-02 3.49603631e+01] [-5.22367810e-02 9.98634132e-01 1.09001408e-03 -4.21317156e-01] [-3.37782955e-02 -2.85776035e-03 9.99425265e-01 -6.34073664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.235898227 meters 0.09123779223620086 Centerline is valid? [True, True] Translation: X:34.99, Y:-0.42, Z:-0.63 [[ 9.98019653e-01 5.26850128e-02 3.43665903e-02 3.49912592e+01] [-5.27540657e-02 9.98606923e-01 1.10501871e-03 -4.20841855e-01] [-3.42604971e-02 -2.91580775e-03 9.99408683e-01 -6.33817874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.265898227 meters 0.08323530611776644 Centerline is valid? [True, True] Translation: X:35.02, Y:-0.43, Z:-0.63 [[ 9.98060231e-01 5.02823355e-02 3.67077842e-02 3.50223621e+01] [-5.03593030e-02 9.98730475e-01 1.17459400e-03 -4.34070895e-01] [-3.66021214e-02 -3.02089399e-03 9.99325352e-01 -6.31279391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.295898227 meters 0.0883361993049269 Centerline is valid? [True, True] Translation: X:35.05, Y:-0.43, Z:-0.63 [[ 9.98200884e-01 4.72279863e-02 3.69393185e-02 3.50522879e+01] [-4.73038505e-02 9.98879847e-01 1.18198373e-03 -4.28958146e-01] [-3.68421181e-02 -2.92722921e-03 9.99316811e-01 -6.32563188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.325898226999996 meters 0.09052091066002901 Centerline is valid? [True, True] Translation: X:35.08, Y:-0.43, Z:-0.64 [[ 9.98363109e-01 4.38335495e-02 3.67385665e-02 3.50815062e+01] [-4.39062998e-02 9.99034962e-01 1.17537055e-03 -4.28515531e-01] [-3.66515917e-02 -2.78650112e-03 9.99324220e-01 -6.35335838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.355898227 meters 0.0755039439914609 Centerline is valid? [True, True] Translation: X:35.11, Y:-0.46, Z:-0.64 [[ 9.98644167e-01 3.75983849e-02 3.60026376e-02 3.51130999e+01] [-3.76642327e-02 9.99289787e-01 1.15225595e-03 -4.56366758e-01] [-3.59337450e-02 -2.50670540e-03 9.99351031e-01 -6.39509421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.385898227 meters 0.07721280523174996 Centerline is valid? [True, True] Translation: X:35.14, Y:-0.46, Z:-0.64 [[ 9.98731872e-01 3.57085035e-02 3.54901430e-02 3.51427192e+01] [-3.57712907e-02 9.99359357e-01 1.13555344e-03 -4.59541695e-01] [-3.54268576e-02 -2.40364163e-03 9.99369381e-01 -6.43663975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.415898227 meters 0.07415599809940242 Centerline is valid? [True, True] Translation: X:35.17, Y:-0.46, Z:-0.64 [[ 9.98780785e-01 3.49304123e-02 3.48828069e-02 3.51746673e+01] [-3.49905964e-02 9.99387018e-01 1.11615718e-03 -4.64815968e-01] [-3.48224365e-02 -2.33536656e-03 9.99390786e-01 -6.43328890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.445898227 meters 0.07376766534239698 Centerline is valid? [True, True] Translation: X:35.21, Y:-0.47, Z:-0.65 [[ 9.98855856e-01 3.45849377e-02 3.30281785e-02 3.52069480e+01] [-3.46386770e-02 9.99399343e-01 1.05610968e-03 -4.72282857e-01] [-3.29718144e-02 -2.19895375e-03 9.99453863e-01 -6.46423641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.475898227 meters 0.07509281566645984 Centerline is valid? [True, True] Translation: X:35.24, Y:-0.47, Z:-0.65 [[ 9.98892158e-01 3.48826563e-02 3.15856984e-02 3.52385287e+01] [-3.49317964e-02 9.99389193e-01 1.00513202e-03 -4.74354832e-01] [-3.15313439e-02 -2.10736368e-03 9.99500542e-01 -6.49871911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.505898227 meters 0.07525857482644047 Centerline is valid? [True, True] Translation: X:35.27, Y:-0.48, Z:-0.65 [[ 9.98920024e-01 3.51300274e-02 3.04083406e-02 3.52705439e+01] [-3.51755560e-02 9.99380684e-01 9.63435789e-04 -4.77699904e-01] [-3.03556627e-02 -2.03202559e-03 9.99537095e-01 -6.53569455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.535898227 meters 0.06857404555665224 Centerline is valid? [True, True] Translation: X:35.30, Y:-0.49, Z:-0.65 [[ 9.98790912e-01 3.73502480e-02 3.19636087e-02 3.53021079e+01] [-3.74014973e-02 9.99299812e-01 1.00676402e-03 -4.91907012e-01] [-3.19036253e-02 -2.20103358e-03 9.99488526e-01 -6.52804915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.565898227 meters 0.07621897981327497 Centerline is valid? [True, True] Translation: X:35.33, Y:-0.48, Z:-0.65 [[ 9.98698999e-01 3.82454514e-02 3.37282426e-02 3.53325684e+01] [-3.83030138e-02 9.99265606e-01 1.06194121e-03 -4.83181740e-01] [-3.36628584e-02 -2.35245296e-03 9.99430477e-01 -6.51285976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.595898227 meters 0.07511910166763838 Centerline is valid? [True, True] Translation: X:35.37, Y:-0.49, Z:-0.65 [[ 9.98634094e-01 3.87535389e-02 3.50443886e-02 3.53653337e+01] [-3.88159696e-02 9.99245768e-01 1.10262839e-03 -4.85811517e-01] [-3.49752263e-02 -2.46140423e-03 9.99385148e-01 -6.50660026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.625898227 meters 0.06933860865223773 Centerline is valid? [True, True] Translation: X:35.40, Y:-0.50, Z:-0.65 [[ 9.98651096e-01 3.86539055e-02 3.46679119e-02 3.53982230e+01] [-3.87147496e-02 9.99249714e-01 1.08524225e-03 -4.95254205e-01] [-3.45999522e-02 -2.42593789e-03 9.99398298e-01 -6.51522621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.655898227 meters 0.07420844649355406 Centerline is valid? [True, True] Translation: X:35.43, Y:-0.50, Z:-0.66 [[ 9.98782565e-01 3.59972590e-02 3.37280960e-02 3.54277529e+01] [-3.60531411e-02 9.99349323e-01 1.04993768e-03 -4.96086330e-01] [-3.36683550e-02 -2.26466325e-03 9.99430494e-01 -6.55308623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.685898227 meters 0.07639599587303472 Centerline is valid? [True, True] Translation: X:35.46, Y:-0.50, Z:-0.65 [[ 9.98803529e-01 3.34951041e-02 3.56312792e-02 3.54572628e+01] [-3.35559034e-02 9.99436226e-01 1.10954059e-03 -4.96614999e-01] [-3.55740270e-02 -2.30385282e-03 9.99364388e-01 -6.53116579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.715898227 meters 0.07006733516923111 Centerline is valid? [True, True] Translation: X:35.49, Y:-0.51, Z:-0.65 [[ 9.98787356e-01 3.04905042e-02 3.86541910e-02 3.54886841e+01] [-3.05598388e-02 9.99532214e-01 1.20399458e-03 -5.08397263e-01] [-3.85993987e-02 -2.38380041e-03 9.99251922e-01 -6.48707531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.745898227 meters 0.058895495302570086 Centerline is valid? [True, True] Translation: X:35.52, Y:-0.53, Z:-0.64 [[ 9.98813959e-01 2.49713508e-02 4.17984052e-02 3.55205194e+01] [-2.50476172e-02 9.99685412e-01 1.30183645e-03 -5.34038726e-01] [-4.17527473e-02 -2.34724287e-03 9.99125217e-01 -6.43989896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.775898227 meters 0.05621080155250008 Centerline is valid? [True, True] Translation: X:35.55, Y:-0.55, Z:-0.65 [[ 9.98924773e-01 2.28732656e-02 4.03250736e-02 3.55513603e+01] [-2.29425247e-02 9.99735997e-01 1.25552753e-03 -5.46687045e-01] [-4.02857097e-02 -2.17933655e-03 9.99185825e-01 -6.50179172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.805898227 meters 0.05881412782316591 Centerline is valid? [True, True] Translation: X:35.58, Y:-0.55, Z:-0.65 [[ 9.98995808e-01 2.15040193e-02 3.93058896e-02 3.55820427e+01] [-2.15687400e-02 9.99766619e-01 1.22323078e-03 -5.48763624e-01] [-3.92704120e-02 -2.06978093e-03 9.99226476e-01 -6.51724648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.835898227 meters 0.06177324294364947 Centerline is valid? [True, True] Translation: X:35.61, Y:-0.56, Z:-0.65 [[ 9.98931412e-01 2.30923609e-02 4.00347010e-02 3.56142120e+01] [-2.31607179e-02 9.99730980e-01 1.24442193e-03 -5.57849547e-01] [-3.99951942e-02 -2.17032457e-03 9.99197515e-01 -6.51491885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.865898227 meters 0.06132971894084828 Centerline is valid? [True, True] Translation: X:35.65, Y:-0.56, Z:-0.65 [[ 9.98863761e-01 2.57565137e-02 4.00972372e-02 3.56456458e+01] [-2.58270069e-02 9.99665657e-01 1.24096022e-03 -5.60243810e-01] [-4.00518681e-02 -2.27514182e-03 9.99195012e-01 -6.47853500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.895898226999996 meters 0.0651228973245425 Centerline is valid? [True, True] Translation: X:35.68, Y:-0.56, Z:-0.65 [[ 9.98820958e-01 2.90053021e-02 3.89279745e-02 3.56757274e+01] [-2.90741831e-02 9.99576531e-01 1.20437983e-03 -5.60411866e-01] [-3.88765563e-02 -2.33475888e-03 9.99241293e-01 -6.49809718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.925898227 meters 0.07086071300686497 Centerline is valid? [True, True] Translation: X:35.70, Y:-0.56, Z:-0.66 [[ 9.98783889e-01 3.21627855e-02 3.73670744e-02 3.57048441e+01] [-3.22284468e-02 9.99479860e-01 1.15602045e-03 -5.60175950e-01] [-3.73104574e-02 -2.35889737e-03 9.99300938e-01 -6.55633158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.955898227 meters 0.06622385178709868 Centerline is valid? [True, True] Translation: X:35.74, Y:-0.57, Z:-0.66 [[ 9.98663443e-01 3.71725925e-02 3.59099824e-02 3.57357172e+01] [-3.72364640e-02 9.99305865e-01 1.11126862e-03 -5.74318703e-01] [-3.58437473e-02 -2.44694411e-03 9.99354411e-01 -6.55677906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.985898227 meters 0.08092995324912793 Centerline is valid? [True, True] Translation: X:35.76, Y:-0.56, Z:-0.66 [[ 9.98560656e-01 3.96196410e-02 3.61510638e-02 3.57649748e+01] [-3.96859663e-02 9.99211576e-01 1.11865876e-03 -5.59457868e-01] [-3.60782406e-02 -2.55173852e-03 9.99345711e-01 -6.56480532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.015898227 meters 0.08246034308535381 Centerline is valid? [True, True] Translation: X:35.80, Y:-0.56, Z:-0.66 [[ 9.98436314e-01 4.26831894e-02 3.60980828e-02 3.57958845e+01] [-4.27513232e-02 9.99085119e-01 1.11734978e-03 -5.62217632e-01] [-3.60173653e-02 -2.65884340e-03 9.99347627e-01 -6.57981072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.045898227 meters 0.08493119330185482 Centerline is valid? [True, True] Translation: X:35.83, Y:-0.56, Z:-0.66 [[ 9.98353524e-01 4.49303860e-02 3.56581076e-02 3.58265942e+01] [-4.49982678e-02 9.98986456e-01 1.10303774e-03 -5.62979483e-01] [-3.55724067e-02 -2.70577470e-03 9.99363439e-01 -6.60611079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.075898226999996 meters 0.08329340028763459 Centerline is valid? [True, True] Translation: X:35.86, Y:-0.57, Z:-0.67 [[ 9.98328614e-01 4.68838689e-02 3.37917228e-02 3.58571839e+01] [-4.69459358e-02 9.98896885e-01 1.04524122e-03 -5.70131551e-01] [-3.37054417e-02 -2.62987827e-03 9.99428350e-01 -6.66726722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.105898227 meters 0.08278852349622987 Centerline is valid? [True, True] Translation: X:35.89, Y:-0.57, Z:-0.67 [[ 9.98276020e-01 4.75968896e-02 3.43441970e-02 3.58892640e+01] [-4.76614265e-02 9.98862983e-01 1.06242324e-03 -5.71833481e-01] [-3.42545790e-02 -2.69748507e-03 9.99409499e-01 -6.67799936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.135898227 meters 0.08278852349622987 Centerline is valid? [True, True] Translation: X:35.92, Y:-0.57, Z:-0.67 [[ 9.98267342e-01 4.77784337e-02 3.43443635e-02 3.59218463e+01] [-4.78428923e-02 9.98854314e-01 1.05701134e-03 -5.70993289e-01] [-3.42545133e-02 -2.69831359e-03 9.99409499e-01 -6.68972740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.165898227 meters 0.09105786375541298 Centerline is valid? [True, True] Translation: X:35.95, Y:-0.57, Z:-0.67 [[ 9.98109122e-01 4.90849594e-02 3.69979440e-02 3.59519853e+01] [-4.91604037e-02 9.98790255e-01 1.13163579e-03 -5.66002354e-01] [-3.68976397e-02 -2.94832987e-03 9.99314701e-01 -6.65990897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.195898227 meters 0.08300869698304573 Centerline is valid? [True, True] Translation: X:35.98, Y:-0.58, Z:-0.67 [[ 9.98018911e-01 5.01352301e-02 3.80093596e-02 3.59836527e+01] [-5.02156139e-02 9.98737724e-01 1.16252420e-03 -5.79106345e-01] [-3.79030978e-02 -3.06888446e-03 9.99276707e-01 -6.65356026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.225898227 meters 0.08293967286442583 Centerline is valid? [True, True] Translation: X:36.02, Y:-0.58, Z:-0.67 [[ 9.97980431e-01 5.10715863e-02 3.77723760e-02 3.60161396e+01] [-5.11516022e-02 9.98690233e-01 1.15437802e-03 -5.80979424e-01] [-3.76639470e-02 -3.08416422e-03 9.99285702e-01 -6.67283840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.255898227 meters 0.08005238385560386 Centerline is valid? [True, True] Translation: X:36.05, Y:-0.59, Z:-0.67 [[ 9.97968184e-01 5.18322142e-02 3.70530020e-02 3.60479441e+01] [-5.19096636e-02 9.98651145e-01 1.13061440e-03 -5.85010203e-01] [-3.69444206e-02 -3.05172606e-03 9.99312662e-01 -6.70761598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.285898227 meters 0.08730294668990915 Centerline is valid? [True, True] Translation: X:36.08, Y:-0.58, Z:-0.67 [[ 9.97953733e-01 5.25543947e-02 3.64195291e-02 3.60788690e+01] [-5.26294971e-02 9.98613495e-01 1.10587213e-03 -5.75058840e-01] [-3.63109149e-02 -3.02035072e-03 9.99335977e-01 -6.73802024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.315898227 meters 0.08479681691246749 Centerline is valid? [True, True] Translation: X:36.11, Y:-0.58, Z:-0.68 [[ 9.97857239e-01 5.48177815e-02 3.57203103e-02 3.61091824e+01] [-5.48912762e-02 9.98491754e-01 1.07934459e-03 -5.78003928e-01] [-3.56072680e-02 -3.03776523e-03 9.99361243e-01 -6.76234122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.345898227 meters 0.08073826119578224 Centerline is valid? [True, True] Translation: X:36.14, Y:-0.58, Z:-0.68 [[ 9.97782437e-01 5.65872775e-02 3.50440898e-02 3.61401861e+01] [-5.66590944e-02 9.98393022e-01 1.05884820e-03 -5.83233179e-01] [-3.49278574e-02 -3.04206653e-03 9.99385206e-01 -6.78211929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.375898227 meters 0.09239892690148348 Centerline is valid? [True, True] Translation: X:36.17, Y:-0.57, Z:-0.68 [[ 9.97723579e-01 5.78935190e-02 3.45832481e-02 3.61692720e+01] [-5.79642226e-02 9.98318115e-01 1.04451862e-03 -5.68266773e-01] [-3.44646122e-02 -3.04673195e-03 9.99401275e-01 -6.80005348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.405898227 meters 0.09341399362098239 Centerline is valid? [True, True] Translation: X:36.20, Y:-0.57, Z:-0.68 [[ 9.97847406e-01 5.59364420e-02 3.42296524e-02 3.61983601e+01] [-5.60045630e-02 9.98429978e-01 1.03382347e-03 -5.67356657e-01] [-3.41180827e-02 -2.94861479e-03 9.99413459e-01 -6.81023443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.435898227 meters 0.0807897594428706 Centerline is valid? [True, True] Translation: X:36.23, Y:-0.58, Z:-0.68 [[ 9.98028625e-01 5.24811108e-02 3.44179764e-02 3.62295769e+01] [-5.25479560e-02 9.98617860e-01 1.03985474e-03 -5.83394287e-01] [-3.43158333e-02 -2.84639911e-03 9.99406985e-01 -6.81048864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.465898227 meters 0.07232461102836632 Centerline is valid? [True, True] Translation: X:36.26, Y:-0.60, Z:-0.68 [[ 9.98261438e-01 4.78679863e-02 3.43912397e-02 3.62606066e+01] [-4.79319951e-02 9.98850061e-01 1.03867498e-03 -5.95198243e-01] [-3.43019726e-02 -2.68530992e-03 9.99407907e-01 -6.81804661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.495898227 meters 0.07030498164028406 Centerline is valid? [True, True] Translation: X:36.29, Y:-0.60, Z:-0.68 [[ 9.98574873e-01 3.92143921e-02 3.62002124e-02 3.62905552e+01] [-3.92796594e-02 9.99227658e-01 1.09324404e-03 -6.03782765e-01] [-3.61293825e-02 -2.51361804e-03 9.99343960e-01 -6.79611261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.525898227 meters 0.06906528734010502 Centerline is valid? [True, True] Translation: X:36.32, Y:-0.61, Z:-0.68 [[ 9.98628275e-01 3.63288956e-02 3.77064849e-02 3.63199317e+01] [-3.63976857e-02 9.99336735e-01 1.13927902e-03 -6.08111698e-01] [-3.76400867e-02 -2.51014503e-03 9.99288208e-01 -6.78291892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.555898227 meters 0.06868063372442029 Centerline is valid? [True, True] Translation: X:36.35, Y:-0.61, Z:-0.68 [[ 9.98655346e-01 3.47843273e-02 3.84389119e-02 3.63504556e+01] [-3.48546939e-02 9.99391715e-01 1.16178630e-03 -6.10599197e-01] [-3.83751182e-02 -2.50000061e-03 9.99260277e-01 -6.78770764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.585898227 meters 0.0667598992721319 Centerline is valid? [True, True] Translation: X:36.38, Y:-0.62, Z:-0.68 [[ 9.98687137e-01 3.44120933e-02 3.79448416e-02 3.63824163e+01] [-3.44803657e-02 9.99404718e-01 1.14611966e-03 -6.15054554e-01] [-3.78828133e-02 -2.45296697e-03 9.99279178e-01 -6.80952802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.615898227 meters 0.0643976048274845 Centerline is valid? [True, True] Translation: X:36.41, Y:-0.63, Z:-0.69 [[ 9.98744104e-01 3.49171500e-02 3.59305864e-02 3.64149399e+01] [-3.49784887e-02 9.99387482e-01 1.07976703e-03 -6.27195077e-01] [-3.58708759e-02 -2.33520856e-03 9.99353705e-01 -6.88343767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.645898226999996 meters 0.06806527251291523 Centerline is valid? [True, True] Translation: X:36.45, Y:-0.62, Z:-0.69 [[ 9.98718824e-01 3.54931551e-02 3.60686474e-02 3.64461122e+01] [-3.55551228e-02 9.99367135e-01 1.07788195e-03 -6.23684977e-01] [-3.60075634e-02 -2.35892618e-03 9.99348733e-01 -6.86221642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.675898227 meters 0.06944665830625525 Centerline is valid? [True, True] Translation: X:36.48, Y:-0.63, Z:-0.69 [[ 9.98664412e-01 3.60174999e-02 3.70422876e-02 3.64777877e+01] [-3.60830072e-02 9.99348190e-01 1.10122503e-03 -6.25092683e-01] [-3.69784797e-02 -2.43635138e-03 9.99313092e-01 -6.85715597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.705898227 meters 0.06849726014622579 Centerline is valid? [True, True] Translation: X:36.51, Y:-0.63, Z:-0.68 [[ 9.98496498e-01 3.78328339e-02 3.96663542e-02 3.65095703e+01] [-3.79092535e-02 9.99280494e-01 1.17590727e-03 -6.33448456e-01] [-3.95933261e-02 -2.67786117e-03 9.99212289e-01 -6.83223992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.735898227 meters 0.06986344325566278 Centerline is valid? [True, True] Translation: X:36.54, Y:-0.64, Z:-0.68 [[ 9.98431867e-01 3.99929070e-02 3.91710992e-02 3.65404491e+01] [-4.00690489e-02 9.99196239e-01 1.16036987e-03 -6.35223966e-01] [-3.90932085e-02 -2.72809894e-03 9.99231844e-01 -6.84711914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.765898227 meters 0.07153771064319797 Centerline is valid? [True, True] Translation: X:36.57, Y:-0.64, Z:-0.69 [[ 9.98398644e-01 4.21227040e-02 3.77601054e-02 3.65714761e+01] [-4.21949540e-02 9.99108771e-01 1.11815983e-03 -6.36721311e-01] [-3.76793526e-02 -2.70965517e-03 9.99286207e-01 -6.88178307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.795898227 meters 0.0737852166095025 Centerline is valid? [True, True] Translation: X:36.60, Y:-0.64, Z:-0.69 [[ 9.98368709e-01 4.52499880e-02 3.48189601e-02 3.66027858e+01] [-4.53132917e-02 9.98972294e-01 1.03071087e-03 -6.39059967e-01] [-3.47365368e-02 -2.60679118e-03 9.99393105e-01 -6.94124064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.825898226999996 meters 0.07772659325501709 Centerline is valid? [True, True] Translation: X:36.63, Y:-0.63, Z:-0.70 [[ 9.98291368e-01 4.70072178e-02 3.47083088e-02 3.66329474e+01] [-4.70711554e-02 9.98891011e-01 1.02686772e-03 -6.34242840e-01] [-3.46215475e-02 -2.65887338e-03 9.99396958e-01 -6.95777468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.855898227 meters 0.08323069166130295 Centerline is valid? [True, True] Translation: X:36.66, Y:-0.63, Z:-0.70 [[ 9.98216928e-01 4.81101064e-02 3.53324435e-02 3.66631185e+01] [-4.81770218e-02 9.98838267e-01 1.04446439e-03 -6.31441965e-01] [-3.52411474e-02 -2.74481394e-03 9.99375068e-01 -6.99626572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.885898227 meters 0.08445094817083154 Centerline is valid? [True, True] Translation: X:36.69, Y:-0.63, Z:-0.70 [[ 9.98268424e-01 4.72067863e-02 3.50951958e-02 3.66949202e+01] [-4.72722375e-02 9.98881505e-01 1.03707462e-03 -6.34940580e-01] [-3.50069851e-02 -2.69430728e-03 9.99383436e-01 -7.01878133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.915898227 meters 0.07989397367970613 Centerline is valid? [True, True] Translation: X:36.73, Y:-0.64, Z:-0.70 [[ 9.98379887e-01 4.51833384e-02 3.45841968e-02 3.67257141e+01] [-4.52456484e-02 9.98975370e-01 1.02078926e-03 -6.43686701e-01] [-3.45026381e-02 -2.58391987e-03 9.99401266e-01 -7.03688718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.945898227 meters 0.07351606008812121 Centerline is valid? [True, True] Translation: X:36.76, Y:-0.65, Z:-0.70 [[ 9.98520223e-01 4.19063759e-02 3.46586212e-02 3.67551046e+01] [-4.19669770e-02 9.99118475e-01 1.02256826e-03 -6.48546215e-01] [-3.45852166e-02 -2.47557265e-03 9.99398686e-01 -7.01781364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.975898227 meters 0.06303844758330446 Centerline is valid? [True, True] Translation: X:36.79, Y:-0.67, Z:-0.70 [[ 9.98757188e-01 3.30327281e-02 3.73218338e-02 3.67864116e+01] [-3.30968584e-02 9.99451542e-01 1.10161093e-03 -6.70439118e-01] [-3.72649752e-02 -2.33547729e-03 9.99302690e-01 -7.00334391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.005898227 meters 0.06419911880466572 Centerline is valid? [True, True] Translation: X:36.82, Y:-0.67, Z:-0.70 [[ 9.98863214e-01 2.82005956e-02 3.84318271e-02 3.68159591e+01] [-2.82650333e-02 9.99599821e-01 1.13426061e-03 -6.73487490e-01] [-3.83844606e-02 -2.21924807e-03 9.99260581e-01 -6.99022791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.035898227 meters 0.06107156844494561 Centerline is valid? [True, True] Translation: X:36.85, Y:-0.69, Z:-0.70 [[ 9.98978987e-01 2.34200128e-02 3.86327162e-02 3.68472227e+01] [-2.34815802e-02 9.99723619e-01 1.14062060e-03 -6.89278616e-01] [-3.85953255e-02 -2.04661323e-03 9.99252827e-01 -7.02772278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.065898227 meters 0.04980400078300095 Centerline is valid? [True, True] Translation: X:36.88, Y:-0.70, Z:-0.70 [[ 9.99111560e-01 1.96088248e-02 3.73039374e-02 3.68783932e+01] [-1.96635640e-02 9.99806047e-01 1.10102331e-03 -7.00315623e-01] [-3.72751125e-02 -1.83357348e-03 9.99303359e-01 -7.02059648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.095898227 meters 0.04846289039570497 Centerline is valid? [True, True] Translation: X:36.91, Y:-0.71, Z:-0.71 [[ 9.99295961e-01 1.30804756e-02 3.51636769e-02 3.69083990e+01] [-1.31250766e-02 9.99913324e-01 1.03783755e-03 -7.13687299e-01] [-3.51470537e-02 -1.49863282e-03 9.99381028e-01 -7.08840590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.125898227 meters 0.04230934356645547 Centerline is valid? [True, True] Translation: X:36.94, Y:-0.72, Z:-0.71 [[ 9.99308271e-01 1.07956989e-02 3.55869747e-02 3.69407962e+01] [-1.08399219e-02 9.99940695e-01 1.04996020e-03 -7.20698731e-01] [-3.55735291e-02 -1.43499394e-03 9.99366031e-01 -7.05010113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.155898227 meters 0.04082326072122478 Centerline is valid? [True, True] Translation: X:36.97, Y:-0.73, Z:-0.70 [[ 9.99254335e-01 9.95692007e-03 3.73046072e-02 3.69735751e+01] [-1.00048770e-02 9.99949346e-01 1.09908787e-03 -7.26249661e-01] [-3.72917740e-02 -1.47149633e-03 9.99303336e-01 -7.02855739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.185898227 meters 0.048259181146446076 Centerline is valid? [True, True] Translation: X:37.01, Y:-0.73, Z:-0.70 [[ 9.99131181e-01 1.14266045e-02 4.00788739e-02 3.70055147e+01] [-1.14828657e-02 9.99933381e-01 1.17383417e-03 -7.30522209e-01] [-4.00627909e-02 -1.63303465e-03 9.99195830e-01 -7.02137557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.215898227 meters 0.04456720008288055 Centerline is valid? [True, True] Translation: X:37.04, Y:-0.73, Z:-0.70 [[ 9.99118372e-01 1.39521461e-02 3.95956541e-02 3.70365402e+01] [-1.40088212e-02 9.99901205e-01 1.15424232e-03 -7.30383919e-01] [-3.95756381e-02 -1.70791314e-03 9.99215118e-01 -7.00862114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.245898227 meters 0.04679095071178478 Centerline is valid? [True, True] Translation: X:37.07, Y:-0.73, Z:-0.70 [[ 9.99106588e-01 1.65039114e-02 3.89056056e-02 3.70679893e+01] [-1.65605381e-02 9.99862222e-01 1.13364525e-03 -7.28666096e-01] [-3.88815357e-02 -1.77693020e-03 9.99242247e-01 -7.03739071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.275898227 meters 0.051477485121220905 Centerline is valid? [True, True] Translation: X:37.10, Y:-0.73, Z:-0.71 [[ 9.99006423e-01 2.11179842e-02 3.92453631e-02 3.70982697e+01] [-2.11791217e-02 9.99775044e-01 1.14268199e-03 -7.26626094e-01] [-3.92124035e-02 -1.97272897e-03 9.99228951e-01 -7.05498195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.305898227 meters 0.05788843408020548 Centerline is valid? [True, True] Translation: X:37.13, Y:-0.72, Z:-0.70 [[ 9.98928881e-01 2.32665604e-02 3.99969716e-02 3.71282742e+01] [-2.33317726e-02 9.99727099e-01 1.16435090e-03 -7.20482305e-01] [-3.99589660e-02 -2.09630399e-03 9.99199123e-01 -7.04932913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.335898227 meters 0.05999515246359957 Centerline is valid? [True, True] Translation: X:37.16, Y:-0.72, Z:-0.71 [[ 9.98859437e-01 2.52416885e-02 4.05300104e-02 3.71595398e+01] [-2.53102685e-02 9.99678948e-01 1.17976619e-03 -7.19961906e-01] [-4.04872189e-02 -2.20424604e-03 9.99177625e-01 -7.05577413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.365898227 meters 0.061868763444798365 Centerline is valid? [True, True] Translation: X:37.19, Y:-0.72, Z:-0.71 [[ 9.98794309e-01 2.94419107e-02 3.92823496e-02 3.71900487e+01] [-2.95095351e-02 9.99563846e-01 1.14265422e-03 -7.21126496e-01] [-3.92315745e-02 -2.30048041e-03 9.99227497e-01 -7.08815519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.395898226999996 meters 0.0606576974892587 Centerline is valid? [True, True] Translation: X:37.22, Y:-0.73, Z:-0.72 [[ 9.98756252e-01 3.18907605e-02 3.83265941e-02 3.72211897e+01] [-3.19569180e-02 9.99488626e-01 1.11461097e-03 -7.26696827e-01] [-3.82714490e-02 -2.33802450e-03 9.99264645e-01 -7.15355426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.425898227 meters 0.062471992665616614 Centerline is valid? [True, True] Translation: X:37.25, Y:-0.72, Z:-0.71 [[ 9.98677991e-01 3.49890388e-02 3.76568488e-02 3.72502491e+01] [-3.50550801e-02 9.99384782e-01 1.09472932e-03 -7.20617954e-01] [-3.75953781e-02 -2.41334593e-03 9.99290130e-01 -7.14102275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.455898227 meters 0.06827739420881548 Centerline is valid? [True, True] Translation: X:37.28, Y:-0.71, Z:-0.72 [[ 9.98454234e-01 4.22583953e-02 3.61022271e-02 3.72802550e+01] [-4.23238305e-02 9.99103394e-01 1.04984055e-03 -7.12592747e-01] [-3.60254930e-02 -2.57620229e-03 9.99347551e-01 -7.17988867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.485898227 meters 0.07667875413300386 Centerline is valid? [True, True] Translation: X:37.31, Y:-0.70, Z:-0.72 [[ 9.98372146e-01 4.55058592e-02 3.43842137e-02 3.73100005e+01] [-4.55671163e-02 9.98960779e-01 9.99618840e-04 -7.00330773e-01] [-3.43029924e-02 -2.56478107e-03 9.99408188e-01 -7.22304546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.515898227 meters 0.07551207485170132 Centerline is valid? [True, True] Translation: X:37.34, Y:-0.70, Z:-0.73 [[ 9.98291963e-01 4.81080808e-02 3.31476829e-02 3.73403919e+01] [-4.81664270e-02 9.98838859e-01 9.63459695e-04 -7.00722160e-01] [-3.30628436e-02 -2.55841952e-03 9.99450000e-01 -7.25285852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.545898227 meters 0.08633498483450786 Centerline is valid? [True, True] Translation: X:37.37, Y:-0.69, Z:-0.73 [[ 9.98160420e-01 5.00488239e-02 3.42182845e-02 3.73698383e+01] [-5.01121310e-02 9.98743103e-01 9.94440034e-04 -6.87749377e-01] [-3.41255051e-02 -2.70736184e-03 9.99413888e-01 -7.25127976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.575898226999996 meters 0.07729787268251287 Centerline is valid? [True, True] Translation: X:37.40, Y:-0.70, Z:-0.72 [[ 9.98142166e-01 4.91245738e-02 3.60415319e-02 3.74017657e+01] [-4.91942214e-02 9.98788682e-01 1.04763656e-03 -7.00100675e-01] [-3.59464094e-02 -2.81872532e-03 9.99349744e-01 -7.23473451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.605898227 meters 0.07873367283850169 Centerline is valid? [True, True] Translation: X:37.43, Y:-0.70, Z:-0.72 [[ 9.98159526e-01 4.76822631e-02 3.74694842e-02 3.74313450e+01] [-4.77565026e-02 9.98858414e-01 1.08830625e-03 -6.99613580e-01] [-3.73748167e-02 -2.87571477e-03 9.99297180e-01 -7.22483801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.635898227 meters 0.07927348532999254 Centerline is valid? [True, True] Translation: X:37.46, Y:-0.70, Z:-0.72 [[ 9.98220246e-01 4.56044886e-02 3.84261779e-02 3.74608614e+01] [-4.56810572e-02 9.98955452e-01 1.11652124e-03 -7.00603256e-01] [-3.83351215e-02 -2.86988254e-03 9.99260818e-01 -7.22092008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.665898227 meters 0.07366534819851507 Centerline is valid? [True, True] Translation: X:37.49, Y:-0.71, Z:-0.72 [[ 9.98357603e-01 4.18079807e-02 3.91687202e-02 3.74915341e+01] [-4.18846401e-02 9.99121805e-01 1.13824872e-03 -7.14570272e-01] [-3.90867346e-02 -2.77694701e-03 9.99231963e-01 -7.21950836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.695898227 meters 0.07118921764258566 Centerline is valid? [True, True] Translation: X:37.52, Y:-0.72, Z:-0.72 [[ 9.98401296e-01 4.04470854e-02 3.94827282e-02 3.75234822e+01] [-4.05239160e-02 9.99177910e-01 1.14723392e-03 -7.21243267e-01] [-3.94038676e-02 -2.74539460e-03 9.99219594e-01 -7.23003965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.725898227 meters 0.07182097959615902 Centerline is valid? [True, True] Translation: X:37.55, Y:-0.72, Z:-0.72 [[ 9.98487948e-01 3.91154103e-02 3.86238691e-02 3.75542733e+01] [-3.91878711e-02 9.99231232e-01 1.12048370e-03 -7.23536591e-01] [-3.85503482e-02 -2.63237667e-03 9.99253192e-01 -7.24409308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.755898227 meters 0.07239442381160653 Centerline is valid? [True, True] Translation: X:37.58, Y:-0.73, Z:-0.73 [[ 9.98628291e-01 3.82392745e-02 3.57672173e-02 3.75844919e+01] [-3.83008193e-02 9.99265716e-01 1.03686385e-03 -7.28713926e-01] [-3.57013051e-02 -2.40535530e-03 9.99359610e-01 -7.30174272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.785898227 meters 0.07375947480906184 Centerline is valid? [True, True] Translation: X:37.62, Y:-0.73, Z:-0.73 [[ 9.98635920e-01 3.87279342e-02 3.50206661e-02 3.76157758e+01] [-3.87872247e-02 9.99246977e-01 1.01496384e-03 -7.29719005e-01] [-3.49549873e-02 -2.37193380e-03 9.99386073e-01 -7.31910058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.815898227 meters 0.07900900794350553 Centerline is valid? [True, True] Translation: X:37.65, Y:-0.73, Z:-0.74 [[ 9.98607710e-01 3.91599920e-02 3.53431296e-02 3.76469123e+01] [-3.92204693e-02 9.99230062e-01 1.01920285e-03 -7.29935791e-01] [-3.52760056e-02 -2.40395795e-03 9.99374717e-01 -7.35229187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.845898227 meters 0.07860911534609893 Centerline is valid? [True, True] Translation: X:37.68, Y:-0.73, Z:-0.73 [[ 9.98436827e-01 4.17094493e-02 3.72051583e-02 3.76777255e+01] [-4.17780342e-02 9.99126346e-01 1.06754656e-03 -7.32318448e-01] [-3.71281271e-02 -2.62023617e-03 9.99307078e-01 -7.29969257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.875898227 meters 0.08141271449342566 Centerline is valid? [True, True] Translation: X:37.71, Y:-0.73, Z:-0.73 [[ 9.98363384e-01 4.36147297e-02 3.69906552e-02 3.77090950e+01] [-4.36838214e-02 9.99044843e-01 1.06126808e-03 -7.30396614e-01] [-3.69090364e-02 -2.67542437e-03 9.99315048e-01 -7.31478973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.905898227 meters 0.08608065825919299 Centerline is valid? [True, True] Translation: X:37.74, Y:-0.73, Z:-0.74 [[ 9.98261165e-01 4.76200519e-02 3.47415882e-02 3.77382317e+01] [-4.76833783e-02 9.98862004e-01 9.96047526e-04 -7.27168019e-01] [-3.46546205e-02 -2.65091185e-03 9.99395832e-01 -7.36489238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.935898227 meters 0.07517380555674735 Centerline is valid? [True, True] Translation: X:37.77, Y:-0.74, Z:-0.74 [[ 9.98188171e-01 4.95645092e-02 3.41135578e-02 3.77690507e+01] [-4.96266683e-02 9.98767360e-01 9.77302747e-04 -7.42197890e-01] [-3.40230685e-02 -2.66847426e-03 9.99417485e-01 -7.38845520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.965898227 meters 0.08110374630961123 Centerline is valid? [True, True] Translation: X:37.80, Y:-0.74, Z:-0.74 [[ 9.98095035e-01 5.13773631e-02 3.41565293e-02 3.77987604e+01] [-5.14407251e-02 9.98675570e-01 9.78285061e-04 -7.35438971e-01] [-3.40610297e-02 -2.73345810e-03 9.99416017e-01 -7.39614743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.995898227 meters 0.0803823545338149 Centerline is valid? [True, True] Translation: X:37.83, Y:-0.74, Z:-0.74 [[ 9.97885251e-01 5.37364530e-02 3.65707380e-02 3.78294171e+01] [-5.38106695e-02 9.98550607e-01 1.04744154e-03 -7.39409469e-01] [-3.64614468e-02 -3.01312236e-03 9.99330518e-01 -7.36588398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.025898227 meters 0.07690886312451709 Centerline is valid? [True, True] Translation: X:37.86, Y:-0.75, Z:-0.74 [[ 9.97831578e-01 5.40537161e-02 3.75544533e-02 3.78615303e+01] [-5.41321909e-02 9.98533199e-01 1.07522323e-03 -7.45835478e-01] [-3.74412486e-02 -3.10579653e-03 9.99294004e-01 -7.35812929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.055898227 meters 0.07690886312451709 Centerline is valid? [True, True] Translation: X:37.89, Y:-0.75, Z:-0.74 [[ 9.97821505e-01 5.42392235e-02 3.75546281e-02 3.78940819e+01] [-5.43175992e-02 9.98523137e-01 1.06908322e-03 -7.45042428e-01] [-3.74411788e-02 -3.10663146e-03 9.99294004e-01 -7.36985936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.085898227 meters 0.07678324726526727 Centerline is valid? [True, True] Translation: X:37.92, Y:-0.75, Z:-0.74 [[ 9.97851949e-01 5.35231326e-02 3.77724982e-02 3.79249183e+01] [-5.36016568e-02 9.98561826e-01 1.06852050e-03 -7.47173705e-01] [-3.76609843e-02 -3.09089375e-03 9.99285793e-01 -7.37681221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.115898227 meters 0.08493422928265218 Centerline is valid? [True, True] Translation: X:37.95, Y:-0.74, Z:-0.74 [[ 9.97945836e-01 5.21649995e-02 3.71876394e-02 3.79544979e+01] [-5.22401418e-02 9.98633998e-01 1.05115502e-03 -7.41870291e-01] [-3.70820075e-02 -2.99168334e-03 9.99307748e-01 -7.42355929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.145898226999996 meters 0.0740712868211313 Centerline is valid? [True, True] Translation: X:37.99, Y:-0.76, Z:-0.74 [[ 9.98147629e-01 4.94566034e-02 3.54310007e-02 3.79851675e+01] [-4.95231136e-02 9.98772476e-01 1.00150163e-03 -7.58674796e-01] [-3.53379774e-02 -2.75429995e-03 9.99371623e-01 -7.43243407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.175898227 meters 0.07603565545202894 Centerline is valid? [True, True] Translation: X:38.02, Y:-0.76, Z:-0.75 [[ 9.98197769e-01 4.85616374e-02 3.52559393e-02 3.80158398e+01] [-4.86269369e-02 9.98816514e-01 9.96555902e-04 -7.57924315e-01] [-3.51658200e-02 -2.70914821e-03 9.99377819e-01 -7.45021468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.205898227 meters 0.07851133697616587 Centerline is valid? [True, True] Translation: X:38.05, Y:-0.76, Z:-0.74 [[ 9.98154996e-01 4.88437229e-02 3.60679121e-02 3.80468096e+01] [-4.89122191e-02 9.98802562e-01 1.01864318e-03 -7.56783700e-01] [-3.59749687e-02 -2.78092540e-03 9.99348822e-01 -7.44543316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.235898227 meters 0.07594974325557977 Centerline is valid? [True, True] Translation: X:38.08, Y:-0.76, Z:-0.74 [[ 9.98056377e-01 4.98707236e-02 3.73681511e-02 3.80785237e+01] [-4.99447618e-02 9.98751430e-01 1.04986501e-03 -7.62354881e-01] [-3.72691368e-02 -2.91416787e-03 9.99301015e-01 -7.43068653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.265898227 meters 0.08437445292338602 Centerline is valid? [True, True] Translation: X:38.11, Y:-0.75, Z:-0.74 [[ 9.97811778e-01 5.38250897e-02 3.83994139e-02 3.81084065e+01] [-5.39061481e-02 9.98545425e-01 1.07794251e-03 -7.54943307e-01] [-3.82855387e-02 -3.14554823e-03 9.99261889e-01 -7.42772891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.295898227 meters 0.08084503687916836 Centerline is valid? [True, True] Translation: X:38.14, Y:-0.76, Z:-0.75 [[ 9.97762200e-01 5.56567438e-02 3.70529209e-02 3.81395698e+01] [-5.57334371e-02 9.98445143e-01 1.03935811e-03 -7.59795554e-01] [-3.69374616e-02 -3.10211888e-03 9.99312764e-01 -7.46367019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.325898226999996 meters 0.09027025705010251 Centerline is valid? [True, True] Translation: X:38.17, Y:-0.75, Z:-0.75 [[ 9.97705473e-01 5.77912372e-02 3.52698479e-02 3.81685781e+01] [-5.78620361e-02 9.98324099e-01 9.89095551e-04 -7.48631454e-01] [-3.51535780e-02 -3.02761125e-03 9.99377336e-01 -7.50568753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.355898227 meters 0.08524327107616157 Centerline is valid? [True, True] Translation: X:38.20, Y:-0.76, Z:-0.75 [[ 9.97592580e-01 6.08889596e-02 3.31900492e-02 3.81993425e+01] [-6.09533366e-02 9.98140183e-01 9.30368941e-04 -7.57279294e-01] [-3.30716726e-02 -2.95117339e-03 9.99448626e-01 -7.54460553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.385898227 meters 0.08329400725263275 Centerline is valid? [True, True] Translation: X:38.23, Y:-0.76, Z:-0.75 [[ 9.97512494e-01 6.18176835e-02 3.38732566e-02 3.82310617e+01] [-6.18852447e-02 9.98082820e-01 9.48741704e-04 -7.59834838e-01] [-3.37496664e-02 -3.04263648e-03 9.99425686e-01 -7.54217414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.415898227 meters 0.07432102207078281 Centerline is valid? [True, True] Translation: X:38.26, Y:-0.77, Z:-0.76 [[ 9.97497438e-01 6.15973175e-02 3.47078180e-02 3.82631468e+01] [-6.16680972e-02 9.98096239e-01 9.71482727e-04 -7.71258340e-01] [-3.45819019e-02 -3.10941663e-03 9.99397030e-01 -7.55649316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.445898227 meters 0.07817205349998625 Centerline is valid? [True, True] Translation: X:38.29, Y:-0.77, Z:-0.76 [[ 9.97583391e-01 6.03342996e-02 3.44550400e-02 3.82923460e+01] [-6.04030978e-02 9.98173606e-01 9.58401595e-04 -7.66777347e-01] [-3.43342870e-02 -3.03727666e-03 9.99405789e-01 -7.56416591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.475898227 meters 0.08410199198073237 Centerline is valid? [True, True] Translation: X:38.32, Y:-0.76, Z:-0.76 [[ 9.97644642e-01 5.98918323e-02 3.34385397e-02 3.83232599e+01] [-5.99564033e-02 9.98200563e-01 9.30776212e-04 -7.59539454e-01] [-3.33226233e-02 -2.93343847e-03 9.99440342e-01 -7.59233891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.505898227 meters 0.0896274414727632 Centerline is valid? [True, True] Translation: X:38.35, Y:-0.75, Z:-0.76 [[ 9.97709764e-01 5.94673862e-02 3.22313041e-02 3.83544692e+01] [-5.95270713e-02 9.98226291e-01 8.94530472e-04 -7.51953958e-01] [-3.21209398e-02 -2.81111692e-03 9.99480036e-01 -7.62391556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.535898227 meters 0.09211444859104216 Centerline is valid? [True, True] Translation: X:38.38, Y:-0.75, Z:-0.76 [[ 9.97672094e-01 6.02600868e-02 3.19235623e-02 3.83848838e+01] [-6.03188714e-02 9.98178771e-01 8.80710793e-04 -7.45884672e-01] [-3.18123504e-02 -2.80425383e-03 9.99489925e-01 -7.63934139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.565898227 meters 0.09320141198961482 Centerline is valid? [True, True] Translation: X:38.42, Y:-0.74, Z:-0.76 [[ 9.97574945e-01 6.14507961e-02 3.26807085e-02 3.84158578e+01] [-6.15129476e-02 9.98105881e-01 8.98828280e-04 -7.41483475e-01] [-3.25635736e-02 -2.90693528e-03 9.99465439e-01 -7.63877102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.595898227 meters 0.09602073434122922 Centerline is valid? [True, True] Translation: X:38.45, Y:-0.74, Z:-0.77 [[ 9.97473663e-01 6.27137391e-02 3.33658200e-02 3.84473105e+01] [-6.27792149e-02 9.98027018e-01 9.17329114e-04 -7.41809333e-01] [-3.32424607e-02 -3.00969162e-03 9.99442785e-01 -7.67512429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.625898227 meters 0.09418111345083159 Centerline is valid? [True, True] Translation: X:38.48, Y:-0.73, Z:-0.76 [[ 9.97361071e-01 6.40384852e-02 3.42047608e-02 3.84776356e+01] [-6.41080427e-02 9.97942521e-01 9.39600022e-04 -7.34863792e-01] [-3.40742147e-02 -3.12992075e-03 9.99414404e-01 -7.63001101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.655898227 meters 0.08361413302130437 Centerline is valid? [True, True] Translation: X:38.51, Y:-0.75, Z:-0.76 [[ 9.97422129e-01 6.31468750e-02 3.40817981e-02 3.85093034e+01] [-6.32154049e-02 9.97999467e-01 9.35871767e-04 -7.46230393e-01] [-3.39545189e-02 -3.08795388e-03 9.99418609e-01 -7.64134236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.685898227 meters 0.08341839289620431 Centerline is valid? [True, True] Translation: X:38.54, Y:-0.75, Z:-0.77 [[ 9.97611236e-01 6.03754702e-02 3.35652125e-02 3.85402864e+01] [-6.04403542e-02 9.98171386e-01 9.20884694e-04 -7.47775035e-01] [-3.34482358e-02 -2.94737825e-03 9.99436105e-01 -7.69009475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.715898227 meters 0.08356165299789525 Centerline is valid? [True, True] Translation: X:38.57, Y:-0.74, Z:-0.77 [[ 9.98035430e-01 5.18010406e-02 3.52410649e-02 3.85697239e+01] [-5.18672543e-02 9.98653520e-01 9.66654725e-04 -7.44043182e-01] [-3.51435398e-02 -2.79261294e-03 9.99378373e-01 -7.65068728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.745898227 meters 0.07451443528610521 Centerline is valid? [True, True] Translation: X:38.60, Y:-0.76, Z:-0.77 [[ 9.98272419e-01 4.60068058e-02 3.65452052e-02 3.86011128e+01] [-4.60741672e-02 9.98937518e-01 1.00275380e-03 -7.60565609e-01] [-3.64602431e-02 -2.68481135e-03 9.99331498e-01 -7.66500042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.775898227 meters 0.07598035225416473 Centerline is valid? [True, True] Translation: X:38.63, Y:-0.75, Z:-0.76 [[ 9.98438315e-01 4.13487095e-02 3.75661358e-02 3.86304281e+01] [-4.14165999e-02 9.99141433e-01 1.03048782e-03 -7.54954825e-01] [-3.74912734e-02 -2.58474014e-03 9.99293612e-01 -7.62311304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.805898227 meters 0.07228720856813936 Centerline is valid? [True, True] Translation: X:38.66, Y:-0.76, Z:-0.76 [[ 9.98549975e-01 3.70059686e-02 3.90961171e-02 3.86606973e+01] [-3.70762019e-02 9.99311866e-01 1.07266413e-03 -7.59263728e-01] [-3.90295188e-02 -2.52064428e-03 9.99234879e-01 -7.61442002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.835898227 meters 0.07611918061910136 Centerline is valid? [True, True] Translation: X:38.69, Y:-0.75, Z:-0.76 [[ 9.98532043e-01 3.74467568e-02 3.91343803e-02 3.86918031e+01] [-3.75174490e-02 9.99295396e-01 1.07331110e-03 -7.53414345e-01] [-3.90666141e-02 -2.53995764e-03 9.99233380e-01 -7.62327857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.865898227 meters 0.07486888708504753 Centerline is valid? [True, True] Translation: X:38.72, Y:-0.75, Z:-0.76 [[ 9.98501813e-01 3.88841062e-02 3.84987730e-02 3.87232867e+01] [-3.89533908e-02 9.99240476e-01 1.05090452e-03 -7.53717493e-01] [-3.84286688e-02 -2.54898782e-03 9.99258095e-01 -7.64583667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.895898226999996 meters 0.07058251886792377 Centerline is valid? [True, True] Translation: X:38.76, Y:-0.76, Z:-0.77 [[ 9.98481662e-01 4.01880129e-02 3.76735123e-02 3.87551972e+01] [-4.02552420e-02 9.99188901e-01 1.02736816e-03 -7.61902294e-01] [-3.76016675e-02 -2.54236462e-03 9.99289573e-01 -7.70264087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.925898227 meters 0.07133587196952941 Centerline is valid? [True, True] Translation: X:38.78, Y:-0.75, Z:-0.77 [[ 9.98426961e-01 4.26203330e-02 3.64295350e-02 3.87845030e+01] [-4.26846161e-02 9.99088108e-01 9.88310300e-04 -7.53552391e-01] [-3.63541931e-02 -2.54173637e-03 9.99335735e-01 -7.70571908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.955898227 meters 0.06833777978080308 Centerline is valid? [True, True] Translation: X:38.82, Y:-0.76, Z:-0.77 [[ 9.98406290e-01 4.33415094e-02 3.61440610e-02 3.88165311e+01] [-4.34052665e-02 9.99057066e-01 9.80792266e-04 -7.56034657e-01] [-3.60674705e-02 -2.54807177e-03 9.99346109e-01 -7.72313496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.985898227 meters 0.07157953747401405 Centerline is valid? [True, True] Translation: X:38.85, Y:-0.75, Z:-0.77 [[ 9.98434315e-01 4.33265121e-02 3.53798352e-02 3.88470858e+01] [-4.33873937e-02 9.99057868e-01 9.54494531e-04 -7.51313775e-01] [-3.53051477e-02 -2.48803893e-03 9.99373482e-01 -7.74937845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.015898227 meters 0.0680112234719384 Centerline is valid? [True, True] Translation: X:38.88, Y:-0.75, Z:-0.78 [[ 9.98448934e-01 4.29813768e-02 3.53882370e-02 3.88792163e+01] [-4.30418878e-02 9.99072817e-01 9.49518428e-04 -7.54869626e-01] [-3.53146141e-02 -2.47122219e-03 9.99373189e-01 -7.76007247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.045898227 meters 0.06326355368987621 Centerline is valid? [True, True] Translation: X:38.91, Y:-0.76, Z:-0.78 [[ 9.98422386e-01 4.28857050e-02 3.62430020e-02 3.89117068e+01] [-4.29488997e-02 9.99076803e-01 9.66528125e-04 -7.58246500e-01] [-3.61680923e-02 -2.52160037e-03 9.99342539e-01 -7.76049195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.075898226999996 meters 0.06889646262205767 Centerline is valid? [True, True] Translation: X:38.94, Y:-0.75, Z:-0.78 [[ 9.98392380e-01 4.31593245e-02 3.67413810e-02 3.89428037e+01] [-4.32242309e-02 9.99064922e-01 9.73714457e-04 -7.46881664e-01] [-3.66650000e-02 -2.56026703e-03 9.99324333e-01 -7.77022235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.105898227 meters 0.06544414688666617 Centerline is valid? [True, True] Translation: X:38.98, Y:-0.74, Z:-0.78 [[ 9.98359597e-01 4.41194728e-02 3.64909096e-02 3.89750293e+01] [-4.41839363e-02 9.99022950e-01 9.61635717e-04 -7.43630840e-01] [-3.64128293e-02 -2.57237027e-03 9.99333522e-01 -7.78805589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.135898227 meters 0.06536839372460859 Centerline is valid? [True, True] Translation: X:39.01, Y:-0.74, Z:-0.78 [[ 9.98370666e-01 4.44434680e-02 3.57881542e-02 3.90066130e+01] [-4.45056195e-02 9.99008690e-01 9.41490408e-04 -7.40116129e-01] [-3.57108339e-02 -2.53273038e-03 9.99358955e-01 -7.81031922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.165898227 meters 0.0643843506850534 Centerline is valid? [True, True] Translation: X:39.04, Y:-0.74, Z:-0.78 [[ 9.98530654e-01 4.18262120e-02 3.44543452e-02 3.90364292e+01] [-4.18820677e-02 9.99122155e-01 9.00708616e-04 -7.36303405e-01] [-3.43864264e-02 -2.34240438e-03 9.99405867e-01 -7.84879389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.195898227 meters 0.0626191007667667 Centerline is valid? [True, True] Translation: X:39.07, Y:-0.74, Z:-0.79 [[ 9.98641047e-01 3.91024737e-02 3.44536903e-02 3.90672332e+01] [-3.91567241e-02 9.99232675e-01 9.00994093e-04 -7.36377266e-01] [-3.43920220e-02 -2.24886333e-03 9.99405889e-01 -7.86135576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.225898227 meters 0.07811721651775162 Centerline is valid? [True, True] Translation: X:39.10, Y:-0.72, Z:-0.79 [[ 9.98773815e-01 3.50281132e-02 3.49842550e-02 3.90966779e+01] [-3.50815559e-02 9.99384034e-01 9.14762367e-04 -7.15214511e-01] [-3.49306635e-02 -2.14094280e-03 9.99387445e-01 -7.87359749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.255898226999996 meters 0.05502017059849001 Centerline is valid? [True, True] Translation: X:39.13, Y:-0.75, Z:-0.79 [[ 9.98913660e-01 3.00602212e-02 3.56073497e-02 3.91284534e+01] [-3.01124423e-02 9.99546084e-01 9.31089744e-04 -7.48408151e-01] [-3.55631982e-02 -2.00230253e-03 9.99365424e-01 -7.89546092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.285898227 meters 0.05274126607360079 Centerline is valid? [True, True] Translation: X:39.16, Y:-0.76, Z:-0.79 [[ 9.99085866e-01 2.20865363e-02 3.66007832e-02 3.91580679e+01] [-2.21363659e-02 9.99754503e-01 9.56705906e-04 -7.56305026e-01] [-3.65706674e-02 -1.76603968e-03 9.99329509e-01 -7.87933109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.315898227 meters 0.053098605246531566 Centerline is valid? [True, True] Translation: X:39.19, Y:-0.76, Z:-0.79 [[ 9.99086610e-01 2.06813404e-02 3.73928976e-02 3.91895515e+01] [-2.07323863e-02 9.99784583e-01 9.77839697e-04 -7.57639351e-01] [-3.73646195e-02 -1.75219055e-03 9.99300163e-01 -7.86811184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.345898227 meters 0.050563948505932974 Centerline is valid? [True, True] Translation: X:39.22, Y:-0.75, Z:-0.78 [[ 9.99008511e-01 2.28871432e-02 3.81860321e-02 3.92195857e+01] [-2.29419539e-02 9.99736301e-01 9.97730649e-04 -7.50941035e-01] [-3.81531273e-02 -1.87280360e-03 9.99270149e-01 -7.83533657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.375898227 meters 0.0560810523475781 Centerline is valid? [True, True] Translation: X:39.25, Y:-0.74, Z:-0.79 [[ 9.98989363e-01 2.56546993e-02 3.69064914e-02 3.92500458e+01] [-2.57077782e-02 9.99669035e-01 9.64287627e-04 -7.44805835e-01] [-3.68695382e-02 -1.91209698e-03 9.99318258e-01 -7.89923409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.405898227 meters 0.0577426540938236 Centerline is valid? [True, True] Translation: X:39.28, Y:-0.74, Z:-0.79 [[ 9.98906379e-01 3.06692539e-02 3.52908208e-02 3.92809134e+01] [-3.07208894e-02 9.99527577e-01 9.21694573e-04 -7.39959208e-01] [-3.52458809e-02 -2.00485199e-03 9.99376660e-01 -7.92749592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.435898227 meters 0.06518686996537466 Centerline is valid? [True, True] Translation: X:39.31, Y:-0.73, Z:-0.79 [[ 9.98486469e-01 4.10718656e-02 3.65769371e-02 3.93115060e+01] [-4.11342569e-02 9.99153172e-01 9.54539450e-04 -7.27294295e-01] [-3.65067580e-02 -2.45765985e-03 9.99330384e-01 -7.87553207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.465898227 meters 0.06795437897592219 Centerline is valid? [True, True] Translation: X:39.34, Y:-0.72, Z:-0.79 [[ 9.98311217e-01 4.39345612e-02 3.80061730e-02 3.93408830e+01] [-4.40039810e-02 9.99030864e-01 9.91555387e-04 -7.21084219e-01] [-3.79257763e-02 -2.66230378e-03 9.99277012e-01 -7.86449979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.495898227 meters 0.07840448915227564 Centerline is valid? [True, True] Translation: X:39.37, Y:-0.70, Z:-0.79 [[ 9.98170996e-01 4.59003782e-02 3.93423203e-02 3.93701777e+01] [-4.59762992e-02 9.98942003e-01 1.02669794e-03 -7.04354389e-01] [-3.92535704e-02 -2.83363439e-03 9.99225264e-01 -7.86004820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.525898227 meters 0.07434830581323511 Centerline is valid? [True, True] Translation: X:39.40, Y:-0.71, Z:-0.79 [[ 9.98111483e-01 4.64537708e-02 4.01934779e-02 3.94021289e+01] [-4.65334351e-02 9.98916183e-01 1.04824177e-03 -7.12260309e-01] [-4.01012208e-02 -2.91660275e-03 9.99191366e-01 -7.91487507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.555898227 meters 0.07585489985579891 Centerline is valid? [True, True] Translation: X:39.43, Y:-0.70, Z:-0.79 [[ 9.98231306e-01 4.44180046e-02 3.95132954e-02 3.94315615e+01] [-4.44931826e-02 9.99009162e-01 1.02482497e-03 -7.02224601e-01] [-3.94286235e-02 -2.78108464e-03 9.99218519e-01 -7.91303552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.585898227 meters 0.06823439843871497 Centerline is valid? [True, True] Translation: X:39.46, Y:-0.71, Z:-0.79 [[ 9.98404846e-01 4.15761518e-02 3.81992949e-02 3.94626291e+01] [-4.16443412e-02 9.99132007e-01 9.90806183e-04 -7.10374031e-01] [-3.81249442e-02 -2.58001016e-03 9.99269649e-01 -7.94669140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.615898227 meters 0.06239610388116686 Centerline is valid? [True, True] Translation: X:39.49, Y:-0.72, Z:-0.80 [[ 9.98585423e-01 3.84568427e-02 3.67181781e-02 3.94931185e+01] [-3.85177779e-02 9.99257460e-01 9.53329372e-04 -7.15792107e-01] [-3.66542513e-02 -2.36628344e-03 9.99325206e-01 -7.97231223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.645898226999996 meters 0.05883798328737999 Centerline is valid? [True, True] Translation: X:39.52, Y:-0.72, Z:-0.80 [[ 9.98782612e-01 3.27966556e-02 3.68466290e-02 3.95226931e+01] [-3.28541808e-02 9.99459698e-01 9.56641360e-04 -7.16344162e-01] [-3.67953460e-02 -2.16604257e-03 9.99320475e-01 -7.98310213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.675898227 meters 0.05831238302498914 Centerline is valid? [True, True] Translation: X:39.55, Y:-0.71, Z:-0.80 [[ 9.98830301e-01 3.03817229e-02 3.76162416e-02 3.95523622e+01] [-3.04399683e-02 9.99536120e-01 9.76529183e-04 -7.14824038e-01] [-3.75691235e-02 -2.12042414e-03 9.99291782e-01 -7.98335556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.705898227 meters 0.056773171361563846 Centerline is valid? [True, True] Translation: X:39.58, Y:-0.72, Z:-0.80 [[ 9.98868795e-01 2.88005184e-02 3.78372823e-02 3.95840273e+01] [-2.88583180e-02 9.99583029e-01 9.82202844e-04 -7.15190209e-01] [-3.77932173e-02 -2.07301209e-03 9.99283431e-01 -7.98734462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.735898227 meters 0.053577265896679355 Centerline is valid? [True, True] Translation: X:39.62, Y:-0.72, Z:-0.80 [[ 9.98924585e-01 2.76003645e-02 3.72544382e-02 3.96157853e+01] [-2.76555171e-02 9.99617046e-01 9.65819556e-04 -7.16189809e-01] [-3.72135145e-02 -1.99507165e-03 9.99305346e-01 -7.99891950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.765898227 meters 0.05560953753439972 Centerline is valid? [True, True] Translation: X:39.65, Y:-0.71, Z:-0.80 [[ 9.98922101e-01 2.78695779e-02 3.71203768e-02 3.96479426e+01] [-2.79244653e-02 9.99609574e-01 9.60891555e-04 -7.11088978e-01] [-3.70791044e-02 -1.99642248e-03 9.99310339e-01 -8.00513935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.795898227 meters 0.05217231456985665 Centerline is valid? [True, True] Translation: X:39.68, Y:-0.71, Z:-0.80 [[ 9.98916047e-01 2.99810122e-02 3.56071558e-02 3.96786604e+01] [-3.00326364e-02 9.99548499e-01 9.15734753e-04 -7.10504431e-01] [-3.55636245e-02 -1.98411890e-03 9.99365445e-01 -8.04147406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.825898226999996 meters 0.05644723138403622 Centerline is valid? [True, True] Translation: X:39.71, Y:-0.70, Z:-0.81 [[ 9.98883317e-01 3.17444099e-02 3.49915873e-02 3.97080814e+01] [-3.17953049e-02 9.99493997e-01 8.98857668e-04 -7.02353472e-01] [-3.49453478e-02 -2.01042212e-03 9.99387203e-01 -8.05849580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.855898227 meters 0.06397104920749055 Centerline is valid? [True, True] Translation: X:39.74, Y:-0.69, Z:-0.81 [[ 9.98823124e-01 3.38271208e-02 3.47576349e-02 3.97376696e+01] [-3.38785952e-02 9.99425557e-01 8.92904110e-04 -6.90424490e-01] [-3.47074642e-02 -2.06939311e-03 9.99395372e-01 -8.07760767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.885898227 meters 0.06202071779099599 Centerline is valid? [True, True] Translation: X:39.77, Y:-0.69, Z:-0.81 [[ 9.98717524e-01 3.63952105e-02 3.51950978e-02 3.97685232e+01] [-3.64495174e-02 9.99335088e-01 9.02423120e-04 -6.89044556e-01] [-3.51388523e-02 -2.18411012e-03 9.99380053e-01 -8.07604766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.915898227 meters 0.07050546028983368 Centerline is valid? [True, True] Translation: X:39.80, Y:-0.68, Z:-0.81 [[ 9.98649788e-01 3.75170155e-02 3.59315275e-02 3.97993089e+01] [-3.75743366e-02 9.99293411e-01 9.21110305e-04 -6.75483147e-01] [-3.58715814e-02 -2.26996992e-03 9.99353830e-01 -8.07233758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.945898227 meters 0.06669044775801743 Centerline is valid? [True, True] Translation: X:39.83, Y:-0.68, Z:-0.81 [[ 9.98556599e-01 3.87188011e-02 3.72232763e-02 3.98310333e+01] [-3.87809462e-02 9.99247286e-01 9.48676057e-04 -6.77697935e-01] [-3.71585263e-02 -2.39086061e-03 9.99306523e-01 -8.06920609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.975898227 meters 0.06669044775801743 Centerline is valid? [True, True] Translation: X:39.86, Y:-0.68, Z:-0.81 [[ 9.98549631e-01 3.88980629e-02 3.72233027e-02 3.98635484e+01] [-3.89602935e-02 9.99240310e-01 9.47638637e-04 -6.77023215e-01] [-3.71581633e-02 -2.39649501e-03 9.99306523e-01 -8.08090905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.005898226999996 meters 0.06673161767922761 Centerline is valid? [True, True] Translation: X:39.89, Y:-0.67, Z:-0.81 [[ 9.98477903e-01 4.01412952e-02 3.78226502e-02 3.98945520e+01] [-4.02061867e-02 9.99190947e-01 9.56311872e-04 -6.74812750e-01] [-3.77536621e-02 -2.47556081e-03 9.99284010e-01 -8.08323851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.035898227 meters 0.06733839269359933 Centerline is valid? [True, True] Translation: X:39.92, Y:-0.67, Z:-0.81 [[ 9.98370009e-01 4.28209080e-02 3.77318695e-02 3.99246489e+01] [-4.28873767e-02 9.99079458e-01 9.53600318e-04 -6.71331964e-01] [-3.76563017e-02 -2.57026686e-03 9.99287444e-01 -8.08740875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.065898227 meters 0.06820376594638816 Centerline is valid? [True, True] Translation: X:39.96, Y:-0.67, Z:-0.81 [[ 9.98325910e-01 4.39294652e-02 3.76241979e-02 3.99569466e+01] [-4.39963281e-02 9.99031240e-01 9.50615469e-04 -6.68190446e-01] [-3.75459891e-02 -2.60435061e-03 9.99291507e-01 -8.10199066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.095898227 meters 0.07201640422594424 Centerline is valid? [True, True] Translation: X:39.99, Y:-0.66, Z:-0.81 [[ 9.98268814e-01 4.48673509e-02 3.80302070e-02 3.99878365e+01] [-4.49362735e-02 9.98989395e-01 9.59046934e-04 -6.61038854e-01] [-3.79487436e-02 -2.66632243e-03 9.99276130e-01 -8.11738317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.125898227 meters 0.06945884489734168 Centerline is valid? [True, True] Translation: X:40.02, Y:-0.66, Z:-0.81 [[ 9.98134499e-01 4.68428192e-02 3.91570230e-02 4.00191745e+01] [-4.69172900e-02 9.98898292e-01 9.84590632e-04 -6.61532026e-01] [-3.90677624e-02 -2.81989528e-03 9.99232585e-01 -8.11831596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.155898227 meters 0.08083472883924823 Centerline is valid? [True, True] Translation: X:40.05, Y:-0.65, Z:-0.81 [[ 9.98066743e-01 4.80469336e-02 3.94242237e-02 4.00497704e+01] [-4.81233225e-02 9.98840911e-01 9.90374983e-04 -6.46053357e-01] [-3.93309431e-02 -2.88568496e-03 9.99222072e-01 -8.12299292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.185898227 meters 0.08153661149030722 Centerline is valid? [True, True] Translation: X:40.08, Y:-0.64, Z:-0.81 [[ 9.98034107e-01 4.88062211e-02 3.93175922e-02 4.00815668e+01] [-4.88825525e-02 9.98804051e-01 9.81832632e-04 -6.43882260e-01] [-3.92226508e-02 -2.90184672e-03 9.99226282e-01 -8.13656906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.215898227 meters 0.0839418659694999 Centerline is valid? [True, True] Translation: X:40.11, Y:-0.64, Z:-0.82 [[ 9.98046661e-01 4.97509583e-02 3.77849878e-02 4.01125068e+01] [-4.98219178e-02 9.98757677e-01 9.38129887e-04 -6.38389354e-01] [-3.76913738e-02 -2.81881796e-03 9.99285452e-01 -8.18008665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.245898227 meters 0.08293331825082689 Centerline is valid? [True, True] Translation: X:40.14, Y:-0.64, Z:-0.82 [[ 9.98036060e-01 5.01866022e-02 3.74877011e-02 4.01444772e+01] [-5.02565581e-02 9.98735912e-01 9.25512581e-04 -6.38855842e-01] [-3.73938650e-02 -2.80769776e-03 9.99296661e-01 -8.19809628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.275898227 meters 0.0748794250010791 Centerline is valid? [True, True] Translation: X:40.18, Y:-0.65, Z:-0.82 [[ 9.98037277e-01 5.00480728e-02 3.76402035e-02 4.01773525e+01] [-5.01182925e-02 9.98742862e-01 9.23714191e-04 -6.48490698e-01] [-3.75466545e-02 -2.80836393e-03 9.99290930e-01 -8.20653978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.305898227 meters 0.08333564955779656 Centerline is valid? [True, True] Translation: X:40.21, Y:-0.64, Z:-0.82 [[ 9.98005392e-01 4.95758037e-02 3.90829447e-02 4.02080905e+01] [-4.96510547e-02 9.98766168e-01 9.56551949e-04 -6.36909659e-01] [-3.89873010e-02 -2.89515343e-03 9.99235512e-01 -8.19020441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.335898227 meters 0.08608001349447532 Centerline is valid? [True, True] Translation: X:40.24, Y:-0.63, Z:-0.82 [[ 9.98011082e-01 4.93350550e-02 3.92419724e-02 4.02391976e+01] [-4.94105106e-02 9.98778098e-01 9.54711595e-04 -6.32474651e-01] [-3.91469218e-02 -2.89177864e-03 9.99229281e-01 -8.19848241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.365898227 meters 0.07228854328642223 Centerline is valid? [True, True] Translation: X:40.27, Y:-0.65, Z:-0.82 [[ 9.98096550e-01 4.83535400e-02 3.82780762e-02 4.02712563e+01] [-4.84244219e-02 9.98826420e-01 9.26253226e-04 -6.49090495e-01] [-3.81883662e-02 -2.77808386e-03 9.99266697e-01 -8.23499839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.395898226999996 meters 0.08696909392368293 Centerline is valid? [True, True] Translation: X:40.30, Y:-0.63, Z:-0.82 [[ 9.98092219e-01 4.85213400e-02 3.81785419e-02 4.03030758e+01] [-4.85918943e-02 9.98818291e-01 9.21715589e-04 -6.30529346e-01] [-3.80887031e-02 -2.77512483e-03 9.99270509e-01 -8.24077864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.425898227 meters 0.06925665836679333 Centerline is valid? [True, True] Translation: X:40.34, Y:-0.65, Z:-0.82 [[ 9.98066774e-01 4.86109642e-02 3.87258060e-02 4.03363176e+01] [-4.86833650e-02 9.98813831e-01 9.28209383e-04 -6.54333351e-01] [-3.86347495e-02 -2.81171749e-03 9.99249444e-01 -8.24433546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.455898227 meters 0.07376489392191009 Centerline is valid? [True, True] Translation: X:40.37, Y:-0.65, Z:-0.82 [[ 9.98029388e-01 4.85603901e-02 3.97395126e-02 4.03679695e+01] [-4.86362991e-02 9.98816108e-01 9.45054158e-04 -6.50438957e-01] [-3.96465732e-02 -2.87597465e-03 9.99209627e-01 -8.23304683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.485898227 meters 0.07051696926268582 Centerline is valid? [True, True] Translation: X:40.40, Y:-0.66, Z:-0.82 [[ 9.98124868e-01 4.60418049e-02 4.03348392e-02 4.03992269e+01] [-4.61177247e-02 9.98935557e-01 9.53315133e-04 -6.58639482e-01] [-4.02480127e-02 -2.81167855e-03 9.99185764e-01 -8.23366093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.515898227 meters 0.07325738398771221 Centerline is valid? [True, True] Translation: X:40.43, Y:-0.66, Z:-0.83 [[ 9.98219716e-01 4.49929350e-02 3.91539883e-02 4.04297407e+01] [-4.50636606e-02 9.98983689e-01 9.25225770e-04 -6.56822606e-01] [-3.90725671e-02 -2.68800065e-03 9.99232760e-01 -8.26413612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.545898227 meters 0.07317690888025259 Centerline is valid? [True, True] Translation: X:40.46, Y:-0.66, Z:-0.83 [[ 9.98321329e-01 4.41842301e-02 3.74469895e-02 4.04598855e+01] [-4.42483222e-02 9.99020172e-01 8.84094998e-04 -6.62569571e-01] [-3.73712349e-02 -2.53957735e-03 9.99298224e-01 -8.30370860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.575898226999996 meters 0.07440703206026542 Centerline is valid? [True, True] Translation: X:40.49, Y:-0.66, Z:-0.83 [[ 9.98304424e-01 4.48431561e-02 3.71129075e-02 4.04917130e+01] [-4.49065406e-02 9.98990809e-01 8.75636123e-04 -6.64320715e-01] [-3.70361872e-02 -2.54076371e-03 9.99310695e-01 -8.32030182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.605898227 meters 0.07654357706169944 Centerline is valid? [True, True] Translation: X:40.52, Y:-0.67, Z:-0.83 [[ 9.98250246e-01 4.60626642e-02 3.70766311e-02 4.05227044e+01] [-4.61265516e-02 9.98935226e-01 8.69109368e-04 -6.65057666e-01] [-3.69971194e-02 -2.57780578e-03 9.99312047e-01 -8.32919297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.635898227 meters 0.07857377574489843 Centerline is valid? [True, True] Translation: X:40.55, Y:-0.67, Z:-0.83 [[ 9.98148746e-01 4.79236843e-02 3.74486559e-02 4.05527609e+01] [-4.79899693e-02 9.98847436e-01 8.72622029e-04 -6.65577366e-01] [-3.73636747e-02 -2.66816643e-03 9.99298172e-01 -8.33477763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.665898227 meters 0.08516118595860764 Centerline is valid? [True, True] Translation: X:40.58, Y:-0.66, Z:-0.83 [[ 9.97840700e-01 5.36637316e-02 3.78700692e-02 4.05831306e+01] [-5.37355718e-02 9.98554812e-01 8.80990039e-04 -6.60822798e-01] [-3.77680626e-02 -2.91405754e-03 9.99282283e-01 -8.34353562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.695898227 meters 0.09069272263188323 Centerline is valid? [True, True] Translation: X:40.61, Y:-0.65, Z:-0.84 [[ 9.97636918e-01 5.76968509e-02 3.73048633e-02 4.06130162e+01] [-5.77693475e-02 9.98329580e-01 8.67471099e-04 -6.53428623e-01] [-3.71924981e-02 -3.02049880e-03 9.99303555e-01 -8.36929029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.725898227 meters 0.09570273436215032 Centerline is valid? [True, True] Translation: X:40.64, Y:-0.65, Z:-0.84 [[ 9.97426307e-01 6.20448503e-02 3.59332453e-02 4.06435698e+01] [-6.21149018e-02 9.98068656e-01 8.35350543e-04 -6.46353658e-01] [-3.58120166e-02 -3.06519061e-03 9.99353843e-01 -8.40291292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.755898226999996 meters 0.0918963661881608 Centerline is valid? [True, True] Translation: X:40.67, Y:-0.65, Z:-0.84 [[ 9.96902632e-01 7.08267068e-02 3.41865336e-02 4.06738380e+01] [-7.08952208e-02 9.97483452e-01 7.94590981e-04 -6.48613241e-01] [-3.40442233e-02 -3.21579169e-03 9.99415154e-01 -8.43989223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.785898227 meters 0.09857372401529374 Centerline is valid? [True, True] Translation: X:40.70, Y:-0.64, Z:-0.85 [[ 9.96677166e-01 7.40618623e-02 3.39038068e-02 4.07029891e+01] [-7.41310894e-02 9.97248194e-01 7.87688471e-04 -6.37961423e-01] [-3.37521724e-02 -3.29839724e-03 9.99424790e-01 -8.45776356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.815898227 meters 0.0977930680627933 Centerline is valid? [True, True] Translation: X:40.73, Y:-0.64, Z:-0.85 [[ 9.96561627e-01 7.54943828e-02 3.41397413e-02 4.07335909e+01] [-7.55654192e-02 9.97140531e-01 7.93449236e-04 -6.36251575e-01] [-3.39822188e-02 -3.37050493e-03 9.99416754e-01 -8.46637126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.845898227 meters 0.08790177326173187 Centerline is valid? [True, True] Translation: X:40.77, Y:-0.65, Z:-0.85 [[ 9.96516336e-01 7.58897379e-02 3.45823584e-02 4.07659254e+01] [-7.59628592e-02 9.97110324e-01 8.03560570e-04 -6.46104206e-01] [-3.44214446e-02 -3.42773606e-03 9.99401528e-01 -8.47628137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.875898227 meters 0.10255629514425957 Centerline is valid? [True, False] Translation: X:40.78, Y:-0.64, Z:-0.84 [[ 9.97465484e-01 6.29340010e-02 3.31951855e-02 4.07837332e+01] [-6.34108935e-02 9.97896006e-01 1.35136868e-02 -6.43029435e-01] [-3.22748727e-02 -1.55843725e-02 9.99357524e-01 -8.44870909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.905898227 meters 0.09395407523896517 Centerline is valid? [False, True] Translation: X:40.74, Y:-0.64, Z:-0.84 [[ 9.98419896e-01 4.85401880e-02 2.83118469e-02 4.07392826e+01] [-4.90935029e-02 9.98609878e-01 1.91869800e-02 -6.40771263e-01] [-2.73411503e-02 -2.05465903e-02 9.99414978e-01 -8.38301952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.935898227 meters 0.0934486298042758 Centerline is valid? [True, True] Translation: X:40.77, Y:-0.63, Z:-0.84 [[ 9.98390395e-01 4.73151304e-02 3.12713624e-02 4.07682512e+01] [-4.73840494e-02 9.98875669e-01 1.46610988e-03 -6.29839499e-01] [-3.11668339e-02 -2.94551380e-03 9.99509856e-01 -8.39620804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.965898227 meters 0.09161963917397314 Centerline is valid? [True, True] Translation: X:40.80, Y:-0.63, Z:-0.84 [[ 9.98463813e-01 4.52454658e-02 3.19822045e-02 4.07991012e+01] [-4.53165067e-02 9.98971554e-01 1.49954672e-03 -6.28488585e-01] [-3.18814648e-02 -2.94656492e-03 9.99487314e-01 -8.37979123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.995898227 meters 0.08884725091704411 Centerline is valid? [True, True] Translation: X:40.83, Y:-0.63, Z:-0.84 [[ 9.98712295e-01 4.01693061e-02 3.09867428e-02 4.08284202e+01] [-4.02335683e-02 9.99189246e-01 1.45290172e-03 -6.26440978e-01] [-3.09032581e-02 -2.69773804e-03 9.99518740e-01 -8.40490898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.025898227 meters 0.08658668753277918 Centerline is valid? [True, True] Translation: X:40.86, Y:-0.63, Z:-0.84 [[ 9.98833762e-01 3.80435171e-02 2.97288742e-02 4.08585374e+01] [-3.81017408e-02 9.99272892e-01 1.39425903e-03 -6.26536781e-01] [-2.96542156e-02 -2.52535485e-03 9.99557027e-01 -8.44091292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.055898227 meters 0.08018102955128073 Centerline is valid? [True, True] Translation: X:40.89, Y:-0.63, Z:-0.85 [[ 9.98927841e-01 3.59236688e-02 2.92003095e-02 4.08894494e+01] [-3.59789394e-02 9.99351610e-01 1.36943925e-03 -6.31387873e-01] [-2.91321810e-02 -2.41856716e-03 9.99572642e-01 -8.46537212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.085898227 meters 0.08163378061166024 Centerline is valid? [True, True] Translation: X:40.92, Y:-0.63, Z:-0.85 [[ 9.98933052e-01 3.55195626e-02 2.95147228e-02 4.09207605e+01] [-3.55758418e-02 9.99366021e-01 1.38372418e-03 -6.27264297e-01] [-2.94468619e-02 -2.43225893e-03 9.99563388e-01 -8.46491226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.115898227 meters 0.07775128393927287 Centerline is valid? [True, True] Translation: X:40.95, Y:-0.63, Z:-0.85 [[ 9.98945938e-01 3.48054618e-02 2.99264557e-02 4.09523407e+01] [-3.48628819e-02 9.99391126e-01 1.39891632e-03 -6.30321400e-01] [-2.98595443e-02 -2.44076426e-03 9.99551124e-01 -8.46255961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.145898226999996 meters 0.08135917535406816 Centerline is valid? [True, True] Translation: X:40.98, Y:-0.62, Z:-0.85 [[ 9.98948470e-01 3.42700238e-02 3.04551953e-02 4.09829874e+01] [-3.43292159e-02 9.99409566e-01 1.42268293e-03 -6.23646384e-01] [-3.03884582e-02 -2.46668991e-03 9.99535120e-01 -8.46145518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.175898227 meters 0.07938908692035271 Centerline is valid? [True, True] Translation: X:41.02, Y:-0.62, Z:-0.85 [[ 9.98935925e-01 3.45224213e-02 3.05813673e-02 4.10154966e+01] [-3.45821287e-02 9.99400843e-01 1.42549915e-03 -6.23266478e-01] [-3.05138326e-02 -2.48155110e-03 9.99531264e-01 -8.47297487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.205898227 meters 0.0795056508439603 Centerline is valid? [True, True] Translation: X:41.05, Y:-0.62, Z:-0.85 [[ 9.98927988e-01 3.52464881e-02 3.00093251e-02 4.10475003e+01] [-3.53041749e-02 9.99375640e-01 1.39446082e-03 -6.21156946e-01] [-2.99414387e-02 -2.45242040e-03 9.99548646e-01 -8.49473146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.235898227 meters 0.08098359488030206 Centerline is valid? [True, True] Translation: X:41.08, Y:-0.62, Z:-0.85 [[ 9.98949682e-01 3.62590369e-02 2.80145632e-02 4.10769604e+01] [-3.63096692e-02 9.99339740e-01 1.30061001e-03 -6.17621174e-01] [-2.79489074e-02 -2.31644348e-03 9.99606669e-01 -8.53612292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.265898227 meters 0.09407974163709326 Centerline is valid? [True, True] Translation: X:41.11, Y:-0.60, Z:-0.86 [[ 9.98975973e-01 3.73778740e-02 2.54931316e-02 4.11064782e+01] [-3.74201612e-02 9.99298920e-01 1.18356807e-03 -5.99422447e-01] [-2.54310196e-02 -2.13631316e-03 9.99674297e-01 -8.58731130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.295898227 meters 0.08646241144131059 Centerline is valid? [True, True] Translation: X:41.14, Y:-0.61, Z:-0.86 [[ 9.98982169e-01 3.93387854e-02 2.20700427e-02 4.11371077e+01] [-3.93709453e-02 9.99224139e-01 1.02439253e-03 -6.05939232e-01] [-2.20126211e-02 -1.89226832e-03 9.99755902e-01 -8.63578802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.325898226999996 meters 0.08669659952726297 Centerline is valid? [True, True] Translation: X:41.17, Y:-0.60, Z:-0.86 [[ 9.98897744e-01 4.11000624e-02 2.26733617e-02 4.11675547e+01] [-4.11344550e-02 9.99153066e-01 1.05237802e-03 -6.02294232e-01] [-2.26109061e-02 -1.98387441e-03 9.99742372e-01 -8.62716237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.355898227 meters 0.08530107257998831 Centerline is valid? [True, True] Translation: X:41.20, Y:-0.60, Z:-0.86 [[ 9.98709013e-01 4.34285352e-02 2.63490018e-02 4.11983487e+01] [-4.35023865e-02 9.99050821e-01 2.23582586e-03 -6.01157503e-01] [-2.62268932e-02 -3.37918390e-03 9.99650304e-01 -8.58957827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.385898227 meters 0.08317116165800958 Centerline is valid? [True, True] Translation: X:41.23, Y:-0.60, Z:-0.86 [[ 9.98613792e-01 4.55925521e-02 2.63023618e-02 4.12299882e+01] [-4.56085663e-02 9.98959388e-01 8.95077769e-06 -5.97279622e-01] [-2.62745832e-02 -1.20855138e-03 9.99654033e-01 -8.56656928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.415898227 meters 0.09768191253474878 Centerline is valid? [True, True] Translation: X:41.26, Y:-0.58, Z:-0.86 [[ 9.98582585e-01 4.62375297e-02 2.63611913e-02 4.12597510e+01] [-4.62857606e-02 9.98927492e-01 1.22205582e-03 -5.75242152e-01] [-2.62764139e-02 -2.44047145e-03 9.99651736e-01 -8.57559527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.445898227 meters 0.08933494671949703 Centerline is valid? [True, True] Translation: X:41.29, Y:-0.58, Z:-0.86 [[ 9.98576783e-01 4.63823891e-02 2.63264621e-02 4.12935114e+01] [-4.64304890e-02 9.98920780e-01 1.21839581e-03 -5.81402597e-01] [-2.62415380e-02 -2.43901228e-03 9.99652656e-01 -8.58481670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.475898227 meters 0.08918957021020266 Centerline is valid? [True, True] Translation: X:41.32, Y:-0.57, Z:-0.86 [[ 9.98577405e-01 4.55163177e-02 2.77746635e-02 4.13247386e+01] [-4.55693809e-02 9.98960356e-01 1.28020105e-03 -5.74058077e-01] [-2.76875177e-02 -2.54405406e-03 9.99613390e-01 -8.58743482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.505898226999996 meters 0.08703327716006229 Centerline is valid? [True, True] Translation: X:41.36, Y:-0.57, Z:-0.86 [[ 9.98608779e-01 4.45062202e-02 2.82790272e-02 4.13565865e+01] [-4.45608085e-02 9.99005824e-01 1.30277968e-03 -5.73150012e-01] [-2.81929311e-02 -2.56110354e-03 9.99599219e-01 -8.59053016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.535898227 meters 0.08242412588797828 Centerline is valid? [True, True] Translation: X:41.39, Y:-0.57, Z:-0.86 [[ 9.98749885e-01 4.04241236e-02 2.94033584e-02 4.13872349e+01] [-4.04813574e-02 9.99179377e-01 1.35360222e-03 -5.73252902e-01] [-2.93245112e-02 -2.54219792e-03 9.99566711e-01 -8.57866989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.565898227 meters 0.08487074795860138 Centerline is valid? [True, True] Translation: X:41.42, Y:-0.57, Z:-0.86 [[ 9.98814192e-01 3.82614452e-02 3.01043490e-02 4.14170914e+01] [-3.83204653e-02 9.99264540e-01 1.38581915e-03 -5.67481181e-01] [-3.00291851e-02 -2.53778850e-03 9.99545801e-01 -8.57485939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.595898227 meters 0.08430127271189262 Centerline is valid? [True, True] Translation: X:41.45, Y:-0.57, Z:-0.86 [[ 9.98879552e-01 3.66080984e-02 2.99914516e-02 4.14473834e+01] [-3.66659353e-02 9.99326625e-01 1.38058197e-03 -5.67435274e-01] [-2.99207156e-02 -2.47869972e-03 9.99549202e-01 -8.58090905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.625898227 meters 0.07861422026405615 Centerline is valid? [True, True] Translation: X:41.48, Y:-0.58, Z:-0.86 [[ 9.99000087e-01 3.33446891e-02 2.97818458e-02 4.14789765e+01] [-3.34002788e-02 9.99441115e-01 1.37090575e-03 -5.76108863e-01] [-2.97194887e-02 -2.36425691e-03 9.99555482e-01 -8.59506959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.655898227 meters 0.07804298466175653 Centerline is valid? [True, True] Translation: X:41.51, Y:-0.58, Z:-0.86 [[ 9.99040898e-01 3.18422268e-02 3.00558836e-02 4.15083221e+01] [-3.18981565e-02 9.99490167e-01 1.38310160e-03 -5.76481745e-01] [-2.99965191e-02 -2.34050234e-03 9.99547263e-01 -8.60953661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.685898227 meters 0.08231132870840725 Centerline is valid? [True, True] Translation: X:41.54, Y:-0.57, Z:-0.86 [[ 9.99070214e-01 3.10777845e-02 2.98810633e-02 4.15389126e+01] [-3.11326870e-02 9.99514316e-01 1.37377324e-03 -5.69904211e-01] [-2.98238567e-02 -2.30277372e-03 9.99552517e-01 -8.62178432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.715898227 meters 0.07819785610974286 Centerline is valid? [True, True] Translation: X:41.57, Y:-0.57, Z:-0.87 [[ 9.99085390e-01 3.10349402e-02 2.94145468e-02 4.15713954e+01] [-3.10880943e-02 9.99515735e-01 1.35136427e-03 -5.74260071e-01] [-2.93583629e-02 -2.26457050e-03 9.99566385e-01 -8.65156208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.745898227 meters 0.08326059347463036 Centerline is valid? [True, True] Translation: X:41.60, Y:-0.57, Z:-0.87 [[ 9.99152610e-01 3.13042986e-02 2.67226904e-02 4.16025819e+01] [-3.13481581e-02 9.99507776e-01 1.22383078e-03 -5.68626419e-01] [-2.66712257e-02 -2.06050084e-03 9.99642136e-01 -8.69835096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.775898227 meters 0.08544911965730367 Centerline is valid? [True, True] Translation: X:41.63, Y:-0.57, Z:-0.87 [[ 9.99145543e-01 3.21438005e-02 2.59799893e-02 4.16337692e+01] [-3.21854824e-02 9.99481207e-01 1.18771118e-03 -5.65634708e-01] [-2.59283335e-02 -2.02287482e-03 9.99661758e-01 -8.71501486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.805898227 meters 0.07805137089455294 Centerline is valid? [True, True] Translation: X:41.67, Y:-0.57, Z:-0.87 [[ 9.99109628e-01 3.36156459e-02 2.54939223e-02 4.16655948e+01] [-3.36561633e-02 9.99432796e-01 1.16176022e-03 -5.74235641e-01] [-2.54404087e-02 -2.01875343e-03 9.99674302e-01 -8.72500650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.835898227 meters 0.08099883782747364 Centerline is valid? [True, True] Translation: X:41.70, Y:-0.57, Z:-0.87 [[ 9.98973615e-01 3.80364682e-02 2.45956109e-02 4.16958589e+01] [-3.80754957e-02 9.99274237e-01 1.12023282e-03 -5.70000483e-01] [-2.45351506e-02 -2.05557310e-03 9.99696855e-01 -8.72684398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.865898227 meters 0.08082604284076306 Centerline is valid? [True, True] Translation: X:41.73, Y:-0.57, Z:-0.87 [[ 9.98899841e-01 3.99143983e-02 2.46160375e-02 4.17263062e+01] [-3.99540555e-02 9.99200889e-01 1.12111437e-03 -5.68519834e-01] [-2.45516179e-02 -2.10339149e-03 9.99696351e-01 -8.73190902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.895898226999996 meters 0.08082604284076306 Centerline is valid? [True, True] Translation: X:41.76, Y:-0.57, Z:-0.87 [[ 9.98892463e-01 4.00986017e-02 2.46160270e-02 4.17588686e+01] [-4.01383201e-02 9.99193504e-01 1.12134534e-03 -5.67177042e-01] [-2.45512099e-02 -2.10814938e-03 9.99696351e-01 -8.74077171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.925898227 meters 0.07655073534179874 Centerline is valid? [True, True] Translation: X:41.79, Y:-0.57, Z:-0.87 [[ 9.98857409e-01 4.11498138e-02 2.43016158e-02 4.17907199e+01] [-4.11887230e-02 9.99150776e-01 1.10250722e-03 -5.69826399e-01] [-2.42356103e-02 -2.10220003e-03 9.99704064e-01 -8.74984251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.955898227 meters 0.0834758364406313 Centerline is valid? [True, True] Translation: X:41.82, Y:-0.55, Z:-0.88 [[ 9.98805551e-01 4.17176452e-02 2.54383414e-02 4.18214809e+01] [-4.17603590e-02 9.99126994e-01 1.14995633e-03 -5.54778192e-01] [-2.53681601e-02 -2.21089704e-03 9.99675732e-01 -8.76822090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.985898227 meters 0.09344499011802944 Centerline is valid? [True, True] Translation: X:41.85, Y:-0.54, Z:-0.87 [[ 9.98761345e-01 4.16798111e-02 2.71766190e-02 4.18520034e+01] [-4.17284298e-02 9.99128240e-01 1.22408082e-03 -5.38184105e-01] [-2.71019080e-02 -2.35660224e-03 9.99629898e-01 -8.74959065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.015898227 meters 0.08259231802950665 Centerline is valid? [True, True] Translation: X:41.88, Y:-0.55, Z:-0.87 [[ 9.98749351e-01 4.09303223e-02 2.87130969e-02 4.18841146e+01] [-4.09841669e-02 9.99158965e-01 1.28901816e-03 -5.49168257e-01] [-2.86361883e-02 -2.46418841e-03 9.99586863e-01 -8.72985338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.045898227 meters 0.08043173066489137 Centerline is valid? [True, True] Translation: X:41.92, Y:-0.55, Z:-0.87 [[ 9.98893087e-01 3.76993287e-02 2.81311457e-02 4.19151419e+01] [-3.77497224e-02 9.99286428e-01 1.26227194e-03 -5.49864249e-01] [-2.80634853e-02 -2.32281765e-03 9.99603444e-01 -8.74774930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.075898226999996 meters 0.08068551634427222 Centerline is valid? [True, True] Translation: X:41.94, Y:-0.55, Z:-0.87 [[ 9.98982146e-01 3.55222313e-02 2.78000458e-02 4.19443802e+01] [-3.55706015e-02 9.99366388e-01 1.24718573e-03 -5.46058225e-01] [-2.77381286e-02 -2.23478063e-03 9.99612726e-01 -8.74729244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.105898227 meters 0.07254599706730322 Centerline is valid? [True, True] Translation: X:41.98, Y:-0.55, Z:-0.88 [[ 9.99048973e-01 3.34992125e-02 2.79097256e-02 4.19751148e+01] [-3.35471881e-02 9.99436350e-01 1.25236343e-03 -5.54544927e-01] [-2.78520411e-02 -2.18746521e-03 9.99609663e-01 -8.75429135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.135898227 meters 0.07290897098611611 Centerline is valid? [True, True] Translation: X:42.00, Y:-0.55, Z:-0.87 [[ 9.99008946e-01 3.10532931e-02 3.18875922e-02 4.20047394e+01] [-3.11146935e-02 9.99514796e-01 1.43100316e-03 -5.51744382e-01] [-3.18276828e-02 -2.42175761e-03 9.99490437e-01 -8.71803678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.165898227 meters 0.07355855511386478 Centerline is valid? [True, True] Translation: X:42.04, Y:-0.55, Z:-0.87 [[ 9.98983912e-01 3.05314165e-02 3.31508239e-02 4.20361075e+01] [-3.05974742e-02 9.99530681e-01 1.48704918e-03 -5.49334513e-01] [-3.30898639e-02 -2.49986969e-03 9.99449254e-01 -8.71250999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.195898227 meters 0.07468150592581678 Centerline is valid? [True, True] Translation: X:42.07, Y:-0.55, Z:-0.87 [[ 9.98993703e-01 3.04343089e-02 3.29444020e-02 4.20676927e+01] [-3.04993304e-02 9.99533702e-01 1.47283236e-03 -5.46793612e-01] [-3.28842154e-02 -2.47613246e-03 9.99456101e-01 -8.72695237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.225898227 meters 0.07415084216425628 Centerline is valid? [True, True] Translation: X:42.10, Y:-0.55, Z:-0.88 [[ 9.99023458e-01 3.08408605e-02 3.16381444e-02 4.20999622e+01] [-3.09008739e-02 9.99521460e-01 1.40956337e-03 -5.46870544e-01] [-3.15795321e-02 -2.38583318e-03 9.99498395e-01 -8.75055149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.255898226999996 meters 0.07735275559340087 Centerline is valid? [True, True] Translation: X:42.13, Y:-0.54, Z:-0.88 [[ 9.99038098e-01 3.19325604e-02 3.00531400e-02 4.21294638e+01] [-3.19870752e-02 9.99487391e-01 1.33481317e-03 -5.42743305e-01] [-2.99951105e-02 -2.29484126e-03 9.99547411e-01 -8.78161537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.285898227 meters 0.08352845477555473 Centerline is valid? [True, True] Translation: X:42.16, Y:-0.53, Z:-0.88 [[ 9.99011687e-01 3.30984501e-02 2.96672000e-02 4.21594688e+01] [-3.31520832e-02 9.99449450e-01 1.31764338e-03 -5.33423738e-01] [-2.96072548e-02 -2.29987062e-03 9.99558963e-01 -8.79084823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.315898227 meters 0.07226195892969478 Centerline is valid? [True, True] Translation: X:42.19, Y:-0.55, Z:-0.88 [[ 9.98973249e-01 3.43181878e-02 2.95754908e-02 4.21909351e+01] [-3.43720110e-02 9.99408245e-01 1.31323738e-03 -5.45431557e-01] [-2.95129215e-02 -2.32845811e-03 9.99561687e-01 -8.81323141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.345898227 meters 0.0844725091898731 Centerline is valid? [True, True] Translation: X:42.22, Y:-0.53, Z:-0.88 [[ 9.98867715e-01 3.84613558e-02 2.80002054e-02 4.22201955e+01] [-3.85112037e-02 9.99257395e-01 1.24298516e-03 -5.29155574e-01] [-2.79316054e-02 -2.31989936e-03 9.99607145e-01 -8.84928622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.375898227 meters 0.08120600219152756 Centerline is valid? [True, True] Translation: X:42.25, Y:-0.53, Z:-0.89 [[ 9.98842757e-01 4.00928282e-02 2.65652205e-02 4.22515029e+01] [-4.01382671e-02 9.99193439e-01 1.17922696e-03 -5.32972854e-01] [-2.64965155e-02 -2.24414423e-03 9.99646387e-01 -8.87140496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.405898227 meters 0.08005035543511359 Centerline is valid? [True, True] Translation: X:42.28, Y:-0.53, Z:-0.89 [[ 9.98816944e-01 4.13534044e-02 2.55853270e-02 4.22827649e+01] [-4.13959554e-02 9.99142175e-01 1.13546525e-03 -5.33875801e-01] [-2.55164239e-02 -2.19325099e-03 9.99671997e-01 -8.89542419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.435898227 meters 0.09156032667270343 Centerline is valid? [True, True] Translation: X:42.31, Y:-0.52, Z:-0.89 [[ 9.98803130e-01 4.22254760e-02 2.46843337e-02 4.23134436e+01] [-4.22653403e-02 9.99105821e-01 1.09524167e-03 -5.17949555e-01] [-2.46160143e-02 -2.13722257e-03 9.99694695e-01 -8.91712820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.465898227 meters 0.09065149675191005 Centerline is valid? [True, True] Translation: X:42.35, Y:-0.52, Z:-0.90 [[ 9.98843639e-01 4.25649875e-02 2.23518731e-02 4.23457278e+01] [-4.25976902e-02 9.99091817e-01 9.88784434e-04 -5.17692587e-01] [-2.22894859e-02 -1.93977921e-03 9.99749677e-01 -8.97229375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.495898227 meters 0.08488797954507611 Centerline is valid? [True, True] Translation: X:42.38, Y:-0.52, Z:-0.90 [[ 9.98889746e-01 4.21651437e-02 2.10089326e-02 4.23781461e+01] [-4.21938841e-02 9.99109012e-01 9.26419187e-04 -5.24445574e-01] [-2.09511513e-02 -1.81183909e-03 9.99778859e-01 -9.00296068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.525898227 meters 0.08586427675109898 Centerline is valid? [True, True] Translation: X:42.41, Y:-0.52, Z:-0.90 [[ 9.98908890e-01 4.18585113e-02 2.07097636e-02 4.24096080e+01] [-4.18863067e-02 9.99121969e-01 9.10002255e-04 -5.22173349e-01] [-2.06534884e-02 -1.77646485e-03 9.99785116e-01 -9.02067094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.555898227 meters 0.0859192608894772 Centerline is valid? [True, True] Translation: X:42.44, Y:-0.52, Z:-0.90 [[ 9.98735780e-01 4.46395314e-02 2.31117781e-02 4.24405780e+01] [-4.46747801e-02 9.99001072e-01 1.01081025e-03 -5.17952464e-01] [-2.30435690e-02 -2.04204597e-03 9.99732376e-01 -8.98178331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.585898227 meters 0.09116422973726795 Centerline is valid? [True, True] Translation: X:42.47, Y:-0.51, Z:-0.90 [[ 9.98563672e-01 4.77583143e-02 2.42845087e-02 4.24703045e+01] [-4.77981364e-02 9.98856452e-01 1.06167517e-03 -5.08777164e-01] [-2.42060344e-02 -2.22090452e-03 9.99704524e-01 -8.98126156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.615898227 meters 0.09204586556394424 Centerline is valid? [True, True] Translation: X:42.50, Y:-0.50, Z:-0.90 [[ 9.98347729e-01 5.18158538e-02 2.48380598e-02 4.25004689e+01] [-5.18587419e-02 9.98653840e-01 1.08526051e-03 -5.01250329e-01] [-2.47483901e-02 -2.37153790e-03 9.99690899e-01 -8.95781183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.645898226999996 meters 0.10180466258012623 Centerline is valid? [True, False] Translation: X:42.46, Y:-0.49, Z:-0.90 [[ 9.98364136e-01 5.20061819e-02 2.37572849e-02 4.24631248e+01] [-5.20647376e-02 9.98641994e-01 1.85246740e-03 -4.92829504e-01] [-2.36286826e-02 -3.08635382e-03 9.99716040e-01 -8.99191067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.675898227 meters 0.10346666927252361 Centerline is valid? [False, False] Translation: X:42.46, Y:-0.49, Z:-0.90 [[ 9.98803245e-01 4.31716111e-02 2.29845580e-02 4.24634493e+01] [-4.34552913e-02 9.98983434e-01 1.19889886e-02 -4.88837567e-01] [-2.24436087e-02 -1.29734414e-02 9.99663931e-01 -8.98929189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.705898227 meters 0.09128747453261775 Centerline is valid? [False, True] Translation: X:42.44, Y:-0.48, Z:-0.91 [[ 9.98891078e-01 3.68543963e-02 2.92979195e-02 4.24436923e+01] [-3.72082230e-02 9.99239919e-01 1.16246486e-02 -4.76068378e-01] [-2.88472313e-02 -1.27018813e-02 9.99503126e-01 -9.05109620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.735898227 meters 0.10065562146802158 Centerline is valid? [True, False] Translation: X:42.44, Y:-0.47, Z:-0.90 [[ 9.99368757e-01 2.66479433e-02 2.34941308e-02 4.24441833e+01] [-2.70949068e-02 9.99453878e-01 1.89159174e-02 -4.71517979e-01] [-2.29772298e-02 -1.95405481e-02 9.99545003e-01 -9.01875215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.765898227 meters 0.10791564810554126 Centerline is valid? [False, False] Translation: X:42.44, Y:-0.47, Z:-0.90 [[ 9.99482617e-01 2.19303157e-02 2.35278520e-02 4.24440375e+01] [-2.22459736e-02 9.99664859e-01 1.32395433e-02 -4.65674570e-01] [-2.32296195e-02 -1.37560934e-02 9.99635511e-01 -9.02497306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.795898227 meters 0.09257561580151986 Centerline is valid? [False, True] Translation: X:42.43, Y:-0.46, Z:-0.90 [[ 9.99747454e-01 1.27545425e-02 1.85026769e-02 4.24314270e+01] [-1.30390767e-02 9.99797317e-01 1.53397498e-02 -4.59295871e-01] [-1.83032752e-02 -1.55771336e-02 9.99711130e-01 -9.02363931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.825898226999996 meters 0.08888359726022023 Centerline is valid? [True, True] Translation: X:42.46, Y:-0.45, Z:-0.91 [[ 9.99780532e-01 8.81959571e-03 1.90027169e-02 4.24613952e+01] [-8.85061715e-03 9.99959633e-01 1.54899041e-03 -4.51913309e-01] [-1.89882883e-02 -1.71683623e-03 9.99818232e-01 -9.05406504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.855898227 meters 0.08390555372070096 Centerline is valid? [True, True] Translation: X:42.49, Y:-0.45, Z:-0.91 [[ 9.99804886e-01 4.86894485e-03 1.91437557e-02 4.24917052e+01] [-4.89970957e-03 9.99986779e-01 1.56046142e-03 -4.52745436e-01] [-1.91359048e-02 -1.65395579e-03 9.99815524e-01 -9.06251882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.885898227 meters 0.0891891869429737 Centerline is valid? [True, True] Translation: X:42.52, Y:-0.44, Z:-0.91 [[ 9.99805569e-01 1.37353542e-03 1.96707158e-02 4.25202383e+01] [-1.40534525e-03 9.99997727e-01 1.60338377e-03 -4.41439080e-01] [-1.96684688e-02 -1.63071617e-03 9.99805227e-01 -9.06056136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.915898227 meters 0.07702951755522922 Centerline is valid? [True, True] Translation: X:42.55, Y:-0.45, Z:-0.91 [[ 9.99796535e-01 -3.50857568e-03 1.98639975e-02 4.25514840e+01] [ 3.47709014e-03 9.99992644e-01 1.61937180e-03 -4.51420332e-01] [-1.98695331e-02 -1.54997340e-03 9.99801380e-01 -9.05593332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.945898227 meters 0.0708272688997862 Centerline is valid? [True, True] Translation: X:42.58, Y:-0.46, Z:-0.91 [[ 9.99811970e-01 -4.48251198e-03 1.88661440e-02 4.25838226e+01] [ 4.45428452e-03 9.99988897e-01 1.53795229e-03 -4.55553424e-01] [-1.88728284e-02 -1.45362794e-03 9.99820836e-01 -9.08777589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.975898227 meters 0.07653346439328255 Centerline is valid? [True, True] Translation: X:42.61, Y:-0.44, Z:-0.91 [[ 9.99835611e-01 -3.49155995e-03 1.77921466e-02 4.26138274e+01] [ 3.46631012e-03 9.99992941e-01 1.44979743e-03 -4.41940004e-01] [-1.77970831e-02 -1.38788600e-03 9.99840656e-01 -9.08205635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.005898226999996 meters 0.08462823757678255 Centerline is valid? [True, True] Translation: X:42.64, Y:-0.42, Z:-0.91 [[ 9.99861933e-01 1.65768530e-03 1.65338209e-02 4.26415017e+01] [-1.68017945e-03 9.99997682e-01 1.34669498e-03 -4.22021049e-01] [-1.65315502e-02 -1.37428884e-03 9.99862400e-01 -9.10789222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.035898227 meters 0.08539506569737877 Centerline is valid? [True, True] Translation: X:42.67, Y:-0.41, Z:-0.91 [[ 9.99859135e-01 5.03579907e-03 1.60109814e-02 4.26712476e+01] [-5.05731513e-03 9.99986362e-01 1.30362626e-03 -4.14843266e-01] [-1.60041982e-02 -1.38441521e-03 9.99870966e-01 -9.12748265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.065898227 meters 0.09163058516584154 Centerline is valid? [True, True] Translation: X:42.70, Y:-0.40, Z:-0.92 [[ 9.99828448e-01 1.11236982e-02 1.48100725e-02 4.27007935e+01] [-1.11427703e-02 9.99937190e-01 1.20588246e-03 -3.96639432e-01] [-1.47957284e-02 -1.37070082e-03 9.99889598e-01 -9.15354999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.095898227 meters 0.09778091694162733 Centerline is valid? [True, True] Translation: X:42.73, Y:-0.38, Z:-0.91 [[ 9.99798470e-01 1.28341538e-02 1.54370693e-02 4.27294856e+01] [-1.28550759e-02 9.99916580e-01 1.25684487e-03 -3.82423006e-01] [-1.54196510e-02 -1.45503627e-03 9.99880051e-01 -9.14541591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.125898227 meters 0.09622986103182651 Centerline is valid? [True, True] Translation: X:42.76, Y:-0.38, Z:-0.91 [[ 9.99759207e-01 1.39047411e-02 1.69760454e-02 4.27607363e+01] [-1.39302001e-02 9.99902014e-01 1.38237079e-03 -3.77564253e-01] [-1.69551604e-02 -1.61851764e-03 9.99854941e-01 -9.11937763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.155898227 meters 0.09391140869265692 Centerline is valid? [True, True] Translation: X:42.79, Y:-0.37, Z:-0.91 [[ 9.99711272e-01 1.47937138e-02 1.89345690e-02 4.27917967e+01] [-1.48255362e-02 9.99888908e-01 1.54137944e-03 -3.73159676e-01] [-1.89096628e-02 -1.82164954e-03 9.99819537e-01 -9.09795085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.185898227 meters 0.09931959751019921 Centerline is valid? [True, True] Translation: X:42.82, Y:-0.35, Z:-0.91 [[ 9.99674749e-01 1.67753110e-02 1.92089683e-02 4.28196409e+01] [-1.68084168e-02 9.99857506e-01 1.56328905e-03 -3.54914111e-01] [-1.91800065e-02 -1.88565294e-03 9.99814269e-01 -9.11093252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.215898227 meters 0.0952048501698785 Centerline is valid? [True, True] Translation: X:42.85, Y:-0.35, Z:-0.91 [[ 9.99672220e-01 1.77878694e-02 1.84131352e-02 4.28507609e+01] [-1.78184616e-02 9.99840115e-01 1.49869544e-03 -3.53331444e-01] [-1.83835326e-02 -1.82629794e-03 9.99829341e-01 -9.13341268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.245898227 meters 0.09075412771161863 Centerline is valid? [True, True] Translation: X:42.88, Y:-0.35, Z:-0.91 [[ 9.99670300e-01 1.87533697e-02 1.75385753e-02 4.28819201e+01] [-1.87812646e-02 9.99822598e-01 1.42711762e-03 -3.52430878e-01] [-1.75087006e-02 -1.75604372e-03 9.99845169e-01 -9.14461792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.275898227 meters 0.10137799810256476 Centerline is valid? [True, False] Translation: X:42.88, Y:-0.35, Z:-0.91 [[ 9.99675894e-01 1.84220629e-02 1.75708396e-02 4.28818336e+01] [-1.84351385e-02 9.99829889e-01 5.82469692e-04 -3.48634517e-01] [-1.75571203e-02 -9.06201771e-04 9.99845451e-01 -9.14491306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.305898227 meters 0.08992479996824898 Centerline is valid? [False, True] Translation: X:42.88, Y:-0.34, Z:-0.91 [[ 9.99875532e-01 1.21185372e-02 1.01025101e-02 4.28775030e+01] [-1.22216421e-02 9.99873212e-01 1.02073846e-02 -3.43793823e-01] [-9.97753069e-03 -1.03295833e-02 9.99896869e-01 -9.06972009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.335898227 meters 0.09280796373817587 Centerline is valid? [True, True] Translation: X:42.91, Y:-0.33, Z:-0.91 [[ 9.99879095e-01 1.02136425e-02 1.17250128e-02 4.29059208e+01] [-1.02263408e-02 9.99947186e-01 1.02356825e-03 -3.30280732e-01] [-1.17139392e-02 -1.14334847e-03 9.99930736e-01 -9.06173719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.365898227 meters 0.09228503441443991 Centerline is valid? [True, True] Translation: X:42.94, Y:-0.33, Z:-0.91 [[ 9.99896373e-01 8.06760112e-03 1.19229265e-02 4.29357463e+01] [-8.08058192e-03 9.99966810e-01 1.04095280e-03 -3.25354428e-01] [-1.19141328e-02 -1.13718912e-03 9.99928378e-01 -9.06364617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.395898226999996 meters 0.08463771160149974 Centerline is valid? [True, True] Translation: X:42.97, Y:-0.33, Z:-0.91 [[ 9.99937864e-01 3.93258252e-03 1.04308656e-02 4.29667459e+01] [-3.94229455e-03 9.99991814e-01 9.10687105e-04 -3.27422260e-01] [-1.04271988e-02 -9.51752063e-04 9.99945182e-01 -9.09641111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.425898227 meters 0.08458812425021163 Centerline is valid? [True, True] Translation: X:43.00, Y:-0.32, Z:-0.91 [[ 9.99946225e-01 2.55268760e-03 1.00514568e-02 4.29962771e+01] [-2.56163675e-03 9.99996334e-01 8.77559889e-04 -3.22609099e-01] [-1.00491798e-02 -9.03260879e-04 9.99949098e-01 -9.09985240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.455898227 meters 0.08191902704396682 Centerline is valid? [True, True] Translation: X:43.03, Y:-0.32, Z:-0.91 [[ 9.99940412e-01 2.55829538e-03 1.06126052e-02 4.30281118e+01] [-2.56826988e-03 9.99996273e-01 9.26351270e-04 -3.21075593e-01] [-1.06101958e-02 -9.53552105e-04 9.99943256e-01 -9.09277359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.485898227 meters 0.09320653359346431 Centerline is valid? [True, True] Translation: X:43.06, Y:-0.30, Z:-0.91 [[ 9.99923983e-01 3.91115986e-03 1.16932312e-02 4.30565698e+01] [-3.92334043e-03 9.99991785e-01 1.01891967e-03 -2.98431361e-01] [-1.16891500e-02 -1.06471874e-03 9.99931113e-01 -9.07011271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.515898227 meters 0.10049675588388739 Centerline is valid? [True, False] Translation: X:43.06, Y:-0.30, Z:-0.91 [[ 9.99924356e-01 3.68260489e-03 1.17354270e-02 4.30564269e+01] [-3.68823187e-03 9.99993094e-01 4.57880206e-04 -2.95899988e-01] [-1.17336597e-02 -5.01128546e-04 9.99931033e-01 -9.07009562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.545898227 meters 0.09096224610947284 Centerline is valid? [False, True] Translation: X:43.06, Y:-0.29, Z:-0.91 [[ 9.99924233e-01 3.48988303e-03 1.18046444e-02 4.30561591e+01] [-3.48992178e-03 9.99993910e-01 -1.73167527e-05 -2.93753467e-01] [-1.18046329e-02 -2.38818449e-05 9.99930323e-01 -9.06916338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.575898226999996 meters 0.10031878003548403 Centerline is valid? [True, False] Translation: X:43.06, Y:-0.29, Z:-0.91 [[ 9.99924462e-01 3.35937035e-03 1.18230888e-02 4.30559845e+01] [-3.35568329e-03 9.99994315e-01 -3.31677045e-04 -2.92316770e-01] [-1.18241358e-02 2.91977449e-04 9.99930050e-01 -9.06681158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.605898227 meters 0.1026110251921287 Centerline is valid? [False, False] Translation: X:43.04, Y:-0.30, Z:-0.90 [[ 9.99969109e-01 9.86964227e-04 7.79782186e-03 4.30354765e+01] [-1.05032142e-03 9.99966439e-01 8.12507341e-03 -2.95340576e-01] [-7.78954101e-03 -8.13301264e-03 9.99936587e-01 -9.03195440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.635898227 meters 0.10149081088828081 Centerline is valid? [False, False] Translation: X:43.01, Y:-0.29, Z:-0.90 [[ 9.99984840e-01 2.28391842e-03 5.01039479e-03 4.30146371e+01] [-2.28034921e-03 9.99997142e-01 -7.17957350e-04 -2.94577526e-01] [-5.01202023e-03 7.06521015e-04 9.99987190e-01 -9.01493906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.665898227 meters 0.10117668546999944 Centerline is valid? [False, False] Translation: X:43.02, Y:-0.29, Z:-0.90 [[ 9.99985223e-01 2.29474016e-03 4.92834404e-03 4.30150610e+01] [-2.29137616e-03 9.99997138e-01 -6.88119628e-04 -2.94736274e-01] [-4.92990899e-03 6.76816769e-04 9.99987619e-01 -9.01853091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.695898227 meters 0.08470428925261837 Centerline is valid? [False, True] Translation: X:43.00, Y:-0.30, Z:-0.90 [[ 9.99999568e-01 -3.92737412e-04 -8.42420418e-04 4.29976020e+01] [ 3.98698359e-04 9.99974804e-01 7.08751781e-03 -2.99527736e-01] [ 8.39615659e-04 -7.08785062e-03 9.99974528e-01 -8.99665617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.725898227 meters 0.10175118482874938 Centerline is valid? [True, False] Translation: X:43.04, Y:-0.29, Z:-0.90 [[ 9.99997603e-01 -2.06349932e-03 -7.32210880e-04 4.30395396e+01] [ 2.06603060e-03 9.99991834e-01 3.47328567e-03 -2.93959395e-01] [ 7.25037778e-04 -3.47479012e-03 9.99993700e-01 -8.98938194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.755898226999996 meters 0.10175118482874938 Centerline is valid? [False, False] Translation: X:43.04, Y:-0.29, Z:-0.90 [[ 9.99997603e-01 -2.06349932e-03 -7.32210880e-04 4.30395396e+01] [ 2.06603060e-03 9.99991834e-01 3.47328567e-03 -2.93959395e-01] [ 7.25037778e-04 -3.47479012e-03 9.99993700e-01 -8.98938194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.785898227 meters 0.09065074280083794 Centerline is valid? [False, True] Translation: X:43.02, Y:-0.29, Z:-0.91 [[ 9.99994690e-01 -1.00919673e-03 3.09862328e-03 4.30213901e+01] [ 1.02192721e-03 9.99991033e-01 -4.10959855e-03 -2.92633843e-01] [-3.09444810e-03 4.11274330e-03 9.99986755e-01 -9.06593044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.815898227 meters 0.08890158460263907 Centerline is valid? [True, True] Translation: X:43.05, Y:-0.29, Z:-0.91 [[ 9.99996383e-01 -3.49283032e-04 2.66698955e-03 4.30528912e+01] [ 3.48644154e-04 9.99999910e-01 2.40011435e-04 -2.94051160e-01] [-2.66707314e-03 -2.39080737e-04 9.99996415e-01 -9.06360779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.845898227 meters 0.08551360827822484 Centerline is valid? [True, True] Translation: X:43.08, Y:-0.30, Z:-0.91 [[ 9.99996906e-01 2.38827050e-03 6.95503290e-04 4.30841732e+01] [-2.38831461e-03 9.99997146e-01 6.26031223e-05 -2.96034255e-01] [-6.95351792e-04 -6.42640093e-05 9.99999756e-01 -9.10427831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.875898227 meters 0.09759417413014147 Centerline is valid? [True, True] Translation: X:43.11, Y:-0.28, Z:-0.91 [[ 9.99991424e-01 3.92112764e-03 -1.33302959e-03 4.31128246e+01] [-3.92129084e-03 9.99992305e-01 -1.19829637e-04 -2.77150401e-01] [ 1.33254946e-03 1.25055806e-04 9.99999104e-01 -9.14387852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.905898227 meters 0.09757130493728312 Centerline is valid? [True, True] Translation: X:43.14, Y:-0.27, Z:-0.92 [[ 9.99980247e-01 5.35001761e-03 -3.29898113e-03 4.31424305e+01] [-5.35102543e-03 9.99985639e-01 -2.96743294e-04 -2.73719638e-01] [ 3.29734617e-03 3.14390365e-04 9.99994514e-01 -9.18201881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.935898227 meters 0.099017937211142 Centerline is valid? [True, True] Translation: X:43.17, Y:-0.27, Z:-0.92 [[ 9.99969409e-01 6.90217217e-03 -3.67983529e-03 4.31726093e+01] [-6.90343643e-03 9.99976116e-01 -3.30973541e-04 -2.67641174e-01] [ 3.67746296e-03 3.56366926e-04 9.99993175e-01 -9.17445170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.965898227 meters 0.10337609110653599 Centerline is valid? [True, False] Translation: X:43.17, Y:-0.27, Z:-0.92 [[ 9.99970184e-01 6.80413952e-03 -3.65178795e-03 4.31723327e+01] [-6.80624501e-03 9.99976678e-01 -5.64443864e-04 -2.66560860e-01] [ 3.64786223e-03 5.89281998e-04 9.99993173e-01 -9.17051361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.995898227 meters 0.0902507368832152 Centerline is valid? [False, True] Translation: X:43.15, Y:-0.27, Z:-0.92 [[ 9.99967422e-01 4.83812914e-03 -6.46123399e-03 4.31523799e+01] [-4.78330278e-03 9.99952654e-01 8.47409816e-03 -2.68823367e-01] [ 6.50192685e-03 -8.44291605e-03 9.99943219e-01 -9.15733389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.025898227 meters 0.10611662509509609 Centerline is valid? [True, False] Translation: X:43.19, Y:-0.26, Z:-0.91 [[ 9.99977145e-01 2.95115823e-03 -6.08271249e-03 4.31933336e+01] [-2.92572417e-03 9.99986959e-01 4.18603364e-03 -2.60600298e-01] [ 6.09498681e-03 -4.16814163e-03 9.99972738e-01 -9.14559427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.055898227 meters 0.09650091699754329 Centerline is valid? [False, True] Translation: X:43.16, Y:-0.26, Z:-0.92 [[ 9.99972242e-01 -2.51880226e-04 -7.44665664e-03 4.31563933e+01] [ 2.60935239e-04 9.99999228e-01 1.21503715e-03 -2.58039296e-01] [ 7.44634485e-03 -1.21694652e-03 9.99971535e-01 -9.20349423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.085898227 meters 0.11162730327197419 Centerline is valid? [True, False] Translation: X:43.16, Y:-0.26, Z:-0.92 [[ 9.99972412e-01 -3.97631150e-04 -7.41729792e-03 4.31564006e+01] [ 4.04087165e-04 9.99999541e-01 8.68921605e-04 -2.56491432e-01] [ 7.41694900e-03 -8.71894868e-04 9.99972114e-01 -9.20579810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.115898227 meters 0.09730120694763694 Centerline is valid? [False, True] Translation: X:43.16, Y:-0.26, Z:-0.92 [[ 9.99972619e-01 -5.07301544e-04 -7.38262819e-03 4.31561966e+01] [ 5.11815930e-04 9.99999683e-01 6.09611220e-04 -2.55305739e-01] [ 7.38231660e-03 -6.13373075e-04 9.99972562e-01 -9.20407021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.145898226999996 meters 0.09333373437441202 Centerline is valid? [True, True] Translation: X:43.18, Y:-0.25, Z:-0.91 [[ 9.99985572e-01 -3.17505993e-03 -4.33290299e-03 4.31845185e+01] [ 3.17328060e-03 9.99994878e-01 -4.17469674e-04 -2.50237701e-01] [ 4.33420629e-03 4.03714134e-04 9.99990526e-01 -9.10902972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.175898227 meters 0.09371408496275987 Centerline is valid? [True, True] Translation: X:43.21, Y:-0.24, Z:-0.91 [[ 9.99984679e-01 -4.00890447e-03 -3.81719969e-03 4.32131444e+01] [ 4.00752910e-03 9.99991902e-01 -3.67888638e-04 -2.44409988e-01] [ 3.81864361e-03 3.52585463e-04 9.99992647e-01 -9.09495991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.205898227 meters 0.09326998635843692 Centerline is valid? [True, True] Translation: X:43.24, Y:-0.24, Z:-0.91 [[ 9.99983109e-01 -4.60124591e-03 -3.55112182e-03 4.32417182e+01] [ 4.60005880e-03 9.99989361e-01 -3.42387824e-04 -2.39855776e-01] [ 3.55265945e-03 3.26046672e-04 9.99993636e-01 -9.09397573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.235898227 meters 0.0973413526692995 Centerline is valid? [True, True] Translation: X:43.27, Y:-0.23, Z:-0.91 [[ 9.99978438e-01 -5.07789545e-03 -4.16386550e-03 4.32696593e+01] [ 5.07626452e-03 9.99987035e-01 -4.02160615e-04 -2.25455944e-01] [ 4.16585365e-03 3.81015061e-04 9.99991250e-01 -9.12357004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.265898227 meters 0.08542700684242217 Centerline is valid? [True, True] Translation: X:43.30, Y:-0.23, Z:-0.91 [[ 9.99974028e-01 -6.08278989e-03 -3.86573484e-03 4.33003709e+01] [ 6.08139128e-03 9.99981438e-01 -3.73448802e-04 -2.34679602e-01] [ 3.86793470e-03 3.49930056e-04 9.99992458e-01 -9.12465013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.295898227 meters 0.08547195916674362 Centerline is valid? [True, True] Translation: X:43.33, Y:-0.23, Z:-0.91 [[ 9.99963933e-01 -8.30033876e-03 -1.79937071e-03 4.33292585e+01] [ 8.30003927e-03 9.99965539e-01 -1.73842779e-04 -2.27316939e-01] [ 1.80075165e-03 1.58901661e-04 9.99998366e-01 -9.08236352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.325898226999996 meters 0.08586695837387147 Centerline is valid? [True, True] Translation: X:43.36, Y:-0.22, Z:-0.91 [[ 9.99959486e-01 -8.97661256e-03 -6.68789980e-04 4.33588540e+01] [ 8.97657135e-03 9.99959708e-01 -6.45979964e-05 -2.21794333e-01] [ 6.69342904e-04 5.85919383e-05 9.99999774e-01 -9.06332111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.355898227 meters 0.08890507754141813 Centerline is valid? [True, True] Translation: X:43.39, Y:-0.21, Z:-0.91 [[ 9.99956517e-01 -9.29540983e-03 -7.48440391e-04 4.33880253e+01] [ 9.29535829e-03 9.99956795e-01 -7.23052501e-05 -2.12958451e-01] [ 7.49080161e-04 6.53450845e-05 9.99999717e-01 -9.05891082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.385898227 meters 0.08852513174763466 Centerline is valid? [True, True] Translation: X:43.42, Y:-0.21, Z:-0.91 [[ 9.99953518e-01 -9.55716350e-03 -1.27371612e-03 4.34177121e+01] [ 9.55701440e-03 9.99954323e-01 -1.23095819e-04 -2.07720951e-01] [ 1.27483439e-03 1.10917174e-04 9.99999181e-01 -9.07086562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.415898227 meters 0.09557075425058767 Centerline is valid? [True, True] Translation: X:43.45, Y:-0.19, Z:-0.91 [[ 9.99937739e-01 -1.10727010e-02 -1.38326750e-03 4.34458414e+01] [ 1.10725265e-02 9.99938689e-01 -1.33728520e-04 -1.90756264e-01] [ 1.38466343e-03 1.18403927e-04 9.99999034e-01 -9.08353224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.445898227 meters 0.07999129802767435 Centerline is valid? [True, True] Translation: X:43.48, Y:-0.21, Z:-0.91 [[ 9.99915471e-01 -1.28348015e-02 -2.07832295e-03 4.34774031e+01] [ 1.28344114e-02 9.99917615e-01 -2.00905764e-04 -2.06188527e-01] [ 2.08073031e-03 1.74214730e-04 9.99997820e-01 -9.09837322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.475898227 meters 0.08819166112199024 Centerline is valid? [True, True] Translation: X:43.51, Y:-0.19, Z:-0.91 [[ 9.99886259e-01 -1.47160986e-02 -3.30246527e-03 4.35051411e+01] [ 1.47151237e-02 9.99891676e-01 -3.19305711e-04 -1.91710803e-01] [ 3.30680646e-03 2.70673208e-04 9.99994496e-01 -9.11212548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.505898226999996 meters 0.09282124589848807 Centerline is valid? [True, True] Translation: X:43.53, Y:-0.18, Z:-0.91 [[ 9.99841482e-01 -1.70791163e-02 -5.03137618e-03 4.35338804e+01] [ 1.70768830e-02 9.99854061e-01 -4.86509108e-04 -1.80455008e-01] [ 5.03895105e-03 4.00511765e-04 9.99987224e-01 -9.12589635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.535898227 meters 0.0816966514028414 Centerline is valid? [True, True] Translation: X:43.56, Y:-0.19, Z:-0.91 [[ 9.99832943e-01 -1.77828659e-02 -4.22568770e-03 4.35640510e+01] [ 1.77812966e-02 9.99841817e-01 -4.08672657e-04 -1.90431253e-01] [ 4.23228664e-03 3.33466179e-04 9.99990988e-01 -9.10622532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.565898227 meters 0.08135241730006222 Centerline is valid? [True, True] Translation: X:43.59, Y:-0.19, Z:-0.91 [[ 9.99835968e-01 -1.78935746e-02 -2.80307250e-03 4.35935852e+01] [ 1.78928842e-02 9.99839873e-01 -2.71181672e-04 -1.87242477e-01] [ 2.80747606e-03 2.20982138e-04 9.99996035e-01 -9.08043631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.595898227 meters 0.07335365777866085 Centerline is valid? [True, True] Translation: X:43.62, Y:-0.19, Z:-0.91 [[ 9.99843681e-01 -1.75972322e-02 -1.71762132e-03 4.36241011e+01] [ 1.75969725e-02 9.99845147e-01 -1.66175533e-04 -1.94737441e-01] [ 1.72027957e-03 1.35924622e-04 9.99998511e-01 -9.06393536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.625898227 meters 0.08356545112382424 Centerline is valid? [True, True] Translation: X:43.65, Y:-0.18, Z:-0.91 [[ 9.99850915e-01 -1.71853482e-02 -1.67698283e-03 4.36523271e+01] [ 1.71851000e-02 9.99852312e-01 -1.62306371e-04 -1.79250980e-01] [ 1.67952445e-03 1.33463056e-04 9.99998581e-01 -9.06244093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.655898227 meters 0.07850416498014791 Centerline is valid? [True, True] Translation: X:43.68, Y:-0.18, Z:-0.91 [[ 9.99862665e-01 -1.64651697e-02 -1.88418863e-03 4.36829575e+01] [ 1.64648550e-02 9.99864428e-01 -1.82389371e-04 -1.83079809e-01] [ 1.88693626e-03 1.51341430e-04 9.99998208e-01 -9.06921165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.685898227 meters 0.0823583268141304 Centerline is valid? [True, True] Translation: X:43.71, Y:-0.18, Z:-0.91 [[ 9.99870434e-01 -1.59205647e-02 -2.37701386e-03 4.37121529e+01] [ 1.59200623e-02 9.99873241e-01 -2.30134309e-04 -1.77776615e-01] [ 2.38037642e-03 1.92262283e-04 9.99997148e-01 -9.10224906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.715898227 meters 0.08579213629194093 Centerline is valid? [True, True] Translation: X:43.74, Y:-0.17, Z:-0.91 [[ 9.99871194e-01 -1.57976055e-02 -2.83391695e-03 4.37412653e+01] [ 1.57968908e-02 9.99875184e-01 -2.74411741e-04 -1.68522567e-01] [ 2.83789828e-03 2.29609318e-04 9.99995947e-01 -9.08756182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.745898227 meters 0.07774050243758378 Centerline is valid? [True, True] Translation: X:43.77, Y:-0.17, Z:-0.91 [[ 9.99850149e-01 -1.66445389e-02 -4.75804130e-03 4.37715099e+01] [ 1.66425332e-02 9.99861397e-01 -4.60825532e-04 -1.74334419e-01] [ 4.76505205e-03 3.81570616e-04 9.99988574e-01 -9.10944020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.775898227 meters 0.08780684240596186 Centerline is valid? [True, True] Translation: X:43.80, Y:-0.16, Z:-0.91 [[ 9.99855441e-01 -1.61050145e-02 -5.45214900e-03 4.37985322e+01] [ 1.61023719e-02 9.99870209e-01 -5.28239506e-04 -1.56450883e-01] [ 5.45994867e-03 4.40370613e-04 9.99984997e-01 -9.11933147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.805898227 meters 0.08604789141656871 Centerline is valid? [True, True] Translation: X:43.83, Y:-0.15, Z:-0.91 [[ 9.99871299e-01 -1.50495407e-02 -5.55847697e-03 4.38282010e+01] [ 1.50467766e-02 9.99886646e-01 -5.38765326e-04 -1.53221089e-01] [ 5.56595507e-03 4.55058825e-04 9.99984406e-01 -9.11231594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.835898227 meters 0.08945329225531713 Centerline is valid? [True, True] Translation: X:43.86, Y:-0.14, Z:-0.91 [[ 9.99921547e-01 -1.19023630e-02 -3.90304800e-03 4.38576419e+01] [ 1.19009761e-02 9.99929109e-01 -3.78370364e-04 -1.42985682e-01] [ 3.90727481e-03 3.31890599e-04 9.99992311e-01 -9.08099123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.865898227 meters 0.1011063753360574 Centerline is valid? [True, False] Translation: X:43.86, Y:-0.14, Z:-0.91 [[ 9.99989426e-01 -3.81110271e-03 2.57371133e-03 4.38581571e+01] [ 3.83728740e-03 9.99940138e-01 -1.02467800e-02 -1.40603568e-01] [-2.53450573e-03 1.02565477e-02 9.99944188e-01 -9.11955609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.895898226999996 meters 0.0854027257833061 Centerline is valid? [False, True] Translation: X:43.86, Y:-0.14, Z:-0.91 [[ 9.99996840e-01 6.76361627e-04 2.42127016e-03 4.38585024e+01] [-6.63112500e-04 9.99984827e-01 -5.46860081e-03 -1.42525737e-01] [-2.42493217e-03 5.46697795e-03 9.99982116e-01 -9.11724338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.925898227 meters 0.08437651319398883 Centerline is valid? [True, True] Translation: X:43.89, Y:-0.14, Z:-0.91 [[ 9.99996807e-01 -2.08004444e-03 1.43531759e-03 4.38882838e+01] [ 2.07987060e-03 9.99997830e-01 1.22601601e-04 -1.41729266e-01] [-1.43556949e-03 -1.19615935e-04 9.99998962e-01 -9.14680015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.955898227 meters 0.0783222807031105 Centerline is valid? [True, True] Translation: X:43.92, Y:-0.15, Z:-0.92 [[ 9.99989923e-01 -4.40023712e-03 8.89723060e-04 4.39194274e+01] [ 4.40017123e-03 9.99990316e-01 7.60065138e-05 -1.47057192e-01] [-8.90048891e-04 -7.20908141e-05 9.99999601e-01 -9.15956551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.985898227 meters 0.08349515276174971 Centerline is valid? [True, True] Translation: X:43.95, Y:-0.14, Z:-0.92 [[ 9.99979272e-01 -6.41253964e-03 5.78635917e-04 4.39482288e+01] [ 6.41251211e-03 9.99979438e-01 4.94294694e-05 -1.38525240e-01] [-5.78940987e-04 -4.57179350e-05 9.99999831e-01 -9.16369834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.015898227 meters 0.08275107112374601 Centerline is valid? [True, True] Translation: X:43.98, Y:-0.14, Z:-0.92 [[ 9.99968535e-01 -7.92437587e-03 3.64194108e-04 4.39790136e+01] [ 7.92436506e-03 9.99968601e-01 3.11204957e-05 -1.36047432e-01] [-3.64429283e-04 -2.82335094e-05 9.99999933e-01 -9.16242591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.045898227 meters 0.0780183438055803 Centerline is valid? [True, True] Translation: X:44.01, Y:-0.13, Z:-0.92 [[ 9.99977350e-01 -6.72213511e-03 3.34592372e-04 4.40097938e+01] [ 6.72212592e-03 9.99977406e-01 2.85884931e-05 -1.34923915e-01] [-3.34776988e-04 -2.63386735e-05 9.99999944e-01 -9.16680190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.075898226999996 meters 0.09221866817118313 Centerline is valid? [True, True] Translation: X:44.04, Y:-0.11, Z:-0.92 [[ 9.99991245e-01 -4.12148237e-03 7.22878238e-04 4.40372715e+01] [ 4.12143881e-03 9.99991505e-01 6.17337403e-05 -1.11927348e-01] [-7.23126532e-04 -5.87539014e-05 9.99999737e-01 -9.16632478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.105898227 meters 0.09501805806255346 Centerline is valid? [True, True] Translation: X:44.07, Y:-0.10, Z:-0.92 [[ 9.99997166e-01 2.08566026e-03 1.14811983e-03 4.40667214e+01] [-2.08577422e-03 9.99997820e-01 9.80663926e-05 -1.00212206e-01] [-1.14791279e-03 -1.00460833e-04 9.99999336e-01 -9.15146919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.135898227 meters 0.08983004006529961 Centerline is valid? [True, True] Translation: X:44.10, Y:-0.10, Z:-0.92 [[ 9.99988927e-01 4.60282238e-03 9.80093073e-04 4.40970714e+01] [-4.60290662e-03 9.99989403e-01 8.37186923e-05 -1.02542691e-01] [-9.79697345e-04 -8.82290422e-05 9.99999516e-01 -9.17005316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.165898227 meters 0.09535728342644459 Centerline is valid? [True, True] Translation: X:44.13, Y:-0.09, Z:-0.92 [[ 9.99977297e-01 6.72588125e-03 4.11062034e-04 4.41259151e+01] [-6.72589624e-03 9.99977380e-01 3.51170244e-05 -8.84949266e-02] [-4.10816543e-04 -3.78809877e-05 9.99999915e-01 -9.15884644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.195898227 meters 0.10058036211918342 Centerline is valid? [True, False] Translation: X:44.15, Y:-0.08, Z:-0.91 [[ 9.99978478e-01 6.34944630e-03 -1.65142972e-03 4.41483366e+01] [-6.33439862e-03 9.99939769e-01 8.96288265e-03 -8.36739403e-02] [ 1.70823959e-03 -8.95222894e-03 9.99958469e-01 -9.14341717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.225898227 meters 0.09875440283489088 Centerline is valid? [False, True] Translation: X:44.11, Y:-0.08, Z:-0.92 [[ 9.99992296e-01 2.90013470e-03 -2.64538623e-03 4.41098186e+01] [-2.88616792e-03 9.99981957e-01 5.26830410e-03 -8.20940110e-02] [ 2.66061729e-03 -5.26062848e-03 9.99982623e-01 -9.18340544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.255898226999996 meters 0.09890995937857933 Centerline is valid? [True, True] Translation: X:44.14, Y:-0.07, Z:-0.92 [[ 9.99995211e-01 2.16231869e-03 -2.21408346e-03 4.41394059e+01] [-2.16277302e-03 9.99997641e-01 -2.02827142e-04 -7.45084847e-02] [ 2.21363966e-03 2.07614731e-04 9.99997528e-01 -9.18098191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.285898227 meters 0.08924919556174883 Centerline is valid? [True, True] Translation: X:44.17, Y:-0.08, Z:-0.91 [[ 9.99999514e-01 -9.00256691e-04 -4.01326595e-04 4.41704827e+01] [ 9.00242008e-04 9.99999594e-01 -3.67654431e-05 -7.88563319e-02] [ 4.01359530e-04 3.64041342e-05 9.99999919e-01 -9.14761942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.315898227 meters 0.0851455101806259 Centerline is valid? [True, True] Translation: X:44.20, Y:-0.08, Z:-0.91 [[ 9.99995401e-01 -3.03071928e-03 1.09971829e-04 4.42009782e+01] [ 3.03071819e-03 9.99995407e-01 1.00747620e-05 -7.93989666e-02] [-1.10001858e-04 -9.74142208e-06 9.99999994e-01 -9.13408225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.345898227 meters 0.09707870964693101 Centerline is valid? [True, True] Translation: X:44.23, Y:-0.06, Z:-0.92 [[ 9.99987364e-01 -4.95461626e-03 -8.50681999e-04 4.42291203e+01] [ 4.95455174e-03 9.99987723e-01 -7.79357308e-05 -6.18526625e-02] [ 8.51057697e-04 7.37199981e-05 9.99999635e-01 -9.16553762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.375898227 meters 0.0831935869705589 Centerline is valid? [True, True] Translation: X:44.26, Y:-0.07, Z:-0.92 [[ 9.99972059e-01 -6.94549273e-03 -2.76412456e-03 4.42611408e+01] [ 6.94481905e-03 9.99975852e-01 -2.53244443e-04 -7.47020187e-02] [ 2.76581672e-03 2.34041022e-04 9.99996148e-01 -9.17829425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.405898227 meters 0.0806282960196506 Centerline is valid? [True, True] Translation: X:44.29, Y:-0.07, Z:-0.92 [[ 9.99938619e-01 -1.03750174e-02 -3.88799473e-03 4.42914872e+01] [ 1.03737100e-02 9.99946128e-01 -3.56283537e-04 -7.26030116e-02] [ 3.89148173e-03 3.15928738e-04 9.99992378e-01 -9.19203083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.435898227 meters 0.07821927241744005 Centerline is valid? [True, True] Translation: X:44.32, Y:-0.07, Z:-0.92 [[ 9.99939430e-01 -1.06259587e-02 -2.86786157e-03 4.43212225e+01] [ 1.06252482e-02 9.99943516e-01 -2.62867428e-04 -7.01022394e-02] [ 2.87049280e-03 2.32379765e-04 9.99995853e-01 -9.17036281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.465898227 meters 0.08828976027855803 Centerline is valid? [True, True] Translation: X:44.35, Y:-0.05, Z:-0.92 [[ 9.99951459e-01 -9.66797273e-03 -1.89987484e-03 4.43490726e+01] [ 9.66765916e-03 9.99953252e-01 -1.74166266e-04 -5.10482684e-02] [ 1.90146986e-03 1.55790470e-04 9.99998180e-01 -9.15214835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.495898227 meters 0.09317536949884765 Centerline is valid? [True, True] Translation: X:44.38, Y:-0.03, Z:-0.91 [[ 9.99984519e-01 -5.30457848e-03 -1.68019717e-03 4.43784065e+01] [ 5.30432709e-03 9.99985920e-01 -1.54038377e-04 -3.41552313e-02] [ 1.68099062e-03 1.45123677e-04 9.99998577e-01 -9.13928508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.525898227 meters 0.09067456293078996 Centerline is valid? [True, True] Translation: X:44.41, Y:-0.03, Z:-0.92 [[ 9.99993888e-01 -2.20790898e-03 -2.71078218e-03 4.44087184e+01] [ 2.20724324e-03 9.99997533e-01 -2.48557667e-04 -3.28815764e-02] [ 2.71132429e-03 2.42572793e-04 9.99996295e-01 -9.17431918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.555898227 meters 0.09065986341470234 Centerline is valid? [True, True] Translation: X:44.44, Y:-0.02, Z:-0.92 [[ 9.99994299e-01 9.17982991e-04 -3.24956952e-03 4.44378074e+01] [-9.18956177e-04 9.99999533e-01 -2.98000997e-04 -2.15428188e-02] [ 3.24929445e-03 3.00985510e-04 9.99994676e-01 -9.17278221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.585898227 meters 0.10399709148265911 Centerline is valid? [True, False] Translation: X:44.44, Y:-0.01, Z:-0.92 [[ 9.99984322e-01 4.64678307e-03 -3.12460693e-03 4.44375362e+01] [-4.63885351e-03 9.99986014e-01 2.54025479e-03 -1.48796364e-02] [ 3.13636724e-03 -2.52572037e-03 9.99991892e-01 -9.17489943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.615898227 meters 0.09827537135425962 Centerline is valid? [False, True] Translation: X:44.44, Y:-0.01, Z:-0.92 [[ 9.99985944e-01 4.30686311e-03 -3.09250080e-03 4.44372881e+01] [-4.30148995e-03 9.99989231e-01 1.74203748e-03 -1.12728450e-02] [ 3.09997021e-03 -1.72871063e-03 9.99993701e-01 -9.17241331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.645898226999996 meters 0.09313979897014876 Centerline is valid? [True, True] Translation: X:44.47, Y:-0.01, Z:-0.92 [[ 9.99992204e-01 2.86942224e-03 -2.71273725e-03 4.44676492e+01] [-2.87011054e-03 9.99995850e-01 -2.49872217e-04 -1.02223203e-02] [ 2.71200900e-03 2.57656125e-04 9.99996289e-01 -9.16353199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.675898227 meters 0.09313979897014876 Centerline is valid? [True, True] Translation: X:44.50, Y:-0.01, Z:-0.92 [[ 9.99992338e-01 2.82220142e-03 -2.71272731e-03 4.44959718e+01] [-2.82288984e-03 9.99995984e-01 -2.49980049e-04 -7.53085107e-03] [ 2.71201092e-03 2.57635864e-04 9.99996289e-01 -9.16336874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.705898227 meters 0.09169236667116541 Centerline is valid? [True, True] Translation: X:44.53, Y:0.00, Z:-0.92 [[ 9.99995420e-01 -1.26545568e-03 -2.74933446e-03 4.45252544e+01] [ 1.26476377e-03 9.99999168e-01 -2.53387031e-04 7.06921016e-04] [ 2.74965282e-03 2.49908612e-04 9.99996188e-01 -9.16355204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.735898227 meters 0.09039356178525526 Centerline is valid? [True, True] Translation: X:44.56, Y:0.01, Z:-0.92 [[ 9.99990344e-01 -3.43923810e-03 -2.73559401e-03 4.45551438e+01] [ 3.43856114e-03 9.99994056e-01 -2.52127200e-04 5.54053863e-03] [ 2.73644488e-03 2.42718259e-04 9.99996226e-01 -9.17003444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.765898227 meters 0.09416048351089186 Centerline is valid? [True, True] Translation: X:44.58, Y:0.02, Z:-0.92 [[ 9.99983395e-01 -5.04096841e-03 -2.79258471e-03 4.45832083e+01] [ 5.04026904e-03 9.99987265e-01 -2.57420552e-04 1.70615318e-02] [ 2.79384679e-03 2.43340900e-04 9.99996068e-01 -9.17239462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.795898227 meters 0.09058827897152065 Centerline is valid? [True, True] Translation: X:44.61, Y:0.02, Z:-0.92 [[ 9.99980899e-01 -5.67782142e-03 -2.44221965e-03 4.46132965e+01] [ 5.67728839e-03 9.99983859e-01 -2.25132762e-04 1.99941127e-02] [ 2.44345849e-03 2.11263276e-04 9.99996992e-01 -9.16205478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.825898226999996 meters 0.09164490098926566 Centerline is valid? [True, True] Translation: X:44.64, Y:0.03, Z:-0.92 [[ 9.99989035e-01 -4.01638802e-03 -2.40782782e-03 4.46422598e+01] [ 4.01586506e-03 9.99991912e-01 -2.21983824e-04 3.30273481e-02] [ 2.40869992e-03 2.12311878e-04 9.99997077e-01 -9.15468123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.855898227 meters 0.09711765893174085 Centerline is valid? [True, True] Translation: X:44.67, Y:0.05, Z:-0.92 [[ 9.99989849e-01 -2.25550256e-03 -3.90055405e-03 4.46703340e+01] [ 2.25411681e-03 9.99997395e-01 -3.59629194e-04 4.69047548e-02] [ 3.90135503e-03 3.50833239e-04 9.99992328e-01 -9.17234104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.885898227 meters 0.0896565615550572 Centerline is valid? [True, True] Translation: X:44.70, Y:0.04, Z:-0.92 [[ 9.99985265e-01 -5.29833819e-04 -5.40270643e-03 4.47008549e+01] [ 5.27149969e-04 9.99999737e-01 -4.98172258e-04 4.46569264e-02] [ 5.40296896e-03 4.95316881e-04 9.99985281e-01 -9.19403098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.915898227 meters 0.10179340696207517 Centerline is valid? [True, False] Translation: X:44.70, Y:0.05, Z:-0.92 [[ 9.99985537e-01 -1.39423240e-03 -5.19434787e-03 4.47002585e+01] [ 1.37907170e-03 9.99994783e-01 -2.92113027e-03 5.49856447e-02] [ 5.19839350e-03 2.91392464e-03 9.99982243e-01 -9.19672700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.945898227 meters 0.1030063674585125 Centerline is valid? [False, False] Translation: X:44.70, Y:0.06, Z:-0.92 [[ 9.99985553e-01 -1.81551348e-03 -5.05949240e-03 4.46996377e+01] [ 1.79556761e-03 9.99990610e-01 -3.94402478e-03 5.95575671e-02] [ 5.06660532e-03 3.93488314e-03 9.99979423e-01 -9.19277142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.975898227 meters 0.09034052444702671 Centerline is valid? [False, True] Translation: X:44.69, Y:0.06, Z:-0.91 [[ 9.99991471e-01 1.76384981e-04 -4.12626178e-03 4.46930155e+01] [-1.84619237e-04 9.99997992e-01 -1.99527687e-03 6.11720047e-02] [ 4.12590156e-03 1.99602164e-03 9.99989496e-01 -9.13885954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.005898226999996 meters 0.08485037109931222 Centerline is valid? [True, True] Translation: X:44.72, Y:0.06, Z:-0.91 [[ 9.99974541e-01 -7.12405928e-03 -4.05211156e-04 4.47238447e+01] [ 7.12404473e-03 9.99974623e-01 -3.73394474e-05 6.34339208e-02] [ 4.05466881e-04 3.44517544e-05 9.99999917e-01 -9.07410983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.035898227 meters 0.08900891806627832 Centerline is valid? [True, True] Translation: X:44.75, Y:0.07, Z:-0.91 [[ 9.99923527e-01 -1.23405441e-02 -8.07297819e-04 4.47528363e+01] [ 1.23404881e-02 9.99923851e-01 -7.43864362e-05 7.35825980e-02] [ 8.08154313e-04 6.44182985e-05 9.99999671e-01 -9.07529248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.065898227 meters 0.07591548578404027 Centerline is valid? [True, True] Translation: X:44.78, Y:0.06, Z:-0.91 [[ 9.99857577e-01 -1.66131560e-02 -2.97125947e-03 4.47844909e+01] [ 1.66124155e-02 9.99861967e-01 -2.73728022e-04 6.13584082e-02] [ 2.97539682e-03 2.24329239e-04 9.99995548e-01 -9.10740316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.095898227 meters 0.0763772202754301 Centerline is valid? [True, True] Translation: X:44.81, Y:0.07, Z:-0.91 [[ 9.99791204e-01 -1.97759643e-02 -5.14386127e-03 4.48141226e+01] [ 1.97737865e-02 9.99804367e-01 -4.73891367e-04 6.62008453e-02] [ 5.15222662e-03 3.72078806e-04 9.99986658e-01 -9.14618215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.125898227 meters 0.07411446135521028 Centerline is valid? [True, True] Translation: X:44.84, Y:0.07, Z:-0.92 [[ 9.99717157e-01 -2.28797009e-02 -6.49042349e-03 4.48449536e+01] [ 2.28762986e-02 9.99738124e-01 -5.97972303e-04 6.80649120e-02] [ 6.50240524e-03 4.49326305e-04 9.99978758e-01 -9.17613139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.155898227 meters 0.06982005834133485 Centerline is valid? [True, True] Translation: X:44.88, Y:0.07, Z:-0.92 [[ 9.99717130e-01 -2.30133863e-02 -6.00358721e-03 4.48758416e+01] [ 2.30104776e-02 9.99735071e-01 -5.53137847e-04 6.57892047e-02] [ 6.01472626e-03 4.14835973e-04 9.99981825e-01 -9.16180617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.185898227 meters 0.0765627937859969 Centerline is valid? [True, True] Translation: X:44.91, Y:0.08, Z:-0.92 [[ 9.99749283e-01 -2.14769599e-02 -6.33338688e-03 4.49052791e+01] [ 2.14736923e-02 9.99769243e-01 -5.83483180e-04 7.80185543e-02] [ 6.34445685e-03 4.47335690e-04 9.99979774e-01 -9.15371703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.215898227 meters 0.07839206395168374 Centerline is valid? [True, True] Translation: X:44.94, Y:0.08, Z:-0.92 [[ 9.99762550e-01 -2.05515689e-02 -7.24404412e-03 4.49352564e+01] [ 2.05472702e-02 9.99788660e-01 -6.67338707e-04 8.36743365e-02] [ 7.25622802e-03 5.18334916e-04 9.99973539e-01 -9.16651456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.245898227 meters 0.07516197904276858 Centerline is valid? [True, True] Translation: X:44.97, Y:0.08, Z:-0.92 [[ 9.99781417e-01 -1.96416178e-02 -7.16409161e-03 4.49662196e+01] [ 1.96373903e-02 9.99806950e-01 -6.59973291e-04 8.36859246e-02] [ 7.17567153e-03 5.19144969e-04 9.99974120e-01 -9.16557096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.275898227 meters 0.08174245026859595 Centerline is valid? [True, True] Translation: X:45.00, Y:0.10, Z:-0.92 [[ 9.99808613e-01 -1.86977096e-02 -5.75609790e-03 4.49950047e+01] [ 1.86949648e-02 9.99825093e-01 -5.30298627e-04 9.62189255e-02] [ 5.76500649e-03 4.22587087e-04 9.99983293e-01 -9.15138102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.305898227 meters 0.07798898036991668 Centerline is valid? [True, True] Translation: X:45.03, Y:0.10, Z:-0.91 [[ 9.99830071e-01 -1.77928330e-02 -4.82115647e-03 4.50258640e+01] [ 1.77908969e-02 9.99841631e-01 -4.44194238e-04 9.57322911e-02] [ 4.82829642e-03 3.58346059e-04 9.99988280e-01 -9.13417827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.335898227 meters 0.08070162331998948 Centerline is valid? [True, True] Translation: X:45.06, Y:0.11, Z:-0.92 [[ 9.99864334e-01 -1.55281806e-02 -5.49441844e-03 4.50557776e+01] [ 1.55256320e-02 9.99879342e-01 -5.06218777e-04 1.05862350e-01] [ 5.50161615e-03 4.20845782e-04 9.99984777e-01 -9.15401219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.365898227 meters 0.08294570832988984 Centerline is valid? [True, True] Translation: X:45.08, Y:0.11, Z:-0.92 [[ 9.99869728e-01 -1.47618742e-02 -6.52794807e-03 4.50849234e+01] [ 1.47582601e-02 9.99890910e-01 -6.01474500e-04 1.14131460e-01] [ 6.53611483e-03 5.05054990e-04 9.99978512e-01 -9.17299571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.395898226999996 meters 0.07952909575347283 Centerline is valid? [True, True] Translation: X:45.12, Y:0.12, Z:-0.92 [[ 9.99868965e-01 -1.46538421e-02 -6.87884262e-03 4.51157305e+01] [ 1.46498261e-02 9.99892485e-01 -6.33842682e-04 1.16043946e-01] [ 6.88739127e-03 5.32985778e-04 9.99976140e-01 -9.17725111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.425898227 meters 0.07943781157327592 Centerline is valid? [True, True] Translation: X:45.14, Y:0.12, Z:-0.92 [[ 9.99870034e-01 -1.49827109e-02 -5.95262640e-03 4.51447001e+01] [ 1.49797092e-02 9.99887647e-01 -5.48533210e-04 1.23935513e-01] [ 5.96017612e-03 4.59293306e-04 9.99982133e-01 -9.15100903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.455898227 meters 0.08342569927254183 Centerline is valid? [True, True] Translation: X:45.17, Y:0.13, Z:-0.92 [[ 9.99852898e-01 -1.61418714e-02 -5.79844023e-03 4.51743905e+01] [ 1.61390424e-02 9.99869614e-01 -5.34360075e-04 1.30097318e-01] [ 5.80630977e-03 4.40700197e-04 9.99983046e-01 -9.17532016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.485898227 meters 0.08065979502015809 Centerline is valid? [True, True] Translation: X:45.20, Y:0.13, Z:-0.92 [[ 9.99825080e-01 -1.77673996e-02 -5.84204596e-03 4.52038675e+01] [ 1.77645554e-02 9.99842053e-01 -5.38378596e-04 1.33627622e-01] [ 5.85068881e-03 4.34503074e-04 9.99982790e-01 -9.15647344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.515898227 meters 0.07670937266026728 Centerline is valid? [True, True] Translation: X:45.23, Y:0.14, Z:-0.92 [[ 9.99720831e-01 -2.29160908e-02 -5.75429026e-03 4.52330909e+01] [ 2.29134161e-02 9.99737313e-01 -5.30321485e-04 1.35202849e-01] [ 5.76493157e-03 3.98322989e-04 9.99983303e-01 -9.15568459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.545898227 meters 0.07251928894035593 Centerline is valid? [True, True] Translation: X:45.26, Y:0.13, Z:-0.91 [[ 9.99675544e-01 -2.48848988e-02 -5.43584006e-03 4.52644071e+01] [ 2.48825409e-02 9.99690256e-01 -5.00974543e-04 1.34330642e-01] [ 5.44662304e-03 3.65554486e-04 9.99985100e-01 -9.14775094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.575898226999996 meters 0.06397994265329686 Centerline is valid? [True, True] Translation: X:45.30, Y:0.13, Z:-0.91 [[ 9.99662324e-01 -2.57146569e-02 -3.74096858e-03 4.52967737e+01] [ 2.57263196e-02 9.99664206e-01 3.10357304e-03 1.28203314e-01] [ 3.65990506e-03 -3.19876639e-03 9.99988186e-01 -9.13893419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.605898227 meters 0.0739357326187521 Centerline is valid? [True, True] Translation: X:45.33, Y:0.15, Z:-0.91 [[ 9.99645402e-01 -2.62379675e-02 -4.54304909e-03 4.53256291e+01] [ 2.62204883e-02 9.99648711e-01 -3.86520266e-03 1.50024244e-01] [ 4.64286823e-03 3.74471110e-03 9.99982210e-01 -9.11546855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.635898227 meters 0.07534653571351965 Centerline is valid? [True, True] Translation: X:45.36, Y:0.16, Z:-0.91 [[ 9.99670273e-01 -2.53708545e-02 -3.95786058e-03 4.53558015e+01] [ 2.53696077e-02 9.99678073e-01 -3.64916128e-04 1.56547339e-01] [ 3.96584467e-03 2.64386435e-04 9.99992101e-01 -9.11211161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.665898227 meters 0.07067691770529098 Centerline is valid? [True, True] Translation: X:45.39, Y:0.16, Z:-0.91 [[ 9.99702651e-01 -2.40784993e-02 -3.85173274e-03 4.53872336e+01] [ 2.40773093e-02 9.99710037e-01 -3.55023978e-04 1.56603488e-01] [ 3.85916432e-03 2.62179052e-04 9.99992519e-01 -9.10656868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.695898227 meters 0.08053112815265119 Centerline is valid? [True, True] Translation: X:45.42, Y:0.18, Z:-0.91 [[ 9.99734921e-01 -2.23640316e-02 -5.47148908e-03 4.54151997e+01] [ 2.23616053e-02 9.99749821e-01 -5.04217881e-04 1.77634836e-01] [ 5.48139657e-03 3.81732944e-04 9.99984904e-01 -9.14031480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.725898227 meters 0.0750871266912214 Centerline is valid? [True, True] Translation: X:45.45, Y:0.18, Z:-0.92 [[ 9.99729642e-01 -2.21268803e-02 -7.14446581e-03 4.54463510e+01] [ 2.21227382e-02 9.99755046e-01 -6.58290317e-04 1.76708222e-01] [ 7.15728165e-03 5.00057197e-04 9.99974261e-01 -9.16358729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.755898226999996 meters 0.07901613323299556 Centerline is valid? [True, True] Translation: X:45.48, Y:0.19, Z:-0.92 [[ 9.99714799e-01 -2.23040058e-02 -8.53535061e-03 4.54754798e+01] [ 2.22981015e-02 9.99751057e-01 -7.86296162e-04 1.88385611e-01] [ 8.55076335e-03 5.95749795e-04 9.99963264e-01 -9.18449746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.785898227 meters 0.07262110261120044 Centerline is valid? [True, True] Translation: X:45.51, Y:0.19, Z:-0.92 [[ 9.99694205e-01 -2.30374752e-02 -8.98729609e-03 4.55060463e+01] [ 2.30309589e-02 9.99734409e-01 -8.27893299e-04 1.87658938e-01] [ 9.00398172e-03 6.20654086e-04 9.99959271e-01 -9.18690139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.815898227 meters 0.06887907691907286 Centerline is valid? [True, True] Translation: X:45.54, Y:0.19, Z:-0.92 [[ 9.99643854e-01 -2.53789937e-02 -8.25057217e-03 4.55362106e+01] [ 2.53735817e-02 9.99677750e-01 -7.59994093e-04 1.92907500e-01] [ 8.26720131e-03 5.50376857e-04 9.99965675e-01 -9.17028211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.845898227 meters 0.0706699693001756 Centerline is valid? [True, True] Translation: X:45.57, Y:0.20, Z:-0.92 [[ 9.99621628e-01 -2.64011071e-02 -7.71901175e-03 4.55658415e+01] [ 2.63964009e-02 9.99651301e-01 -7.10954256e-04 2.00722409e-01] [ 7.73509012e-03 5.06931122e-04 9.99969955e-01 -9.16189990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.875898227 meters 0.06882177474366026 Centerline is valid? [True, True] Translation: X:45.60, Y:0.21, Z:-0.91 [[ 9.99603605e-01 -2.74067880e-02 -6.44204543e-03 4.55971769e+01] [ 2.74035317e-02 9.99624277e-01 -5.93225242e-04 2.05035111e-01] [ 6.45588341e-03 4.16455294e-04 9.99979074e-01 -9.14313208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.905898227 meters 0.07048274113146537 Centerline is valid? [True, True] Translation: X:45.63, Y:0.21, Z:-0.91 [[ 9.99598764e-01 -2.78686447e-02 -5.06454642e-03 4.56266204e+01] [ 2.78666385e-02 9.99611541e-01 -4.66293678e-04 2.12762754e-01] [ 5.07557402e-03 3.24974700e-04 9.99987066e-01 -9.11686767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.935898227 meters 0.06658584560359274 Centerline is valid? [True, True] Translation: X:45.66, Y:0.21, Z:-0.91 [[ 9.99577625e-01 -2.88545055e-02 -3.46257544e-03 4.56587983e+01] [ 2.88535738e-02 9.99583598e-01 -3.18758078e-04 2.12118105e-01] [ 3.47033122e-03 2.18715766e-04 9.99993954e-01 -9.09457859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.965898227 meters 0.06592159219455652 Centerline is valid? [True, True] Translation: X:45.69, Y:0.21, Z:-0.91 [[ 9.99538317e-01 -3.02905550e-02 -2.37371509e-03 4.56907258e+01] [ 3.02901213e-02 9.99541125e-01 -2.18467697e-04 2.12333748e-01] [ 2.37924336e-03 1.46466716e-04 9.99997159e-01 -9.08744866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.995898227 meters 0.06633789422903824 Centerline is valid? [True, True] Translation: X:45.72, Y:0.22, Z:-0.91 [[ 9.99504134e-01 -3.13844604e-02 -2.54966210e-03 4.57209688e+01] [ 3.13839638e-02 9.99507375e-01 -2.34573593e-04 2.17479354e-01] [ 2.55576803e-03 1.54438773e-04 9.99996722e-01 -9.06980617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.025898227 meters 0.06524116616210802 Centerline is valid? [True, True] Translation: X:45.75, Y:0.22, Z:-0.91 [[ 9.99494146e-01 -3.15330268e-02 -4.13775581e-03 4.57531538e+01] [ 3.15317217e-02 9.99502679e-01 -3.80283728e-04 2.15509587e-01] [ 4.14768952e-03 2.49620795e-04 9.99991367e-01 -9.10048286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.055898227 meters 0.06594197788653723 Centerline is valid? [True, True] Translation: X:45.79, Y:0.22, Z:-0.91 [[ 9.99492989e-01 -3.12728905e-02 -5.98093236e-03 4.57855636e+01] [ 3.12701612e-02 9.99510818e-01 -5.49331354e-04 2.16143652e-01] [ 5.99518577e-03 3.62028118e-04 9.99981963e-01 -9.13397549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.085898227 meters 0.07117342302830792 Centerline is valid? [True, True] Translation: X:45.82, Y:0.22, Z:-0.92 [[ 9.99516223e-01 -3.03028734e-02 -7.00401491e-03 4.58165237e+01] [ 3.02991089e-02 9.99540670e-01 -6.42986612e-04 2.23951363e-01] [ 7.02028210e-03 4.30460139e-04 9.99975265e-01 -9.15579289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.115898227 meters 0.07185398238209538 Centerline is valid? [True, True] Translation: X:45.85, Y:0.23, Z:-0.91 [[ 9.99660012e-01 -2.53857494e-02 -5.95186916e-03 4.58472307e+01] [ 2.53829447e-02 9.99677652e-01 -5.46307190e-04 2.26330168e-01] [ 5.96381900e-03 3.95045486e-04 9.99982138e-01 -9.11925637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.145898226999996 meters 0.07218358178354832 Centerline is valid? [True, True] Translation: X:45.88, Y:0.23, Z:-0.91 [[ 9.99754878e-01 -2.15259759e-02 -5.17835072e-03 4.58777079e+01] [ 2.15238014e-02 9.99768223e-01 -4.75292970e-04 2.28369915e-01] [ 5.18738164e-03 3.63718673e-04 9.99986479e-01 -9.08800979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.175898227 meters 0.08134166088278182 Centerline is valid? [True, True] Translation: X:45.91, Y:0.24, Z:-0.91 [[ 9.99836837e-01 -1.74313789e-02 -4.73774277e-03 4.59054624e+01] [ 1.74295129e-02 9.99848000e-01 -4.34869081e-04 2.41648575e-01] [ 4.74460300e-03 3.52221578e-04 9.99988682e-01 -9.08053656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.205898227 meters 0.08380307026214166 Centerline is valid? [True, True] Translation: X:45.94, Y:0.25, Z:-0.91 [[ 9.99933791e-01 -1.01950920e-02 -5.33603451e-03 4.59359539e+01] [ 1.01926221e-02 9.99947934e-01 -4.89850885e-04 2.45857507e-01] [ 5.34075076e-03 4.35430269e-04 9.99985643e-01 -9.10926383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.235898227 meters 0.10201492078531657 Centerline is valid? [True, False] Translation: X:45.94, Y:0.24, Z:-0.91 [[ 9.99969447e-01 -5.60882237e-03 -5.44488093e-03 4.59365669e+01] [ 5.63286438e-03 9.99974410e-01 4.41027826e-03 2.43373236e-01] [ 5.42000513e-03 -4.44081378e-03 9.99975451e-01 -9.11741182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.265898227 meters 0.09583055090577783 Centerline is valid? [False, True] Translation: X:45.94, Y:0.24, Z:-0.91 [[ 9.99969405e-01 -5.62289041e-03 -5.43810260e-03 4.59367365e+01] [ 5.64672862e-03 9.99974473e-01 4.37817797e-03 2.43527352e-01] [ 5.41334576e-03 -4.40875151e-03 9.99975629e-01 -9.12140352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.295898227 meters 0.09411396828971927 Centerline is valid? [True, True] Translation: X:45.97, Y:0.24, Z:-0.91 [[ 9.99938937e-01 -7.61188992e-03 -8.01126738e-03 4.59669528e+01] [ 7.60629018e-03 9.99970806e-01 -7.29220200e-04 2.43080519e-01] [ 8.01658425e-03 6.68239648e-04 9.99967643e-01 -9.14222800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.325898226999996 meters 0.08658844011216506 Centerline is valid? [True, True] Translation: X:46.00, Y:0.23, Z:-0.91 [[ 9.99912167e-01 -1.03270813e-02 -8.30720772e-03 4.59982870e+01] [ 1.03211531e-02 9.99946450e-01 -7.56187177e-04 2.34532059e-01] [ 8.31457207e-03 6.70380796e-04 9.99965209e-01 -9.12922070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.355898227 meters 0.08117692188104948 Centerline is valid? [True, True] Translation: X:46.03, Y:0.23, Z:-0.91 [[ 9.99891761e-01 -1.32273032e-02 -6.44248017e-03 4.60292381e+01] [ 1.32237965e-02 9.99912390e-01 -5.86604051e-04 2.29254543e-01] [ 6.44967493e-03 5.01346511e-04 9.99979075e-01 -9.09099910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.385898227 meters 0.08262795670733432 Centerline is valid? [True, True] Translation: X:46.06, Y:0.23, Z:-0.90 [[ 9.99844630e-01 -1.75700390e-02 -1.41776321e-03 4.60592913e+01] [ 1.75698736e-02 9.99845630e-01 -1.29100089e-04 2.31338902e-01] [ 1.41981264e-03 1.04170110e-04 9.99998987e-01 -9.02335050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.415898227 meters 0.08063409407342269 Centerline is valid? [True, True] Translation: X:46.09, Y:0.23, Z:-0.90 [[ 9.99825228e-01 -1.86950573e-02 9.27753894e-05 4.60906687e+01] [ 1.86950566e-02 9.99825232e-01 8.41887773e-06 2.30000525e-01] [-9.29165667e-05 -6.68296519e-06 9.99999996e-01 -9.00993608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.445898227 meters 0.07106313861168323 Centerline is valid? [True, True] Translation: X:46.12, Y:0.22, Z:-0.90 [[ 9.99826726e-01 -1.86142495e-02 1.66282258e-04 4.61244921e+01] [ 1.86142473e-02 9.99826740e-01 1.50906234e-05 2.18871559e-01] [-1.66534348e-04 -1.19927895e-05 9.99999986e-01 -9.00981676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.475898227 meters 0.07852672301727344 Centerline is valid? [True, True] Translation: X:46.15, Y:0.23, Z:-0.90 [[ 9.99877072e-01 -1.54500060e-02 -2.67190536e-03 4.61530701e+01] [ 1.54494112e-02 9.99880621e-01 -2.43103470e-04 2.30497414e-01] [ 2.67534234e-03 2.01794221e-04 9.99996401e-01 -9.04817659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.505898226999996 meters 0.08040892978168794 Centerline is valid? [True, True] Translation: X:46.18, Y:0.24, Z:-0.91 [[ 9.99908181e-01 -1.29101899e-02 -4.11791663e-03 4.61836714e+01] [ 1.29087557e-02 9.99916608e-01 -3.74673358e-04 2.36541216e-01] [ 4.12241033e-03 3.21481776e-04 9.99991451e-01 -9.06364536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.535898227 meters 0.08511802353450053 Centerline is valid? [True, True] Translation: X:46.21, Y:0.25, Z:-0.91 [[ 9.99936722e-01 -1.03176165e-02 -4.48322977e-03 4.62125992e+01] [ 1.03158908e-02 9.99946707e-01 -4.07886276e-04 2.46452915e-01] [ 4.48719926e-03 3.61611957e-04 9.99989867e-01 -9.06875348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.565898227 meters 0.08511802353450053 Centerline is valid? [True, True] Translation: X:46.24, Y:0.25, Z:-0.91 [[ 9.99936966e-01 -1.02939347e-02 -4.48323824e-03 4.62434178e+01] [ 1.02922091e-02 9.99946951e-01 -4.07793109e-04 2.49213064e-01] [ 4.48719821e-03 3.61624979e-04 9.99989867e-01 -9.06852093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.595898227 meters 0.09466855231482217 Centerline is valid? [True, True] Translation: X:46.27, Y:0.27, Z:-0.91 [[ 9.99970807e-01 -6.64561088e-03 -3.77094653e-03 4.62713519e+01] [ 6.64436425e-03 9.99977867e-01 -3.43018692e-04 2.67550135e-01] [ 3.77314263e-03 3.17953136e-04 9.99992831e-01 -9.06066305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.625898227 meters 0.08841653061700093 Centerline is valid? [True, True] Translation: X:46.30, Y:0.26, Z:-0.91 [[ 9.99978010e-01 -5.47940098e-03 -3.73576748e-03 4.63020879e+01] [ 5.47816940e-03 9.99984937e-01 -3.39826119e-04 2.64488510e-01] [ 3.73757325e-03 3.19353479e-04 9.99992964e-01 -9.06218676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.655898227 meters 0.09218508247025624 Centerline is valid? [True, True] Translation: X:46.33, Y:0.27, Z:-0.91 [[ 9.99976986e-01 -4.43325084e-03 -5.13562906e-03 4.63310770e+01] [ 4.43090936e-03 9.99990074e-01 -4.67217354e-04 2.74302054e-01] [ 5.13764938e-03 4.44451094e-04 9.99986703e-01 -9.08646313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.685898226999996 meters 0.09065704862638013 Centerline is valid? [True, True] Translation: X:46.36, Y:0.28, Z:-0.91 [[ 9.99972841e-01 -3.51628232e-03 -6.47717968e-03 4.63603467e+01] [ 3.51253767e-03 9.99993657e-01 -5.89413573e-04 2.78190825e-01] [ 6.47921114e-03 5.66646227e-04 9.99978849e-01 -9.10846973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.715898227 meters 0.0903155741857423 Centerline is valid? [True, True] Translation: X:46.39, Y:0.29, Z:-0.91 [[ 9.99972695e-01 -3.60363435e-03 -6.45152104e-03 4.63884417e+01] [ 3.59991484e-03 9.99993347e-01 -5.88052752e-04 2.88086277e-01] [ 6.45359725e-03 5.64811769e-04 9.99979016e-01 -9.10072567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.745898227 meters 0.09453040620864951 Centerline is valid? [True, True] Translation: X:46.42, Y:0.30, Z:-0.91 [[ 9.99977696e-01 -4.27643473e-03 -5.13035254e-03 4.64163684e+01] [ 4.27409018e-03 9.99990757e-01 -4.67871876e-04 2.99379415e-01] [ 5.13230594e-03 4.45933851e-04 9.99986730e-01 -9.09604729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.775898227 meters 0.09052230934768139 Centerline is valid? [True, True] Translation: X:46.45, Y:0.31, Z:-0.91 [[ 9.99964098e-01 -6.57196976e-03 -5.34906951e-03 4.64467971e+01] [ 6.56945345e-03 9.99978302e-01 -4.87854008e-04 3.05614304e-01] [ 5.35215960e-03 4.52696030e-04 9.99985575e-01 -9.08096209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.805898227 meters 0.0875554657171214 Centerline is valid? [True, True] Translation: X:46.48, Y:0.31, Z:-0.91 [[ 9.99947723e-01 -8.32403038e-03 -5.93809045e-03 4.64771364e+01] [ 8.32095967e-03 9.99965234e-01 -5.41638818e-04 3.08151751e-01] [ 5.94239262e-03 4.92199892e-04 9.99982223e-01 -9.09264125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.835898227 meters 0.09035845064662158 Centerline is valid? [True, True] Translation: X:46.51, Y:0.32, Z:-0.91 [[ 9.99929934e-01 -1.00099997e-02 -6.31875021e-03 4.65060821e+01] [ 1.00065560e-02 9.99949767e-01 -5.76369975e-04 3.17794136e-01] [ 6.32420227e-03 5.13100663e-04 9.99979870e-01 -9.10722140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.865898227 meters 0.08215565295998443 Centerline is valid? [True, True] Translation: X:46.54, Y:0.32, Z:-0.91 [[ 9.99890004e-01 -1.37686915e-02 -5.51391899e-03 4.65366423e+01] [ 1.37661260e-02 9.99905116e-01 -5.02964298e-04 3.15896986e-01] [ 5.52032097e-03 4.27003670e-04 9.99984672e-01 -9.09808500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.895898226999996 meters 0.08121389380098545 Centerline is valid? [True, True] Translation: X:46.57, Y:0.32, Z:-0.91 [[ 9.99864622e-01 -1.58513005e-02 -4.41290210e-03 4.65667404e+01] [ 1.58496776e-02 9.99874305e-01 -4.02505604e-04 3.20007501e-01] [ 4.41872766e-03 3.32508038e-04 9.99990182e-01 -9.07653986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.925898227 meters 0.08792337039546307 Centerline is valid? [True, True] Translation: X:46.60, Y:0.33, Z:-0.91 [[ 9.99833845e-01 -1.78674191e-02 -3.61089477e-03 4.65959111e+01] [ 1.78663456e-02 9.99840330e-01 -3.29348967e-04 3.31109093e-01] [ 3.61620284e-03 2.64780750e-04 9.99993426e-01 -9.08420477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.955898227 meters 0.08367332415245739 Centerline is valid? [True, True] Translation: X:46.63, Y:0.33, Z:-0.91 [[ 9.99788091e-01 -2.03702228e-02 -2.97106125e-03 4.66258954e+01] [ 2.03695070e-02 9.99792483e-01 -2.70983355e-04 3.33410272e-01] [ 2.97596470e-03 2.10406878e-04 9.99995550e-01 -9.05982171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.985898227 meters 0.07509932273082667 Centerline is valid? [True, True] Translation: X:46.66, Y:0.33, Z:-0.91 [[ 9.99767605e-01 -2.13557629e-02 -2.94397648e-03 4.66586440e+01] [ 2.13550646e-02 9.99771919e-01 -2.68431799e-04 3.26432299e-01] [ 2.94903758e-03 2.05500609e-04 9.99995630e-01 -9.05893906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.015898227 meters 0.0763265390607383 Centerline is valid? [True, True] Translation: X:46.69, Y:0.33, Z:-0.91 [[ 9.99758015e-01 -2.18577776e-02 -2.47973584e-03 4.66898678e+01] [ 2.18572840e-02 9.99761075e-01 -2.25996999e-04 3.31691526e-01] [ 2.48408316e-03 1.71742021e-04 9.99996900e-01 -9.05715359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.045898227 meters 0.0686720165708968 Centerline is valid? [True, True] Translation: X:46.72, Y:0.33, Z:-0.91 [[ 9.99747470e-01 -2.23214142e-02 -2.59833573e-03 4.67231286e+01] [ 2.23208741e-02 9.99750830e-01 -2.36675715e-04 3.25417023e-01] [ 2.60297124e-03 1.78618822e-04 9.99996596e-01 -9.05892959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.075898226999996 meters 0.07241413529361876 Centerline is valid? [True, True] Translation: X:46.75, Y:0.33, Z:-0.91 [[ 9.99750012e-01 -2.19989617e-02 -3.99491467e-03 4.67534646e+01] [ 2.19976831e-02 9.99757956e-01 -3.63707410e-04 3.33417412e-01] [ 4.00194890e-03 2.75737621e-04 9.99991954e-01 -9.08293520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.105898227 meters 0.07544379680737641 Centerline is valid? [True, True] Translation: X:46.78, Y:0.34, Z:-0.91 [[ 9.99761195e-01 -2.13892823e-02 -4.47788089e-03 4.67835610e+01] [ 2.13876704e-02 9.99771175e-01 -4.07555336e-04 3.40259696e-01] [ 4.48557355e-03 3.11686569e-04 9.99989891e-01 -9.10001898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.135898227 meters 0.0747223944520546 Centerline is valid? [True, True] Translation: X:46.82, Y:0.34, Z:-0.91 [[ 9.99767983e-01 -2.10488858e-02 -4.57429073e-03 4.68154903e+01] [ 2.10472011e-02 9.99778397e-01 -4.16126890e-04 3.42295158e-01] [ 4.58203606e-03 3.19754324e-04 9.99989451e-01 -9.09356169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.165898227 meters 0.07206623865452666 Centerline is valid? [True, True] Translation: X:46.85, Y:0.34, Z:-0.91 [[ 9.99782188e-01 -2.06176279e-02 -3.23877657e-03 4.68486022e+01] [ 2.06167816e-02 9.99787408e-01 -2.94484164e-04 3.38523731e-01] [ 3.24415960e-03 2.27646873e-04 9.99994712e-01 -9.08302851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.195898227 meters 0.07235042912863106 Centerline is valid? [True, True] Translation: X:46.88, Y:0.34, Z:-0.91 [[ 9.99788275e-01 -2.04476999e-02 -2.30133163e-03 4.68789127e+01] [ 2.04472723e-02 9.99790911e-01 -2.09182226e-04 3.43749613e-01] [ 2.30512774e-03 1.62081983e-04 9.99997330e-01 -9.05426889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.225898227 meters 0.07452529036358836 Centerline is valid? [True, True] Translation: X:46.91, Y:0.35, Z:-0.91 [[ 9.99796726e-01 -2.00642849e-02 -1.98293092e-03 4.69094474e+01] [ 2.00639669e-02 9.99798682e-01 -1.80131518e-04 3.48006957e-01] [ 1.98614593e-03 1.40309441e-04 9.99998018e-01 -9.05092812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.255898226999996 meters 0.08351903585953364 Centerline is valid? [True, True] Translation: X:46.94, Y:0.36, Z:-0.91 [[ 9.99796461e-01 -2.00815144e-02 -1.94141040e-03 4.69393756e+01] [ 2.00812098e-02 9.99798337e-01 -1.76261029e-04 3.60898591e-01] [ 1.94455847e-03 1.37239284e-04 9.99998100e-01 -9.05325383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.285898227 meters 0.07162888929941558 Centerline is valid? [True, True] Translation: X:46.97, Y:0.35, Z:-0.91 [[ 9.99785055e-01 -2.06364786e-02 -1.99484160e-03 4.69729824e+01] [ 2.06361583e-02 9.99787035e-01 -1.81023032e-04 3.46911968e-01] [ 1.99815244e-03 1.39818255e-04 9.99997994e-01 -9.06241164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.315898227 meters 0.0717037385786584 Centerline is valid? [True, True] Translation: X:47.00, Y:0.35, Z:-0.91 [[ 9.99770779e-01 -2.13251665e-02 -1.90462596e-03 4.70047177e+01] [ 2.13248759e-02 9.99772584e-01 -1.72759045e-04 3.49392063e-01] [ 1.90787694e-03 1.32103533e-04 9.99998171e-01 -9.05166111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.345898227 meters 0.07031413979359001 Centerline is valid? [True, True] Translation: X:47.04, Y:0.35, Z:-0.90 [[ 9.99742592e-01 -2.26008145e-02 -1.98820132e-03 4.70360549e+01] [ 2.26005004e-02 9.99744560e-01 -1.80280614e-04 3.49573216e-01] [ 1.99176794e-03 1.35299864e-04 9.99998007e-01 -9.04628510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.375898227 meters 0.06863720632029251 Centerline is valid? [True, True] Translation: X:47.07, Y:0.35, Z:-0.91 [[ 9.99665107e-01 -2.56878921e-02 -3.13160743e-03 4.70663801e+01] [ 2.56871280e-02 9.99669991e-01 -2.83957696e-04 3.46611643e-01] [ 3.13786825e-03 2.03420600e-04 9.99995056e-01 -9.05529788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.405898227 meters 0.06672360385283478 Centerline is valid? [True, True] Translation: X:47.10, Y:0.35, Z:-0.91 [[ 9.99645022e-01 -2.64277790e-02 -3.37687011e-03 4.70984768e+01] [ 2.64268952e-02 9.99650702e-01 -3.06076842e-04 3.45261635e-01] [ 3.38377951e-03 2.16727999e-04 9.99994252e-01 -9.06237688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.435898226999996 meters 0.06783285734505759 Centerline is valid? [True, True] Translation: X:47.13, Y:0.35, Z:-0.91 [[ 9.99632405e-01 -2.68011076e-02 -4.09328734e-03 4.71296656e+01] [ 2.67998129e-02 9.99640752e-01 -3.70845112e-04 3.47908157e-01] [ 4.10175589e-03 2.61009456e-04 9.99991554e-01 -9.07037217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.465898227 meters 0.06954734539678943 Centerline is valid? [True, True] Translation: X:47.16, Y:0.35, Z:-0.91 [[ 9.99620025e-01 -2.70958838e-02 -5.06154190e-03 4.71611082e+01] [ 2.70939087e-02 9.99632788e-01 -4.58376555e-04 3.49102188e-01] [ 5.07210336e-03 3.21065429e-04 9.99987085e-01 -9.08471756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.495898227 meters 0.06847944800058842 Centerline is valid? [True, True] Translation: X:47.19, Y:0.35, Z:-0.91 [[ 9.99617279e-01 -2.72264900e-02 -4.90043367e-03 4.71932597e+01] [ 2.72246414e-02 9.99629242e-01 -4.43560014e-04 3.48440302e-01] [ 4.91069338e-03 3.09977705e-04 9.99987894e-01 -9.08198800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.525898227 meters 0.06772934616830924 Centerline is valid? [True, True] Translation: X:47.23, Y:0.35, Z:-0.91 [[ 9.99625355e-01 -2.70582203e-02 -4.12346810e-03 4.72256965e+01] [ 2.70569108e-02 9.99633825e-01 -3.73038859e-04 3.48517819e-01] [ 4.13205196e-03 2.61330793e-04 9.99991429e-01 -9.06530485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.555898227 meters 0.0753111058963592 Centerline is valid? [True, True] Translation: X:47.26, Y:0.36, Z:-0.90 [[ 9.99647476e-01 -2.63659247e-02 -3.12451959e-03 4.72562670e+01] [ 2.63651698e-02 9.99652339e-01 -2.82552773e-04 3.59977775e-01] [ 3.13088308e-03 2.00074677e-04 9.99995079e-01 -9.04555652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.585898227 meters 0.07308742677547306 Centerline is valid? [True, True] Translation: X:47.29, Y:0.36, Z:-0.91 [[ 9.99732694e-01 -2.28262025e-02 -3.67505446e-03 4.72870981e+01] [ 2.28251347e-02 9.99739417e-01 -3.32228004e-04 3.59395324e-01] [ 3.68168031e-03 2.48255584e-04 9.99993192e-01 -9.05158775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.615898227 meters 0.07319596637009709 Centerline is valid? [True, True] Translation: X:47.32, Y:0.36, Z:-0.91 [[ 9.99769333e-01 -2.08561700e-02 -5.12845936e-03 4.73179101e+01] [ 2.08540653e-02 9.99782423e-01 -4.63536125e-04 3.62083096e-01] [ 5.13701111e-03 3.56479976e-04 9.99986742e-01 -9.08275902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.645898226999996 meters 0.07516613081954954 Centerline is valid? [True, True] Translation: X:47.35, Y:0.37, Z:-0.91 [[ 9.99809212e-01 -1.83297241e-02 -6.74980771e-03 4.73482441e+01] [ 1.83260211e-02 9.99831878e-01 -6.10055135e-04 3.67170856e-01] [ 6.75985506e-03 4.86241625e-04 9.99977034e-01 -9.10979283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.675898227 meters 0.07400921043389262 Centerline is valid? [True, True] Translation: X:47.38, Y:0.37, Z:-0.91 [[ 9.99887456e-01 -1.34584508e-02 -6.62908674e-03 4.73787791e+01] [ 1.34547727e-02 9.99909301e-01 -5.99134391e-04 3.70798804e-01] [ 6.63654891e-03 5.09874107e-04 9.99977848e-01 -9.10908142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.705898227 meters 0.08373745822714306 Centerline is valid? [True, True] Translation: X:47.41, Y:0.39, Z:-0.91 [[ 9.99915969e-01 -1.14283944e-02 -6.11935867e-03 4.74069370e+01] [ 1.14252231e-02 9.99934577e-01 -5.52944699e-04 3.87679854e-01] [ 6.12527759e-03 4.82983196e-04 9.99981124e-01 -9.10371203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.735898227 meters 0.08588875867575856 Centerline is valid? [True, True] Translation: X:47.44, Y:0.39, Z:-0.91 [[ 9.99935415e-01 -9.84667971e-03 -5.67519027e-03 4.74365798e+01] [ 9.84392654e-03 9.99951416e-01 -5.12852878e-04 3.94531880e-01] [ 5.67996445e-03 4.56953599e-04 9.99983764e-01 -9.08753029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.765898227 meters 0.08718365387329088 Centerline is valid? [True, True] Translation: X:47.47, Y:0.40, Z:-0.91 [[ 9.99955201e-01 -7.82831007e-03 -5.32110780e-03 4.74662185e+01] [ 7.82586116e-03 9.99969262e-01 -4.80892615e-04 3.99403522e-01] [ 5.32470882e-03 4.39228820e-04 9.99985727e-01 -9.07954574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.795898227 meters 0.08450452297299524 Centerline is valid? [True, True] Translation: X:47.50, Y:0.40, Z:-0.91 [[ 9.99956747e-01 -7.98560020e-03 -4.76802112e-03 4.74965626e+01] [ 7.98363545e-03 9.99968037e-01 -4.30960426e-04 3.98812441e-01] [ 4.77131020e-03 3.92875643e-04 9.99988540e-01 -9.06523549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.825898226999996 meters 0.09020778228643454 Centerline is valid? [True, True] Translation: X:47.53, Y:0.41, Z:-0.90 [[ 9.99950507e-01 -9.29006049e-03 -3.56062676e-03 4.75254794e+01] [ 9.28897301e-03 9.99956805e-01 -3.21836115e-04 4.09036041e-01] [ 3.56346284e-03 2.88745621e-04 9.99993609e-01 -9.04950638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.855898227 meters 0.07533481276989747 Centerline is valid? [True, True] Translation: X:47.56, Y:0.39, Z:-0.90 [[ 9.99904748e-01 -1.37049816e-02 -1.63370459e-03 4.75580805e+01] [ 1.37047586e-02 9.99906074e-01 -1.47660524e-04 3.91048873e-01] [ 1.63557482e-03 1.25256932e-04 9.99998655e-01 -9.01024173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.885898227 meters 0.08460545452701809 Centerline is valid? [True, True] Translation: X:47.59, Y:0.40, Z:-0.90 [[ 9.99872594e-01 -1.58787724e-02 -1.63133391e-03 4.75864742e+01] [ 1.58785528e-02 9.99873917e-01 -1.47452398e-04 4.03490941e-01] [ 1.63346959e-03 1.21530390e-04 9.99998659e-01 -9.01017197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.915898227 meters 0.0826209862210056 Centerline is valid? [True, True] Translation: X:47.62, Y:0.40, Z:-0.90 [[ 9.99836576e-01 -1.78693508e-02 -2.74014562e-03 4.76174221e+01] [ 1.78687388e-02 9.99840311e-01 -2.47668126e-04 4.01091749e-01] [ 2.74413372e-03 1.98664705e-04 9.99996215e-01 -9.02791045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.945898227 meters 0.07694171431094736 Centerline is valid? [True, True] Translation: X:47.65, Y:0.39, Z:-0.90 [[ 9.99809705e-01 -1.92155101e-02 -3.36409747e-03 4.76502729e+01] [ 1.92145956e-02 9.99815336e-01 -3.03956265e-04 3.91391902e-01] [ 3.36931691e-03 2.39258652e-04 9.99994295e-01 -9.04050166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.975898227 meters 0.08337542401011967 Centerline is valid? [True, True] Translation: X:47.68, Y:0.40, Z:-0.90 [[ 9.99820163e-01 -1.87443388e-02 -2.87940055e-03 4.76810577e+01] [ 1.87436672e-02 9.99824288e-01 -2.60062377e-04 4.01234123e-01] [ 2.88376930e-03 2.06045083e-04 9.99995821e-01 -9.02562728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.005898226999996 meters 0.07544550422446765 Centerline is valid? [True, True] Translation: X:47.71, Y:0.39, Z:-0.90 [[ 9.99838918e-01 -1.76983848e-02 -2.98402240e-03 4.77126374e+01] [ 1.76976590e-02 9.99843348e-01 -2.69456909e-04 3.92701896e-01] [ 2.98832390e-03 2.16603293e-04 9.99995511e-01 -9.01465020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.035898227 meters 0.08522048061212185 Centerline is valid? [True, True] Translation: X:47.74, Y:0.41, Z:-0.91 [[ 9.99867192e-01 -1.52075060e-02 -5.85921371e-03 4.77415501e+01] [ 1.52046655e-02 9.99884262e-01 -5.29021412e-04 4.05371507e-01] [ 5.86658067e-03 4.39863769e-04 9.99982695e-01 -9.06411951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.065898227 meters 0.08124761333040424 Centerline is valid? [True, True] Translation: X:47.77, Y:0.40, Z:-0.91 [[ 9.99871101e-01 -1.45958744e-02 -6.68893687e-03 4.77735926e+01] [ 1.45921599e-02 9.99893346e-01 -6.03786570e-04 4.01122442e-01] [ 6.69703626e-03 5.06102706e-04 9.99977447e-01 -9.07788050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.095898227 meters 0.08624572496068661 Centerline is valid? [True, True] Translation: X:47.80, Y:0.41, Z:-0.91 [[ 9.99875140e-01 -1.45413676e-02 -6.18483576e-03 4.78038436e+01] [ 1.45381923e-02 9.99894159e-01 -5.58050192e-04 4.08211222e-01] [ 6.19229597e-03 4.68064182e-04 9.99980718e-01 -9.07221252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.125898227 meters 0.08045431834446133 Centerline is valid? [True, True] Translation: X:47.84, Y:0.40, Z:-0.90 [[ 9.99857901e-01 -1.65315607e-02 -3.29941790e-03 4.78353325e+01] [ 1.65306679e-02 9.99863315e-01 -2.97664236e-04 3.98082413e-01] [ 3.30388777e-03 2.43080356e-04 9.99994513e-01 -9.04819574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.155898227 meters 0.07705120494932007 Centerline is valid? [True, True] Translation: X:47.87, Y:0.40, Z:-0.90 [[ 9.99816129e-01 -1.88745298e-02 -3.38534153e-03 4.78650444e+01] [ 1.88736033e-02 9.99821831e-01 -3.05428372e-04 3.98362887e-01] [ 3.39050319e-03 2.41478619e-04 9.99994223e-01 -9.02297264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.185898226999996 meters 0.06859405404775151 Centerline is valid? [True, True] Translation: X:47.90, Y:0.39, Z:-0.90 [[ 9.99638310e-01 -2.65999914e-02 -3.96091771e-03 4.78969093e+01] [ 2.65987834e-02 9.99646126e-01 -3.57343944e-04 3.86140044e-01] [ 3.96902139e-03 2.51859104e-04 9.99992092e-01 -9.04634429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.215898227 meters 0.06826657141753688 Centerline is valid? [True, True] Translation: X:47.93, Y:0.38, Z:-0.90 [[ 9.99479323e-01 -3.20913298e-02 -3.35109864e-03 4.79272860e+01] [ 3.20904958e-02 9.99484922e-01 -3.02336783e-04 3.84640840e-01] [ 3.35907495e-03 1.94640946e-04 9.99994339e-01 -9.03615154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.245898227 meters 0.060624540070570096 Centerline is valid? [True, True] Translation: X:47.96, Y:0.37, Z:-0.90 [[ 9.99245512e-01 -3.87831749e-02 -2.06674812e-03 4.79586409e+01] [ 3.87828720e-02 9.99247644e-01 -1.86465151e-04 3.73019098e-01] [ 2.07242490e-03 1.06170037e-04 9.99997847e-01 -9.00927655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.275898227 meters 0.0474796274944517 Centerline is valid? [True, True] Translation: X:47.99, Y:0.35, Z:-0.90 [[ 9.98952317e-01 -4.57514864e-02 -1.03393218e-03 4.79911412e+01] [ 4.57514143e-02 9.98952851e-01 -9.32798821e-05 3.53819603e-01] [ 1.03711719e-03 4.58782948e-05 9.99999461e-01 -8.98460869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.305898227 meters 0.03966410642779126 Centerline is valid? [True, True] Translation: X:48.02, Y:0.34, Z:-0.90 [[ 9.98296441e-01 -5.83288373e-02 -1.40120162e-03 4.80220397e+01] [ 5.83287173e-02 9.98297423e-01 -1.26412416e-04 3.36968906e-01] [ 1.40618946e-03 4.44667715e-05 9.99999010e-01 -8.98656681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.335898227 meters 0.03120273712374841 Centerline is valid? [True, True] Translation: X:48.05, Y:0.32, Z:-0.90 [[ 9.98054156e-01 -6.23012148e-02 -2.54173573e-03 4.80539631e+01] [ 6.23008327e-02 9.98057390e-01 -2.29327418e-04 3.23747752e-01] [ 2.55108551e-03 7.05289302e-05 9.99996743e-01 -9.00590650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.365898227 meters 0.03076032091294084 Centerline is valid? [True, True] Translation: X:48.08, Y:0.32, Z:-0.90 [[ 9.97913025e-01 -6.44780262e-02 -3.48975233e-03 4.80846904e+01] [ 6.44773192e-02 9.97919123e-01 -3.14828378e-04 3.21200885e-01] [ 3.50279009e-03 8.91614645e-05 9.99993861e-01 -9.02068258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.395898226999996 meters 0.029938971176311256 Centerline is valid? [True, True] Translation: X:48.12, Y:0.32, Z:-0.90 [[ 9.97900328e-01 -6.46739395e-02 -3.49530821e-03 4.81161807e+01] [ 6.46732317e-02 9.97906445e-01 -3.15253978e-04 3.19083884e-01] [ 3.50837931e-03 8.85391695e-05 9.99993842e-01 -9.01825665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.425898227 meters 0.03554236149672158 Centerline is valid? [True, True] Translation: X:48.15, Y:0.32, Z:-0.90 [[ 9.98154986e-01 -6.06841027e-02 -2.01559791e-03 4.81455018e+01] [ 6.06838592e-02 9.98157020e-01 -1.81783328e-04 3.24632046e-01] [ 2.02291456e-03 5.91336760e-05 9.99997952e-01 -8.97225454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.455898227 meters 0.03665371851517933 Centerline is valid? [True, True] Translation: X:48.18, Y:0.33, Z:-0.90 [[ 9.98349662e-01 -5.73929142e-02 -2.00164134e-03 4.81762660e+01] [ 5.73926675e-02 9.98351666e-01 -1.80509302e-04 3.26842187e-01] [ 2.00870192e-03 6.53318644e-05 9.99997980e-01 -8.96141389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.485898227 meters 0.03665371851517933 Centerline is valid? [True, True] Translation: X:48.21, Y:0.33, Z:-0.90 [[ 9.98352452e-01 -5.73443484e-02 -2.00164766e-03 4.82078418e+01] [ 5.73441018e-02 9.98354457e-01 -1.80439274e-04 3.29599668e-01] [ 2.00870103e-03 6.53593053e-05 9.99997980e-01 -8.96117567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.515898227 meters 0.041756584305094574 Centerline is valid? [True, True] Translation: X:48.24, Y:0.34, Z:-0.90 [[ 9.98550059e-01 -5.37857548e-02 -2.20725353e-03 4.82369398e+01] [ 5.37854464e-02 9.98552495e-01 -1.98877675e-04 3.36184890e-01] [ 2.21475531e-03 7.98711971e-05 9.99997544e-01 -8.96724703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.545898227 meters 0.04326514700718658 Centerline is valid? [True, True] Translation: X:48.27, Y:0.33, Z:-0.90 [[ 9.98745118e-01 -4.99878614e-02 -3.06653349e-03 4.82686524e+01] [ 4.99872486e-02 9.98749818e-01 -2.76203786e-04 3.33988893e-01] [ 3.07650660e-03 1.22569611e-04 9.99995260e-01 -8.99726408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.575898226999996 meters 0.04287074846477652 Centerline is valid? [True, True] Translation: X:48.30, Y:0.33, Z:-0.90 [[ 9.98751236e-01 -4.97829854e-02 -4.19786846e-03 4.83003334e+01] [ 4.97818357e-02 9.98760044e-01 -3.77993019e-04 3.32569137e-01] [ 4.21148091e-03 1.68543397e-04 9.99991117e-01 -9.01862999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.605898227 meters 0.045560502878861854 Centerline is valid? [True, True] Translation: X:48.33, Y:0.34, Z:-0.90 [[ 9.98719440e-01 -5.03668750e-02 -4.76013251e-03 4.83307205e+01] [ 5.03654036e-02 9.98730766e-01 -4.28551317e-04 3.35206448e-01] [ 4.77567558e-03 1.88256536e-04 9.99988579e-01 -9.03681321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.635898227 meters 0.048103461521913186 Centerline is valid? [True, True] Translation: X:48.36, Y:0.33, Z:-0.90 [[ 9.98650223e-01 -5.16242909e-02 -5.71524304e-03 4.83616929e+01] [ 5.16221908e-02 9.98666553e-01 -5.14469664e-04 3.32625687e-01] [ 5.73418120e-03 2.18741878e-04 9.99983536e-01 -9.04816732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.665898227 meters 0.04149194723589275 Centerline is valid? [True, True] Translation: X:48.39, Y:0.32, Z:-0.90 [[ 9.98670312e-01 -5.11827755e-02 -6.15891561e-03 4.83935893e+01] [ 5.11803283e-02 9.98689274e-01 -5.54398278e-04 3.23283477e-01] [ 6.17921860e-03 2.38445778e-04 9.99980880e-01 -9.04171173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.695898227 meters 0.044708971794838626 Centerline is valid? [True, True] Translation: X:48.42, Y:0.33, Z:-0.91 [[ 9.98757323e-01 -4.94060382e-02 -6.54627082e-03 4.84239855e+01] [ 4.94032365e-02 9.98778741e-01 -5.89097238e-04 3.27766941e-01] [ 6.56738108e-03 2.64958215e-04 9.99978399e-01 -9.05398452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.725898227 meters 0.053816538361621036 Centerline is valid? [True, True] Translation: X:48.45, Y:0.34, Z:-0.91 [[ 9.99114395e-01 -4.14281572e-02 -7.35749178e-03 4.84538358e+01] [ 4.14244023e-02 9.99141422e-01 -6.62084766e-04 3.39128615e-01] [ 7.37860374e-03 3.56718722e-04 9.99972714e-01 -9.07933437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.755898226999996 meters 0.059640401467871265 Centerline is valid? [True, True] Translation: X:48.48, Y:0.36, Z:-0.91 [[ 9.99318576e-01 -3.60032904e-02 -8.13305292e-03 4.84817018e+01] [ 3.59985237e-02 9.99351575e-01 -7.31770991e-04 3.56672580e-01] [ 8.15412541e-03 4.38494446e-04 9.99966658e-01 -9.07600831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.785898227 meters 0.061999434114669634 Centerline is valid? [True, True] Translation: X:48.51, Y:0.37, Z:-0.91 [[ 9.99490959e-01 -3.04815629e-02 -9.41789947e-03 4.85115577e+01] [ 3.04749258e-02 9.99535172e-01 -8.47469512e-04 3.65760568e-01] [ 9.43935397e-03 5.60028328e-04 9.99955291e-01 -9.08605544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.815898227 meters 0.0785210753396037 Centerline is valid? [True, True] Translation: X:48.54, Y:0.40, Z:-0.91 [[ 9.99710273e-01 -2.16538768e-02 -1.05109613e-02 4.85380755e+01] [ 2.16451231e-02 9.99765269e-01 -9.45874135e-04 3.97957203e-01] [ 1.05289759e-02 7.18089037e-04 9.99944311e-01 -9.11758594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.845898227 meters 0.08689104914246984 Centerline is valid? [True, True] Translation: X:48.57, Y:0.42, Z:-0.91 [[ 9.99771654e-01 -1.90585154e-02 -9.66507350e-03 4.85659057e+01] [ 1.90509921e-02 9.99818135e-01 -8.69881401e-04 4.15856182e-01] [ 9.67989441e-03 6.85553528e-04 9.99952914e-01 -9.12800544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.875898227 meters 0.08140919638837493 Centerline is valid? [True, True] Translation: X:48.60, Y:0.42, Z:-0.91 [[ 9.99800546e-01 -1.81388521e-02 -8.35764791e-03 4.85958695e+01] [ 1.81331931e-02 9.99835297e-01 -7.52395918e-04 4.17269865e-01] [ 8.36991898e-03 6.00695006e-04 9.99964791e-01 -9.09641505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.905898227 meters 0.07435739114567638 Centerline is valid? [True, True] Translation: X:48.63, Y:0.42, Z:-0.90 [[ 9.99754375e-01 -2.14257899e-02 -5.66798707e-03 4.86257124e+01] [ 2.14232397e-02 9.99770366e-01 -5.10281241e-04 4.23571505e-01] [ 5.67761868e-03 3.88729257e-04 9.99983807e-01 -9.03670521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.935898226999996 meters 0.06956711527043857 Centerline is valid? [True, True] Translation: X:48.66, Y:0.42, Z:-0.90 [[ 9.99681350e-01 -2.48804572e-02 -4.26169850e-03 4.86561290e+01] [ 2.48790467e-02 9.99690395e-01 -3.83674713e-04 4.24840926e-01] [ 4.26992506e-03 2.77525459e-04 9.99990845e-01 -9.01616059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.965898227 meters 0.06676093025393012 Centerline is valid? [True, True] Translation: X:48.69, Y:0.43, Z:-0.90 [[ 9.99600304e-01 -2.81285666e-02 -2.83137767e-03 4.86864744e+01] [ 2.81279570e-02 9.99604298e-01 -2.54904199e-04 4.27764982e-01] [ 2.83742738e-03 1.75161446e-04 9.99995959e-01 -8.99577420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.995898227 meters 0.0633566480474734 Centerline is valid? [True, True] Translation: X:48.72, Y:0.43, Z:-0.90 [[ 9.99416509e-01 -3.40214962e-02 -3.02965878e-03 4.87156455e+01] [ 3.40208253e-02 9.99421087e-01 -2.72749666e-04 4.31378327e-01] [ 3.03718422e-03 1.69519027e-04 9.99995373e-01 -8.99712509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.025898227 meters 0.05756819448665913 Centerline is valid? [True, True] Translation: X:48.75, Y:0.43, Z:-0.90 [[ 9.99318301e-01 -3.66174649e-02 -4.70040119e-03 4.87466268e+01] [ 3.66158785e-02 9.99329324e-01 -4.23158139e-04 4.28037791e-01] [ 4.71274372e-03 2.50760354e-04 9.99988864e-01 -9.02243465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.055898227 meters 0.054670688190271155 Centerline is valid? [True, True] Translation: X:48.78, Y:0.43, Z:-0.90 [[ 9.99129726e-01 -4.14187642e-02 -4.92720846e-03 4.87761320e+01] [ 4.14170789e-02 9.99141846e-01 -4.43630270e-04 4.27987186e-01] [ 4.94135477e-03 2.39173609e-04 9.99987763e-01 -9.04109015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.085898227 meters 0.056058394890631726 Centerline is valid? [True, True] Translation: X:48.81, Y:0.43, Z:-0.90 [[ 9.99049185e-01 -4.34201230e-02 -3.92666241e-03 4.88063255e+01] [ 4.34190682e-02 9.99056885e-01 -3.53513746e-04 4.32092405e-01] [ 3.93830873e-03 1.82685596e-04 9.99992228e-01 -9.02826143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.115898227 meters 0.05118011895689614 Centerline is valid? [True, True] Translation: X:48.84, Y:0.42, Z:-0.90 [[ 9.99002832e-01 -4.45362142e-02 -3.14111502e-03 4.88388839e+01] [ 4.45355450e-02 9.99007760e-01 -2.82696255e-04 4.24630033e-01] [ 3.15058851e-03 1.42523090e-04 9.99995027e-01 -9.03069363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.145898226999996 meters 0.050788224204548385 Centerline is valid? [True, True] Translation: X:48.87, Y:0.43, Z:-0.90 [[ 9.99007230e-01 -4.44688144e-02 -2.66081613e-03 4.88701282e+01] [ 4.44683344e-02 9.99010766e-01 -2.39290052e-04 4.28596375e-01] [ 2.66882491e-03 1.20730430e-04 9.99996431e-01 -9.00215854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.175898227 meters 0.05293330982637945 Centerline is valid? [True, True] Translation: X:48.90, Y:0.43, Z:-0.90 [[ 9.99121062e-01 -4.18535925e-02 -2.31949262e-03 4.89013660e+01] [ 4.18532210e-02 9.99123748e-01 -2.08503200e-04 4.32644273e-01] [ 2.32618677e-03 1.11241702e-04 9.99997288e-01 -8.98136837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.205898227 meters 0.0550248204763655 Centerline is valid? [True, True] Translation: X:48.93, Y:0.44, Z:-0.90 [[ 9.99203665e-01 -3.97832064e-02 -3.05478826e-03 4.89324850e+01] [ 3.97825526e-02 9.99208323e-01 -2.74520904e-04 4.37649094e-01] [ 3.06329117e-03 1.52775018e-04 9.99995296e-01 -8.99361025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.235898227 meters 0.06043013588644016 Centerline is valid? [True, True] Translation: X:48.96, Y:0.45, Z:-0.90 [[ 9.99353103e-01 -3.57116200e-02 -4.24912995e-03 4.89610565e+01] [ 3.57103185e-02 9.99362110e-01 -3.81809362e-04 4.46309117e-01] [ 4.26005450e-03 2.29824587e-04 9.99990900e-01 -9.02580402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.265898227 meters 0.061326100418755525 Centerline is valid? [True, True] Translation: X:48.99, Y:0.45, Z:-0.90 [[ 9.99432943e-01 -3.33582951e-02 -4.58428343e-03 4.89915478e+01] [ 3.33567557e-02 9.99443424e-01 -4.11874810e-04 4.49727995e-01] [ 4.59547137e-03 2.58724431e-04 9.99989407e-01 -9.03579323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.295898227 meters 0.06114982793320104 Centerline is valid? [True, True] Translation: X:49.02, Y:0.45, Z:-0.91 [[ 9.99523669e-01 -3.00441773e-02 -7.05569000e-03 4.90214733e+01] [ 3.00404479e-02 9.99548483e-01 -6.33970113e-04 4.52478924e-01] [ 7.07155134e-03 4.21712045e-04 9.99974907e-01 -9.05746454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.325898226999996 meters 0.06502457461746734 Centerline is valid? [True, True] Translation: X:49.05, Y:0.46, Z:-0.91 [[ 9.99549121e-01 -2.88906496e-02 -8.17838656e-03 4.90512644e+01] [ 2.88856011e-02 9.99582454e-01 -7.34764471e-04 4.59492894e-01] [ 8.19619953e-03 4.98195569e-04 9.99966286e-01 -9.07953868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.355898227 meters 0.06565529806159688 Centerline is valid? [True, True] Translation: X:49.08, Y:0.46, Z:-0.91 [[ 9.99562767e-01 -2.81892583e-02 -8.92418864e-03 4.90819322e+01] [ 2.81832202e-02 9.99602453e-01 -8.01660004e-04 4.61983701e-01] [ 8.94323905e-03 5.49797118e-04 9.99959857e-01 -9.08748758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.385898227 meters 0.06418155647649114 Centerline is valid? [True, True] Translation: X:49.11, Y:0.46, Z:-0.91 [[ 9.99575274e-01 -2.81041810e-02 -7.70881242e-03 4.91128553e+01] [ 2.80996731e-02 9.99604886e-01 -6.92474916e-04 4.59932523e-01] [ 7.72522801e-03 4.75565695e-04 9.99970047e-01 -9.06304463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.415898227 meters 0.06596417198007462 Centerline is valid? [True, True] Translation: X:49.14, Y:0.46, Z:-0.90 [[ 9.99565415e-01 -2.86903391e-02 -6.77100988e-03 4.91426438e+01] [ 2.86868752e-02 9.99588262e-01 -6.08159962e-04 4.64810437e-01] [ 6.78567031e-03 4.13656549e-04 9.99976892e-01 -9.03785980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.445898227 meters 0.07086037470764038 Centerline is valid? [True, True] Translation: X:49.17, Y:0.47, Z:-0.90 [[ 9.99557628e-01 -2.89485530e-02 -6.82123887e-03 4.91721698e+01] [ 2.89450454e-02 9.99580817e-01 -6.12400032e-04 4.73483778e-01] [ 6.83610762e-03 4.14688055e-04 9.99976548e-01 -9.04230375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.475898227 meters 0.0625178145197677 Centerline is valid? [True, True] Translation: X:49.20, Y:0.46, Z:-0.91 [[ 9.99531797e-01 -2.94552863e-02 -8.28091533e-03 4.92040567e+01] [ 2.94501360e-02 9.99565974e-01 -7.43223265e-04 4.64749501e-01] [ 8.29921305e-03 4.99001203e-04 9.99965436e-01 -9.05571741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.505898226999996 meters 0.06958081567272555 Centerline is valid? [True, True] Translation: X:49.23, Y:0.47, Z:-0.91 [[ 9.99496128e-01 -3.02256503e-02 -9.69018166e-03 4.92340336e+01] [ 3.02186351e-02 9.99542935e-01 -8.69575873e-04 4.73030027e-01] [ 9.71203611e-03 5.76313654e-04 9.99952671e-01 -9.10367418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.535898227 meters 0.06521376624295551 Centerline is valid? [True, True] Translation: X:49.26, Y:0.47, Z:-0.91 [[ 9.99496474e-01 -3.06259852e-02 -8.29743262e-03 4.92646106e+01] [ 3.06208556e-02 9.99530794e-01 -7.44585752e-04 4.69874758e-01] [ 8.31634309e-03 4.90136347e-04 9.99965298e-01 -9.06932113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.565898227 meters 0.05922595105038163 Centerline is valid? [True, True] Translation: X:49.30, Y:0.47, Z:-0.90 [[ 9.99490409e-01 -3.14230990e-02 -5.61350795e-03 4.92954255e+01] [ 3.14207637e-02 9.99506119e-01 -5.03738714e-04 4.65329787e-01] [ 5.62656458e-03 3.27101306e-04 9.99984117e-01 -9.00054257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.595898227 meters 0.060501438499027886 Centerline is valid? [True, True] Translation: X:49.33, Y:0.47, Z:-0.90 [[ 9.99466206e-01 -3.22356067e-02 -5.30748805e-03 4.93258169e+01] [ 3.22335308e-02 9.99480251e-01 -4.76221253e-04 4.68378046e-01] [ 5.32008077e-03 3.04887969e-04 9.99985802e-01 -8.99824500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.625898227 meters 0.062299316930474316 Centerline is valid? [True, True] Translation: X:49.36, Y:0.47, Z:-0.90 [[ 9.99417513e-01 -3.37323965e-02 -5.17294682e-03 4.93563990e+01] [ 3.37304451e-02 9.99430859e-01 -4.64033346e-04 4.71406184e-01] [ 5.18565564e-03 2.89277254e-04 9.99986513e-01 -9.01224581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.655898227 meters 0.05702081527947403 Centerline is valid? [True, True] Translation: X:49.39, Y:0.47, Z:-0.90 [[ 9.99331515e-01 -3.61321123e-02 -5.56723632e-03 4.93876706e+01] [ 3.61298897e-02 9.99346978e-01 -4.99324612e-04 4.65850042e-01] [ 5.58164244e-03 2.97847187e-04 9.99984378e-01 -9.02049788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.685898226999996 meters 0.051592142876956536 Centerline is valid? [True, True] Translation: X:49.42, Y:0.46, Z:-0.90 [[ 9.99132492e-01 -4.13797208e-02 -4.68844392e-03 4.94187652e+01] [ 4.13782021e-02 9.99143467e-01 -4.20501708e-04 4.60291487e-01] [ 4.70182835e-03 2.26137540e-04 9.99988921e-01 -9.00672494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.715898227 meters 0.05088263096347973 Centerline is valid? [True, True] Translation: X:49.45, Y:0.46, Z:-0.90 [[ 9.99040165e-01 -4.36793183e-02 -3.29621384e-03 4.94489040e+01] [ 4.36785801e-02 9.99045592e-01 -2.95634495e-04 4.61163016e-01] [ 3.30598102e-03 1.51376795e-04 9.99994524e-01 -8.98364358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.745898227 meters 0.04711337129361179 Centerline is valid? [True, True] Translation: X:49.48, Y:0.46, Z:-0.89 [[ 9.98871516e-01 -4.74810709e-02 -1.11482552e-03 4.94799146e+01] [ 4.74809888e-02 9.98872137e-01 -9.99851882e-05 4.56715293e-01] [ 1.11831555e-03 4.69393385e-05 9.99999374e-01 -8.94945472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.775898227 meters 0.04599871989362658 Centerline is valid? [True, True] Translation: X:49.51, Y:0.46, Z:-0.89 [[ 9.98790595e-01 -4.91639878e-02 -5.00116297e-04 4.95104896e+01] [ 4.91639715e-02 9.98790720e-01 -4.48545294e-05 4.57654985e-01] [ 5.01716743e-04 2.02125787e-05 9.99999874e-01 -8.93068687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.805898227 meters 0.04457216531381305 Centerline is valid? [True, True] Translation: X:49.54, Y:0.46, Z:-0.89 [[ 9.98762576e-01 -4.97232062e-02 -9.58824480e-04 4.95426031e+01] [ 4.97231466e-02 9.98763036e-01 -8.59678500e-05 4.58573542e-01] [ 9.61913045e-04 3.81857012e-05 9.99999537e-01 -8.92793877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.835898227 meters 0.04594367587959699 Centerline is valid? [True, True] Translation: X:49.57, Y:0.46, Z:-0.89 [[ 9.98790888e-01 -4.91061309e-02 -2.31319829e-03 4.95737455e+01] [ 4.91057826e-02 9.98793562e-01 -2.07202083e-04 4.62205329e-01] [ 2.32058245e-03 9.33601403e-05 9.99997303e-01 -8.94929166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.865898227 meters 0.049174361770618034 Centerline is valid? [True, True] Translation: X:49.60, Y:0.47, Z:-0.90 [[ 9.98961951e-01 -4.54382063e-02 -3.22321386e-03 4.96038629e+01] [ 4.54375111e-02 9.98967141e-01 -2.88628755e-04 4.66814553e-01] [ 3.23299951e-03 1.41874329e-04 9.99994764e-01 -8.97259419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.895898226999996 meters 0.052844900948859234 Centerline is valid? [True, True] Translation: X:49.63, Y:0.47, Z:-0.90 [[ 9.99083090e-01 -4.27425950e-02 -2.45954722e-03 4.96335601e+01] [ 4.27421820e-02 9.99086111e-01 -2.20241869e-04 4.73708461e-01] [ 2.46671317e-03 1.14913512e-04 9.99996951e-01 -8.96043616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.925898227 meters 0.05548839343011092 Centerline is valid? [True, True] Translation: X:49.66, Y:0.48, Z:-0.89 [[ 9.99199998e-01 -3.99622126e-02 -1.54451433e-03 4.96640308e+01] [ 3.99620465e-02 9.99201189e-01 -1.38288582e-04 4.80173914e-01] [ 1.54880687e-03 7.64559977e-05 9.99998798e-01 -8.94191878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.955898227 meters 0.05511433157073528 Centerline is valid? [True, True] Translation: X:49.69, Y:0.48, Z:-0.90 [[ 9.99350271e-01 -3.58954497e-02 -3.24847738e-03 4.96944550e+01] [ 3.58946935e-02 9.99355536e-01 -2.90816496e-04 4.81924998e-01] [ 3.25682285e-03 1.74024444e-04 9.99994681e-01 -8.96678052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.985898227 meters 0.05608037819623153 Centerline is valid? [True, True] Translation: X:49.73, Y:0.48, Z:-0.90 [[ 9.99386764e-01 -3.47061986e-02 -4.64504302e-03 4.97252670e+01] [ 3.47046402e-02 9.99397526e-01 -4.15708335e-04 4.84427971e-01] [ 4.65667215e-03 2.54248861e-04 9.99989125e-01 -8.98871789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.015898227 meters 0.06649479793128753 Centerline is valid? [True, True] Translation: X:49.75, Y:0.50, Z:-0.90 [[ 9.99454802e-01 -3.26195888e-02 -5.10497897e-03 4.97543356e+01] [ 3.26176803e-02 9.99467798e-01 -4.56683188e-04 4.97479153e-01] [ 5.11715891e-03 2.89921633e-04 9.99986865e-01 -9.00964280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.045898227 meters 0.06899711093506802 Centerline is valid? [True, True] Translation: X:49.78, Y:0.50, Z:-0.90 [[ 9.99500636e-01 -3.12283585e-02 -4.82364654e-03 4.97843658e+01] [ 3.12266388e-02 9.99512236e-01 -4.31443075e-04 5.02810821e-01] [ 4.83476700e-03 2.80601360e-04 9.99988273e-01 -9.00452041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.075898226999996 meters 0.06840041221627564 Centerline is valid? [True, True] Translation: X:49.82, Y:0.51, Z:-0.90 [[ 9.99543772e-01 -2.97195074e-02 -5.38500106e-03 4.98154403e+01] [ 2.97173429e-02 9.99558226e-01 -4.81535266e-04 5.05409497e-01] [ 5.39693310e-03 3.21287653e-04 9.99985385e-01 -9.00630291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.105898227 meters 0.06306116044379095 Centerline is valid? [True, True] Translation: X:49.85, Y:0.50, Z:-0.90 [[ 9.99582208e-01 -2.82061817e-02 -6.31031689e-03 4.98467357e+01] [ 2.82031799e-02 9.99602052e-01 -5.64190077e-04 5.02338170e-01] [ 6.32371936e-03 3.85983361e-04 9.99979931e-01 -9.01414181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.135898227 meters 0.07244860959760659 Centerline is valid? [True, True] Translation: X:49.88, Y:0.52, Z:-0.91 [[ 9.99621740e-01 -2.61102062e-02 -8.63904841e-03 4.98759792e+01] [ 2.61045030e-02 9.99658921e-01 -7.72288188e-04 5.16877889e-01] [ 8.65626642e-03 5.46477997e-04 9.99962384e-01 -9.06854413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.165898227 meters 0.06762418553553652 Centerline is valid? [True, True] Translation: X:49.91, Y:0.51, Z:-0.91 [[ 9.99630391e-01 -2.57437216e-02 -8.73743365e-03 4.99074518e+01] [ 2.57378739e-02 9.99668421e-01 -7.81074170e-04 5.12312212e-01] [ 8.75464425e-03 5.55902512e-04 9.99961523e-01 -9.06353973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.195898227 meters 0.07771149287571463 Centerline is valid? [True, True] Translation: X:49.94, Y:0.53, Z:-0.91 [[ 9.99637206e-01 -2.56573656e-02 -8.19483911e-03 4.99362221e+01] [ 2.56522189e-02 9.99670659e-01 -7.32550915e-04 5.26601941e-01] [ 8.21093554e-03 5.22069343e-04 9.99966153e-01 -9.07236663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.225898227 meters 0.06957252132134222 Centerline is valid? [True, True] Translation: X:49.97, Y:0.52, Z:-0.90 [[ 9.99650880e-01 -2.54289501e-02 -7.17536479e-03 4.99677106e+01] [ 2.54249985e-02 9.99676527e-01 -6.41416699e-04 5.18199644e-01] [ 7.18935430e-03 4.58759129e-04 9.99974051e-01 -9.03642455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.255898226999996 meters 0.06338857222888297 Centerline is valid? [True, True] Translation: X:50.00, Y:0.51, Z:-0.90 [[ 9.99658930e-01 -2.51577316e-02 -7.00803261e-03 4.99991195e+01] [ 2.51539555e-02 9.99683393e-01 -6.26458623e-04 5.13474214e-01] [ 7.02157410e-03 4.49965216e-04 9.99975247e-01 -9.02132104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.285898227 meters 0.0674203966884815 Centerline is valid? [True, True] Translation: X:50.03, Y:0.52, Z:-0.90 [[ 9.99669197e-01 -2.47487756e-02 -6.99962071e-03 5.00285876e+01] [ 2.47449992e-02 9.99693600e-01 -6.25628707e-04 5.22591869e-01] [ 7.01295957e-03 4.52216139e-04 9.99975307e-01 -9.02117129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.315898227 meters 0.07481272649110565 Centerline is valid? [True, True] Translation: X:50.06, Y:0.54, Z:-0.90 [[ 9.99717143e-01 -2.31976645e-02 -5.24432791e-03 5.00575780e+01] [ 2.31955237e-02 9.99730838e-01 -4.68678431e-04 5.38707616e-01] [ 5.25378858e-03 3.46900930e-04 9.99986139e-01 -9.00002871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.345898227 meters 0.0773530630934038 Centerline is valid? [True, True] Translation: X:50.09, Y:0.54, Z:-0.90 [[ 9.99723419e-01 -2.31626017e-02 -4.07166412e-03 5.00886661e+01] [ 2.31613114e-02 9.99731675e-01 -3.63795215e-04 5.42242023e-01] [ 4.07899803e-03 2.69389516e-04 9.99991645e-01 -9.00336111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.375898227 meters 0.0773530630934038 Centerline is valid? [True, True] Translation: X:50.12, Y:0.54, Z:-0.90 [[ 9.99723950e-01 -2.31396857e-02 -4.07167246e-03 5.01194551e+01] [ 2.31383955e-02 9.99732205e-01 -3.63701878e-04 5.44948123e-01] [ 4.07899803e-03 2.69389511e-04 9.99991645e-01 -9.00312884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.405898227 meters 0.0657283049997119 Centerline is valid? [True, True] Translation: X:50.15, Y:0.53, Z:-0.90 [[ 9.99648382e-01 -2.62278873e-02 -3.89994566e-03 5.01506862e+01] [ 2.62267271e-02 9.99655960e-01 -3.48343227e-04 5.34731703e-01] [ 3.90774023e-03 2.45937933e-04 9.99992335e-01 -8.97962397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.435898226999996 meters 0.06239751482438539 Centerline is valid? [True, True] Translation: X:50.18, Y:0.53, Z:-0.90 [[ 9.99566594e-01 -2.90568478e-02 -4.72469742e-03 5.01816121e+01] [ 2.90551766e-02 9.99577720e-01 -4.21985325e-04 5.32976472e-01] [ 4.73496384e-03 2.84525517e-04 9.99988750e-01 -8.98870539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.465898227 meters 0.06698314310421814 Centerline is valid? [True, True] Translation: X:50.21, Y:0.54, Z:-0.90 [[ 9.99498275e-01 -3.12132736e-02 -5.37859630e-03 5.02107886e+01] [ 3.12111389e-02 9.99512698e-01 -4.80383018e-04 5.40181190e-01] [ 5.39096963e-03 3.12269882e-04 9.99985420e-01 -9.01475858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.495898227 meters 0.06349892190959412 Centerline is valid? [True, True] Translation: X:50.24, Y:0.54, Z:-0.90 [[ 9.99454722e-01 -3.25594570e-02 -5.48995128e-03 5.02428211e+01] [ 3.25572542e-02 9.99469752e-01 -4.90162172e-04 5.38737019e-01] [ 5.50299966e-03 3.11157158e-04 9.99984810e-01 -9.00028836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.525898227 meters 0.06074347860790578 Centerline is valid? [True, True] Translation: X:50.27, Y:0.54, Z:-0.90 [[ 9.99474538e-01 -3.21136675e-02 -4.40005825e-03 5.02740972e+01] [ 3.21122487e-02 9.99484192e-01 -3.92743377e-04 5.36950738e-01] [ 4.41040110e-03 2.51241241e-04 9.99990243e-01 -8.97849134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.555898227 meters 0.0627172968334216 Centerline is valid? [True, True] Translation: X:50.31, Y:0.54, Z:-0.89 [[ 9.99494245e-01 -3.16952445e-02 -2.58195638e-03 5.03050004e+01] [ 3.16947547e-02 9.99497569e-01 -2.30385139e-04 5.41671977e-01] [ 2.58796124e-03 1.48434146e-04 9.99996640e-01 -8.94993874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.585898227 meters 0.05747308920319291 Centerline is valid? [True, True] Translation: X:50.34, Y:0.54, Z:-0.89 [[ 9.99501967e-01 -3.15281653e-02 -1.33886008e-03 5.03377018e+01] [ 3.15280335e-02 9.99502861e-01 -1.19421426e-04 5.37358961e-01] [ 1.34195962e-03 7.71503242e-05 9.99999097e-01 -8.92523768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.615898227 meters 0.06443465874244798 Centerline is valid? [True, True] Translation: X:50.37, Y:0.55, Z:-0.89 [[ 9.99506118e-01 -3.13722275e-02 -1.81758065e-03 5.03679261e+01] [ 3.13719845e-02 9.99507765e-01 -1.62030690e-04 5.45879079e-01] [ 1.82176924e-03 1.04929554e-04 9.99998335e-01 -8.94165907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.645898226999996 meters 0.052732428879224275 Centerline is valid? [True, True] Translation: X:50.40, Y:0.53, Z:-0.90 [[ 9.99497362e-01 -3.15736823e-02 -2.85077392e-03 5.04014109e+01] [ 3.15780336e-02 9.99500172e-01 1.49447082e-03 5.30087437e-01] [ 2.80216308e-03 -1.58374148e-03 9.99994820e-01 -8.95769425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.675898227 meters 0.06410019640862202 Centerline is valid? [True, True] Translation: X:50.43, Y:0.55, Z:-0.90 [[ 9.99511143e-01 -3.10173636e-02 -3.92404742e-03 5.04303751e+01] [ 3.10093170e-02 9.99516900e-01 -2.09508063e-03 5.46359064e-01] [ 3.98713559e-03 1.97237441e-03 9.99990106e-01 -8.97113977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.705898227 meters 0.06226760045903095 Centerline is valid? [True, True] Translation: X:50.46, Y:0.54, Z:-0.90 [[ 9.99545371e-01 -2.97164629e-02 -5.09744896e-03 5.04621650e+01] [ 2.97145335e-02 9.99558323e-01 -4.53834711e-04 5.43423840e-01] [ 5.10868390e-03 3.02160066e-04 9.99986905e-01 -8.99274238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.735898227 meters 0.06682191311611616 Centerline is valid? [True, True] Translation: X:50.49, Y:0.55, Z:-0.90 [[ 9.99674431e-01 -2.47673563e-02 -6.13274396e-03 5.04916348e+01] [ 2.47644706e-02 9.99693164e-01 -5.46035983e-04 5.51707389e-01] [ 6.14438608e-03 3.93984052e-04 9.99981045e-01 -8.98213868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.765898227 meters 0.07282705743781218 Centerline is valid? [True, True] Translation: X:50.52, Y:0.56, Z:-0.90 [[ 9.99746163e-01 -2.16045359e-02 -6.39173719e-03 5.05203918e+01] [ 2.16013372e-02 9.99766502e-01 -5.69076395e-04 5.61574714e-01] [ 6.40253937e-03 4.30861872e-04 9.99979411e-01 -8.98657792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.795898227 meters 0.07534678852557018 Centerline is valid? [True, True] Translation: X:50.55, Y:0.57, Z:-0.90 [[ 9.99825253e-01 -1.75175132e-02 -6.52686361e-03 5.05501777e+01] [ 1.75140907e-02 9.99846448e-01 -5.81160676e-04 5.67300988e-01] [ 6.53604188e-03 4.66747039e-04 9.99978531e-01 -8.99590065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.825898226999996 meters 0.0788827623884105 Centerline is valid? [True, True] Translation: X:50.58, Y:0.58, Z:-0.90 [[ 9.99837043e-01 -1.67273506e-02 -6.78839700e-03 5.05788385e+01] [ 1.67236299e-02 9.99859968e-01 -6.04503634e-04 5.75285617e-01] [ 6.79755815e-03 4.90878487e-04 9.99976776e-01 -9.00777524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.855898227 meters 0.07681922502766547 Centerline is valid? [True, True] Translation: X:50.61, Y:0.58, Z:-0.90 [[ 9.99833624e-01 -1.67106709e-02 -7.31278798e-03 5.06098579e+01] [ 1.67063526e-02 9.99860227e-01 -6.51206811e-04 5.76095689e-01] [ 7.32264796e-03 5.28928452e-04 9.99973049e-01 -9.01513600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.885898227 meters 0.07532240334360345 Centerline is valid? [True, True] Translation: X:50.64, Y:0.58, Z:-0.90 [[ 9.99815486e-01 -1.75462446e-02 -7.81812480e-03 5.06398531e+01] [ 1.75413336e-02 9.99845897e-01 -6.96291960e-04 5.77392535e-01] [ 7.82913730e-03 5.59023149e-04 9.99969196e-01 -9.02405384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.915898227 meters 0.07468952289907675 Centerline is valid? [True, True] Translation: X:50.67, Y:0.58, Z:-0.90 [[ 9.99791114e-01 -1.93579003e-02 -6.55742433e-03 5.06689301e+01] [ 1.93544836e-02 9.99812514e-01 -5.84105879e-04 5.80480853e-01] [ 6.56750197e-03 4.57068306e-04 9.99978329e-01 -8.99467907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.945898227 meters 0.0772939839060441 Centerline is valid? [True, True] Translation: X:50.70, Y:0.59, Z:-0.90 [[ 9.99795334e-01 -1.96067634e-02 -4.98645627e-03 5.06980619e+01] [ 1.96047905e-02 9.99807709e-01 -4.44229538e-04 5.87778913e-01] [ 4.99420732e-03 3.46380189e-04 9.99987469e-01 -8.97290735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.975898227 meters 0.07354195976767673 Centerline is valid? [True, True] Translation: X:50.73, Y:0.59, Z:-0.90 [[ 9.99803629e-01 -1.93768285e-02 -4.15237922e-03 5.07287478e+01] [ 1.93754584e-02 9.99812210e-01 -3.69931282e-04 5.87006489e-01] [ 4.15876754e-03 2.89404387e-04 9.99991310e-01 -8.95570861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.005898226999996 meters 0.0732284098946128 Centerline is valid? [True, True] Translation: X:50.76, Y:0.59, Z:-0.90 [[ 9.99839254e-01 -1.69567984e-02 -5.82525340e-03 5.07591700e+01] [ 1.69540612e-02 9.99856135e-01 -5.18953169e-04 5.92707206e-01] [ 5.83321513e-03 4.20108047e-04 9.99982898e-01 -8.98129874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.035898227 meters 0.07682657613109337 Centerline is valid? [True, True] Translation: X:50.79, Y:0.60, Z:-0.90 [[ 9.99850811e-01 -1.56220711e-02 -7.36933031e-03 5.07884453e+01] [ 1.56176544e-02 9.99877821e-01 -6.56507651e-04 6.02573475e-01] [ 7.37868594e-03 5.41318054e-04 9.99972631e-01 -9.00371271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.065898227 meters 0.07811493421500143 Centerline is valid? [True, True] Translation: X:50.82, Y:0.61, Z:-0.90 [[ 9.99868099e-01 -1.42457678e-02 -7.80012785e-03 5.08181927e+01] [ 1.42407773e-02 9.99898353e-01 -6.94971312e-04 6.08323502e-01] [ 7.80923540e-03 5.83799761e-04 9.99969337e-01 -9.03181177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.095898227 meters 0.08127517427587579 Centerline is valid? [True, True] Translation: X:50.85, Y:0.62, Z:-0.90 [[ 9.99905216e-01 -1.21211867e-02 -6.52966912e-03 5.08457557e+01] [ 1.21176438e-02 9.99926409e-01 -5.81874400e-04 6.23393296e-01] [ 6.53624160e-03 5.02695042e-04 9.99978512e-01 -8.99252680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.125898227 meters 0.08002732136988046 Centerline is valid? [True, True] Translation: X:50.88, Y:0.63, Z:-0.90 [[ 9.99917638e-01 -1.15119935e-02 -5.67378296e-03 5.08754293e+01] [ 1.15093084e-02 9.99933638e-01 -5.05673780e-04 6.28230597e-01] [ 5.67922775e-03 4.40330814e-04 9.99983776e-01 -8.97970155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.155898227 meters 0.08691566281752848 Centerline is valid? [True, True] Translation: X:50.90, Y:0.64, Z:-0.90 [[ 9.99918839e-01 -1.16688438e-02 -5.11399449e-03 5.09041308e+01] [ 1.16666647e-02 9.99931838e-01 -4.55738984e-04 6.43774013e-01] [ 5.11896386e-03 3.96038737e-04 9.99986820e-01 -8.98039123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.185898226999996 meters 0.0804558276584815 Centerline is valid? [True, True] Translation: X:50.93, Y:0.64, Z:-0.90 [[ 9.99878104e-01 -1.42430589e-02 -6.39634978e-03 5.09345518e+01] [ 1.42397022e-02 9.99898448e-01 -5.70020524e-04 6.44746154e-01] [ 6.40381905e-03 4.78868924e-04 9.99979381e-01 -9.00994586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.215898227 meters 0.07415300860680095 Centerline is valid? [True, True] Translation: X:50.97, Y:0.64, Z:-0.90 [[ 9.99830012e-01 -1.71109046e-02 -6.86764085e-03 5.09658645e+01] [ 1.71071027e-02 9.99853476e-01 -6.11960229e-04 6.42451020e-01] [ 6.87710576e-03 4.94370765e-04 9.99976230e-01 -9.02209289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.245898227 meters 0.07366932950551079 Centerline is valid? [True, True] Translation: X:51.00, Y:0.65, Z:-0.90 [[ 9.99769651e-01 -2.03281900e-02 -6.88549379e-03 5.09956027e+01] [ 2.03244443e-02 9.99793249e-01 -6.13545535e-04 6.47542025e-01] [ 6.89654247e-03 4.73460370e-04 9.99976106e-01 -9.02747340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.275898227 meters 0.07069705486625306 Centerline is valid? [True, True] Translation: X:51.03, Y:0.65, Z:-0.90 [[ 9.99703996e-01 -2.34113490e-02 -6.62037741e-03 5.10263358e+01] [ 2.34079535e-02 9.99725822e-01 -5.89922073e-04 6.49550413e-01] [ 6.63237312e-03 4.34777968e-04 9.99977911e-01 -9.01789149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.305898227 meters 0.0709610079036898 Centerline is valid? [True, True] Translation: X:51.06, Y:0.66, Z:-0.90 [[ 9.99569240e-01 -2.87702718e-02 -5.79712818e-03 5.10558760e+01] [ 2.87677578e-02 9.99585989e-01 -5.16598347e-04 6.56532438e-01] [ 5.80959078e-03 3.49605437e-04 9.99983063e-01 -9.00126254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.335898227 meters 0.06249313117687688 Centerline is valid? [True, True] Translation: X:51.09, Y:0.65, Z:-0.90 [[ 9.99489538e-01 -3.14637989e-02 -5.54014806e-03 5.10870847e+01] [ 3.14615441e-02 9.99504841e-01 -4.93704067e-04 6.49290343e-01] [ 5.55293861e-03 3.19150437e-04 9.99984531e-01 -8.99375607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.365898227 meters 0.05877726904554788 Centerline is valid? [True, True] Translation: X:51.12, Y:0.65, Z:-0.90 [[ 9.99381526e-01 -3.47223206e-02 -5.56105862e-03 5.11183294e+01] [ 3.47200990e-02 9.99396953e-01 -4.95555139e-04 6.48147120e-01] [ 5.57491186e-03 3.02168145e-04 9.99984414e-01 -8.99424313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.395898226999996 meters 0.06044327354850833 Centerline is valid? [True, True] Translation: X:51.15, Y:0.65, Z:-0.90 [[ 9.99243933e-01 -3.85726196e-02 -4.86978623e-03 5.11474560e+01] [ 3.85709614e-02 9.99255769e-01 -4.34001935e-04 6.53016548e-01] [ 4.88290258e-03 2.45841463e-04 9.99988048e-01 -8.99519305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.425898227 meters 0.048619250719356924 Centerline is valid? [True, True] Translation: X:51.18, Y:0.64, Z:-0.90 [[ 9.98913931e-01 -4.63906999e-02 -4.34290495e-03 5.11790599e+01] [ 4.63894549e-02 9.98923355e-01 -3.87040702e-04 6.37340596e-01] [ 4.35618427e-03 1.85155356e-04 9.99990495e-01 -8.96736369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.455898227 meters 0.045272177215479804 Centerline is valid? [True, True] Translation: X:51.21, Y:0.63, Z:-0.90 [[ 9.98711636e-01 -5.05603337e-02 -4.32677246e-03 5.12097933e+01] [ 5.05591368e-02 9.98720995e-01 -3.85625158e-04 6.31591550e-01] [ 4.34073583e-03 1.66370452e-04 9.99990565e-01 -8.96661810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.485898227 meters 0.036844092452349736 Centerline is valid? [True, True] Translation: X:51.24, Y:0.61, Z:-0.90 [[ 9.98327809e-01 -5.75017055e-02 -5.92794620e-03 5.12419227e+01] [ 5.74995810e-02 9.98345391e-01 -5.28340468e-04 6.14677305e-01] [ 5.94851824e-03 1.86602559e-04 9.99982290e-01 -8.97978446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.515898227 meters 0.035649997102229075 Centerline is valid? [True, True] Translation: X:51.27, Y:0.61, Z:-0.90 [[ 9.98269530e-01 -5.84580355e-02 -6.37215644e-03 5.12732673e+01] [ 5.84556010e-02 9.98289848e-01 -5.67796002e-04 6.12424076e-01] [ 6.39445132e-03 1.94325213e-04 9.99979536e-01 -8.97521928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.545898227 meters 0.03235204469372622 Centerline is valid? [True, True] Translation: X:51.31, Y:0.61, Z:-0.90 [[ 9.98320925e-01 -5.76286977e-02 -5.85348545e-03 5.13050849e+01] [ 5.76266300e-02 9.98338069e-01 -5.21430383e-04 6.07771308e-01] [ 5.87380671e-03 1.83238222e-04 9.99982732e-01 -8.95601985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.575898226999996 meters 0.040251377294778415 Centerline is valid? [True, True] Translation: X:51.33, Y:0.61, Z:-0.89 [[ 9.98606240e-01 -5.26589936e-02 -3.55076662e-03 5.13349009e+01] [ 5.26582017e-02 9.98612544e-01 -3.16206666e-04 6.13930169e-01] [ 3.56249121e-03 1.28788965e-04 9.99993646e-01 -8.91820787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.605898227 meters 0.046823321236835386 Centerline is valid? [True, True] Translation: X:51.36, Y:0.62, Z:-0.89 [[ 9.98747456e-01 -4.99101619e-02 -3.53494149e-03 5.13645738e+01] [ 4.99093601e-02 9.98753702e-01 -3.14740669e-04 6.21374650e-01] [ 3.54624465e-03 1.37919775e-04 9.99993703e-01 -8.91869739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.635898227 meters 0.048317163270655314 Centerline is valid? [True, True] Translation: X:51.40, Y:0.62, Z:-0.89 [[ 9.98966204e-01 -4.51796064e-02 -5.03260922e-03 5.13955932e+01] [ 4.51779214e-02 9.98978856e-01 -4.48066790e-04 6.21172881e-01] [ 5.04771369e-03 2.20240756e-04 9.99987236e-01 -8.94059857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.665898227 meters 0.05294500849008237 Centerline is valid? [True, True] Translation: X:51.43, Y:0.63, Z:-0.90 [[ 9.99037971e-01 -4.34051963e-02 -6.25475099e-03 5.14256649e+01] [ 4.34025591e-02 9.99057510e-01 -5.56809085e-04 6.28344939e-01] [ 6.27302436e-03 2.84801218e-04 9.99980284e-01 -8.95785923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.695898227 meters 0.053000332321551026 Centerline is valid? [True, True] Translation: X:51.46, Y:0.63, Z:-0.90 [[ 9.99106197e-01 -4.17670249e-02 -6.50556586e-03 5.14568430e+01] [ 4.17641384e-02 9.99127330e-01 -5.78989591e-04 6.30491324e-01] [ 6.52407132e-03 3.06772736e-04 9.99978671e-01 -8.95568655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.725898227 meters 0.05163690653101785 Centerline is valid? [True, True] Translation: X:51.49, Y:0.63, Z:-0.89 [[ 9.99160783e-01 -4.05471448e-02 -5.80169422e-03 5.14878491e+01] [ 4.05448290e-02 9.99177587e-01 -5.16267377e-04 6.31060562e-01] [ 5.81785599e-03 2.80605417e-04 9.99983037e-01 -8.93582173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.755898226999996 meters 0.04821944888782018 Centerline is valid? [True, True] Translation: X:51.52, Y:0.63, Z:-0.89 [[ 9.99162298e-01 -4.07470582e-02 -3.79214803e-03 5.15192187e+01] [ 4.07460706e-02 9.99169477e-01 -3.37363309e-04 6.28338771e-01] [ 3.80274512e-03 1.82565568e-04 9.99992753e-01 -8.90324677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.785898227 meters 0.04746209495386022 Centerline is valid? [True, True] Translation: X:51.55, Y:0.63, Z:-0.89 [[ 9.99069846e-01 -4.29442691e-02 -3.90300754e-03 5.15502092e+01] [ 4.29432400e-02 9.99077453e-01 -3.47126190e-04 6.29195567e-01] [ 3.91431391e-03 1.79195519e-04 9.99992323e-01 -8.91738411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.815898227 meters 0.046521408272206195 Centerline is valid? [True, True] Translation: X:51.58, Y:0.63, Z:-0.89 [[ 9.98922878e-01 -4.62373362e-02 -3.89786235e-03 5.15798393e+01] [ 4.62363349e-02 9.98930469e-01 -3.46649634e-04 6.30824883e-01] [ 3.90972162e-03 1.66053381e-04 9.99992343e-01 -8.92084690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.845898227 meters 0.0451802947346738 Centerline is valid? [True, True] Translation: X:51.61, Y:0.63, Z:-0.89 [[ 9.98714969e-01 -5.05300767e-02 -3.88869373e-03 5.16094124e+01] [ 5.05291125e-02 9.98722529e-01 -3.45858391e-04 6.30499500e-01] [ 3.90120229e-03 1.48921709e-04 9.99992379e-01 -8.92546695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.875898227 meters 0.0361906537283239 Centerline is valid? [True, True] Translation: X:51.64, Y:0.62, Z:-0.89 [[ 9.98150922e-01 -6.06950958e-02 -3.29277742e-03 5.16400768e+01] [ 6.06944597e-02 9.98156349e-01 -2.92881282e-04 6.15145507e-01] [ 3.30448314e-03 9.24863759e-05 9.99994536e-01 -8.92243966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.905898227 meters 0.027868229105505078 Centerline is valid? [True, True] Translation: X:51.67, Y:0.60, Z:-0.89 [[ 9.97809721e-01 -6.60974153e-02 -2.62522020e-03 5.16722988e+01] [ 6.60970297e-02 9.97813173e-01 -2.33486329e-04 6.02714472e-01] [ 2.63491214e-03 5.94556710e-05 9.99996527e-01 -8.90854492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.935898226999996 meters 0.0182534889286653 Centerline is valid? [True, True] Translation: X:51.70, Y:0.59, Z:-0.89 [[ 9.97196602e-01 -7.48189705e-02 -1.02913428e-03 5.17046646e+01] [ 7.48189159e-02 9.97197133e-01 -9.15265536e-05 5.85271400e-01] [ 1.03309768e-03 1.42712568e-05 9.99999466e-01 -8.86758762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.965898227 meters 0.01643078864065135 Centerline is valid? [True, True] Translation: X:51.74, Y:0.58, Z:-0.89 [[ 9.97051138e-01 -7.67316784e-02 -1.13078510e-03 5.17353422e+01] [ 7.67316137e-02 9.97051779e-01 -1.00564404e-04 5.82291967e-01] [ 1.13516777e-03 1.35008879e-05 9.99999356e-01 -8.85950000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.995898227 meters 0.017196227502575434 Centerline is valid? [True, True] Translation: X:51.77, Y:0.58, Z:-0.89 [[ 9.97044066e-01 -7.68119734e-02 -1.74702058e-03 5.17652168e+01] [ 7.68118190e-02 9.97045596e-01 -1.55380447e-04 5.83438599e-01] [ 1.75379426e-03 2.07293234e-05 9.99998462e-01 -8.86116548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.025898227 meters 0.019326233073070964 Centerline is valid? [True, True] Translation: X:51.80, Y:0.58, Z:-0.89 [[ 9.97284784e-01 -7.35740188e-02 -3.15026751e-03 5.17954989e+01] [ 7.35735007e-02 9.97289758e-01 -2.80202072e-04 5.84210222e-01] [ 3.16234511e-03 4.76650542e-05 9.99994999e-01 -8.87506914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.055898227 meters 0.02420775921101223 Centerline is valid? [True, True] Translation: X:51.82, Y:0.59, Z:-0.89 [[ 9.97516860e-01 -7.03298428e-02 -3.71842212e-03 5.18246639e+01] [ 7.03290982e-02 9.97523788e-01 -3.30772975e-04 5.91833747e-01] [ 3.73247773e-03 6.84383452e-05 9.99993032e-01 -8.88788628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.085898227 meters 0.025740347000729958 Centerline is valid? [True, True] Translation: X:51.85, Y:0.60, Z:-0.89 [[ 9.97788670e-01 -6.63103763e-02 -4.55019062e-03 5.18545642e+01] [ 6.63092194e-02 9.97799040e-01 -4.04821705e-04 5.95338111e-01] [ 4.56701971e-03 1.02206923e-04 9.99989566e-01 -8.89514091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.115898227 meters 0.03191469293902384 Centerline is valid? [True, True] Translation: X:51.88, Y:0.61, Z:-0.89 [[ 9.98077363e-01 -6.17480291e-02 -5.36276537e-03 5.18834782e+01] [ 6.17463558e-02 9.98091759e-01 -4.77183159e-04 6.05941419e-01] [ 5.38199704e-03 1.45134490e-04 9.99985506e-01 -8.91720996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.145898226999996 meters 0.0420445058533299 Centerline is valid? [True, True] Translation: X:51.91, Y:0.62, Z:-0.89 [[ 9.98534002e-01 -5.36452075e-02 -7.21371431e-03 5.19117124e+01] [ 5.36419679e-02 9.98560027e-01 -6.41965380e-04 6.21831703e-01] [ 7.23776512e-03 2.54066429e-04 9.99973775e-01 -8.94237423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.175898227 meters 0.04589220565567597 Centerline is valid? [True, True] Translation: X:51.94, Y:0.63, Z:-0.89 [[ 9.98717529e-01 -5.01072067e-02 -7.25019647e-03 5.19408686e+01] [ 5.01038402e-02 9.98743805e-01 -6.45327640e-04 6.29499077e-01] [ 7.27342437e-03 2.81237340e-04 9.99973509e-01 -8.93806099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.205898227 meters 0.05369864779287727 Centerline is valid? [True, True] Translation: X:51.97, Y:0.64, Z:-0.89 [[ 9.98963222e-01 -4.53175744e-02 -4.33572944e-03 5.19711121e+01] [ 4.53163254e-02 9.98972613e-01 -3.85928771e-04 6.38597888e-01] [ 4.34876433e-03 1.89049323e-04 9.99990526e-01 -8.90893877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.235898227 meters 0.05339561162795623 Centerline is valid? [True, True] Translation: X:52.00, Y:0.64, Z:-0.89 [[ 9.99030002e-01 -4.38901201e-02 -3.56543146e-03 5.20012954e+01] [ 4.38892665e-02 9.99036351e-01 -3.17331790e-04 6.44692294e-01] [ 3.57592337e-03 1.60539807e-04 9.99993593e-01 -8.86991527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.265898227 meters 0.05960647391700712 Centerline is valid? [True, True] Translation: X:52.03, Y:0.66, Z:-0.89 [[ 9.99072625e-01 -4.29185994e-02 -3.44725660e-03 5.20310206e+01] [ 4.29177958e-02 9.99078560e-01 -3.06774534e-04 6.55127132e-01] [ 3.45724649e-03 1.58541384e-04 9.99994011e-01 -8.87740049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.295898227 meters 0.05423342799528316 Centerline is valid? [True, True] Translation: X:52.06, Y:0.65, Z:-0.89 [[ 9.99101494e-01 -4.21452780e-02 -4.47001333e-03 5.20630982e+01] [ 4.21439196e-02 9.99111471e-01 -3.97692368e-04 6.50792157e-01] [ 4.48280245e-03 2.08951157e-04 9.99989930e-01 -8.88814891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.325898226999996 meters 0.05423342799528316 Centerline is valid? [True, True] Translation: X:52.09, Y:0.65, Z:-0.89 [[ 9.99102469e-01 -4.21221408e-02 -4.47002254e-03 5.20938532e+01] [ 4.21207826e-02 9.99112447e-01 -3.97588811e-04 6.53483111e-01] [ 4.48280245e-03 2.08951115e-04 9.99989930e-01 -8.88791706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.355898227 meters 0.05182984277970763 Centerline is valid? [True, True] Translation: X:52.13, Y:0.65, Z:-0.89 [[ 9.99181325e-01 -4.00577118e-02 -5.66210879e-03 5.21254551e+01] [ 4.00555004e-02 9.99197330e-01 -5.03477430e-04 6.52324081e-01] [ 5.67773214e-03 2.76266645e-04 9.99983843e-01 -8.89558352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.385898227 meters 0.052739584222575436 Centerline is valid? [True, True] Translation: X:52.16, Y:0.66, Z:-0.89 [[ 9.99253125e-01 -3.82438480e-02 -5.53170428e-03 5.21561640e+01] [ 3.82417099e-02 9.99268397e-01 -4.91804896e-04 6.56456962e-01] [ 5.54646578e-03 2.79895748e-04 9.99984579e-01 -8.87725789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.415898227 meters 0.05866587438962561 Centerline is valid? [True, True] Translation: X:52.19, Y:0.67, Z:-0.89 [[ 9.99351995e-01 -3.56262903e-02 -5.13399173e-03 5.21854813e+01] [ 3.56244150e-02 9.99365145e-01 -4.56286487e-04 6.67526024e-01] [ 5.14698819e-03 2.73095359e-04 9.99986717e-01 -8.86629919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.445898227 meters 0.0650352755248644 Centerline is valid? [True, True] Translation: X:52.21, Y:0.68, Z:-0.89 [[ 9.99519159e-01 -3.03845138e-02 -6.18313899e-03 5.22136044e+01] [ 3.03816941e-02 9.99538219e-01 -5.49470221e-04 6.80418596e-01] [ 6.19697912e-03 3.61351776e-04 9.99980733e-01 -8.88401527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.475898227 meters 0.06758877767252389 Centerline is valid? [True, True] Translation: X:52.24, Y:0.69, Z:-0.89 [[ 9.99585379e-01 -2.78616072e-02 -7.26642673e-03 5.22436388e+01] [ 2.78576464e-02 9.99611692e-01 -6.45740296e-04 6.87145690e-01] [ 7.28159648e-03 4.43047012e-04 9.99973391e-01 -8.90450150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.505898226999996 meters 0.06990359910554612 Centerline is valid? [True, True] Translation: X:52.27, Y:0.70, Z:-0.89 [[ 9.99619953e-01 -2.62672735e-02 -8.36535560e-03 5.22720926e+01] [ 2.62619670e-02 9.99654819e-01 -7.43577151e-04 6.95802981e-01] [ 8.38199978e-03 5.23603865e-04 9.99964733e-01 -8.91982713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.535898227 meters 0.06968871587800436 Centerline is valid? [True, True] Translation: X:52.30, Y:0.70, Z:-0.89 [[ 9.99582983e-01 -2.77827138e-02 -7.87281901e-03 5.23012985e+01] [ 2.77780598e-02 9.99613870e-01 -6.99895911e-04 7.00808109e-01] [ 7.88922409e-03 4.80912405e-04 9.99968764e-01 -8.90494397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.565898227 meters 0.0672981962236174 Centerline is valid? [True, True] Translation: X:52.33, Y:0.70, Z:-0.89 [[ 9.99509936e-01 -3.06519201e-02 -6.35201389e-03 5.23304647e+01] [ 3.06489479e-02 9.99530051e-01 -5.64761034e-04 7.03216024e-01] [ 6.36633977e-03 3.69801722e-04 9.99979666e-01 -8.87230020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.595898227 meters 0.06358565147323628 Centerline is valid? [True, True] Translation: X:52.36, Y:0.70, Z:-0.89 [[ 9.99410303e-01 -3.40001134e-02 -4.79979531e-03 5.23607915e+01] [ 3.39984548e-02 9.99421794e-01 -4.26757378e-04 7.02664658e-01] [ 4.81152984e-03 2.63320097e-04 9.99988390e-01 -8.85006866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.625898227 meters 0.056056247213679244 Centerline is valid? [True, True] Translation: X:52.39, Y:0.69, Z:-0.89 [[ 9.99108241e-01 -4.19434672e-02 -4.84440284e-03 5.23912340e+01] [ 4.19418707e-02 9.99119960e-01 -4.30727190e-04 6.94431845e-01] [ 4.85820576e-03 2.27159767e-04 9.99988173e-01 -8.86378705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.655898227 meters 0.052306639462247735 Centerline is valid? [True, True] Translation: X:52.42, Y:0.69, Z:-0.89 [[ 9.98934703e-01 -4.58703503e-02 -5.03693325e-03 5.24216456e+01] [ 4.58686740e-02 9.98947378e-01 -4.47886373e-04 6.91269360e-01] [ 5.05217597e-03 2.16371792e-04 9.99987214e-01 -8.87088709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.685898226999996 meters 0.04829648671149001 Centerline is valid? [True, True] Translation: X:52.45, Y:0.69, Z:-0.89 [[ 9.98770434e-01 -4.92878750e-02 -5.32215792e-03 5.24524685e+01] [ 4.92860518e-02 9.98784592e-01 -4.73256074e-04 6.88894028e-01] [ 5.33901511e-03 2.10366023e-04 9.99985725e-01 -8.86350082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.715898227 meters 0.042479817305914436 Centerline is valid? [True, True] Translation: X:52.48, Y:0.68, Z:-0.89 [[ 9.98597995e-01 -5.26336752e-02 -5.63392486e-03 5.24842540e+01] [ 5.26316856e-02 9.98613867e-01 -5.00921177e-04 6.84428559e-01] [ 5.65248081e-03 2.03695921e-04 9.99984004e-01 -8.85479785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.745898227 meters 0.04518514200514698 Centerline is valid? [True, True] Translation: X:52.51, Y:0.69, Z:-0.89 [[ 9.98626886e-01 -5.21376779e-02 -5.09958816e-03 5.25145299e+01] [ 5.21360414e-02 9.98639889e-01 -4.53404446e-04 6.86612676e-01] [ 5.11629161e-03 1.86909531e-04 9.99986894e-01 -8.86704341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.775898227 meters 0.049146773137478075 Centerline is valid? [True, True] Translation: X:52.54, Y:0.69, Z:-0.88 [[ 9.98934670e-01 -4.60755425e-02 -2.56322140e-03 5.25445457e+01] [ 4.60751092e-02 9.98937952e-01 -2.27892521e-04 6.93359525e-01] [ 2.57099941e-03 1.09549034e-04 9.99996689e-01 -8.81412832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.805898227 meters 0.05688663063535087 Centerline is valid? [True, True] Translation: X:52.57, Y:0.71, Z:-0.88 [[ 9.99174727e-01 -4.05425126e-02 -2.48386632e-03 5.25729967e+01] [ 4.05420888e-02 9.99177807e-01 -2.20746010e-04 7.09611374e-01] [ 2.49077370e-03 1.19862706e-04 9.99996891e-01 -8.78139865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.835898227 meters 0.06011627269562918 Centerline is valid? [True, True] Translation: X:52.60, Y:0.72, Z:-0.88 [[ 9.99365178e-01 -3.53725885e-02 -4.24509069e-03 5.26039163e+01] [ 3.53713046e-02 9.99374168e-01 -3.77144194e-04 7.16693272e-01] [ 4.25577454e-03 2.26750379e-04 9.99990918e-01 -8.82275167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.865898227 meters 0.06521742365248838 Centerline is valid? [True, True] Translation: X:52.63, Y:0.73, Z:-0.89 [[ 9.99621226e-01 -2.54851648e-02 -1.03880515e-02 5.26333811e+01] [ 2.54769453e-02 9.99674984e-01 -9.22831734e-04 7.29308350e-01] [ 1.04081937e-02 6.57826370e-04 9.99945617e-01 -8.91686944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.895898226999996 meters 0.07695471825160813 Centerline is valid? [True, True] Translation: X:52.66, Y:0.75, Z:-0.90 [[ 9.99700901e-01 -2.17401547e-02 -1.12015547e-02 5.26608106e+01] [ 2.17303642e-02 9.99763373e-01 -9.95014274e-04 7.49041487e-01] [ 1.12205359e-02 7.51302803e-04 9.99936766e-01 -8.96043915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.925898227 meters 0.07898663330817574 Centerline is valid? [True, True] Translation: X:52.69, Y:0.76, Z:-0.89 [[ 9.99765696e-01 -1.91438646e-02 -1.01027676e-02 5.26905905e+01] [ 1.91357685e-02 9.99816492e-01 -8.97444959e-04 7.57125169e-01] [ 1.01180943e-02 7.03910461e-04 9.99948563e-01 -8.94662818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.955898227 meters 0.08647355308269171 Centerline is valid? [True, True] Translation: X:52.72, Y:0.77, Z:-0.89 [[ 9.99833487e-01 -1.71027442e-02 -6.36353861e-03 5.27186726e+01] [ 1.70994901e-02 9.99853633e-01 -5.65414165e-04 7.71438600e-01] [ 6.37227733e-03 4.56506750e-04 9.99979593e-01 -8.91046857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.985898227 meters 0.07691389792458783 Centerline is valid? [True, True] Translation: X:52.75, Y:0.77, Z:-0.89 [[ 9.99856031e-01 -1.60692988e-02 -5.44924962e-03 5.27494260e+01] [ 1.60668970e-02 9.99870802e-01 -4.84248337e-04 7.65493449e-01] [ 5.45632712e-03 3.96626088e-04 9.99985035e-01 -8.85513577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.015898227 meters 0.07623677158295795 Centerline is valid? [True, True] Translation: X:52.78, Y:0.77, Z:-0.88 [[ 9.99869948e-01 -1.54588153e-02 -4.59480579e-03 5.27803234e+01] [ 1.54571017e-02 9.99880449e-01 -4.08233319e-04 7.69181648e-01] [ 4.60056728e-03 3.37157847e-04 9.99989360e-01 -8.83724009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.045898227 meters 0.08207185034515409 Centerline is valid? [True, True] Translation: X:52.81, Y:0.78, Z:-0.88 [[ 9.99887389e-01 -1.47122728e-02 -2.95930425e-03 5.28099163e+01] [ 1.47115588e-02 9.99891745e-01 -2.62886504e-04 7.82746830e-01] [ 2.96285154e-03 2.19320922e-04 9.99995587e-01 -8.82286690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.075898226999996 meters 0.08314429953619583 Centerline is valid? [True, True] Translation: X:52.84, Y:0.79, Z:-0.88 [[ 9.99893587e-01 -1.42930640e-02 -2.91950203e-03 5.28403781e+01] [ 1.42923676e-02 9.99897825e-01 -2.59270726e-04 7.87628002e-01] [ 2.92290950e-03 2.17516540e-04 9.99995705e-01 -8.81331865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.105898227 meters 0.07711759338310308 Centerline is valid? [True, True] Translation: X:52.87, Y:0.78, Z:-0.88 [[ 9.99891845e-01 -1.43722754e-02 -3.12013287e-03 5.28720387e+01] [ 1.43714806e-02 9.99896687e-01 -2.77004854e-04 7.84486150e-01] [ 3.12379171e-03 2.32133965e-04 9.99995094e-01 -8.80728452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.135898227 meters 0.08152864111261163 Centerline is valid? [True, True] Translation: X:52.90, Y:0.79, Z:-0.88 [[ 9.99879675e-01 -1.51707049e-02 -3.23793941e-03 5.29016060e+01] [ 1.51698533e-02 9.99884890e-01 -2.87415328e-04 7.94628636e-01] [ 3.24192698e-03 2.38261679e-04 9.99994717e-01 -8.80169944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.165898227 meters 0.07771922843871898 Centerline is valid? [True, True] Translation: X:52.93, Y:0.79, Z:-0.88 [[ 9.99864693e-01 -1.61149275e-02 -3.30210363e-03 5.29327652e+01] [ 1.61140472e-02 9.99870117e-01 -2.93040949e-04 7.94557573e-01] [ 3.30639708e-03 2.39791044e-04 9.99994505e-01 -8.79820897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.195898227 meters 0.07931322899372532 Centerline is valid? [True, True] Translation: X:52.96, Y:0.80, Z:-0.88 [[ 9.99851110e-01 -1.68884506e-02 -3.54099094e-03 5.29629038e+01] [ 1.68874437e-02 9.99857348e-01 -3.14074885e-04 8.01047696e-01] [ 3.54579005e-03 2.54229837e-04 9.99993681e-01 -8.80291538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.225898227 meters 0.07605517884621951 Centerline is valid? [True, True] Translation: X:52.99, Y:0.80, Z:-0.88 [[ 9.99834820e-01 -1.72800063e-02 -5.63334232e-03 5.29942013e+01] [ 1.72774650e-02 9.99850609e-01 -4.99481581e-04 8.02151657e-01] [ 5.64113180e-03 4.02069202e-04 9.99984008e-01 -8.81646189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.255898226999996 meters 0.07549451972828307 Centerline is valid? [True, True] Translation: X:53.03, Y:0.81, Z:-0.88 [[ 9.99828158e-01 -1.73855266e-02 -6.43415304e-03 5.30250283e+01] [ 1.73822145e-02 9.99848755e-01 -5.70329379e-04 8.05602410e-01] [ 6.44309539e-03 4.58391544e-04 9.99979138e-01 -8.82902012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.285898227 meters 0.07763309510673035 Centerline is valid? [True, True] Translation: X:53.05, Y:0.81, Z:-0.88 [[ 9.99820115e-01 -1.78683057e-02 -6.36089591e-03 5.30544698e+01] [ 1.78650785e-02 9.99840248e-01 -5.63818107e-04 8.13303512e-01] [ 6.36995422e-03 4.50078780e-04 9.99979610e-01 -8.82639918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.315898227 meters 0.07788996736597643 Centerline is valid? [True, True] Translation: X:53.08, Y:0.82, Z:-0.88 [[ 9.99821881e-01 -1.82403695e-02 -4.84728502e-03 5.30845747e+01] [ 1.82385000e-02 9.99833572e-01 -4.29606277e-04 8.21495709e-01] [ 4.85431447e-03 3.41122548e-04 9.99988160e-01 -8.79835493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.345898227 meters 0.07534664194899537 Centerline is valid? [True, True] Translation: X:53.12, Y:0.82, Z:-0.88 [[ 9.99825153e-01 -1.80207824e-02 -4.99148588e-03 5.31157425e+01] [ 1.80187978e-02 9.99837550e-01 -4.42276428e-04 8.22574565e-01] [ 4.99864518e-03 3.52258523e-04 9.99987445e-01 -8.79741843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.375898227 meters 0.07339662046710642 Centerline is valid? [True, True] Translation: X:53.15, Y:0.82, Z:-0.88 [[ 9.99817206e-01 -1.82355898e-02 -5.74612105e-03 5.31469242e+01] [ 1.82329642e-02 9.99833636e-01 -5.08999758e-04 8.22193358e-01] [ 5.75444701e-03 4.04137897e-04 9.99983361e-01 -8.83328745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.405898227 meters 0.07046776092210125 Centerline is valid? [True, True] Translation: X:53.18, Y:0.82, Z:-0.88 [[ 9.99805535e-01 -1.83404754e-02 -7.24696855e-03 5.31788258e+01] [ 1.83363031e-02 9.99831670e-01 -6.41763896e-04 8.22843760e-01] [ 7.25751892e-03 5.08756484e-04 9.99973534e-01 -8.83454098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.435898226999996 meters 0.08044627935119227 Centerline is valid? [True, True] Translation: X:53.21, Y:0.84, Z:-0.89 [[ 9.99773738e-01 -1.96758912e-02 -8.08283032e-03 5.32071003e+01] [ 1.96707437e-02 9.99806256e-01 -7.15854006e-04 8.38785623e-01] [ 8.09534938e-03 5.56696752e-04 9.99967077e-01 -8.88051056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.465898227 meters 0.07136242890902185 Centerline is valid? [True, True] Translation: X:53.24, Y:0.83, Z:-0.89 [[ 9.99773486e-01 -1.98794249e-02 -7.60170440e-03 5.32385693e+01] [ 1.98748778e-02 9.99802248e-01 -6.73251828e-04 8.29741498e-01] [ 7.61358501e-03 5.22016381e-04 9.99970880e-01 -8.86584180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.495898227 meters 0.07665799899411493 Centerline is valid? [True, True] Translation: X:53.27, Y:0.84, Z:-0.89 [[ 9.99784279e-01 -1.96894847e-02 -6.61205227e-03 5.32669849e+01] [ 1.96860399e-02 9.99806040e-01 -5.85673229e-04 8.39397634e-01] [ 6.62230139e-03 4.55381762e-04 9.99977969e-01 -8.85872778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.525898227 meters 0.07468135520906087 Centerline is valid? [True, True] Translation: X:53.30, Y:0.84, Z:-0.89 [[ 9.99796695e-01 -1.89569301e-02 -6.87048020e-03 5.32978626e+01] [ 1.89531935e-02 9.99820187e-01 -6.08573292e-04 8.39650725e-01] [ 6.88078148e-03 4.78232025e-04 9.99976213e-01 -8.87596407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.555898227 meters 0.07771062827870599 Centerline is valid? [True, True] Translation: X:53.33, Y:0.85, Z:-0.89 [[ 9.99834430e-01 -1.61420825e-02 -8.39909703e-03 5.33259826e+01] [ 1.61363979e-02 9.99869523e-01 -7.44144692e-04 8.51966844e-01] [ 8.41001319e-03 6.08490312e-04 9.99964450e-01 -8.88813910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.585898227 meters 0.08156623333409492 Centerline is valid? [True, True] Translation: X:53.35, Y:0.86, Z:-0.89 [[ 9.99850081e-01 -1.48989482e-02 -8.82250266e-03 5.33549013e+01] [ 1.48926268e-02 9.99888793e-01 -7.81770633e-04 8.61135801e-01] [ 8.83316910e-03 6.50263191e-04 9.99960775e-01 -8.89638616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.615898226999995 meters 0.08103145133491382 Centerline is valid? [True, True] Translation: X:53.38, Y:0.86, Z:-0.89 [[ 9.99867459e-01 -1.39709669e-02 -8.35926181e-03 5.33843987e+01] [ 1.39652582e-02 9.99902207e-01 -7.40910706e-04 8.64737549e-01] [ 8.36879557e-03 6.24073255e-04 9.99964786e-01 -8.88871667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.645898226999996 meters 0.07983579682159651 Centerline is valid? [True, True] Translation: X:53.41, Y:0.87, Z:-0.89 [[ 9.99878741e-01 -1.37585164e-02 -7.29426968e-03 5.34145190e+01] [ 1.37541639e-02 9.99905198e-01 -6.46532148e-04 8.70512248e-01] [ 7.30247349e-03 5.46127169e-04 9.99973187e-01 -8.86131849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.675898227 meters 0.08385753569239138 Centerline is valid? [True, True] Translation: X:53.44, Y:0.88, Z:-0.88 [[ 9.99865073e-01 -1.50093283e-02 -6.67494422e-03 5.34433374e+01] [ 1.50057123e-02 9.99887233e-01 -5.91490008e-04 8.80927253e-01] [ 6.68306938e-03 4.91247908e-04 9.99977547e-01 -8.84999395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.705898227 meters 0.07171051752122258 Centerline is valid? [True, True] Translation: X:53.48, Y:0.87, Z:-0.88 [[ 9.99776894e-01 -2.02539177e-02 -5.99505134e-03 5.34750200e+01] [ 2.02510947e-02 9.99794784e-01 -5.31218959e-04 8.69378924e-01] [ 6.00458033e-03 4.09694088e-04 9.99981888e-01 -8.81815732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.735898227 meters 0.07247271925408572 Centerline is valid? [True, True] Translation: X:53.50, Y:0.87, Z:-0.88 [[ 9.99708952e-01 -2.32724094e-02 -6.35655000e-03 5.35043083e+01] [ 2.32692960e-02 9.99729075e-01 -5.63315054e-04 8.71892630e-01] [ 6.36793755e-03 4.15238659e-04 9.99979638e-01 -8.82096281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.765898227 meters 0.0703857152270086 Centerline is valid? [True, True] Translation: X:53.53, Y:0.87, Z:-0.88 [[ 9.99628553e-01 -2.64992530e-02 -6.36750485e-03 5.35345318e+01] [ 2.64961940e-02 9.99648755e-01 -5.64293799e-04 8.70408241e-01] [ 6.38022166e-03 3.95369550e-04 9.99979568e-01 -8.82177095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.795898227 meters 0.06071624787131383 Centerline is valid? [True, True] Translation: X:53.57, Y:0.86, Z:-0.88 [[ 9.99453981e-01 -3.24562555e-02 -6.19119579e-03 5.35668373e+01] [ 3.24534776e-02 9.99473097e-01 -5.48646759e-04 8.58084231e-01] [ 6.20574065e-03 3.47421353e-04 9.99980684e-01 -8.81121113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.825898226999996 meters 0.05638605439689483 Centerline is valid? [True, True] Translation: X:53.60, Y:0.85, Z:-0.88 [[ 9.99375601e-01 -3.48851781e-02 -5.60641531e-03 5.35977516e+01] [ 3.48829384e-02 9.99391282e-01 -4.96822346e-04 8.53438132e-01] [ 5.62033432e-03 3.00943891e-04 9.99984161e-01 -8.79921008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.855898227 meters 0.05897533075609986 Centerline is valid? [True, True] Translation: X:53.63, Y:0.86, Z:-0.88 [[ 9.99319060e-01 -3.66145138e-02 -4.56011625e-03 5.36278084e+01] [ 3.66130502e-02 9.99329436e-01 -4.04055581e-04 8.57497550e-01] [ 4.57185270e-03 2.36820678e-04 9.99989521e-01 -8.78760549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.885898227 meters 0.05741582654531945 Centerline is valid? [True, True] Translation: X:53.66, Y:0.85, Z:-0.88 [[ 9.99292162e-01 -3.74697148e-02 -3.34596284e-03 5.36593010e+01] [ 3.74689319e-02 9.99297749e-01 -2.96405276e-04 8.54996722e-01] [ 3.35471935e-03 1.70825816e-04 9.99994358e-01 -8.77202221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.915898227 meters 0.06139962127822905 Centerline is valid? [True, True] Translation: X:53.69, Y:0.86, Z:-0.88 [[ 9.99318834e-01 -3.67195379e-02 -3.68024674e-03 5.36904573e+01] [ 3.67185860e-02 9.99325592e-01 -3.25894435e-04 8.61289476e-01] [ 3.68973144e-03 1.90538990e-04 9.99993175e-01 -8.78031115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.945898227 meters 0.05693438145822369 Centerline is valid? [True, True] Translation: X:53.72, Y:0.86, Z:-0.88 [[ 9.99373505e-01 -3.51403719e-02 -4.21339518e-03 5.37223967e+01] [ 3.51391108e-02 9.99382361e-01 -3.72991262e-04 8.55778999e-01] [ 4.22389987e-03 2.24702624e-04 9.99991054e-01 -8.78874653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.975898227 meters 0.05999404641189607 Centerline is valid? [True, True] Translation: X:53.75, Y:0.86, Z:-0.88 [[ 9.99433892e-01 -3.33266019e-02 -4.60800595e-03 5.37525889e+01] [ 3.33250746e-02 9.99444482e-01 -4.07857600e-04 8.59628295e-01] [ 4.61903863e-03 2.54064567e-04 9.99989300e-01 -8.79157130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.005898226999996 meters 0.06224929117614616 Centerline is valid? [True, True] Translation: X:53.78, Y:0.86, Z:-0.88 [[ 9.99605995e-01 -2.74159281e-02 -6.01845023e-03 5.37836185e+01] [ 2.74132162e-02 9.99624045e-01 -5.32648195e-04 8.61492238e-01] [ 6.03079061e-03 3.67453252e-04 9.99981747e-01 -8.80048575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.035898227 meters 0.07467983991337165 Centerline is valid? [True, True] Translation: X:53.81, Y:0.88, Z:-0.88 [[ 9.99696454e-01 -2.39077060e-02 -5.95167399e-03 5.38114669e+01] [ 2.39049917e-02 9.99714096e-01 -5.26786299e-04 8.80175101e-01] [ 5.96256664e-03 3.84351677e-04 9.99982150e-01 -8.80868923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.065898227 meters 0.0847462695465441 Centerline is valid? [True, True] Translation: X:53.84, Y:0.89, Z:-0.88 [[ 9.99842784e-01 -1.69498771e-02 -5.20653109e-03 5.38393631e+01] [ 1.69477056e-02 9.99856271e-01 -4.60904111e-04 8.94163674e-01] [ 5.21359502e-03 3.72592893e-04 9.99986340e-01 -8.81932593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.095898227 meters 0.08586724005769403 Centerline is valid? [True, True] Translation: X:53.87, Y:0.90, Z:-0.88 [[ 9.99885795e-01 -1.41802509e-02 -5.22669121e-03 5.38696894e+01] [ 1.41780249e-02 9.99899380e-01 -4.62691391e-04 9.00336423e-01] [ 5.23272638e-03 3.88534391e-04 9.99986234e-01 -8.80051458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.125898227 meters 0.08159444568605582 Centerline is valid? [True, True] Translation: X:53.90, Y:0.90, Z:-0.88 [[ 9.99912181e-01 -1.19044127e-02 -5.82370375e-03 5.39010168e+01] [ 1.19016109e-02 9.99929040e-01 -5.15533567e-04 8.97310970e-01] [ 5.82942762e-03 4.46176837e-04 9.99982909e-01 -8.80021905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.155898227 meters 0.08270153184360164 Centerline is valid? [True, True] Translation: X:53.93, Y:0.90, Z:-0.88 [[ 9.99918485e-01 -1.08325431e-02 -6.75863185e-03 5.39314910e+01] [ 1.08287451e-02 9.99941188e-01 -5.98295362e-04 9.01368756e-01] [ 6.76471542e-03 5.25059090e-04 9.99976981e-01 -8.82561352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.185898226999996 meters 0.08270153184360164 Centerline is valid? [True, True] Translation: X:53.96, Y:0.90, Z:-0.88 [[ 9.99918229e-01 -1.08561729e-02 -6.75861928e-03 5.39606206e+01] [ 1.08523744e-02 9.99940932e-01 -5.98437396e-04 9.03990787e-01] [ 6.76471680e-03 5.25041394e-04 9.99976981e-01 -8.82539385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.215898227 meters 0.07957644613102305 Centerline is valid? [True, True] Translation: X:53.99, Y:0.91, Z:-0.88 [[ 9.99912223e-01 -1.19053943e-02 -5.81447781e-03 5.39909580e+01] [ 1.19026002e-02 9.99929029e-01 -5.14915241e-04 9.05289042e-01] [ 5.82019542e-03 4.45662639e-04 9.99982963e-01 -8.79023468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.245898227 meters 0.0733363091031378 Centerline is valid? [True, True] Translation: X:54.02, Y:0.90, Z:-0.88 [[ 9.99886588e-01 -1.43301695e-02 -4.63230906e-03 5.40215841e+01] [ 1.43284219e-02 9.99897259e-01 -4.10242160e-04 8.99774744e-01] [ 4.63771197e-03 3.43821955e-04 9.99989187e-01 -8.77656792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.275898227 meters 0.06944413916337858 Centerline is valid? [True, True] Translation: X:54.05, Y:0.89, Z:-0.88 [[ 9.99739482e-01 -2.22296028e-02 -5.17814414e-03 5.40513980e+01] [ 2.22275239e-02 9.99752833e-01 -4.58680787e-04 8.93054429e-01] [ 5.18706056e-03 3.43463969e-04 9.99986488e-01 -8.80428870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.305898227 meters 0.06255823225522338 Centerline is valid? [True, True] Translation: X:54.08, Y:0.88, Z:-0.88 [[ 9.99621228e-01 -2.67441247e-02 -6.49241567e-03 5.40827084e+01] [ 2.67409512e-02 9.99642231e-01 -5.75125972e-04 8.81712666e-01] [ 6.50547412e-03 4.01294760e-04 9.99978759e-01 -8.84563427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.335898227 meters 0.06597670486660484 Centerline is valid? [True, True] Translation: X:54.11, Y:0.89, Z:-0.88 [[ 9.99504918e-01 -3.06986174e-02 -6.89295948e-03 5.41119809e+01] [ 3.06951335e-02 9.99528607e-01 -6.10686935e-04 8.88611047e-01] [ 6.90845743e-03 3.98804283e-04 9.99976057e-01 -8.84667779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.365898226999995 meters 0.056777693298929996 Centerline is valid? [True, True] Translation: X:54.14, Y:0.87, Z:-0.88 [[ 9.99312909e-01 -3.64050184e-02 -6.95584649e-03 5.41440688e+01] [ 3.64016093e-02 9.99337052e-01 -6.16128868e-04 8.74935111e-01] [ 6.97366531e-03 3.62501526e-04 9.99975618e-01 -8.84560877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.395898226999996 meters 0.053723974565638884 Centerline is valid? [True, True] Translation: X:54.18, Y:0.87, Z:-0.88 [[ 9.99252850e-01 -3.80087755e-02 -7.00535442e-03 5.41758147e+01] [ 3.80053582e-02 9.99277343e-01 -6.20343138e-04 8.71506607e-01] [ 7.02387044e-03 3.53638644e-04 9.99975270e-01 -8.84178362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.425898227 meters 0.05719636011592508 Centerline is valid? [True, True] Translation: X:54.21, Y:0.88, Z:-0.88 [[ 9.99227674e-01 -3.87387903e-02 -6.58496366e-03 5.42063634e+01] [ 3.87357877e-02 9.99249318e-01 -5.82957231e-04 8.76521613e-01] [ 6.60260350e-03 3.27433244e-04 9.99978149e-01 -8.83929982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.455898227 meters 0.05876793497991365 Centerline is valid? [True, True] Translation: X:54.24, Y:0.88, Z:-0.88 [[ 9.99226353e-01 -3.88834495e-02 -5.89689381e-03 5.42368316e+01] [ 3.88810446e-02 9.99243710e-01 -5.21966784e-04 8.79250544e-01] [ 5.91272992e-03 2.92285575e-04 9.99982477e-01 -8.82792459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.485898227 meters 0.05552357334294165 Centerline is valid? [True, True] Translation: X:54.27, Y:0.87, Z:-0.88 [[ 9.99263218e-01 -3.81393302e-02 -4.29102769e-03 5.42683290e+01] [ 3.81380501e-02 9.99272408e-01 -3.79773740e-04 8.72589097e-01] [ 4.30238988e-03 2.15842501e-04 9.99990721e-01 -8.79520909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.515898227 meters 0.05261034262162895 Centerline is valid? [True, True] Translation: X:54.30, Y:0.87, Z:-0.88 [[ 9.99283135e-01 -3.76790484e-02 -3.67503368e-03 5.43006058e+01] [ 3.76781069e-02 9.99289875e-01 -3.25102899e-04 8.68406927e-01] [ 3.68467352e-03 1.86401532e-04 9.99993194e-01 -8.77894540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.545898227 meters 0.06034485162496788 Centerline is valid? [True, True] Translation: X:54.33, Y:0.88, Z:-0.88 [[ 9.99313440e-01 -3.69422613e-02 -2.81387771e-03 5.43300816e+01] [ 3.69417066e-02 9.99317391e-01 -2.48869000e-04 8.77794737e-01] [ 2.82115071e-03 1.44748692e-04 9.99996010e-01 -8.77030313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.575898226999996 meters 0.058897606661976284 Centerline is valid? [True, True] Translation: X:54.36, Y:0.87, Z:-0.88 [[ 9.99460610e-01 -3.27246132e-02 -2.75472278e-03 5.43605893e+01] [ 3.27240655e-02 9.99464395e-01 -2.43648729e-04 8.74983184e-01] [ 2.76122064e-03 1.53371578e-04 9.99996176e-01 -8.76229371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.605898227 meters 0.0618366483619461 Centerline is valid? [True, True] Translation: X:54.39, Y:0.88, Z:-0.88 [[ 9.99555607e-01 -2.95436641e-02 -3.96999058e-03 5.43909951e+01] [ 2.95425017e-02 9.99563463e-01 -3.51134774e-04 8.80868295e-01] [ 3.97863134e-03 2.33695279e-04 9.99992058e-01 -8.77334252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.635898227 meters 0.06597637070305276 Centerline is valid? [True, True] Translation: X:54.42, Y:0.89, Z:-0.88 [[ 9.99649945e-01 -2.59316864e-02 -5.24739489e-03 5.44213424e+01] [ 2.59296061e-02 9.99663664e-01 -4.64104425e-04 8.88148346e-01] [ 5.25766501e-03 3.27879080e-04 9.99986125e-01 -8.78699355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.665898227 meters 0.07454807718453407 Centerline is valid? [True, True] Translation: X:54.45, Y:0.90, Z:-0.88 [[ 9.99814815e-01 -1.80875790e-02 -6.57070781e-03 5.44501846e+01] [ 1.80841489e-02 9.99836300e-01 -5.81062096e-04 9.00119994e-01] [ 6.58014219e-03 4.62128834e-04 9.99978244e-01 -8.80194373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.695898227 meters 0.07658883973049968 Centerline is valid? [True, True] Translation: X:54.48, Y:0.91, Z:-0.88 [[ 9.99873352e-01 -1.46116740e-02 -6.30702560e-03 5.44803908e+01] [ 1.46084451e-02 9.99893135e-01 -5.57729628e-04 9.05158026e-01] [ 6.31450096e-03 4.65523156e-04 9.99979955e-01 -8.79654371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.725898227 meters 0.08386674277203837 Centerline is valid? [True, True] Translation: X:54.51, Y:0.92, Z:-0.88 [[ 9.99914358e-01 -1.16186569e-02 -6.02353368e-03 5.45091689e+01] [ 1.16156573e-02 9.99932394e-01 -5.32721533e-04 9.15140040e-01] [ 6.02931596e-03 4.62708606e-04 9.99981716e-01 -8.81959696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.755898226999996 meters 0.08076578668483585 Centerline is valid? [True, True] Translation: X:54.54, Y:0.91, Z:-0.88 [[ 9.99955383e-01 -8.00141846e-03 -5.02090474e-03 5.45398380e+01] [ 7.99928884e-03 9.99967907e-01 -4.44088796e-04 9.14810198e-01] [ 5.02429695e-03 4.03905315e-04 9.99987297e-01 -8.79543017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.785898227 meters 0.09008460529620241 Centerline is valid? [True, True] Translation: X:54.57, Y:0.93, Z:-0.88 [[ 9.99954766e-01 -7.61798744e-03 -5.69491308e-03 5.45681699e+01] [ 7.61524133e-03 9.99970877e-01 -5.03733454e-04 9.29273923e-01] [ 5.69858466e-03 4.60342531e-04 9.99983657e-01 -8.81794177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.815898227 meters 0.08783637511109611 Centerline is valid? [True, True] Translation: X:54.60, Y:0.93, Z:-0.88 [[ 9.99942362e-01 -8.23196551e-03 -6.89250120e-03 5.45984157e+01] [ 8.22795694e-03 9.99965964e-01 -6.09739650e-04 9.30040169e-01] [ 6.89728596e-03 5.52993303e-04 9.99976061e-01 -8.84402586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.845898227 meters 0.08573390816253301 Centerline is valid? [True, True] Translation: X:54.63, Y:0.93, Z:-0.89 [[ 9.99895913e-01 -1.22514105e-02 -7.62013912e-03 5.46285105e+01] [ 1.22466262e-02 9.99924780e-01 -6.74191468e-04 9.30321291e-01] [ 7.62782573e-03 5.80800298e-04 9.99970739e-01 -8.88548594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.875898227 meters 0.07314869299308463 Centerline is valid? [True, True] Translation: X:54.66, Y:0.92, Z:-0.88 [[ 9.99854578e-01 -1.56293569e-02 -6.82242648e-03 5.46598914e+01] [ 1.56255997e-02 9.99877731e-01 -6.03664164e-04 9.20736238e-01] [ 6.83102719e-03 4.96971873e-04 9.99976545e-01 -8.83681390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.905898227 meters 0.07736824169615698 Centerline is valid? [True, True] Translation: X:54.69, Y:0.93, Z:-0.88 [[ 9.99793439e-01 -1.94783789e-02 -5.80278740e-03 5.46884629e+01] [ 1.94757250e-02 9.99810198e-01 -5.13518786e-04 9.29753211e-01] [ 5.81168854e-03 4.00399221e-04 9.99983032e-01 -8.81688875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.935898226999996 meters 0.06800944091063986 Centerline is valid? [True, True] Translation: X:54.72, Y:0.92, Z:-0.88 [[ 9.99713944e-01 -2.34240836e-02 -4.83130738e-03 5.47199760e+01] [ 2.34222898e-02 9.99725569e-01 -4.27560035e-04 9.20815885e-01] [ 4.83999673e-03 3.14277448e-04 9.99988238e-01 -8.78982381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.965898227 meters 0.06041747806567868 Centerline is valid? [True, True] Translation: X:54.75, Y:0.91, Z:-0.88 [[ 9.99493651e-01 -3.14511445e-02 -4.82356651e-03 5.47515054e+01] [ 3.14494496e-02 9.99505253e-01 -4.26846125e-04 9.14586413e-01] [ 4.83460486e-03 2.74931480e-04 9.99988275e-01 -8.78031783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.995898227 meters 0.057076870010955134 Centerline is valid? [True, True] Translation: X:54.78, Y:0.91, Z:-0.88 [[ 9.99347799e-01 -3.56788233e-02 -5.56755117e-03 5.47814777e+01] [ 3.56766303e-02 9.99363265e-01 -4.92736817e-04 9.13328033e-01] [ 5.58158639e-03 2.93783989e-04 9.99984380e-01 -8.78990952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.025898227 meters 0.05387287498573235 Centerline is valid? [True, True] Translation: X:54.81, Y:0.91, Z:-0.88 [[ 9.99185872e-01 -3.98856601e-02 -6.06022784e-03 5.48113281e+01] [ 3.98831385e-02 9.99204207e-01 -5.36413395e-04 9.12261733e-01] [ 6.07680036e-03 2.94275780e-04 9.99981493e-01 -8.79358475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.055898227 meters 0.04893411379857202 Centerline is valid? [True, True] Translation: X:54.84, Y:0.91, Z:-0.87 [[ 9.98921883e-01 -4.61896610e-02 -4.64608077e-03 5.48415712e+01] [ 4.61882469e-02 9.98932669e-01 -4.11253380e-04 9.08365326e-01] [ 4.66011752e-03 1.96215675e-04 9.99989122e-01 -8.74991723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.085898227 meters 0.043354837763863195 Centerline is valid? [True, True] Translation: X:54.87, Y:0.90, Z:-0.87 [[ 9.98818259e-01 -4.84483203e-02 -3.85302385e-03 5.48733480e+01] [ 4.84473647e-02 9.98825679e-01 -3.41017733e-04 9.02872573e-01] [ 3.86502089e-03 1.53945887e-04 9.99992519e-01 -8.72657265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.115898226999995 meters 0.0380889912872407 Centerline is valid? [True, True] Translation: X:54.90, Y:0.90, Z:-0.87 [[ 9.98603959e-01 -5.27105735e-02 -3.42482612e-03 5.49045738e+01] [ 5.27098437e-02 9.98609824e-01 -3.03077976e-04 8.96365423e-01] [ 3.43604043e-03 1.22132817e-04 9.99994089e-01 -8.72304108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.145898226999996 meters 0.03847013011960617 Centerline is valid? [True, True] Translation: X:54.93, Y:0.90, Z:-0.87 [[ 9.98521739e-01 -5.42770035e-02 -2.88845521e-03 5.49348032e+01] [ 5.42764910e-02 9.98525912e-01 -2.55577718e-04 8.99193722e-01] [ 2.89806936e-03 9.84246945e-05 9.99995796e-01 -8.72221762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.175898227 meters 0.03760574224833008 Centerline is valid? [True, True] Translation: X:54.97, Y:0.90, Z:-0.87 [[ 9.98457304e-01 -5.54720000e-02 -2.42246161e-03 5.49658774e+01] [ 5.54716431e-02 9.98460240e-01 -2.14297066e-04 9.00400024e-01] [ 2.43061909e-03 7.95885446e-05 9.99997043e-01 -8.71296435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.205898227 meters 0.03436535477110086 Centerline is valid? [True, True] Translation: X:55.00, Y:0.90, Z:-0.87 [[ 9.98401004e-01 -5.64872214e-02 -2.15156953e-03 5.49979566e+01] [ 5.64869424e-02 9.98403320e-01 -1.90272057e-04 8.98538755e-01] [ 2.15888210e-03 6.84322283e-05 9.99997667e-01 -8.70687124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.235898227 meters 0.03698598250114419 Centerline is valid? [True, True] Translation: X:55.03, Y:0.90, Z:-0.87 [[ 9.98388440e-01 -5.67200510e-02 -1.83257056e-03 5.50274964e+01] [ 5.67198490e-02 9.98390120e-01 -1.62027778e-04 9.04997981e-01] [ 1.83881057e-03 5.78235348e-05 9.99998308e-01 -8.70373045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.265898227 meters 0.03512659005004564 Centerline is valid? [True, True] Translation: X:55.06, Y:0.91, Z:-0.87 [[ 9.98375208e-01 -5.69534794e-02 -1.80134531e-03 5.50590717e+01] [ 5.69532847e-02 9.98376832e-01 -1.59232007e-04 9.05808463e-01] [ 1.80749024e-03 5.63807559e-05 9.99998365e-01 -8.71293097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.295898227 meters 0.03176655189017446 Centerline is valid? [True, True] Translation: X:55.09, Y:0.91, Z:-0.87 [[ 9.98314120e-01 -5.80179806e-02 -1.68274924e-03 5.50899781e+01] [ 5.80178123e-02 9.98315537e-01 -1.48707658e-04 9.08192653e-01] [ 1.68854243e-03 5.08275249e-05 9.99998573e-01 -8.70927985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.325898226999996 meters 0.03205057021605365 Centerline is valid? [True, True] Translation: X:55.12, Y:0.91, Z:-0.87 [[ 9.98276193e-01 -5.86706303e-02 -1.54909772e-03 5.51213776e+01] [ 5.86704885e-02 9.98277394e-01 -1.36848657e-04 9.11987195e-01] [ 1.55445823e-03 4.57264366e-05 9.99998791e-01 -8.70806530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.355898227 meters 0.03307368970682153 Centerline is valid? [True, True] Translation: X:55.15, Y:0.92, Z:-0.87 [[ 9.98229780e-01 -5.94434922e-02 -1.94343171e-03 5.51523631e+01] [ 5.94432706e-02 9.98231671e-01 -1.71603808e-04 9.15373638e-01] [ 1.95019582e-03 5.57760944e-05 9.99998097e-01 -8.70847690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.385898227 meters 0.029248678464518296 Centerline is valid? [True, True] Translation: X:55.18, Y:0.91, Z:-0.87 [[ 9.98080367e-01 -6.18996879e-02 -2.00257135e-03 5.51837300e+01] [ 6.18994577e-02 9.98082374e-01 -1.76781193e-04 9.11218133e-01] [ 2.00967387e-03 5.24837567e-05 9.99997979e-01 -8.70410736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.415898227 meters 0.028783013887281893 Centerline is valid? [True, True] Translation: X:55.21, Y:0.91, Z:-0.87 [[ 9.98026062e-01 -6.27985261e-02 -5.69711706e-04 5.52141379e+01] [ 6.27985076e-02 9.98026225e-01 -5.02920595e-05 9.13391413e-01] [ 5.71745490e-04 1.44157412e-05 9.99999836e-01 -8.67546173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.445898227 meters 0.031231117647245135 Centerline is valid? [True, True] Translation: X:55.24, Y:0.92, Z:-0.87 [[ 9.97999966e-01 -6.32117152e-02 5.88417663e-04 5.52439067e+01] [ 6.32116955e-02 9.98000140e-01 5.19173893e-05 9.20160100e-01] [-5.90522697e-04 -1.46186747e-05 9.99999826e-01 -8.65444306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.475898227 meters 0.030390927882192678 Centerline is valid? [True, True] Translation: X:55.28, Y:0.92, Z:-0.87 [[ 9.98105083e-01 -6.15061981e-02 -1.79731006e-03 5.52750484e+01] [ 6.15060122e-02 9.98106700e-01 -1.58582963e-04 9.23688082e-01] [ 1.80366105e-03 4.77370874e-05 9.99998372e-01 -8.69329180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.505898226999996 meters 0.03056599492535055 Centerline is valid? [True, True] Translation: X:55.31, Y:0.93, Z:-0.87 [[ 9.98199047e-01 -5.98719951e-02 -3.74244228e-03 5.53058473e+01] [ 5.98711780e-02 9.98206057e-01 -3.30095104e-04 9.27283952e-01] [ 3.75549200e-03 1.05436191e-04 9.99992943e-01 -8.72246053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.535898227 meters 0.034074916318767405 Centerline is valid? [True, True] Translation: X:55.33, Y:0.93, Z:-0.88 [[ 9.98317799e-01 -5.77268138e-02 -5.40253848e-03 5.53349968e+01] [ 5.77250797e-02 9.98332404e-01 -4.76493530e-04 9.34762524e-01] [ 5.42103567e-03 1.63830007e-04 9.99985293e-01 -8.75335168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.565898227 meters 0.036175751489100655 Centerline is valid? [True, True] Translation: X:55.37, Y:0.94, Z:-0.88 [[ 9.98435214e-01 -5.54965409e-02 -6.87441352e-03 5.53658096e+01] [ 5.54936814e-02 9.98458854e-01 -6.06157762e-04 9.39475425e-01] [ 6.89745871e-03 2.23722741e-04 9.99976187e-01 -8.78269214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.595898227 meters 0.04103051625348372 Centerline is valid? [True, True] Translation: X:55.39, Y:0.95, Z:-0.88 [[ 9.98641716e-01 -5.16992708e-02 -6.47364910e-03 5.53946507e+01] [ 5.16966554e-02 9.98662671e-01 -5.70802471e-04 9.50343859e-01] [ 6.49450177e-03 2.35361153e-04 9.99978883e-01 -8.77260385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.625898227 meters 0.04442257935603409 Centerline is valid? [True, True] Translation: X:55.42, Y:0.96, Z:-0.87 [[ 9.98763467e-01 -4.94625652e-02 -4.99920389e-03 5.54243614e+01] [ 4.94609781e-02 9.98775960e-01 -4.40677592e-04 9.59069594e-01] [ 5.01488171e-03 1.92867165e-04 9.99987407e-01 -8.74749392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.655898227 meters 0.04787838263225132 Centerline is valid? [True, True] Translation: X:55.45, Y:0.97, Z:-0.87 [[ 9.99001007e-01 -4.46169820e-02 -2.51250315e-03 5.54536765e+01] [ 4.46165658e-02 9.99004161e-01 -2.21462023e-04 9.69865668e-01] [ 2.51988207e-03 1.09141522e-04 9.99996819e-01 -8.70585592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.685898226999996 meters 0.05260168071377417 Centerline is valid? [True, True] Translation: X:55.48, Y:0.98, Z:-0.87 [[ 9.99105395e-01 -4.22158962e-02 -2.49573411e-03 5.54825390e+01] [ 4.22154783e-02 9.99108505e-01 -2.19909242e-04 9.80041776e-01] [ 2.50279284e-03 1.14353901e-04 9.99996861e-01 -8.70929445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.715898227 meters 0.05256959981378933 Centerline is valid? [True, True] Translation: X:55.51, Y:0.98, Z:-0.87 [[ 9.99205350e-01 -3.97528711e-02 -2.89430267e-03 5.55137497e+01] [ 3.97522991e-02 9.99209532e-01 -2.54940431e-04 9.84541448e-01] [ 2.90214943e-03 1.39682657e-04 9.99995779e-01 -8.72578061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.745898227 meters 0.058394352401425285 Centerline is valid? [True, True] Translation: X:55.54, Y:1.00, Z:-0.87 [[ 9.99297676e-01 -3.72984913e-02 -3.60247329e-03 5.55428428e+01] [ 3.72975895e-02 9.99304153e-01 -3.17195714e-04 9.96556334e-01] [ 3.61179744e-03 1.82609370e-04 9.99993461e-01 -8.74678396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.775898227 meters 0.056688596957648545 Centerline is valid? [True, True] Translation: X:55.57, Y:1.00, Z:-0.88 [[ 9.99409226e-01 -3.40497168e-02 -4.67076879e-03 5.55728033e+01] [ 3.40481657e-02 9.99420109e-01 -4.11213970e-04 1.00174883e+00] [ 4.68206197e-03 2.51939925e-04 9.99989007e-01 -8.76302544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.805898227 meters 0.05803474939838091 Centerline is valid? [True, True] Translation: X:55.60, Y:1.01, Z:-0.88 [[ 9.99414935e-01 -3.37914690e-02 -5.28433789e-03 5.56037802e+01] [ 3.37894809e-02 9.99428864e-01 -4.65063898e-04 1.00833125e+00] [ 5.29703501e-03 2.86236771e-04 9.99985930e-01 -8.76919642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.835898227 meters 0.0627429227527171 Centerline is valid? [True, True] Translation: X:55.63, Y:1.02, Z:-0.88 [[ 9.99397996e-01 -3.42492753e-02 -5.53467464e-03 5.56331048e+01] [ 3.42471029e-02 9.99413277e-01 -4.86843316e-04 1.01881661e+00] [ 5.54810135e-03 2.97003662e-04 9.99984565e-01 -8.77443681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.865898226999995 meters 0.05754551641498504 Centerline is valid? [True, True] Translation: X:55.66, Y:1.02, Z:-0.88 [[ 9.99311940e-01 -3.67431944e-02 -5.05808599e-03 5.56644567e+01] [ 3.67414123e-02 9.99324707e-01 -4.44838282e-04 1.01677099e+00] [ 5.07101508e-03 2.58690984e-04 9.99987109e-01 -8.75772185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.895898226999996 meters 0.05752025438844131 Centerline is valid? [True, True] Translation: X:55.69, Y:1.02, Z:-0.88 [[ 9.99231256e-01 -3.89212583e-02 -4.69398210e-03 5.56942604e+01] [ 3.89197475e-02 9.99242254e-01 -4.12808560e-04 1.01893585e+00] [ 4.70649229e-03 2.29802618e-04 9.99988898e-01 -8.75562000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.925898227 meters 0.05453859992943384 Centerline is valid? [True, True] Translation: X:55.72, Y:1.02, Z:-0.88 [[ 9.98989203e-01 -4.47179101e-02 -4.56953401e-03 5.57241475e+01] [ 4.47165386e-02 9.98999634e-01 -4.01912436e-04 1.01616458e+00] [ 4.58293549e-03 1.97172440e-04 9.99989479e-01 -8.75672023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.955898227 meters 0.04853473995756839 Centerline is valid? [True, True] Translation: X:55.76, Y:1.01, Z:-0.87 [[ 9.98875300e-01 -4.72458593e-02 -3.99559253e-03 5.57557847e+01] [ 4.72448310e-02 9.98883278e-01 -3.51407760e-04 1.01028939e+00] [ 4.00773313e-03 1.62241437e-04 9.99991956e-01 -8.73945695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.985898227 meters 0.04606749245373294 Centerline is valid? [True, True] Translation: X:55.79, Y:1.01, Z:-0.87 [[ 9.98769725e-01 -4.95277458e-02 -2.45742144e-03 5.57875143e+01] [ 4.95273639e-02 9.98772744e-01 -2.16064295e-04 1.00947702e+00] [ 2.46510674e-03 9.40888700e-05 9.99996957e-01 -8.70994243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.015898227 meters 0.04041750991345963 Centerline is valid? [True, True] Translation: X:55.82, Y:1.00, Z:-0.87 [[ 9.98679392e-01 -5.13652728e-02 -1.03970022e-03 5.58198614e+01] [ 5.13652055e-02 9.98679932e-01 -9.13921816e-05 1.00402165e+00] [ 1.04302213e-03 3.78670728e-05 9.99999455e-01 -8.67531035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.045898227 meters 0.03801720497930391 Centerline is valid? [True, True] Translation: X:55.85, Y:1.00, Z:-0.87 [[ 9.98579786e-01 -5.32737035e-02 -5.68943300e-04 5.58516940e+01] [ 5.32736837e-02 9.98579948e-01 -5.00008909e-05 9.99408226e-01] [ 5.70799103e-04 1.96201736e-05 9.99999837e-01 -8.67193234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.075898226999996 meters 0.03876469520588583 Centerline is valid? [True, True] Translation: X:55.88, Y:1.00, Z:-0.87 [[ 9.98589920e-01 -5.30629682e-02 -1.57865238e-03 5.58828795e+01] [ 5.30628152e-02 9.98591167e-01 -1.38655793e-04 1.00028429e+00] [ 1.58378581e-03 5.46925372e-05 9.99998744e-01 -8.69295275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.105898227 meters 0.03876469520588583 Centerline is valid? [True, True] Translation: X:55.91, Y:1.00, Z:-0.87 [[ 9.98592482e-01 -5.30147458e-02 -1.57865831e-03 5.59144636e+01] [ 5.30145929e-02 9.98593728e-01 -1.38588263e-04 1.00296841e+00] [ 1.58378551e-03 5.47012700e-05 9.99998744e-01 -8.69271472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.135898227 meters 0.0406084893420551 Centerline is valid? [True, True] Translation: X:55.95, Y:1.00, Z:-0.87 [[ 9.98723446e-01 -5.04267394e-02 -2.93648754e-03 5.59458243e+01] [ 5.04261995e-02 9.98727757e-01 -2.57668754e-04 1.00322856e+00] [ 2.94574501e-03 1.09263919e-04 9.99995655e-01 -8.71869553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.165898227 meters 0.04234881620693103 Centerline is valid? [True, True] Translation: X:55.98, Y:1.01, Z:-0.87 [[ 9.98829520e-01 -4.82951290e-02 -2.67786015e-03 5.59771781e+01] [ 4.82946725e-02 9.98833104e-01 -2.34910675e-04 1.00646174e+00] [ 2.68608040e-03 1.05309338e-04 9.99996387e-01 -8.70686554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.195898227 meters 0.04543211985018556 Centerline is valid? [True, True] Translation: X:56.01, Y:1.01, Z:-0.87 [[ 9.98953622e-01 -4.56911754e-02 -1.99452548e-03 5.60069546e+01] [ 4.56909171e-02 9.98955609e-01 -1.74899078e-04 1.01120054e+00] [ 2.00043376e-03 8.35843690e-05 9.99997996e-01 -8.69310358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.225898227 meters 0.05212871689222093 Centerline is valid? [True, True] Translation: X:56.04, Y:1.02, Z:-0.87 [[ 9.99240605e-01 -3.89299197e-02 -1.63541844e-03 5.60363883e+01] [ 3.89297370e-02 9.99241940e-01 -1.43383279e-04 1.01875435e+00] [ 1.63976059e-03 7.96079850e-05 9.99998652e-01 -8.68499701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.255898226999996 meters 0.059497978721269565 Centerline is valid? [True, True] Translation: X:56.07, Y:1.03, Z:-0.87 [[ 9.99382571e-01 -3.51050723e-02 -1.45285302e-03 5.60653881e+01] [ 3.51049241e-02 9.99383624e-01 -1.27384591e-04 1.02996819e+00] [ 1.45642936e-03 7.63036448e-05 9.99998936e-01 -8.68505535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.285898227 meters 0.05928495443843643 Centerline is valid? [True, True] Translation: X:56.10, Y:1.03, Z:-0.87 [[ 9.99503924e-01 -3.14504694e-02 -1.66565021e-03 5.60960861e+01] [ 3.14502695e-02 9.99505307e-01 -1.46049236e-04 1.03178968e+00] [ 1.66941955e-03 9.35916358e-05 9.99998602e-01 -8.69447611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.315898227 meters 0.06379664753288468 Centerline is valid? [True, True] Translation: X:56.13, Y:1.04, Z:-0.87 [[ 9.99677843e-01 -2.52652898e-02 -2.42383214e-03 5.61266833e+01] [ 2.52648485e-02 9.99680770e-01 -2.12519174e-04 1.03743892e+00] [ 2.42842774e-03 1.51212957e-04 9.99997040e-01 -8.72105329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.345898227 meters 0.06548064526863427 Centerline is valid? [True, True] Translation: X:56.16, Y:1.04, Z:-0.87 [[ 9.99721879e-01 -2.33951936e-02 -2.97149850e-03 5.61574435e+01] [ 2.33945223e-02 9.99726277e-01 -2.60492396e-04 1.03999022e+00] [ 2.97677940e-03 1.90903159e-04 9.99995551e-01 -8.73019343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.375898227 meters 0.07218470761309333 Centerline is valid? [True, True] Translation: X:56.19, Y:1.05, Z:-0.87 [[ 9.99732009e-01 -2.27564729e-02 -4.24897852e-03 5.61868433e+01] [ 2.27550948e-02 9.99741000e-01 -3.72418486e-04 1.04796642e+00] [ 4.25635296e-03 2.75632773e-04 9.99990904e-01 -8.74312662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.405898227 meters 0.0690657493912485 Centerline is valid? [True, True] Translation: X:56.22, Y:1.05, Z:-0.87 [[ 9.99718221e-01 -2.32898959e-02 -4.58895424e-03 5.62183892e+01] [ 2.32882944e-02 9.99728710e-01 -4.02115563e-04 1.04586852e+00] [ 4.59707453e-03 2.95133338e-04 9.99989390e-01 -8.74802508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.435898226999996 meters 0.06260114268279554 Centerline is valid? [True, True] Translation: X:56.25, Y:1.04, Z:-0.88 [[ 9.99692896e-01 -2.43469793e-02 -4.61927249e-03 5.62502363e+01] [ 2.43453683e-02 9.99703526e-01 -4.04657696e-04 1.03849753e+00] [ 4.62775519e-03 2.92075534e-04 9.99989249e-01 -8.75563964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.465898227 meters 0.06785210328939811 Centerline is valid? [True, True] Translation: X:56.28, Y:1.04, Z:-0.87 [[ 9.99610805e-01 -2.77151318e-02 -3.17951602e-03 5.62792198e+01] [ 2.77143855e-02 9.99615844e-01 -2.78548270e-04 1.04451358e+00] [ 3.18601459e-03 1.90321528e-04 9.99994907e-01 -8.73682222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.495898227 meters 0.06040650765000622 Centerline is valid? [True, True] Translation: X:56.31, Y:1.04, Z:-0.87 [[ 9.99538849e-01 -3.02252593e-02 -2.91929995e-03 5.63106508e+01] [ 3.02246409e-02 9.99543098e-01 -2.55733398e-04 1.03619131e+00] [ 2.92569573e-03 1.67380674e-04 9.99995706e-01 -8.72702015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.525898227 meters 0.05665070488989621 Centerline is valid? [True, True] Translation: X:56.34, Y:1.03, Z:-0.87 [[ 9.99399665e-01 -3.45435189e-02 -2.65600480e-03 5.63414566e+01] [ 3.45430223e-02 9.99403185e-01 -2.32650823e-04 1.03081751e+00] [ 2.66245624e-03 1.40764722e-04 9.99996446e-01 -8.72150686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.555898227 meters 0.05281353718172316 Centerline is valid? [True, True] Translation: X:56.37, Y:1.03, Z:-0.87 [[ 9.99354729e-01 -3.57937305e-02 -2.98903471e-03 5.63738364e+01] [ 3.57931073e-02 9.99359187e-01 -2.61734826e-04 1.02738146e+00] [ 2.99648776e-03 1.54579096e-04 9.99995499e-01 -8.71130776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.585898227 meters 0.054596093265782075 Centerline is valid? [True, True] Translation: X:56.41, Y:1.03, Z:-0.87 [[ 9.99346868e-01 -3.59994745e-02 -3.14263799e-03 5.64052177e+01] [ 3.59987870e-02 9.99351796e-01 -2.75066895e-04 1.03048762e+00] [ 3.15050318e-03 1.61756084e-04 9.99995024e-01 -8.71287895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.615898226999995 meters 0.05509695805672968 Centerline is valid? [True, True] Translation: X:56.44, Y:1.03, Z:-0.87 [[ 9.99378209e-01 -3.51039031e-02 -3.30313099e-03 5.64368668e+01] [ 3.51031390e-02 9.99383653e-01 -2.89022718e-04 1.03221904e+00] [ 3.31124095e-03 1.72892740e-04 9.99994503e-01 -8.70531481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.645898226999996 meters 0.06232049012445801 Centerline is valid? [True, True] Translation: X:56.47, Y:1.04, Z:-0.87 [[ 9.99551557e-01 -2.97866505e-02 -3.07263836e-03 5.64654468e+01] [ 2.97859644e-02 9.99556264e-01 -2.68809777e-04 1.04182064e+00] [ 3.07928186e-03 1.77167734e-04 9.99995243e-01 -8.68709840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.675898227 meters 0.06890911298426801 Centerline is valid? [True, True] Translation: X:56.49, Y:1.05, Z:-0.87 [[ 9.99660846e-01 -2.59599541e-02 -2.06752546e-03 5.64938884e+01] [ 2.59596353e-02 9.99662976e-01 -1.80884504e-04 1.05220755e+00] [ 2.07152441e-03 1.27150949e-04 9.99997846e-01 -8.67630911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.705898227 meters 0.07351652457393401 Centerline is valid? [True, True] Translation: X:56.52, Y:1.06, Z:-0.87 [[ 9.99744957e-01 -2.25695365e-02 -7.98592081e-04 5.65223045e+01] [ 2.25694878e-02 9.99745274e-01 -6.98685448e-05 1.06038342e+00] [ 7.99965560e-04 5.18269110e-05 9.99999679e-01 -8.66592809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.735898227 meters 0.07538378809032482 Centerline is valid? [True, True] Translation: X:56.55, Y:1.06, Z:-0.86 [[ 9.99828844e-01 -1.84789810e-02 9.00092442e-04 5.65529605e+01] [ 1.84789176e-02 9.99829247e-01 7.87038539e-05 1.06379886e+00] [-9.01393115e-04 -6.20576492e-05 9.99999592e-01 -8.64775322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.765898227 meters 0.07766900005843455 Centerline is valid? [True, True] Translation: X:56.58, Y:1.07, Z:-0.87 [[ 9.99842844e-01 -1.77120855e-02 7.54338633e-04 5.65842049e+01] [ 1.77120408e-02 9.99843127e-01 6.59117433e-05 1.06736629e+00] [-7.55387732e-04 -5.25405083e-05 9.99999713e-01 -8.65023373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.795898227 meters 0.07368715186099657 Centerline is valid? [True, True] Translation: X:56.62, Y:1.06, Z:-0.87 [[ 9.99843928e-01 -1.76617185e-02 4.27992489e-04 5.66168253e+01] [ 1.76617041e-02 9.99844019e-01 3.73557731e-05 1.06200261e+00] [-4.28585498e-04 -2.97908662e-05 9.99999908e-01 -8.65810805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.825898226999996 meters 0.06913142909682635 Centerline is valid? [True, True] Translation: X:56.65, Y:1.05, Z:-0.87 [[ 9.99798371e-01 -2.00715356e-02 -5.91982508e-04 5.66490651e+01] [ 2.00715085e-02 9.99798546e-01 -5.17192638e-05 1.05121074e+00] [ 5.92901335e-04 3.98268538e-05 9.99999823e-01 -8.67426376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.855898227 meters 0.07358543306188967 Centerline is valid? [True, True] Translation: X:56.68, Y:1.05, Z:-0.87 [[ 9.99760495e-01 -2.18624413e-02 -9.93270762e-04 5.66784287e+01] [ 2.18623658e-02 9.99760986e-01 -8.67717931e-05 1.05483867e+00] [ 9.94930399e-04 6.50357621e-05 9.99999503e-01 -8.67531270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.885898227 meters 0.06847932255616991 Centerline is valid? [True, True] Translation: X:56.71, Y:1.05, Z:-0.87 [[ 9.99717411e-01 -2.37485965e-02 -1.05020969e-03 5.67097684e+01] [ 2.37485131e-02 9.99717960e-01 -9.17554005e-05 1.04582610e+00] [ 1.05209255e-03 6.67885529e-05 9.99999444e-01 -8.68191894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.915898227 meters 0.06148289124126397 Centerline is valid? [True, True] Translation: X:56.74, Y:1.03, Z:-0.87 [[ 9.99632898e-01 -2.70710294e-02 -1.10855013e-03 5.67417142e+01] [ 2.70709386e-02 9.99633510e-01 -9.68523527e-05 1.03006229e+00] [ 1.11076576e-03 6.68073053e-05 9.99999381e-01 -8.67461034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.945898227 meters 0.059972139929017045 Centerline is valid? [True, True] Translation: X:56.77, Y:1.03, Z:-0.87 [[ 9.99616581e-01 -2.76603981e-02 -1.26202654e-03 5.67738613e+01] [ 2.76602809e-02 9.99617375e-01 -1.10242076e-04 1.02697744e+00] [ 1.26459300e-03 7.52917988e-05 9.99999198e-01 -8.67391597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.975898227 meters 0.06586123876927177 Centerline is valid? [True, True] Translation: X:56.80, Y:1.03, Z:-0.87 [[ 9.99630319e-01 -2.71391377e-02 -1.64061477e-03 5.68040410e+01] [ 2.71389390e-02 9.99631661e-01 -1.43266454e-04 1.03411967e+00] [ 1.64389860e-03 9.86889472e-05 9.99998644e-01 -8.67940460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.005898226999996 meters 0.0706924492246609 Centerline is valid? [True, True] Translation: X:56.83, Y:1.04, Z:-0.87 [[ 9.99716337e-01 -2.36583613e-02 -2.74358673e-03 5.68333492e+01] [ 2.36577926e-02 9.99720087e-01 -2.39562412e-04 1.03779416e+00] [ 2.74848642e-03 1.74587251e-04 9.99996208e-01 -8.69512615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.035898227 meters 0.07188800867018891 Centerline is valid? [True, True] Translation: X:56.86, Y:1.04, Z:-0.87 [[ 9.99768050e-01 -2.12579313e-02 -3.45629515e-03 5.68639025e+01] [ 2.12570144e-02 9.99773999e-01 -3.01794159e-04 1.03981261e+00] [ 3.46192954e-03 2.28253642e-04 9.99993981e-01 -8.70134250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.065898227 meters 0.06902500581497738 Centerline is valid? [True, True] Translation: X:56.90, Y:1.04, Z:-0.87 [[ 9.99818457e-01 -1.84610003e-02 -4.71650968e-03 5.68950090e+01] [ 1.84592620e-02 9.99829528e-01 -4.11837776e-04 1.03675605e+00] [ 4.72330858e-03 3.24699722e-04 9.99988792e-01 -8.71323512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.095898227 meters 0.08272678088060292 Centerline is valid? [True, True] Translation: X:56.92, Y:1.05, Z:-0.88 [[ 9.99891123e-01 -1.32498225e-02 -6.49488308e-03 5.69232986e+01] [ 1.32464162e-02 9.99912102e-01 -5.67196434e-04 1.05256827e+00] [ 6.50182744e-03 4.81100755e-04 9.99978747e-01 -8.76799902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.125898227 meters 0.08204025260774579 Centerline is valid? [True, True] Translation: X:56.95, Y:1.05, Z:-0.87 [[ 9.99913762e-01 -1.15722821e-02 -6.20893422e-03 5.69536590e+01] [ 1.15691366e-02 9.99932928e-01 -5.42296926e-04 1.05364473e+00] [ 6.21479338e-03 4.70418151e-04 9.99980577e-01 -8.74666725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.155898227 meters 0.08234963026828031 Centerline is valid? [True, True] Translation: X:56.98, Y:1.06, Z:-0.87 [[ 9.99924628e-01 -1.11285077e-02 -5.18597375e-03 5.69828013e+01] [ 1.11263065e-02 9.99937998e-01 -4.53110995e-04 1.05507313e+00] [ 5.19069466e-03 3.95376110e-04 9.99986450e-01 -8.73551370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.185898226999996 meters 0.0936115724784063 Centerline is valid? [True, True] Translation: X:57.01, Y:1.07, Z:-0.87 [[ 9.99938899e-01 -1.08336088e-02 -2.19820422e-03 5.70114068e+01] [ 1.08332125e-02 9.99941301e-01 -1.92089951e-04 1.06931391e+00] [ 2.20015622e-03 1.68264601e-04 9.99997565e-01 -8.68484865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.215898227 meters 0.07970258468765565 Centerline is valid? [True, True] Translation: X:57.04, Y:1.05, Z:-0.87 [[ 9.99950038e-01 -9.97036958e-03 -7.15911657e-04 5.70435046e+01] [ 9.97032733e-03 9.99950293e-01 -6.25626868e-05 1.05272612e+00] [ 7.16499844e-04 5.54216875e-05 9.99999742e-01 -8.65455190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.245898227 meters 0.07778678178149909 Centerline is valid? [True, True] Translation: X:57.08, Y:1.05, Z:-0.86 [[ 9.99962190e-01 -8.69542626e-03 9.09473292e-05 5.70752143e+01] [ 8.69542557e-03 9.99962194e-01 7.92773143e-06 1.05214724e+00] [-9.10128258e-05 -7.13660595e-06 9.99999996e-01 -8.63543450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.275898227 meters 0.08392933064397287 Centerline is valid? [True, True] Translation: X:57.10, Y:1.06, Z:-0.86 [[ 9.99980136e-01 -6.28514592e-03 -4.73882045e-04 5.71038136e+01] [ 6.28512700e-03 9.99980248e-01 -4.13979828e-05 1.06062992e+00] [ 4.74132877e-04 3.84187516e-05 9.99999887e-01 -8.64858946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.305898227 meters 0.08128782873504135 Centerline is valid? [True, True] Translation: X:57.13, Y:1.06, Z:-0.87 [[ 9.99984117e-01 -5.43820779e-03 -1.48033399e-03 5.71344900e+01] [ 5.43802224e-03 9.99985205e-01 -1.29343842e-04 1.05862412e+00] [ 1.48101549e-03 1.21291698e-04 9.99998896e-01 -8.67187048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.335898227 meters 0.09036244059168076 Centerline is valid? [True, True] Translation: X:57.16, Y:1.07, Z:-0.87 [[ 9.99984411e-01 -5.00955406e-03 -2.46609263e-03 5.71630854e+01] [ 5.00903777e-03 9.99987431e-01 -2.15484581e-04 1.07098824e+00] [ 2.46714112e-03 2.03128471e-04 9.99996936e-01 -8.69907088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.365898226999995 meters 0.07952663646351656 Centerline is valid? [True, True] Translation: X:57.19, Y:1.06, Z:-0.87 [[ 9.99979995e-01 -5.64596704e-03 -2.85175105e-03 5.71946457e+01] [ 5.64527914e-03 9.99984034e-01 -2.49213621e-04 1.05502999e+00] [ 2.85311257e-03 2.33109705e-04 9.99995903e-01 -8.70913836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.395898226999996 meters 0.08880073833374795 Centerline is valid? [True, True] Translation: X:57.22, Y:1.07, Z:-0.87 [[ 9.99982745e-01 -5.32900176e-03 -2.47203499e-03 5.72231270e+01] [ 5.32848382e-03 9.99985780e-01 -2.16058881e-04 1.06866617e+00] [ 2.47315122e-03 2.02882954e-04 9.99996921e-01 -8.69221322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.425898227 meters 0.08676864228863256 Centerline is valid? [True, True] Translation: X:57.25, Y:1.07, Z:-0.87 [[ 9.99983481e-01 -5.06622669e-03 -2.71486261e-03 5.72534131e+01] [ 5.06560094e-03 9.99987142e-01 -2.37314891e-04 1.06625095e+00] [ 2.71602999e-03 2.23558561e-04 9.99996287e-01 -8.68962308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.455898227 meters 0.08926796063600875 Centerline is valid? [True, True] Translation: X:57.28, Y:1.07, Z:-0.87 [[ 9.99983826e-01 -4.19206653e-03 -3.84375365e-03 5.72825874e+01] [ 4.19080560e-03 9.99991162e-01 -3.36042725e-04 1.06963953e+00] [ 3.84512839e-03 3.19928866e-04 9.99992556e-01 -8.71219182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.485898227 meters 0.08574038448010617 Centerline is valid? [True, True] Translation: X:57.31, Y:1.07, Z:-0.87 [[ 9.99987443e-01 -2.73118483e-03 -4.20178974e-03 5.73131518e+01] [ 2.72966503e-03 9.99996207e-01 -3.67394353e-04 1.06785887e+00] [ 4.20277723e-03 3.55920261e-04 9.99991105e-01 -8.72260211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.515898227 meters 0.08616907545609294 Centerline is valid? [True, True] Translation: X:57.34, Y:1.07, Z:-0.87 [[ 9.99991094e-01 -8.47034033e-04 -4.13466429e-03 5.73431647e+01] [ 8.45546258e-04 9.99999577e-01 -3.61564458e-04 1.07209739e+00] [ 4.13496880e-03 3.58065188e-04 9.99991387e-01 -8.72290305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.545898227 meters 0.08829148264043156 Centerline is valid? [True, True] Translation: X:57.37, Y:1.08, Z:-0.87 [[ 9.99986812e-01 2.90980910e-03 -4.23196604e-03 5.73730271e+01] [-2.91140128e-03 9.99995693e-01 -3.70114942e-04 1.07885709e+00] [ 4.23087085e-03 3.82431012e-04 9.99990977e-01 -8.71842037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.575898226999996 meters 0.10351424816604056 Centerline is valid? [True, False] Translation: X:57.39, Y:1.08, Z:-0.87 [[ 9.99996934e-01 -6.37091970e-04 -2.39299860e-03 5.73920908e+01] [ 6.52626139e-04 9.99978686e-01 6.49634610e-03 1.08009988e+00] [ 2.38880882e-03 -6.49788791e-03 9.99976035e-01 -8.71422013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.605898227 meters 0.09018576821817148 Centerline is valid? [False, True] Translation: X:57.37, Y:1.08, Z:-0.87 [[ 9.99986340e-01 1.00088336e-03 -5.13011339e-03 5.73700131e+01] [-1.01121088e-03 9.99997467e-01 -2.01091910e-03 1.07950054e+00] [ 5.12808770e-03 2.01607926e-03 9.99984819e-01 -8.68095129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.635898227 meters 0.09286928715756448 Centerline is valid? [True, True] Translation: X:57.40, Y:1.08, Z:-0.87 [[ 9.99990983e-01 -1.31651753e-03 -4.03734952e-03 5.73995564e+01] [ 1.31507973e-03 9.99999071e-01 -3.58757505e-04 1.08443285e+00] [ 4.03781808e-03 3.53444834e-04 9.99991786e-01 -8.66543842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.665898227 meters 0.08698021414215193 Centerline is valid? [True, True] Translation: X:57.43, Y:1.08, Z:-0.87 [[ 9.99991437e-01 -2.59913582e-03 -3.22038199e-03 5.74297225e+01] [ 2.59822743e-03 9.99996584e-01 -2.86225762e-04 1.08003457e+00] [ 3.22111493e-03 2.77856026e-04 9.99994774e-01 -8.65669722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.695898227 meters 0.08715738696405173 Centerline is valid? [True, True] Translation: X:57.46, Y:1.08, Z:-0.87 [[ 9.99988599e-01 -3.95643970e-03 -2.67350153e-03 5.74588870e+01] [ 3.95581830e-03 9.99992147e-01 -2.37679916e-04 1.08273506e+00] [ 2.67442090e-03 2.27101320e-04 9.99996398e-01 -8.65840879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.725898227 meters 0.08753564843405921 Centerline is valid? [True, True] Translation: X:57.49, Y:1.08, Z:-0.87 [[ 9.99971742e-01 -7.13996879e-03 -2.35293971e-03 5.74884943e+01] [ 7.13949614e-03 9.99974492e-01 -2.09216097e-04 1.08299569e+00] [ 2.35437349e-03 1.92411381e-04 9.99997210e-01 -8.66443837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.755898226999996 meters 0.08422401568907124 Centerline is valid? [True, True] Translation: X:57.52, Y:1.08, Z:-0.87 [[ 9.99961718e-01 -8.18934393e-03 -3.08190613e-03 5.75195433e+01] [ 8.18853796e-03 9.99966436e-01 -2.74042779e-04 1.07903237e+00] [ 3.08404692e-03 2.48795983e-04 9.99995213e-01 -8.67207536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.785898227 meters 0.08755925922198139 Centerline is valid? [True, True] Translation: X:57.55, Y:1.08, Z:-0.87 [[ 9.99954571e-01 -8.53540611e-03 -4.24302171e-03 5.75487651e+01] [ 8.53388135e-03 9.99963515e-01 -3.77331989e-04 1.08354443e+00] [ 4.24608759e-03 3.41105404e-04 9.99990927e-01 -8.69413642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.815898227 meters 0.09014114634471618 Centerline is valid? [True, True] Translation: X:57.58, Y:1.09, Z:-0.87 [[ 9.99962829e-01 -6.81165778e-03 -5.28594840e-03 5.75784286e+01] [ 6.80926707e-03 9.99976706e-01 -4.70141102e-04 1.08640418e+00] [ 5.28902771e-03 4.34130192e-04 9.99985919e-01 -8.71149151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.845898227 meters 0.08213140399572863 Centerline is valid? [True, True] Translation: X:57.61, Y:1.08, Z:-0.87 [[ 9.99973095e-01 -5.03005678e-03 -5.33922299e-03 5.76094738e+01] [ 5.02759208e-03 9.99987249e-01 -4.74943381e-04 1.07745556e+00] [ 5.34154390e-03 4.48087168e-04 9.99985633e-01 -8.71141816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.875898227 meters 0.09399377430671377 Centerline is valid? [True, True] Translation: X:57.64, Y:1.10, Z:-0.87 [[ 9.99981701e-01 -2.49828501e-03 -5.50956417e-03 5.76377799e+01] [ 2.49562202e-03 9.99996766e-01 -4.90161978e-04 1.09539306e+00] [ 5.51077091e-03 4.76403219e-04 9.99984702e-01 -8.71949469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.905898227 meters 0.09119410547336693 Centerline is valid? [True, True] Translation: X:57.67, Y:1.10, Z:-0.87 [[ 9.99974550e-01 4.07675382e-03 -5.85494186e-03 5.76682664e+01] [-4.07987311e-03 9.99991542e-01 -5.20917994e-04 1.09810212e+00] [ 5.85276868e-03 5.44792156e-04 9.99982724e-01 -8.70887626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.935898226999996 meters 0.09397200038548567 Centerline is valid? [True, True] Translation: X:57.70, Y:1.11, Z:-0.87 [[ 9.99960429e-01 7.22834897e-03 -5.18574090e-03 5.76973995e+01] [-7.23083823e-03 9.99973751e-01 -4.61432002e-04 1.10655107e+00] [ 5.18226938e-03 4.98910996e-04 9.99986447e-01 -8.69989933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.965898227 meters 0.09861252442739303 Centerline is valid? [True, True] Translation: X:57.73, Y:1.12, Z:-0.87 [[ 9.99940896e-01 1.01083925e-02 -4.00310671e-03 5.77257960e+01] [-1.01098987e-02 9.99948830e-01 -3.56189083e-04 1.11802213e+00] [ 3.99930137e-03 3.96639034e-04 9.99991924e-01 -8.68707740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.995898227 meters 0.09861252442739303 Centerline is valid? [True, True] Translation: X:57.75, Y:1.12, Z:-0.87 [[ 9.99941363e-01 1.00620926e-02 -4.00309266e-03 5.77541396e+01] [-1.00635990e-02 9.99949297e-01 -3.56346921e-04 1.12062640e+00] [ 3.99930409e-03 3.96611546e-04 9.99991924e-01 -8.68692260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.025898227 meters 0.09770652418398534 Centerline is valid? [True, True] Translation: X:57.78, Y:1.13, Z:-0.87 [[ 9.99910656e-01 1.32178203e-02 -1.99209870e-03 5.77841330e+01] [-1.32181996e-02 9.99912620e-01 -1.77343040e-04 1.12827498e+00] [ 1.98958054e-03 2.03659154e-04 9.99998000e-01 -8.65379325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.055898227 meters 0.10554039725620114 Centerline is valid? [True, False] Translation: X:57.78, Y:1.13, Z:-0.87 [[ 9.99969012e-01 6.27368746e-03 4.75563783e-03 5.77833071e+01] [-6.32363478e-03 9.99924230e-01 1.05615109e-02 1.13075418e+00] [-4.68901788e-03 -1.05912565e-02 9.99932917e-01 -8.69952981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.085898227 meters 0.09824388396308739 Centerline is valid? [False, True] Translation: X:57.76, Y:1.14, Z:-0.87 [[ 9.99985368e-01 5.40564763e-03 2.06395849e-04 5.77633266e+01] [-5.40545525e-03 9.99984966e-01 -9.21584392e-04 1.13622767e+00] [-2.11374507e-04 9.20455243e-04 9.99999554e-01 -8.66784519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.115898226999995 meters 0.09468253745142288 Centerline is valid? [True, True] Translation: X:57.79, Y:1.14, Z:-0.87 [[ 9.99996400e-01 1.88407391e-03 -1.91033758e-03 5.77936804e+01] [-1.88442619e-03 9.99998208e-01 -1.82623940e-04 1.14002158e+00] [ 1.90999008e-03 1.86223172e-04 9.99998159e-01 -8.69595114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.145898226999996 meters 0.09892740202616379 Centerline is valid? [True, True] Translation: X:57.82, Y:1.15, Z:-0.87 [[ 9.99998689e-01 -2.19975795e-04 -1.60436775e-03 5.78226618e+01] [ 2.19729921e-04 9.99999964e-01 -1.53427358e-04 1.14857500e+00] [ 1.60440145e-03 1.53074630e-04 9.99998701e-01 -8.70722954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.175898227 meters 0.11083456427984294 Centerline is valid? [True, False] Translation: X:57.82, Y:1.15, Z:-0.87 [[ 9.99998677e-01 -3.66258558e-04 -1.58516989e-03 5.78224025e+01] [ 3.65460416e-04 9.99999806e-01 -5.03765687e-04 1.15015802e+00] [ 1.58535409e-03 5.03185704e-04 9.99998617e-01 -8.70327983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.205898227 meters 0.10096907909663866 Centerline is valid? [False, False] Translation: X:57.83, Y:1.15, Z:-0.87 [[ 9.99994791e-01 1.80467437e-03 -2.67605453e-03 5.78289530e+01] [-1.80089377e-03 9.99997378e-01 1.41449171e-03 1.15223670e+00] [ 2.67860021e-03 -1.40966505e-03 9.99995419e-01 -8.74731830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.235898227 meters 0.09202566478919613 Centerline is valid? [False, True] Translation: X:57.79, Y:1.16, Z:-0.88 [[ 9.99997181e-01 5.88685725e-04 -2.30022170e-03 5.77872561e+01] [-5.91326275e-04 9.99999167e-01 -1.14744343e-03 1.15829475e+00] [ 2.29954430e-03 1.14880037e-03 9.99996696e-01 -8.77460524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.265898227 meters 0.08989211660852994 Centerline is valid? [True, True] Translation: X:57.82, Y:1.16, Z:-0.88 [[ 9.99998027e-01 -3.10716350e-04 -1.96182500e-03 5.78167883e+01] [ 3.10363037e-04 9.99999936e-01 -1.80395590e-04 1.16360700e+00] [ 1.96188093e-03 1.79786356e-04 9.99998059e-01 -8.75422880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.295898227 meters 0.0965792952159383 Centerline is valid? [True, True] Translation: X:57.84, Y:1.18, Z:-0.88 [[ 9.99997523e-01 -1.61171828e-03 -1.53535957e-03 5.78449533e+01] [ 1.61150338e-03 9.99998692e-01 -1.41196058e-04 1.17792935e+00] [ 1.53558513e-03 1.38721471e-04 9.99998811e-01 -8.75308822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.325898226999996 meters 0.09686608156397528 Centerline is valid? [True, True] Translation: X:57.87, Y:1.18, Z:-0.88 [[ 9.99993537e-01 -3.11749983e-03 -1.79113087e-03 5.78749070e+01] [ 3.11720970e-03 9.99995128e-01 -1.64752696e-04 1.18299887e+00] [ 1.79163576e-03 1.59168301e-04 9.99998382e-01 -8.75399680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.355898227 meters 0.08684153577621945 Centerline is valid? [True, True] Translation: X:57.91, Y:1.18, Z:-0.88 [[ 9.99963246e-01 -7.71291147e-03 -3.74388596e-03 5.79059560e+01] [ 7.71167552e-03 9.99970205e-01 -3.44447408e-04 1.17605842e+00] [ 3.74643110e-03 3.15563115e-04 9.99992932e-01 -8.77813214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.385898227 meters 0.08642032415476536 Centerline is valid? [True, True] Translation: X:57.94, Y:1.18, Z:-0.88 [[ 9.99938951e-01 -1.02730510e-02 -4.06911905e-03 5.79356797e+01] [ 1.02716120e-02 9.99947176e-01 -3.74376748e-04 1.18032803e+00] [ 4.07275009e-03 3.32557481e-04 9.99991651e-01 -8.79144354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.415898227 meters 0.08958017997040761 Centerline is valid? [True, True] Translation: X:57.97, Y:1.19, Z:-0.88 [[ 9.99915073e-01 -1.24874979e-02 -3.72946957e-03 5.79650392e+01] [ 1.24863043e-02 9.99921984e-01 -3.43158236e-04 1.18721145e+00] [ 3.73346380e-03 2.96561801e-04 9.99992987e-01 -8.81020035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.445898227 meters 0.08445115157797276 Centerline is valid? [True, True] Translation: X:58.00, Y:1.18, Z:-0.88 [[ 9.99888130e-01 -1.46409743e-02 -3.06108441e-03 5.79956275e+01] [ 1.46401802e-02 9.99892787e-01 -2.81681883e-04 1.18358088e+00] [ 3.06488032e-03 2.36835544e-04 9.99995275e-01 -8.78583031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.475898227 meters 0.08318731588100142 Centerline is valid? [True, True] Translation: X:58.03, Y:1.18, Z:-0.88 [[ 9.99879660e-01 -1.51159245e-02 -3.48914993e-03 5.80272327e+01] [ 1.51148957e-02 9.99885712e-01 -3.21027434e-04 1.18344580e+00] [ 3.49360379e-03 2.68250665e-04 9.99993861e-01 -8.78459948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.505898226999996 meters 0.08147404677508577 Centerline is valid? [True, True] Translation: X:58.06, Y:1.18, Z:-0.88 [[ 9.99872461e-01 -1.53708843e-02 -4.33567409e-03 5.80581003e+01] [ 1.53692983e-02 9.99881806e-01 -3.98881051e-04 1.18425700e+00] [ 4.34129279e-03 3.32193910e-04 9.99990521e-01 -8.79120348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.535898227 meters 0.07792105370374623 Centerline is valid? [True, True] Translation: X:58.09, Y:1.18, Z:-0.88 [[ 9.99879059e-01 -1.45805941e-02 -5.41053058e-03 5.80883141e+01] [ 1.45781125e-02 9.99893610e-01 -4.97818603e-04 1.18474963e+00] [ 5.41721345e-03 4.18883072e-04 9.99985239e-01 -8.81476941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.565898227 meters 0.07984384856463314 Centerline is valid? [True, True] Translation: X:58.12, Y:1.19, Z:-0.88 [[ 9.99890401e-01 -1.37424198e-02 -5.50749788e-03 5.81187542e+01] [ 1.37398358e-02 9.99905476e-01 -5.06754427e-04 1.19002165e+00] [ 5.51394132e-03 4.31026771e-04 9.99984705e-01 -8.82106531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.595898227 meters 0.08401098128647416 Centerline is valid? [True, True] Translation: X:58.15, Y:1.19, Z:-0.88 [[ 9.99902016e-01 -1.28884854e-02 -5.46307186e-03 5.81484629e+01] [ 1.28859296e-02 9.99916847e-01 -5.02769179e-04 1.19278191e+00] [ 5.46909752e-03 4.32323156e-04 9.99984951e-01 -8.84053391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.625898227 meters 0.0858397148372111 Centerline is valid? [True, True] Translation: X:58.18, Y:1.20, Z:-0.88 [[ 9.99920601e-01 -1.17674957e-02 -4.50742785e-03 5.81766602e+01] [ 1.17657445e-02 9.99930695e-01 -4.14842265e-04 1.20135876e+00] [ 4.51199712e-03 3.61776083e-04 9.99989755e-01 -8.80122951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.655898227 meters 0.08024425653164392 Centerline is valid? [True, True] Translation: X:58.21, Y:1.20, Z:-0.88 [[ 9.99918177e-01 -1.18509708e-02 -4.81603217e-03 5.82077448e+01] [ 1.18489725e-02 9.99929700e-01 -4.43244393e-04 1.19820850e+00] [ 4.82094648e-03 3.86143093e-04 9.99988305e-01 -8.79760227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.685898226999996 meters 0.08556815182395557 Centerline is valid? [True, True] Translation: X:58.24, Y:1.21, Z:-0.88 [[ 9.99920411e-01 -1.15135853e-02 -5.15848653e-03 5.82366693e+01] [ 1.15112880e-02 9.99933630e-01 -4.74809963e-04 1.20987242e+00] [ 5.16361093e-03 4.15391349e-04 9.99986582e-01 -8.80205805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.715898227 meters 0.08067557065217278 Centerline is valid? [True, True] Translation: X:58.27, Y:1.21, Z:-0.88 [[ 9.99930875e-01 -1.07547754e-02 -4.75182647e-03 5.82665115e+01] [ 1.07528171e-02 9.99942091e-01 -4.37477943e-04 1.20695477e+00] [ 4.75625628e-03 3.86352181e-04 9.99988614e-01 -8.78527394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.745898227 meters 0.08505861888247832 Centerline is valid? [True, True] Translation: X:58.29, Y:1.22, Z:-0.88 [[ 9.99941494e-01 -9.74379707e-03 -4.69764943e-03 5.82947317e+01] [ 9.74187196e-03 9.99952453e-01 -4.32512522e-04 1.21674746e+00] [ 4.70164038e-03 3.86723318e-04 9.99988872e-01 -8.77964104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.775898227 meters 0.09094301611006102 Centerline is valid? [True, True] Translation: X:58.32, Y:1.23, Z:-0.88 [[ 9.99950554e-01 -8.87149467e-03 -4.49298714e-03 5.83230346e+01] [ 8.86972473e-03 9.99960578e-01 -4.13707100e-04 1.22935368e+00] [ 4.49648022e-03 3.73835084e-04 9.99989821e-01 -8.77791301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.805898227 meters 0.09359768027123624 Centerline is valid? [True, True] Translation: X:58.35, Y:1.24, Z:-0.88 [[ 9.99965134e-01 -7.30061400e-03 -4.05370260e-03 5.83527468e+01] [ 7.29916038e-03 9.99973291e-01 -3.73270604e-04 1.24087461e+00] [ 4.05631943e-03 3.43668964e-04 9.99991714e-01 -8.77317937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.835898227 meters 0.09016615190787512 Centerline is valid? [True, True] Translation: X:58.38, Y:1.24, Z:-0.88 [[ 9.99973807e-01 -6.38124531e-03 -3.41535825e-03 5.83836202e+01] [ 6.38020813e-03 9.99979597e-01 -3.14490964e-04 1.24127264e+00] [ 3.41729541e-03 2.92692030e-04 9.99994118e-01 -8.76773275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.865898226999995 meters 0.09646138874338768 Centerline is valid? [True, True] Translation: X:58.41, Y:1.25, Z:-0.88 [[ 9.99980697e-01 -5.65801916e-03 -2.56739923e-03 5.84118309e+01] [ 5.65743066e-03 9.99983969e-01 -2.36426213e-04 1.25385370e+00] [ 2.56869577e-03 2.21896766e-04 9.99996676e-01 -8.75926729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.895898226999996 meters 0.0973144103873405 Centerline is valid? [True, True] Translation: X:58.44, Y:1.26, Z:-0.87 [[ 9.99982755e-01 -5.42506160e-03 -2.24921739e-03 5.84413792e+01] [ 5.42460931e-03 9.99985265e-01 -2.07141559e-04 1.26075215e+00] [ 2.25030800e-03 1.94936861e-04 9.99997449e-01 -8.74792617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.925898227 meters 0.08629685743915846 Centerline is valid? [True, True] Translation: X:58.47, Y:1.25, Z:-0.88 [[ 9.99979757e-01 -5.79122867e-03 -2.63575438e-03 5.84730460e+01] [ 5.79060881e-03 9.99983205e-01 -2.42744983e-04 1.24996610e+00] [ 2.63711591e-03 2.27477447e-04 9.99996497e-01 -8.75022521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.955898227 meters 0.08557631340202275 Centerline is valid? [True, True] Translation: X:58.50, Y:1.25, Z:-0.87 [[ 9.99971534e-01 -7.23740196e-03 -2.13323126e-03 5.85028187e+01] [ 7.23699917e-03 9.99973793e-01 -1.96475861e-04 1.25123407e+00] [ 2.13459733e-03 1.81032075e-04 9.99997705e-01 -8.74531294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.985898227 meters 0.09121821723756308 Centerline is valid? [True, True] Translation: X:58.53, Y:1.26, Z:-0.87 [[ 9.99968250e-01 -7.88334065e-03 -1.16297811e-03 5.85321896e+01] [ 7.88322136e-03 9.99968921e-01 -1.07120570e-04 1.25991464e+00] [ 1.16378643e-03 9.79491549e-05 9.99999318e-01 -8.73690892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.015898227 meters 0.08001719664265924 Centerline is valid? [True, True] Translation: X:58.57, Y:1.25, Z:-0.87 [[ 9.99968546e-01 -7.89350932e-03 -7.74155299e-04 5.85651709e+01] [ 7.89345646e-03 9.99968844e-01 -7.13156437e-05 1.24718636e+00] [ 7.74694110e-04 6.52026394e-05 9.99999698e-01 -8.73229182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.045898227 meters 0.08483809187497607 Centerline is valid? [True, True] Translation: X:58.59, Y:1.26, Z:-0.88 [[ 9.99976128e-01 -6.49087102e-03 -2.36878461e-03 5.85948850e+01] [ 6.49037242e-03 9.99978914e-01 -2.18113175e-04 1.25577240e+00] [ 2.37015041e-03 2.02733674e-04 9.99997171e-01 -8.75815970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.075898226999996 meters 0.08515647909118178 Centerline is valid? [True, True] Translation: X:58.63, Y:1.26, Z:-0.88 [[ 9.99979969e-01 -5.35477159e-03 -3.37454932e-03 5.86254477e+01] [ 5.35375335e-03 9.99985620e-01 -3.10702291e-04 1.25898449e+00] [ 3.37616454e-03 2.92629563e-04 9.99994258e-01 -8.77517747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.105898227 meters 0.09172450014563563 Centerline is valid? [True, True] Translation: X:58.65, Y:1.27, Z:-0.88 [[ 9.99983697e-01 -4.42848364e-03 -3.60484561e-03 5.86535149e+01] [ 4.42731549e-03 9.99990144e-01 -3.31964745e-04 1.26982120e+00] [ 3.60628018e-03 3.15999544e-04 9.99993447e-01 -8.77653516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.135898227 meters 0.09396360077053585 Centerline is valid? [True, True] Translation: X:58.68, Y:1.27, Z:-0.87 [[ 9.99988329e-01 -4.13072004e-03 -2.50567145e-03 5.86830911e+01] [ 4.13015467e-03 9.99991444e-01 -2.30767831e-04 1.27468069e+00] [ 2.50660325e-03 2.20416327e-04 9.99996834e-01 -8.74494261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.165898227 meters 0.0884765622977377 Centerline is valid? [True, True] Translation: X:58.71, Y:1.27, Z:-0.87 [[ 9.99984183e-01 -5.00250119e-03 -2.57067366e-03 5.87137960e+01] [ 5.00190891e-03 9.99987462e-01 -2.36775887e-04 1.27041749e+00] [ 2.57182590e-03 2.23913866e-04 9.99996668e-01 -8.74341496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.195898227 meters 0.08902421574582108 Centerline is valid? [True, True] Translation: X:58.74, Y:1.27, Z:-0.88 [[ 9.99976595e-01 -5.71790036e-03 -3.75711113e-03 5.87439354e+01] [ 5.71664003e-03 9.99983600e-01 -3.46104961e-04 1.27354587e+00] [ 3.75902851e-03 3.24618809e-04 9.99992882e-01 -8.76130247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.225898227 meters 0.08579521861641172 Centerline is valid? [True, True] Translation: X:58.77, Y:1.27, Z:-0.88 [[ 9.99967160e-01 -6.37177571e-03 -5.00801101e-03 5.87738477e+01] [ 6.36954402e-03 9.99979608e-01 -4.61447886e-04 1.27240892e+00] [ 5.01084913e-03 4.29533985e-04 9.99987353e-01 -8.78337349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.255898226999996 meters 0.08570865559533275 Centerline is valid? [True, True] Translation: X:58.80, Y:1.27, Z:-0.88 [[ 9.99960506e-01 -7.07611192e-03 -5.37729144e-03 5.88031384e+01] [ 7.07354540e-03 9.99974859e-01 -4.96157707e-04 1.27479577e+00] [ 5.38066712e-03 4.58101596e-04 9.99985419e-01 -8.79165568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.285898227 meters 0.08887938793780086 Centerline is valid? [True, True] Translation: X:58.83, Y:1.28, Z:-0.88 [[ 9.99963815e-01 -7.64075142e-03 -3.74000150e-03 5.88316965e+01] [ 7.63951300e-03 9.99970759e-01 -3.45301687e-04 1.28025982e+00] [ 3.74253050e-03 3.16717402e-04 9.99992947e-01 -8.76013085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.315898227 meters 0.0870407782680207 Centerline is valid? [True, True] Translation: X:58.86, Y:1.28, Z:-0.87 [[ 9.99967708e-01 -7.51880202e-03 -2.83740550e-03 5.88621806e+01] [ 7.51808864e-03 9.99971704e-01 -2.61998879e-04 1.28038344e+00] [ 2.83929514e-03 2.40658552e-04 9.99995940e-01 -8.74157236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.345898227 meters 0.07764184934434382 Centerline is valid? [True, True] Translation: X:58.89, Y:1.27, Z:-0.87 [[ 9.99970916e-01 -7.14904382e-03 -2.65657943e-03 5.88933982e+01] [ 7.14841718e-03 9.99974420e-01 -2.45301854e-04 1.27154677e+00] [ 2.65826514e-03 2.26304382e-04 9.99996441e-01 -8.73033545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.375898227 meters 0.08628253473867795 Centerline is valid? [True, True] Translation: X:58.92, Y:1.29, Z:-0.88 [[ 9.99976110e-01 -5.50260722e-03 -4.18338622e-03 5.89216628e+01] [ 5.50103916e-03 9.99984795e-01 -3.86243989e-04 1.28565275e+00] [ 4.18544796e-03 3.63221790e-04 9.99991175e-01 -8.76250834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.405898227 meters 0.08727908174062773 Centerline is valid? [True, True] Translation: X:58.95, Y:1.29, Z:-0.88 [[ 9.99973593e-01 -5.25445918e-03 -5.02039144e-03 5.89514799e+01] [ 5.25219740e-03 9.99986100e-01 -4.63597660e-04 1.28973101e+00] [ 5.02275760e-03 4.37217331e-04 9.99987290e-01 -8.78569480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.435898226999996 meters 0.10294528334395017 Centerline is valid? [True, False] Translation: X:58.95, Y:1.29, Z:-0.88 [[ 9.99973663e-01 -5.24553688e-03 -5.01571073e-03 5.89515168e+01] [ 5.24337920e-03 9.99986155e-01 -4.43236864e-04 1.28963690e+00] [ 5.01796631e-03 4.16925917e-04 9.99987323e-01 -8.78674042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.465898227 meters 0.09136432525792 Centerline is valid? [False, True] Translation: X:58.95, Y:1.29, Z:-0.88 [[ 9.99973819e-01 -5.18193034e-03 -5.05054051e-03 5.89512694e+01] [ 5.18054480e-03 9.99986540e-01 -2.87378538e-04 1.28897243e+00] [ 5.05196170e-03 2.61206463e-04 9.99987205e-01 -8.77874083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.495898227 meters 0.07923530424024897 Centerline is valid? [True, True] Translation: X:58.98, Y:1.28, Z:-0.88 [[ 9.99969789e-01 -6.71898887e-03 -3.90855498e-03 5.89822355e+01] [ 6.71767623e-03 9.99977375e-01 -3.48868423e-04 1.27541841e+00] [ 3.91081060e-03 3.22601477e-04 9.99992301e-01 -8.75240649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.525898227 meters 0.0867668189285279 Centerline is valid? [True, True] Translation: X:59.01, Y:1.29, Z:-0.88 [[ 9.99957912e-01 -8.26846944e-03 -3.97568567e-03 5.90108093e+01] [ 8.26712310e-03 9.99965764e-01 -3.54958237e-04 1.28596546e+00] [ 3.97848452e-03 3.22075815e-04 9.99992034e-01 -8.75348453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.555898227 meters 0.07697086803758955 Centerline is valid? [True, True] Translation: X:59.04, Y:1.27, Z:-0.88 [[ 9.99925407e-01 -1.11755327e-02 -4.92820224e-03 5.90423831e+01] [ 1.11734985e-02 9.99937478e-01 -4.40108288e-04 1.27248771e+00] [ 4.93281256e-03 3.85010199e-04 9.99987759e-01 -8.77428549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.585898227 meters 0.07196408813696718 Centerline is valid? [True, True] Translation: X:59.07, Y:1.27, Z:-0.88 [[ 9.99913200e-01 -1.21557598e-02 -5.08222595e-03 5.90729750e+01] [ 1.21536089e-02 9.99926039e-01 -4.53889849e-04 1.26777856e+00] [ 5.08736744e-03 3.92083065e-04 9.99986982e-01 -8.77384769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.615898226999995 meters 0.07814061879617361 Centerline is valid? [True, True] Translation: X:59.10, Y:1.28, Z:-0.88 [[ 9.99911886e-01 -1.25424294e-02 -4.34819038e-03 5.91018727e+01] [ 1.25408584e-02 9.99921285e-01 -3.88381281e-04 1.27731344e+00] [ 4.35271936e-03 3.33817020e-04 9.99990471e-01 -8.77905965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.645898226999996 meters 0.0756737352297129 Centerline is valid? [True, True] Translation: X:59.13, Y:1.28, Z:-0.87 [[ 9.99926654e-01 -1.16833395e-02 -3.19149454e-03 5.91326219e+01] [ 1.16824887e-02 9.99931717e-01 -2.85096472e-04 1.27529046e+00] [ 3.19460749e-03 2.47790962e-04 9.99994867e-01 -8.74348361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.675898227 meters 0.08478216701301962 Centerline is valid? [True, True] Translation: X:59.16, Y:1.29, Z:-0.87 [[ 9.99939161e-01 -1.05099726e-02 -3.34880877e-03 5.91615834e+01] [ 1.05090293e-02 9.99944734e-01 -2.99149365e-04 1.28859025e+00] [ 3.35176775e-03 2.63938436e-04 9.99994348e-01 -8.73986132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.705898227 meters 0.08377278122695762 Centerline is valid? [True, True] Translation: X:59.19, Y:1.29, Z:-0.87 [[ 9.99949053e-01 -9.33585465e-03 -3.83845076e-03 5.91916164e+01] [ 9.33460675e-03 9.99956373e-01 -3.42893272e-04 1.28885800e+00] [ 3.84148450e-03 3.07045374e-04 9.99992574e-01 -8.74217796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.735898227 meters 0.08269995940070952 Centerline is valid? [True, True] Translation: X:59.22, Y:1.29, Z:-0.88 [[ 9.99965109e-01 -6.91159498e-03 -4.69163854e-03 5.92224935e+01] [ 6.90970391e-03 9.99976040e-01 -4.19160403e-04 1.28757433e+00] [ 4.69442319e-03 3.86727945e-04 9.99988906e-01 -8.75195457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.765898227 meters 0.08323137826408486 Centerline is valid? [True, True] Translation: X:59.25, Y:1.29, Z:-0.88 [[ 9.99966957e-01 -6.16379465e-03 -5.30022185e-03 5.92523153e+01] [ 6.16137059e-03 9.99980906e-01 -4.73556981e-04 1.28959768e+00] [ 5.30303955e-03 4.40884703e-04 9.99985842e-01 -8.76254252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.795898227 meters 0.0923514167409273 Centerline is valid? [True, True] Translation: X:59.28, Y:1.30, Z:-0.88 [[ 9.99967076e-01 -5.96605842e-03 -5.50028635e-03 5.92796545e+01] [ 5.96344431e-03 9.99982098e-01 -4.91546374e-04 1.30288743e+00] [ 5.50312048e-03 4.58729539e-04 9.99984752e-01 -8.77189904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.825898226999996 meters 0.08462000335645754 Centerline is valid? [True, True] Translation: X:59.31, Y:1.29, Z:-0.88 [[ 9.99960088e-01 -6.51145777e-03 -6.11746240e-03 5.93101410e+01] [ 6.50823300e-03 9.99978672e-01 -5.46901365e-04 1.29496976e+00] [ 6.12089305e-03 5.07065667e-04 9.99981139e-01 -8.76259362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.855898227 meters 0.08754820440960517 Centerline is valid? [True, True] Translation: X:59.34, Y:1.30, Z:-0.88 [[ 9.99958298e-01 -7.00834238e-03 -5.85540355e-03 5.93385454e+01] [ 7.00539549e-03 9.99975325e-01 -5.23636142e-04 1.30124184e+00] [ 5.85892889e-03 4.82594888e-04 9.99982720e-01 -8.75518556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.885898227 meters 0.08338088889761912 Centerline is valid? [True, True] Translation: X:59.37, Y:1.30, Z:-0.87 [[ 9.99954191e-01 -7.42123157e-03 -6.04501596e-03 5.93682716e+01] [ 7.41809506e-03 9.99972339e-01 -5.41115040e-04 1.29787554e+00] [ 6.04886449e-03 4.96247748e-04 9.99981582e-01 -8.74892297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.915898227 meters 0.08338088889761912 Centerline is valid? [True, True] Translation: X:59.40, Y:1.30, Z:-0.87 [[ 9.99952959e-01 -7.58537242e-03 -6.04493047e-03 5.93965367e+01] [ 7.58223316e-03 9.99971108e-01 -5.42068694e-04 1.30053435e+00] [ 6.04886761e-03 4.96209123e-04 9.99981582e-01 -8.74792888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.945898227 meters 0.08577461431716749 Centerline is valid? [True, True] Translation: X:59.42, Y:1.31, Z:-0.87 [[ 9.99952562e-01 -7.57401505e-03 -6.12433926e-03 5.94244102e+01] [ 7.57078827e-03 9.99971190e-01 -5.49890469e-04 1.30509410e+00] [ 6.12832769e-03 5.03498308e-04 9.99981095e-01 -8.74569736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.975898227 meters 0.08750788182292238 Centerline is valid? [True, True] Translation: X:59.45, Y:1.31, Z:-0.88 [[ 9.99955276e-01 -6.76884313e-03 -6.60523279e-03 5.94531036e+01] [ 6.76507043e-03 9.99976941e-01 -5.93344289e-04 1.30916600e+00] [ 6.60909673e-03 5.48632887e-04 9.99978009e-01 -8.75278723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00589822699999 meters 0.08492628743675947 Centerline is valid? [True, True] Translation: X:59.48, Y:1.31, Z:-0.88 [[ 9.99951089e-01 -6.65404297e-03 -7.31729608e-03 5.94820588e+01] [ 6.64940422e-03 9.99977676e-01 -6.58089269e-04 1.30586397e+00] [ 7.32151168e-03 6.09401422e-04 9.99973012e-01 -8.78728935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03589822699999 meters 0.08162065572585685 Centerline is valid? [True, True] Translation: X:59.51, Y:1.31, Z:-0.88 [[ 9.99936832e-01 -6.29476636e-03 -9.31172250e-03 5.95106611e+01] [ 6.28722252e-03 9.99979883e-01 -8.39195824e-04 1.31014213e+00] [ 9.31681771e-03 7.80597942e-04 9.99956293e-01 -8.80407427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06589822699999 meters 0.08233110277916965 Centerline is valid? [True, True] Translation: X:59.54, Y:1.31, Z:-0.88 [[ 9.99931748e-01 -6.17674555e-03 -9.91702968e-03 5.95391143e+01] [ 6.16816618e-03 9.99980576e-01 -8.95467935e-04 1.31454618e+00] [ 9.92236812e-03 8.34236931e-04 9.99950424e-01 -8.81404542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09589822699999 meters 0.08312186839371477 Centerline is valid? [True, True] Translation: X:59.57, Y:1.32, Z:-0.88 [[ 9.99929432e-01 -6.11703199e-03 -1.01839220e-02 5.95661722e+01] [ 6.10796911e-03 9.99980922e-01 -9.20785966e-04 1.31939357e+00] [ 1.01893602e-02 8.58517908e-04 9.99947719e-01 -8.81167300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.125898227 meters 0.09632492923288233 Centerline is valid? [True, True] Translation: X:59.59, Y:1.35, Z:-0.88 [[ 9.99939769e-01 -5.40774270e-03 -9.55068928e-03 5.95929272e+01] [ 5.39973483e-03 9.99985048e-01 -8.64047325e-04 1.34542955e+00] [ 9.55521902e-03 8.12424092e-04 9.99954018e-01 -8.80010078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.155898227 meters 0.09007149034468899 Centerline is valid? [True, True] Translation: X:59.62, Y:1.34, Z:-0.88 [[ 9.99952208e-01 -5.05183058e-03 -8.37022572e-03 5.96218935e+01] [ 5.04566002e-03 9.99986983e-01 -7.58156761e-04 1.34408523e+00] [ 8.37394684e-03 7.15887214e-04 9.99964682e-01 -8.77771286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.185898227 meters 0.0943623999645397 Centerline is valid? [True, True] Translation: X:59.65, Y:1.36, Z:-0.88 [[ 9.99959263e-01 -4.86844535e-03 -7.60075975e-03 5.96483788e+01] [ 4.86334532e-03 9.99987936e-01 -6.89327712e-04 1.35519092e+00] [ 7.60402401e-03 6.52334511e-04 9.99970876e-01 -8.76918886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.215898227 meters 0.0899401021654391 Centerline is valid? [True, True] Translation: X:59.68, Y:1.36, Z:-0.88 [[ 9.99952159e-01 -5.23249936e-03 -8.26437598e-03 5.96777366e+01] [ 5.22647607e-03 9.99986060e-01 -7.50255134e-04 1.35570465e+00] [ 8.26818648e-03 7.07025678e-04 9.99965568e-01 -8.78103100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.245898227 meters 0.09432705753680196 Centerline is valid? [True, True] Translation: X:59.71, Y:1.37, Z:-0.88 [[ 9.99932933e-01 -5.66223639e-03 -1.01029130e-02 5.97052155e+01] [ 5.65324903e-03 9.99983599e-01 -9.17917328e-04 1.36526219e+00] [ 1.01079447e-02 8.60741483e-04 9.99948543e-01 -8.81472850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27589822699998 meters 0.10150327784070025 Centerline is valid? [True, False] Translation: X:59.71, Y:1.37, Z:-0.88 [[ 9.99931788e-01 -5.81416289e-03 -1.01298505e-02 5.97053677e+01] [ 5.80161445e-03 9.99982367e-01 -1.26770451e-03 1.36682651e+00] [ 1.01370425e-02 1.20884855e-03 9.99947888e-01 -8.81652826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30589822699999 meters 0.09077682968872615 Centerline is valid? [False, True] Translation: X:59.73, Y:1.37, Z:-0.88 [[ 9.99984088e-01 -1.24265831e-03 -5.50277364e-03 5.97250147e+01] [ 1.20594729e-03 9.99977030e-01 -6.66966743e-03 1.37092906e+00] [ 5.51093536e-03 6.66292524e-03 9.99962617e-01 -8.83875640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33589822699999 meters 0.09280631417736754 Centerline is valid? [True, True] Translation: X:59.75, Y:1.38, Z:-0.88 [[ 9.99997203e-01 -5.49057856e-04 -2.30073896e-03 5.97525533e+01] [ 5.48604557e-04 9.99999830e-01 -1.97649492e-04 1.38062213e+00] [ 2.30084709e-03 1.96386743e-04 9.99997334e-01 -8.75695658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36589822699999 meters 0.09599487616177761 Centerline is valid? [True, True] Translation: X:59.78, Y:1.39, Z:-0.87 [[ 9.99999880e-01 -1.66477931e-04 -4.60174260e-04 5.97812914e+01] [ 1.66459753e-04 9.99999985e-01 -3.95401524e-05 1.38883854e+00] [ 4.60180836e-04 3.94635472e-05 9.99999893e-01 -8.72520277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39589822699999 meters 0.08827358934805975 Centerline is valid? [True, True] Translation: X:59.81, Y:1.38, Z:-0.87 [[ 9.99999774e-01 1.82180788e-04 6.47735160e-04 5.98120488e+01] [-1.82216863e-04 9.99999982e-01 5.56361678e-05 1.38399605e+00] [-6.47725013e-04 -5.57541835e-05 9.99999789e-01 -8.70456849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42589822699999 meters 0.09388560941360924 Centerline is valid? [True, True] Translation: X:59.84, Y:1.40, Z:-0.88 [[ 9.99994929e-01 3.07766639e-03 -8.18781458e-04 5.98409477e+01] [-3.07772502e-03 9.99995261e-01 -7.03479937e-05 1.39649556e+00] [ 8.18561071e-04 7.28676212e-05 9.99999662e-01 -8.75186075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45589822699999 meters 0.09761646718052638 Centerline is valid? [True, True] Translation: X:59.87, Y:1.41, Z:-0.87 [[ 9.99985055e-01 5.27371278e-03 -1.44130019e-03 5.98698187e+01] [-5.27389672e-03 9.99986085e-01 -1.23844409e-04 1.40732451e+00] [ 1.44062701e-03 1.31443826e-04 9.99998954e-01 -8.74721925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48589822699999 meters 0.10020923564915159 Centerline is valid? [True, False] Translation: X:59.85, Y:1.40, Z:-0.87 [[ 9.99978524e-01 4.00701978e-03 -5.18601560e-03 5.98507881e+01] [-3.96064667e-03 9.99952359e-01 8.92154518e-03 1.40438775e+00] [ 5.22151734e-03 -8.90081360e-03 9.99946754e-01 -8.73944818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.515898227 meters 0.09649028149931307 Centerline is valid? [False, True] Translation: X:59.85, Y:1.41, Z:-0.87 [[ 9.99987322e-01 -6.18180715e-04 -4.99744068e-03 5.98501503e+01] [ 6.37373240e-04 9.99992425e-01 3.83979079e-03 1.40759972e+00] [ 4.99502914e-03 -3.84292735e-03 9.99980141e-01 -8.73830160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.545898227 meters 0.0962193955418118 Centerline is valid? [True, True] Translation: X:59.88, Y:1.41, Z:-0.87 [[ 9.99988804e-01 -3.23965151e-03 -3.44923664e-03 5.98784653e+01] [ 3.23856329e-03 9.99994704e-01 -3.21036383e-04 1.41384942e+00] [ 3.45025842e-03 3.09862218e-04 9.99994000e-01 -8.70647109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.575898227 meters 0.09728584427097442 Centerline is valid? [True, True] Translation: X:59.91, Y:1.42, Z:-0.87 [[ 9.99979540e-01 -4.77379649e-03 -4.25796343e-03 5.99088044e+01] [ 4.77215141e-03 9.99988535e-01 -3.96429155e-04 1.41653789e+00] [ 4.25980709e-03 3.76101398e-04 9.99990856e-01 -8.74501835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.605898227 meters 0.0955385952719238 Centerline is valid? [True, True] Translation: X:59.94, Y:1.42, Z:-0.87 [[ 9.99966406e-01 -6.01387095e-03 -5.56962303e-03 5.99385009e+01] [ 6.01107473e-03 9.99981799e-01 -5.18651832e-04 1.41797301e+00] [ 5.57264076e-03 4.85154988e-04 9.99984355e-01 -8.74146398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.635898227 meters 0.0939946301296058 Centerline is valid? [True, True] Translation: X:59.97, Y:1.42, Z:-0.88 [[ 9.99936736e-01 -9.28466829e-03 -6.34967741e-03 5.99689549e+01] [ 9.28109798e-03 9.99956755e-01 -5.91519378e-04 1.41679128e+00] [ 6.35489488e-03 5.32549978e-04 9.99979666e-01 -8.75205972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66589822699999 meters 0.09308269912802641 Centerline is valid? [True, True] Translation: X:60.00, Y:1.42, Z:-0.87 [[ 9.99923757e-01 -1.08769705e-02 -5.84562979e-03 5.99984042e+01] [ 1.08739704e-02 9.99940728e-01 -5.44753319e-04 1.41830942e+00] [ 5.85120857e-03 4.81146580e-04 9.99982766e-01 -8.73761859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69589822699999 meters 0.0923798654028894 Centerline is valid? [True, True] Translation: X:60.03, Y:1.42, Z:-0.87 [[ 9.99909612e-01 -1.23757388e-02 -5.25447293e-03 6.00277562e+01] [ 1.23733349e-02 9.99923327e-01 -4.89750840e-04 1.42003548e+00] [ 5.26013108e-03 4.24691219e-04 9.99986075e-01 -8.72816930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72589822699999 meters 0.09053378704645877 Centerline is valid? [True, True] Translation: X:60.06, Y:1.42, Z:-0.87 [[ 9.99867762e-01 -1.53330504e-02 -5.41815327e-03 6.00587497e+01] [ 1.53305374e-02 9.99882353e-01 -5.05046772e-04 1.41727201e+00] [ 5.42525975e-03 4.21916785e-04 9.99985194e-01 -8.72763853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75589822699999 meters 0.09041484036327752 Centerline is valid? [True, True] Translation: X:60.09, Y:1.42, Z:-0.87 [[ 9.99848788e-01 -1.63837545e-02 -5.82870891e-03 6.00881935e+01] [ 1.63808638e-02 9.99865677e-01 -5.43353670e-04 1.41726033e+00] [ 5.83682816e-03 4.47792221e-04 9.99982865e-01 -8.74170233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78589822699999 meters 0.08963453501500983 Centerline is valid? [True, True] Translation: X:60.12, Y:1.42, Z:-0.87 [[ 9.99829556e-01 -1.72393480e-02 -6.60792950e-03 6.01192218e+01] [ 1.72356509e-02 9.99851265e-01 -6.16035875e-04 1.41764711e+00] [ 6.61756673e-03 5.02038909e-04 9.99977978e-01 -8.74123986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81589822699999 meters 0.0897011845036366 Centerline is valid? [True, True] Translation: X:60.15, Y:1.42, Z:-0.88 [[ 9.99810204e-01 -1.76418220e-02 -8.26571885e-03 6.01491614e+01] [ 1.76360503e-02 9.99844176e-01 -7.70648910e-04 1.41807458e+00] [ 8.27802651e-03 6.24728011e-04 9.99965541e-01 -8.76598935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.84589822699999 meters 0.09117001285780002 Centerline is valid? [True, True] Translation: X:60.18, Y:1.42, Z:-0.88 [[ 9.99809786e-01 -1.73604761e-02 -8.88849882e-03 6.01784196e+01] [ 1.73537893e-02 9.99849068e-01 -8.28878568e-04 1.42143552e+00] [ 8.90154699e-03 6.74471769e-04 9.99960153e-01 -8.78494188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.875898227 meters 0.09263289993390299 Centerline is valid? [True, True] Translation: X:60.21, Y:1.42, Z:-0.88 [[ 9.99820602e-01 -1.67482265e-02 -8.84651230e-03 6.02081437e+01] [ 1.67415780e-02 9.99859510e-01 -8.25069339e-04 1.42487503e+00] [ 8.85908790e-03 6.76816747e-04 9.99960528e-01 -8.78537556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.905898227 meters 0.09709502180580708 Centerline is valid? [True, True] Translation: X:60.24, Y:1.43, Z:-0.88 [[ 9.99874975e-01 -1.34215673e-02 -8.36041697e-03 6.02368578e+01] [ 1.34155136e-02 9.99909704e-01 -7.79757808e-04 1.43121766e+00] [ 8.37012763e-03 6.67501031e-04 9.99964747e-01 -8.78172864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.935898227 meters 0.08726716855945307 Centerline is valid? [True, True] Translation: X:60.27, Y:1.42, Z:-0.88 [[ 9.99907572e-01 -1.10400358e-02 -7.93507789e-03 6.02684515e+01] [ 1.10345078e-02 9.99938844e-01 -7.40093776e-04 1.41850252e+00] [ 7.94276328e-03 6.52465691e-04 9.99968243e-01 -8.79201895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.965898227 meters 0.08691624749717668 Centerline is valid? [True, True] Translation: X:60.30, Y:1.42, Z:-0.88 [[ 9.99937190e-01 -8.00714276e-03 -7.84235904e-03 6.02983258e+01] [ 8.00165036e-03 9.99967719e-01 -7.31477529e-04 1.42127725e+00] [ 7.84796292e-03 6.68679769e-04 9.99968981e-01 -8.76379358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.995898227 meters 0.08980055249111 Centerline is valid? [True, True] Translation: X:60.33, Y:1.43, Z:-0.88 [[ 9.99959860e-01 -5.09063169e-03 -7.37315592e-03 6.03286617e+01] [ 5.08569806e-03 9.99986831e-01 -6.87728040e-04 1.42646700e+00] [ 7.37655980e-03 6.50202790e-04 9.99972581e-01 -8.75573565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02589822699998 meters 0.10123730012809096 Centerline is valid? [True, False] Translation: X:60.31, Y:1.42, Z:-0.88 [[ 9.99995421e-01 1.14602225e-03 -2.80090286e-03 6.03092283e+01] [-1.15485030e-03 9.99994365e-01 -3.15227549e-03 1.42467560e+00] [ 2.79727450e-03 3.15549568e-03 9.99991109e-01 -8.82575419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05589822699999 meters 0.10430647847192809 Centerline is valid? [False, False] Translation: X:60.31, Y:1.43, Z:-0.88 [[ 9.99995785e-01 1.07478507e-03 -2.69731671e-03 6.03090194e+01] [-1.08378076e-03 9.99993849e-01 -3.33580980e-03 1.42548557e+00] [ 2.69371484e-03 3.33871904e-03 9.99990798e-01 -8.82810685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08589822699999 meters 0.0994651592335128 Centerline is valid? [False, True] Translation: X:60.31, Y:1.43, Z:-0.88 [[ 9.99995984e-01 9.94905804e-04 -2.65370577e-03 6.03090091e+01] [-1.00429050e-03 9.99993239e-01 -3.53746443e-03 1.42637449e+00] [ 2.65016838e-03 3.54011531e-03 9.99990222e-01 -8.83096356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11589822699999 meters 0.09683448418777633 Centerline is valid? [True, True] Translation: X:60.34, Y:1.43, Z:-0.89 [[ 9.99985136e-01 2.94612220e-03 -4.58789326e-03 6.03397596e+01] [-2.94822592e-03 9.99995552e-01 -4.51841652e-04 1.42518837e+00] [ 4.58654167e-03 4.65361082e-04 9.99989373e-01 -8.85930521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14589822699999 meters 0.10741442783392167 Centerline is valid? [True, False] Translation: X:60.38, Y:1.43, Z:-0.88 [[ 9.99988351e-01 2.67285044e-03 -4.01907312e-03 6.03800388e+01] [-2.67631261e-03 9.99996052e-01 -8.56302681e-04 1.42943449e+00] [ 4.01676849e-03 8.67049002e-04 9.99991557e-01 -8.83532495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17589822699999 meters 0.10562356615305889 Centerline is valid? [False, False] Translation: X:60.34, Y:1.43, Z:-0.89 [[ 9.99989212e-01 1.94414041e-03 -4.21862259e-03 6.03388620e+01] [-1.95039911e-03 9.99997003e-01 -1.47998252e-03 1.42604684e+00] [ 4.21573266e-03 1.48819455e-03 9.99990006e-01 -8.85465054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20589822699999 meters 0.10031218443877929 Centerline is valid? [False, False] Translation: X:60.36, Y:1.43, Z:-0.89 [[ 9.99992902e-01 -3.23026279e-03 -1.93962623e-03 6.03583998e+01] [ 3.23772845e-03 9.99987315e-01 3.85829444e-03 1.42752310e+00] [ 1.92713832e-03 -3.86454704e-03 9.99990676e-01 -8.86195657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23589822699999 meters 0.09121335478531091 Centerline is valid? [False, True] Translation: X:60.36, Y:1.43, Z:-0.89 [[ 9.99969026e-01 -7.66074041e-03 -1.80557153e-03 6.03578053e+01] [ 7.65950763e-03 9.99970428e-01 -6.88695520e-04 1.42846912e+00] [ 1.81079405e-03 6.74844399e-04 9.99998133e-01 -8.85659378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.265898227 meters 0.09025786119762602 Centerline is valid? [True, True] Translation: X:60.39, Y:1.43, Z:-0.88 [[ 9.99952800e-01 -9.61296663e-03 -1.41050505e-03 6.03886433e+01] [ 9.61277883e-03 9.99953786e-01 -1.39862684e-04 1.43034868e+00] [ 1.41178436e-03 1.26297209e-04 9.99998995e-01 -8.84837623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.295898227 meters 0.08932447976456445 Centerline is valid? [True, True] Translation: X:60.42, Y:1.43, Z:-0.89 [[ 9.99933898e-01 -1.13136243e-02 -2.04974302e-03 6.04191526e+01] [ 1.13132313e-02 9.99935983e-01 -2.03223976e-04 1.43245751e+00] [ 2.05191100e-03 1.80021326e-04 9.99997879e-01 -8.85655329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.325898227 meters 0.08667545620532152 Centerline is valid? [True, True] Translation: X:60.45, Y:1.43, Z:-0.89 [[ 9.99898169e-01 -1.36432875e-02 -4.18478378e-03 6.04497650e+01] [ 1.36416696e-02 9.99906862e-01 -4.14901192e-04 1.43437889e+00] [ 4.19005463e-03 3.57771504e-04 9.99991158e-01 -8.88507457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.355898227 meters 0.08761542209128002 Centerline is valid? [True, True] Translation: X:60.48, Y:1.44, Z:-0.89 [[ 9.99881458e-01 -1.47209122e-02 -4.51276741e-03 6.04785037e+01] [ 1.47190415e-02 9.99891569e-01 -4.47472619e-04 1.44082387e+00] [ 4.51886529e-03 3.80995964e-04 9.99989717e-01 -8.88764511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.385898227 meters 0.08812409489315305 Centerline is valid? [True, True] Translation: X:60.51, Y:1.45, Z:-0.89 [[ 9.99875517e-01 -1.53077415e-02 -3.82414476e-03 6.05074319e+01] [ 1.53064026e-02 9.99882778e-01 -3.79140405e-04 1.44725921e+00] [ 3.82950027e-03 3.20559309e-04 9.99992616e-01 -8.87507073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41589822699999 meters 0.08202936594115638 Centerline is valid? [True, True] Translation: X:60.54, Y:1.44, Z:-0.89 [[ 9.99855685e-01 -1.67894426e-02 -2.59317494e-03 6.05389448e+01] [ 1.67888320e-02 9.99859025e-01 -2.57066355e-04 1.44493158e+00] [ 2.59712536e-03 2.13492878e-04 9.99996605e-01 -8.85274267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44589822699999 meters 0.08430506302472549 Centerline is valid? [True, True] Translation: X:60.57, Y:1.45, Z:-0.89 [[ 9.99840095e-01 -1.76149625e-02 -3.08193179e-03 6.05688626e+01] [ 1.76141041e-02 9.99844813e-01 -3.05481177e-04 1.45095843e+00] [ 3.08683455e-03 2.51146862e-04 9.99995204e-01 -8.85728240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47589822699999 meters 0.07952515559864348 Centerline is valid? [True, True] Translation: X:60.60, Y:1.45, Z:-0.89 [[ 9.99826769e-01 -1.82792665e-02 -3.50707427e-03 6.06002689e+01] [ 1.82781591e-02 9.99832880e-01 -3.47578872e-04 1.44829970e+00] [ 3.51284166e-03 2.83415800e-04 9.99993790e-01 -8.86411171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50589822699999 meters 0.08692553002372298 Centerline is valid? [True, True] Translation: X:60.63, Y:1.46, Z:-0.89 [[ 9.99787560e-01 -2.04081379e-02 -2.88847667e-03 6.06282367e+01] [ 2.04073955e-02 9.99791706e-01 -2.86291999e-04 1.46286943e+00] [ 2.89371771e-03 2.27284893e-04 9.99995787e-01 -8.85399981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53589822699999 meters 0.08789644825085907 Centerline is valid? [True, True] Translation: X:60.66, Y:1.47, Z:-0.88 [[ 9.99775815e-01 -2.10156473e-02 -2.58130055e-03 6.06582376e+01] [ 2.10150564e-02 9.99779127e-01 -2.55816551e-04 1.46830059e+00] [ 2.58610656e-03 2.01513024e-04 9.99996636e-01 -8.84841357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56589822699999 meters 0.08361620576904757 Centerline is valid? [True, True] Translation: X:60.69, Y:1.47, Z:-0.89 [[ 9.99773794e-01 -2.10607168e-02 -2.96768158e-03 6.06895775e+01] [ 2.10599362e-02 9.99778172e-01 -2.94038847e-04 1.46615041e+00] [ 2.97321593e-03 2.31473149e-04 9.99995553e-01 -8.85389427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59589822699999 meters 0.07738399214048232 Centerline is valid? [True, True] Translation: X:60.72, Y:1.46, Z:-0.89 [[ 9.99770998e-01 -2.11289297e-02 -3.39415003e-03 6.07212054e+01] [ 2.11279093e-02 9.99776724e-01 -3.36211348e-04 1.46115291e+00] [ 3.40049598e-03 2.64423061e-04 9.99994183e-01 -8.86297468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.625898227 meters 0.07953398673463356 Centerline is valid? [True, True] Translation: X:60.75, Y:1.47, Z:-0.89 [[ 9.99740511e-01 -2.25138897e-02 -3.46914761e-03 6.07505580e+01] [ 2.25128320e-02 9.99746495e-01 -3.43640186e-04 1.46707161e+00] [ 3.47600484e-03 2.65450677e-04 9.99993923e-01 -8.87337951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.655898227 meters 0.082309607610866 Centerline is valid? [True, True] Translation: X:60.78, Y:1.47, Z:-0.89 [[ 9.99725003e-01 -2.33009655e-02 -2.64262645e-03 6.07809215e+01] [ 2.33003547e-02 9.99728476e-01 -2.61676558e-04 1.47375609e+00] [ 2.64800623e-03 2.00030464e-04 9.99996474e-01 -8.85990196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.685898227 meters 0.08425639578297693 Centerline is valid? [True, True] Translation: X:60.81, Y:1.48, Z:-0.89 [[ 9.99700026e-01 -2.43870455e-02 -2.26497733e-03 6.08113261e+01] [ 2.43865997e-02 9.99702578e-01 -2.24228361e-04 1.47917379e+00] [ 2.26977195e-03 1.68926003e-04 9.99997410e-01 -8.85272434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.715898227 meters 0.08251452975866372 Centerline is valid? [True, True] Translation: X:60.84, Y:1.48, Z:-0.89 [[ 9.99644316e-01 -2.64730820e-02 -3.22760086e-03 6.08422772e+01] [ 2.64721877e-02 9.99649499e-01 -3.19489696e-04 1.47827607e+00] [ 3.23492747e-03 2.33934403e-04 9.99994740e-01 -8.87147843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.745898227 meters 0.08263267182838727 Centerline is valid? [True, True] Translation: X:60.87, Y:1.48, Z:-0.89 [[ 9.99613130e-01 -2.76395112e-02 -3.10600713e-03 6.08728499e+01] [ 2.76386889e-02 9.99617931e-01 -3.07382743e-04 1.48045798e+00] [ 3.11331633e-03 2.21417861e-04 9.99995129e-01 -8.87442664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77589822699998 meters 0.0761300103445086 Centerline is valid? [True, True] Translation: X:60.91, Y:1.47, Z:-0.89 [[ 9.99590275e-01 -2.85445459e-02 -2.11914299e-03 6.09052290e+01] [ 2.85441652e-02 9.99592510e-01 -2.09669111e-04 1.47427343e+00] [ 2.12426437e-03 1.49094037e-04 9.99997733e-01 -8.85294732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80589822699999 meters 0.0761300103445086 Centerline is valid? [True, True] Translation: X:60.94, Y:1.48, Z:-0.89 [[ 9.99590935e-01 -2.85214432e-02 -2.11914784e-03 6.09359984e+01] [ 2.85210626e-02 9.99593170e-01 -2.09620132e-04 1.47727420e+00] [ 2.12426437e-03 1.49094036e-04 9.99997733e-01 -8.85294566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83589822699999 meters 0.07545431672288398 Centerline is valid? [True, True] Translation: X:60.97, Y:1.48, Z:-0.88 [[ 9.99561158e-01 -2.96173872e-02 -5.48789166e-04 6.09680476e+01] [ 2.96173619e-02 9.99561308e-01 -5.42655558e-05 1.47770344e+00] [ 5.50155621e-04 3.79880545e-05 9.99999848e-01 -8.81862799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86589822699999 meters 0.07139587171072728 Centerline is valid? [True, True] Translation: X:61.00, Y:1.47, Z:-0.88 [[ 9.99558295e-01 -2.96805504e-02 -1.51003414e-03 6.10008648e+01] [ 2.96803587e-02 9.99559430e-01 -1.49242534e-04 1.47416069e+00] [ 1.51379847e-03 1.04358258e-04 9.99998849e-01 -8.82986708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89589822699999 meters 0.07683762875725682 Centerline is valid? [True, True] Translation: X:61.03, Y:1.48, Z:-0.88 [[ 9.99550323e-01 -2.98839605e-02 -2.46985258e-03 6.10314084e+01] [ 2.98834483e-02 9.99553360e-01 -2.44015794e-04 1.48291130e+00] [ 2.47604161e-03 1.70098354e-04 9.99996920e-01 -8.84789677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92589822699999 meters 0.06968879216528205 Centerline is valid? [True, True] Translation: X:61.06, Y:1.48, Z:-0.89 [[ 9.99539951e-01 -3.01599277e-02 -3.20388779e-03 6.10632125e+01] [ 3.01590676e-02 9.99545062e-01 -3.16459096e-04 1.47601092e+00] [ 3.21197460e-03 2.19687241e-04 9.99994817e-01 -8.85015589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95589822699999 meters 0.07163163026573814 Centerline is valid? [True, True] Translation: X:61.09, Y:1.48, Z:-0.88 [[ 9.99521890e-01 -3.08439516e-02 -2.15470521e-03 6.10934906e+01] [ 3.08435642e-02 9.99524201e-01 -2.12801719e-04 1.48024767e+00] [ 2.16024365e-03 1.46241188e-04 9.99997656e-01 -8.82560909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98589822699999 meters 0.07567397367306389 Centerline is valid? [True, True] Translation: X:61.12, Y:1.49, Z:-0.88 [[ 9.99506395e-01 -3.13933537e-02 -1.19325491e-03 6.11239138e+01] [ 3.13932354e-02 9.99507104e-01 -1.17819453e-04 1.48688469e+00] [ 1.19636550e-03 8.03011650e-05 9.99999281e-01 -8.80882930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.015898227 meters 0.07534016622143051 Centerline is valid? [True, True] Translation: X:61.16, Y:1.49, Z:-0.88 [[ 9.99484362e-01 -3.21051784e-02 -5.17068886e-04 6.11557199e+01] [ 3.21051563e-02 9.99484495e-01 -5.10423051e-05 1.48548618e+00] [ 5.18441057e-04 3.44154084e-05 9.99999865e-01 -8.82580538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.045898227 meters 0.06535723590814632 Centerline is valid? [True, True] Translation: X:61.19, Y:1.47, Z:-0.88 [[ 9.99401663e-01 -3.45744973e-02 -9.59442577e-04 6.11884236e+01] [ 3.45744222e-02 9.99402121e-01 -9.46996110e-05 1.47120827e+00] [ 9.62143138e-04 6.14707759e-05 9.99999535e-01 -8.80341957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.075898227 meters 0.0692735601313966 Centerline is valid? [True, True] Translation: X:61.22, Y:1.48, Z:-0.88 [[ 9.99365281e-01 -3.55957017e-02 -1.40777817e-03 6.12185987e+01] [ 3.55955412e-02 9.99366268e-01 -1.38934551e-04 1.47593468e+00] [ 1.41183149e-03 8.87357408e-05 9.99998999e-01 -8.81139740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.105898227 meters 0.06697397384934423 Centerline is valid? [True, True] Translation: X:61.25, Y:1.47, Z:-0.88 [[ 9.99359949e-01 -3.57392147e-02 -1.54975219e-03 6.12508688e+01] [ 3.57390204e-02 9.99361145e-01 -1.52908549e-04 1.46945311e+00] [ 1.55422696e-03 9.74240541e-05 9.99998787e-01 -8.83917022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.135898227 meters 0.07186719877654696 Centerline is valid? [True, True] Translation: X:61.28, Y:1.48, Z:-0.88 [[ 9.99455145e-01 -3.29873712e-02 -1.11676283e-03 6.12799024e+01] [ 3.29872686e-02 9.99455766e-01 -1.10197878e-04 1.47506327e+00] [ 1.11979019e-03 7.32988803e-05 9.99999370e-01 -8.79786761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16589822699999 meters 0.06779986838823512 Centerline is valid? [True, True] Translation: X:61.31, Y:1.47, Z:-0.88 [[ 9.99538673e-01 -3.03687444e-02 -4.23876658e-04 6.13110914e+01] [ 3.03687293e-02 9.99538763e-01 -4.18255670e-05 1.47113881e+00] [ 4.24951340e-04 2.89336763e-05 9.99999909e-01 -8.78947107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19589822699999 meters 0.0786128772075011 Centerline is valid? [True, True] Translation: X:61.34, Y:1.49, Z:-0.88 [[ 9.99640167e-01 -2.68241565e-02 3.94855408e-05 6.13397286e+01] [ 2.68241563e-02 9.99640168e-01 3.89589952e-06 1.48805181e+00] [-3.95758369e-05 -2.83533133e-06 9.99999999e-01 -8.78698025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22589822699999 meters 0.0751899756402777 Centerline is valid? [True, True] Translation: X:61.37, Y:1.49, Z:-0.88 [[ 9.99742195e-01 -2.27049725e-02 -1.67391974e-04 6.13702732e+01] [ 2.27049701e-02 9.99742209e-01 -1.65172791e-05 1.48722709e+00] [ 1.67723846e-04 1.27123911e-05 9.99999986e-01 -8.79094745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25589822699999 meters 0.09019625307378734 Centerline is valid? [True, True] Translation: X:61.40, Y:1.51, Z:-0.88 [[ 9.99906040e-01 -1.36328747e-02 -1.43382822e-03 6.13974594e+01] [ 1.36326858e-02 9.99907061e-01 -1.41465957e-04 1.50821217e+00] [ 1.43562355e-03 1.21905735e-04 9.99998962e-01 -8.82819945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28589822699999 meters 0.089721383455205 Centerline is valid? [True, True] Translation: X:61.43, Y:1.51, Z:-0.88 [[ 9.99952297e-01 -9.56956980e-03 -1.95640019e-03 6.14283025e+01] [ 9.56921033e-03 9.99954195e-01 -1.93018081e-04 1.51013243e+00] [ 1.95815768e-03 1.74287668e-04 9.99998068e-01 -8.81799811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31589822699999 meters 0.0932593769736282 Centerline is valid? [True, True] Translation: X:61.46, Y:1.52, Z:-0.88 [[ 9.99975292e-01 -6.75274326e-03 -1.95325532e-03 6.14569507e+01] [ 6.75237953e-03 9.99977184e-01 -1.92750022e-04 1.51723169e+00] [ 1.95451235e-03 1.79556139e-04 9.99998074e-01 -8.81117566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34589822699999 meters 0.09519528283263744 Centerline is valid? [True, True] Translation: X:61.49, Y:1.52, Z:-0.89 [[ 9.99982680e-01 -4.77471010e-03 -3.44127902e-03 6.14875483e+01] [ 4.77356939e-03 9.99988549e-01 -3.39615499e-04 1.51913166e+00] [ 3.44286118e-03 3.23182432e-04 9.99994021e-01 -8.85180304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.375898227 meters 0.10143922261106637 Centerline is valid? [True, False] Translation: X:61.49, Y:1.52, Z:-0.89 [[ 9.99985907e-01 -2.90554300e-03 -4.44331238e-03 6.14938168e+01] [ 2.91267063e-03 9.99994481e-01 1.59849504e-03 1.51719524e+00] [ 4.43864335e-03 -1.61141441e-03 9.99988851e-01 -8.89862833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.405898227 meters 0.08975553777777565 Centerline is valid? [False, True] Translation: X:61.49, Y:1.52, Z:-0.89 [[ 9.99985755e-01 -2.94732947e-03 -4.45003429e-03 6.14939132e+01] [ 2.95402419e-03 9.99994514e-01 1.49859755e-03 1.51763772e+00] [ 4.44559302e-03 -1.51172171e-03 9.99988976e-01 -8.90031716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.435898227 meters 0.10807419748786735 Centerline is valid? [True, False] Translation: X:61.50, Y:1.52, Z:-0.89 [[ 9.99984457e-01 -8.56343897e-04 -5.50927318e-03 6.15002450e+01] [ 8.73878866e-04 9.99994558e-01 3.18119026e-03 1.52123740e+00] [ 5.50651900e-03 -3.18595525e-03 9.99979764e-01 -8.94342566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.465898227 meters 0.09340205415303976 Centerline is valid? [False, True] Translation: X:61.48, Y:1.52, Z:-0.90 [[ 9.99996357e-01 2.27179331e-03 -1.45785548e-03 6.14793315e+01] [-2.27710537e-03 9.99990737e-01 -3.65248736e-03 1.52424572e+00] [ 1.44954428e-03 3.65579375e-03 9.99992267e-01 -8.99144763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.495898227 meters 0.09374310600150254 Centerline is valid? [True, True] Translation: X:61.51, Y:1.53, Z:-0.90 [[ 9.99977746e-01 5.13427794e-03 -4.25997771e-03 6.15092250e+01] [-5.13598519e-03 9.99986735e-01 -3.89921702e-04 1.53152890e+00] [ 4.25791924e-03 4.11792207e-04 9.99990850e-01 -9.03696090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52589822699998 meters 0.09800523305128339 Centerline is valid? [True, True] Translation: X:61.54, Y:1.54, Z:-0.91 [[ 9.99964330e-01 6.32062992e-03 -5.60249189e-03 6.15375090e+01] [-6.32360153e-03 9.99979874e-01 -5.12852710e-04 1.54264667e+00] [ 5.59913758e-03 5.48262343e-04 9.99984174e-01 -9.06774869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55589822699999 meters 0.09831165637870404 Centerline is valid? [True, True] Translation: X:61.57, Y:1.55, Z:-0.91 [[ 9.99956210e-01 7.02429087e-03 -6.18368655e-03 6.15670046e+01] [-7.02792529e-03 9.99975144e-01 -5.66209771e-04 1.54857750e+00] [ 6.17955562e-03 6.09643464e-04 9.99980721e-01 -9.09078612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58589822699999 meters 0.10234685950288684 Centerline is valid? [True, False] Translation: X:61.59, Y:1.55, Z:-0.91 [[ 9.99984961e-01 2.41618896e-03 -4.92329956e-03 6.15864228e+01] [-2.39196401e-03 9.99985034e-01 4.92043266e-03 1.55412187e+00] [ 4.93511458e-03 -4.90858231e-03 9.99975775e-01 -9.08522462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61589822699999 meters 0.100242309543076 Centerline is valid? [False, False] Translation: X:61.59, Y:1.56, Z:-0.91 [[ 9.99982689e-01 2.78047276e-04 -5.87745258e-03 6.15923179e+01] [-2.64045331e-04 9.99997126e-01 2.38295698e-03 1.55802911e+00] [ 5.87809826e-03 -2.38136382e-03 9.99979888e-01 -9.12512499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64589822699999 meters 0.09809503126600003 Centerline is valid? [False, True] Translation: X:61.55, Y:1.56, Z:-0.91 [[ 9.99981917e-01 -1.18266473e-03 -5.89635287e-03 6.15509768e+01] [ 1.18627279e-03 9.99999111e-01 6.08454702e-04 1.55678941e+00] [ 5.89562803e-03 -6.15438382e-04 9.99982431e-01 -9.14577660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67589822699999 meters 0.08980747694237735 Centerline is valid? [True, True] Translation: X:61.58, Y:1.55, Z:-0.91 [[ 9.99977442e-01 -3.40736453e-03 -5.78841861e-03 6.15822023e+01] [ 3.40429812e-03 9.99994060e-01 -5.39519650e-04 1.55126607e+00] [ 5.79022256e-03 5.19801977e-04 9.99983101e-01 -9.13519002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70589822699999 meters 0.09504930661044343 Centerline is valid? [True, True] Translation: X:61.61, Y:1.56, Z:-0.91 [[ 9.99960743e-01 -6.90339422e-03 -5.55482112e-03 6.16109387e+01] [ 6.90062367e-03 9.99976056e-01 -5.17776887e-04 1.56219785e+00] [ 5.55826254e-03 4.79424830e-04 9.99984438e-01 -9.14438041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73589822699999 meters 0.09678808546531628 Centerline is valid? [True, True] Translation: X:61.64, Y:1.56, Z:-0.92 [[ 9.99953335e-01 -7.93830101e-03 -5.50560518e-03 6.16403292e+01] [ 7.93559431e-03 9.99968381e-01 -5.13297799e-04 1.56455525e+00] [ 5.50950581e-03 4.69583597e-04 9.99984712e-01 -9.16845975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.765898227 meters 0.09418478266912826 Centerline is valid? [True, True] Translation: X:61.67, Y:1.57, Z:-0.91 [[ 9.99950965e-01 -8.32158034e-03 -5.36825936e-03 6.16696821e+01] [ 8.31901184e-03 9.99965271e-01 -5.00614299e-04 1.56709664e+00] [ 5.37223883e-03 4.55931139e-04 9.99985465e-01 -9.13062852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.795898227 meters 0.08025190357485439 Centerline is valid? [True, True] Translation: X:61.70, Y:1.55, Z:-0.91 [[ 9.99947698e-01 -8.62914473e-03 -5.48992950e-03 6.17008172e+01] [ 8.62646234e-03 9.99962660e-01 -5.12094073e-04 1.55271393e+00] [ 5.49414344e-03 4.64708619e-04 9.99984799e-01 -9.11837383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.825898227 meters 0.09232394692823111 Centerline is valid? [True, True] Translation: X:61.73, Y:1.57, Z:-0.91 [[ 9.99943833e-01 -9.15591358e-03 -5.33852281e-03 6.17289042e+01] [ 9.15338415e-03 9.99957983e-01 -4.98048043e-04 1.57250550e+00] [ 5.34285858e-03 4.49154519e-04 9.99985626e-01 -9.12377931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.855898227 meters 0.09358268212233833 Centerline is valid? [True, True] Translation: X:61.76, Y:1.58, Z:-0.91 [[ 9.99943487e-01 -9.53207125e-03 -4.70771968e-03 6.17579678e+01] [ 9.53010816e-03 9.99954491e-01 -4.39251582e-04 1.57698909e+00] [ 4.71169242e-03 3.94361681e-04 9.99988822e-01 -9.10949534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.885898227 meters 0.09706994255798675 Centerline is valid? [True, True] Translation: X:61.79, Y:1.58, Z:-0.91 [[ 9.99941514e-01 -9.97783043e-03 -4.17278227e-03 6.17874145e+01] [ 9.97629193e-03 9.99950160e-01 -3.89349738e-04 1.58422913e+00] [ 4.17645917e-03 3.47698072e-04 9.99991218e-01 -9.09966964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91589822699999 meters 0.08486294679172185 Centerline is valid? [True, True] Translation: X:61.82, Y:1.57, Z:-0.91 [[ 9.99948179e-01 -9.33394199e-03 -4.06398884e-03 6.18194166e+01] [ 9.33247739e-03 9.99956380e-01 -3.79198551e-04 1.57256933e+00] [ 4.06735098e-03 3.41251817e-04 9.99991670e-01 -9.08384497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94589822699999 meters 0.10117389800078884 Centerline is valid? [True, False] Translation: X:61.82, Y:1.57, Z:-0.91 [[ 9.99979670e-01 -4.80182432e-03 -4.19543078e-03 6.18197691e+01] [ 4.82034817e-03 9.99978630e-01 4.41634356e-03 1.57057065e+00] [ 4.17413461e-03 -4.43647721e-03 9.99981447e-01 -9.08461813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97589822699999 meters 0.08763258553296273 Centerline is valid? [False, True] Translation: X:61.82, Y:1.57, Z:-0.91 [[ 9.99979465e-01 -4.93883203e-03 -4.08385784e-03 6.18193919e+01] [ 4.95550671e-03 9.99979385e-01 4.08308081e-03 1.57205788e+00] [ 4.06360800e-03 -4.10323455e-03 9.99983325e-01 -9.08410738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00589822699999 meters 0.09574905620684449 Centerline is valid? [True, True] Translation: X:61.85, Y:1.59, Z:-0.91 [[ 9.99991842e-01 -2.21237512e-03 -3.37943577e-03 6.18468375e+01] [ 2.21134766e-03 9.99997508e-01 -3.07738416e-04 1.59255143e+00] [ 3.38010818e-03 3.00262798e-04 9.99994242e-01 -9.06405940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03589822699999 meters 0.09130569417568977 Centerline is valid? [True, True] Translation: X:61.88, Y:1.59, Z:-0.91 [[ 9.99988851e-01 -6.23413970e-04 -4.68066245e-03 6.18773750e+01] [ 6.21425331e-04 9.99999716e-01 -4.26304982e-04 1.59372134e+00] [ 4.68092688e-03 4.23391547e-04 9.99988955e-01 -9.08076411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06589822699999 meters 0.0953096445940826 Centerline is valid? [True, True] Translation: X:61.91, Y:1.61, Z:-0.91 [[ 9.99978369e-01 6.26796473e-04 -6.54747883e-03 6.19054127e+01] [-6.30714985e-04 9.99999623e-01 -5.96428750e-04 1.60577196e+00] [ 6.54710252e-03 6.00545441e-04 9.99978387e-01 -9.11124946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09589822699999 meters 0.09698165680573341 Centerline is valid? [True, True] Translation: X:61.93, Y:1.61, Z:-0.91 [[ 9.99968563e-01 1.21439771e-03 -7.83570316e-03 6.19342197e+01] [-1.22002931e-03 9.99999001e-01 -7.13971119e-04 1.61410544e+00] [ 7.83482829e-03 7.23508461e-04 9.99969046e-01 -9.13714829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.125898227 meters 0.08940181273239517 Centerline is valid? [True, True] Translation: X:61.96, Y:1.61, Z:-0.91 [[ 9.99973746e-01 -7.52193881e-04 -7.20699483e-03 6.19649721e+01] [ 7.47479963e-04 9.99999505e-01 -6.56746651e-04 1.61317364e+00] [ 7.20748527e-03 6.51342324e-04 9.99973814e-01 -9.11976943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.155898227 meters 0.09948969059394348 Centerline is valid? [True, True] Translation: X:61.99, Y:1.63, Z:-0.91 [[ 9.99979494e-01 -3.03337893e-03 -5.64012292e-03 6.19925162e+01] [ 3.03052764e-03 9.99995276e-01 -5.14013990e-04 1.63125253e+00] [ 5.64165547e-03 4.96910901e-04 9.99983962e-01 -9.10711046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.185898227 meters 0.08573425489884486 Centerline is valid? [True, True] Translation: X:62.02, Y:1.62, Z:-0.91 [[ 9.99971358e-01 -5.73967830e-03 -4.93344464e-03 6.20233753e+01] [ 5.73752909e-03 9.99983439e-01 -4.49685162e-04 1.61821076e+00] [ 4.93594399e-03 4.21366500e-04 9.99987729e-01 -9.08937762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.215898227 meters 0.09077109935580312 Centerline is valid? [True, True] Translation: X:62.05, Y:1.63, Z:-0.91 [[ 9.99928919e-01 -1.04412110e-02 -5.75648287e-03 6.20522498e+01] [ 1.04383618e-02 9.99945381e-01 -5.24778218e-04 1.62998782e+00] [ 5.76164778e-03 4.64652666e-04 9.99983294e-01 -9.10584166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.245898227 meters 0.08173462694390561 Centerline is valid? [True, True] Translation: X:62.08, Y:1.62, Z:-0.91 [[ 9.99905155e-01 -1.20848377e-02 -6.60594019e-03 6.20834764e+01] [ 1.20811211e-02 9.99926839e-01 -6.02236734e-04 1.62328643e+00] [ 6.61273483e-03 5.22372451e-04 9.99977999e-01 -9.10845580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27589822699998 meters 0.08404190419084274 Centerline is valid? [True, True] Translation: X:62.11, Y:1.63, Z:-0.91 [[ 9.99898583e-01 -1.23212425e-02 -7.14222701e-03 6.21122585e+01] [ 1.23169041e-02 9.99923932e-01 -6.51101095e-04 1.63339379e+00] [ 7.14970609e-03 5.63064937e-04 9.99974282e-01 -9.10538881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30589822699999 meters 0.08425573419424146 Centerline is valid? [True, True] Translation: X:62.14, Y:1.64, Z:-0.91 [[ 9.99908269e-01 -1.13458893e-02 -7.39758916e-03 6.21418952e+01] [ 1.13412082e-02 9.99935459e-01 -6.74426232e-04 1.63721626e+00] [ 7.40476367e-03 5.90466767e-04 9.99972410e-01 -9.10514931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33589822699999 meters 0.08406906610730039 Centerline is valid? [True, True] Translation: X:62.17, Y:1.64, Z:-0.91 [[ 9.99914587e-01 -1.04788932e-02 -7.81102716e-03 6.21718354e+01] [ 1.04736472e-02 9.99944896e-01 -7.12213178e-04 1.64045817e+00] [ 7.81805995e-03 6.30342403e-04 9.99969240e-01 -9.11356971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36589822699999 meters 0.09044121317894362 Centerline is valid? [True, True] Translation: X:62.20, Y:1.65, Z:-0.91 [[ 9.99922323e-01 -9.28502121e-03 -8.31487718e-03 6.21997961e+01] [ 9.27903522e-03 9.99956661e-01 -7.58203377e-04 1.65212973e+00] [ 8.32155676e-03 6.80990444e-04 9.99965143e-01 -9.13136338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39589822699999 meters 0.09328631502091754 Centerline is valid? [True, True] Translation: X:62.23, Y:1.66, Z:-0.91 [[ 9.99943609e-01 -6.43908180e-03 -8.44498795e-03 6.22288748e+01] [ 6.43280558e-03 9.99979013e-01 -7.70141456e-04 1.66229474e+00] [ 8.44976972e-03 7.15773061e-04 9.99964044e-01 -9.12756466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42589822699999 meters 0.0872530796626178 Centerline is valid? [True, True] Translation: X:62.26, Y:1.66, Z:-0.91 [[ 9.99953729e-01 -5.12403502e-03 -8.14152260e-03 6.22590994e+01] [ 5.11815768e-03 9.99986626e-01 -7.42568323e-04 1.65830655e+00] [ 8.14521867e-03 7.00864367e-04 9.99966582e-01 -9.10673225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45589822699999 meters 0.09565091782208777 Centerline is valid? [True, True] Translation: X:62.29, Y:1.67, Z:-0.91 [[ 9.99956124e-01 -4.79509767e-03 -8.04713644e-03 6.22858090e+01] [ 4.78933741e-03 9.99988261e-01 -7.34933533e-04 1.67179408e+00] [ 8.05056605e-03 6.96360836e-04 9.99967351e-01 -9.10197508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48589822699999 meters 0.09225252156956641 Centerline is valid? [True, True] Translation: X:62.31, Y:1.67, Z:-0.91 [[ 9.99957595e-01 -5.17258490e-03 -7.61916731e-03 6.23148817e+01] [ 5.16742250e-03 9.99986406e-01 -6.97083815e-04 1.66908866e+00] [ 7.62266945e-03 6.57682799e-04 9.99970731e-01 -9.09498471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.515898227 meters 0.08454889917843925 Centerline is valid? [True, True] Translation: X:62.35, Y:1.66, Z:-0.91 [[ 9.99966833e-01 -7.58934804e-03 -2.95549699e-03 6.23453875e+01] [ 7.58900927e-03 9.99971195e-01 -1.25821266e-04 1.66040960e+00] [ 2.95636676e-03 1.03387799e-04 9.99995625e-01 -9.06820391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.545898227 meters 0.08337049638636909 Centerline is valid? [True, True] Translation: X:62.38, Y:1.66, Z:-0.90 [[ 9.99948635e-01 -9.65518290e-03 -3.08314709e-03 6.23755331e+01] [ 9.65390378e-03 9.99953308e-01 -4.29488109e-04 1.66085092e+00] [ 3.08714992e-03 3.99701643e-04 9.99995155e-01 -9.04540788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.575898227 meters 0.07793165590996678 Centerline is valid? [True, True] Translation: X:62.41, Y:1.65, Z:-0.90 [[ 9.99902486e-01 -1.37805348e-02 -2.26177969e-03 6.24074720e+01] [ 1.37801008e-02 9.99905028e-01 -2.07348503e-04 1.65286625e+00] [ 2.26442226e-03 1.76160732e-04 9.99997421e-01 -9.04392804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.605898227 meters 0.08262058173280419 Centerline is valid? [True, True] Translation: X:62.44, Y:1.66, Z:-0.91 [[ 9.99874512e-01 -1.55230750e-02 -3.16133645e-03 6.24365248e+01] [ 1.55222358e-02 9.99879481e-01 -2.89796467e-04 1.65904995e+00] [ 3.16545398e-03 2.40689091e-04 9.99994961e-01 -9.05584630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.635898227 meters 0.07808927156690937 Centerline is valid? [True, True] Translation: X:62.47, Y:1.65, Z:-0.91 [[ 9.99845212e-01 -1.70119845e-02 -4.48835096e-03 6.24677643e+01] [ 1.70103078e-02 9.99855230e-01 -4.11483380e-04 1.65360268e+00] [ 4.49470133e-03 3.35071456e-04 9.99989843e-01 -9.07159835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66589822699999 meters 0.07792364008797605 Centerline is valid? [True, True] Translation: X:62.50, Y:1.65, Z:-0.91 [[ 9.99823542e-01 -1.77717220e-02 -6.08693982e-03 6.24980277e+01] [ 1.77686525e-02 9.99841969e-01 -5.57994997e-04 1.65218734e+00] [ 6.09589443e-03 4.49739816e-04 9.99981319e-01 -9.07911461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69589822699999 meters 0.07632658678778752 Centerline is valid? [True, True] Translation: X:62.53, Y:1.65, Z:-0.91 [[ 9.99834025e-01 -1.70002046e-02 -6.55094224e-03 6.25283311e+01] [ 1.69966330e-02 9.99855366e-01 -6.00500151e-04 1.65015443e+00] [ 6.56020338e-03 4.89056523e-04 9.99978362e-01 -9.07838106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72589822699999 meters 0.07632658678778752 Centerline is valid? [True, True] Translation: X:62.56, Y:1.65, Z:-0.91 [[ 9.99834025e-01 -1.70002046e-02 -6.55094224e-03 6.25582889e+01] [ 1.69966330e-02 9.99855366e-01 -6.00500151e-04 1.65290055e+00] [ 6.56020338e-03 4.89056523e-04 9.99978362e-01 -9.07766224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75589822699999 meters 0.07278475055115444 Centerline is valid? [True, True] Translation: X:62.59, Y:1.65, Z:-0.91 [[ 9.99886303e-01 -1.36172766e-02 -6.47699708e-03 6.25898003e+01] [ 1.36137144e-02 9.99907153e-01 -5.93748695e-04 1.64505911e+00] [ 6.48448095e-03 5.05505199e-04 9.99978848e-01 -9.07233733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78589822699999 meters 0.0896955720912225 Centerline is valid? [True, True] Translation: X:62.62, Y:1.66, Z:-0.91 [[ 9.99912759e-01 -1.19456739e-02 -5.63692355e-03 6.26169197e+01] [ 1.19429489e-02 9.99928547e-01 -5.16833317e-04 1.66410143e+00] [ 5.64269469e-03 4.49466738e-04 9.99983979e-01 -9.09795209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81589822699999 meters 0.08215348679029254 Centerline is valid? [True, True] Translation: X:62.65, Y:1.66, Z:-0.91 [[ 9.99927417e-01 -1.07167645e-02 -5.50554114e-03 6.26481521e+01] [ 1.07141462e-02 9.99942474e-01 -5.04844970e-04 1.65635181e+00] [ 5.51063474e-03 4.45821154e-04 9.99984717e-01 -9.07076320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84589822699999 meters 0.08873916423562184 Centerline is valid? [True, True] Translation: X:62.68, Y:1.66, Z:-0.91 [[ 9.99933752e-01 -9.66729790e-03 -6.24782547e-03 6.26773173e+01] [ 9.66390680e-03 9.99953139e-01 -5.72726688e-04 1.66314047e+00] [ 6.25306941e-03 5.12310342e-04 9.99980318e-01 -9.08491353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.875898227 meters 0.08534082921109921 Centerline is valid? [True, True] Translation: X:62.71, Y:1.65, Z:-0.91 [[ 9.99930297e-01 -9.54310773e-03 -6.95198976e-03 6.27078080e+01] [ 9.53890629e-03 9.99954301e-01 -6.37257972e-04 1.65188819e+00] [ 6.95775348e-03 5.70899175e-04 9.99975632e-01 -9.10589126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.905898227 meters 0.08914085045628298 Centerline is valid? [True, True] Translation: X:62.74, Y:1.66, Z:-0.91 [[ 9.99928396e-01 -1.00447994e-02 -6.50419768e-03 6.27365953e+01] [ 1.00411311e-02 9.99949409e-01 -5.96408635e-04 1.65527542e+00] [ 6.50985943e-03 5.31056429e-04 9.99978670e-01 -9.10139834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.935898227 meters 0.08302258382906058 Centerline is valid? [True, True] Translation: X:62.77, Y:1.65, Z:-0.91 [[ 9.99924942e-01 -1.08160839e-02 -5.75527398e-03 6.27668998e+01] [ 1.08132210e-02 9.99941396e-01 -5.28332904e-04 1.64591895e+00] [ 5.76065119e-03 4.66060199e-04 9.99983299e-01 -9.09662314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.965898227 meters 0.08848542628472193 Centerline is valid? [True, True] Translation: X:62.80, Y:1.65, Z:-0.91 [[ 9.99924936e-01 -1.13528556e-02 -4.60815825e-03 6.27956907e+01] [ 1.13510242e-02 9.99935485e-01 -4.23376061e-04 1.65192608e+00] [ 4.61266749e-03 3.71036965e-04 9.99989293e-01 -9.07143626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.995898227 meters 0.08661300873416278 Centerline is valid? [True, True] Translation: X:62.83, Y:1.64, Z:-0.90 [[ 9.99937278e-01 -1.07306120e-02 -3.20845534e-03 6.28269882e+01] [ 1.07297209e-02 9.99942391e-01 -2.94817114e-04 1.64486378e+00] [ 3.21143407e-03 2.60372793e-04 9.99994809e-01 -9.04279955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02589822699998 meters 0.0889787017934778 Centerline is valid? [True, True] Translation: X:62.86, Y:1.65, Z:-0.91 [[ 9.99952153e-01 -8.74989679e-03 -4.37384341e-03 6.28573155e+01] [ 8.74822196e-03 9.99961653e-01 -4.01906262e-04 1.64851026e+00] [ 4.37719232e-03 3.63623679e-04 9.99990354e-01 -9.05448742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05589822699999 meters 0.08557432769333653 Centerline is valid? [True, True] Translation: X:62.89, Y:1.64, Z:-0.91 [[ 9.99967161e-01 -5.65876311e-03 -5.80138638e-03 6.28880459e+01] [ 5.65576466e-03 9.99983864e-01 -5.33126121e-04 1.64490078e+00] [ 5.80430960e-03 5.00297337e-04 9.99983030e-01 -9.08941947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08589822699999 meters 0.11094438927081199 Centerline is valid? [True, False] Translation: X:62.91, Y:1.65, Z:-0.91 [[ 9.99996967e-01 1.03719002e-03 -2.23399365e-03 6.29091613e+01] [-1.04629577e-03 9.99991135e-01 -4.07869379e-03 1.64749590e+00] [ 2.22974346e-03 4.08101883e-03 9.99989187e-01 -9.11695535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11589822699999 meters 0.09922742062152619 Centerline is valid? [False, True] Translation: X:62.91, Y:1.65, Z:-0.91 [[ 9.99997142e-01 9.73518932e-04 -2.18350802e-03 6.29089708e+01] [-9.82765250e-04 9.99990539e-01 -4.23754850e-03 1.64819994e+00] [ 2.17936203e-03 4.23968227e-03 9.99988638e-01 -9.11617872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14589822699999 meters 0.09680465992549063 Centerline is valid? [True, True] Translation: X:62.94, Y:1.65, Z:-0.91 [[ 9.99996581e-01 1.92925096e-03 -1.76525617e-03 6.29388364e+01] [-1.92954730e-03 9.99998125e-01 -1.66187035e-04 1.64671521e+00] [ 1.76493224e-03 1.69592612e-04 9.99998428e-01 -9.09871264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17589822699999 meters 0.09933793554437356 Centerline is valid? [True, True] Translation: X:62.97, Y:1.66, Z:-0.91 [[ 9.99999478e-01 8.13667539e-04 -6.18731094e-04 6.29671626e+01] [-8.13703765e-04 9.99999667e-01 -5.82982964e-05 1.65511941e+00] [ 6.18683453e-04 5.88017298e-05 9.99999807e-01 -9.06915615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20589822699999 meters 0.09169026791969559 Centerline is valid? [True, True] Translation: X:63.00, Y:1.65, Z:-0.91 [[ 9.99997984e-01 -5.72524782e-04 -1.92472282e-03 6.29978338e+01] [ 5.72177002e-04 9.99999820e-01 -1.81236601e-04 1.64894260e+00] [ 1.92482624e-03 1.80134953e-04 9.99998131e-01 -9.08380430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23589822699999 meters 0.09886884493745392 Centerline is valid? [True, True] Translation: X:63.03, Y:1.66, Z:-0.91 [[ 9.99992568e-01 -2.29516331e-03 -3.09780243e-03 6.30264828e+01] [ 2.29427052e-03 9.99997326e-01 -2.91726600e-04 1.66115314e+00] [ 3.09846370e-03 2.84617235e-04 9.99995159e-01 -9.11448575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.265898227 meters 0.09660070900068272 Centerline is valid? [True, True] Translation: X:63.06, Y:1.66, Z:-0.91 [[ 9.99985124e-01 -3.93155008e-03 -3.78071987e-03 6.30565488e+01] [ 3.93023173e-03 9.99992213e-01 -3.56068104e-04 1.66158839e+00] [ 3.78209033e-03 3.41203702e-04 9.99992790e-01 -9.13499503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.295898227 meters 0.09111049404028221 Centerline is valid? [True, True] Translation: X:63.09, Y:1.66, Z:-0.92 [[ 9.99979228e-01 -5.03849202e-03 -4.01952913e-03 6.30868505e+01] [ 5.03701025e-03 9.99987242e-01 -3.78681919e-04 1.65601895e+00] [ 4.02138584e-03 3.58427644e-04 9.99991850e-01 -9.15860352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.325898227 meters 0.09673945190890773 Centerline is valid? [True, True] Translation: X:63.12, Y:1.67, Z:-0.91 [[ 9.99974118e-01 -6.95696418e-03 -1.83435444e-03 6.31151297e+01] [ 6.95665872e-03 9.99975787e-01 -1.72849951e-04 1.67158123e+00] [ 1.83551253e-03 1.60084499e-04 9.99998303e-01 -9.11953057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.355898227 meters 0.0831515733524641 Centerline is valid? [True, True] Translation: X:63.15, Y:1.66, Z:-0.91 [[ 9.99968869e-01 -7.82890118e-03 -9.84953685e-04 6.31476632e+01] [ 7.82881359e-03 9.99969350e-01 -9.27542533e-05 1.65788300e+00] [ 9.85649660e-04 8.50403469e-05 9.99999511e-01 -9.09612991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.385898227 meters 0.08255160762939498 Centerline is valid? [True, True] Translation: X:63.18, Y:1.66, Z:-0.91 [[ 9.99963174e-01 -8.52828009e-03 -9.58439481e-04 6.31789345e+01] [ 8.52819752e-03 9.99963630e-01 -9.02054689e-05 1.66087631e+00] [ 9.59173921e-04 8.20283858e-05 9.99999537e-01 -9.08330865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41589822699999 meters 0.09480169722542883 Centerline is valid? [True, True] Translation: X:63.21, Y:1.68, Z:-0.91 [[ 9.99961314e-01 -8.56537797e-03 -2.00111321e-03 6.32087599e+01] [ 8.56501818e-03 9.99963302e-01 -1.88299464e-04 1.68033242e+00] [ 2.00265263e-03 1.71152609e-04 9.99997980e-01 -9.09183303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44589822699999 meters 0.083669540660674 Centerline is valid? [True, True] Translation: X:63.24, Y:1.67, Z:-0.91 [[ 9.99963053e-01 -8.05031024e-03 -3.01416412e-03 6.32408229e+01] [ 8.04949163e-03 9.99967562e-01 -2.83621090e-04 1.67065275e+00] [ 3.01634959e-03 2.59348122e-04 9.99995417e-01 -9.09828977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47589822699999 meters 0.08893035800056122 Centerline is valid? [True, True] Translation: X:63.27, Y:1.69, Z:-0.92 [[ 9.99967720e-01 -4.41120140e-03 -6.71572881e-03 6.32688416e+01] [ 4.40705541e-03 9.99990089e-01 -6.32029041e-04 1.68548621e+00] [ 6.71845026e-03 6.02412049e-04 9.99977250e-01 -9.16407242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50589822699999 meters 0.0922265431160124 Centerline is valid? [True, True] Translation: X:63.30, Y:1.70, Z:-0.92 [[ 9.99962565e-01 -2.35113783e-03 -8.32712520e-03 6.32976089e+01] [ 2.34469148e-03 9.99996944e-01 -7.83816293e-04 1.69553774e+00] [ 8.32894262e-03 7.64262411e-04 9.99965022e-01 -9.20899225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53589822699999 meters 0.0933817089870969 Centerline is valid? [True, True] Translation: X:63.33, Y:1.70, Z:-0.92 [[ 9.99968535e-01 -3.90724672e-04 -7.92321229e-03 6.33277181e+01] [ 3.84827518e-04 9.99999648e-01 -7.45799122e-04 1.70231467e+00] [ 7.92350090e-03 7.42726585e-04 9.99968333e-01 -9.21875778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56589822699999 meters 0.10048451868444776 Centerline is valid? [True, False] Translation: X:63.33, Y:1.70, Z:-0.92 [[ 9.99969923e-01 -5.43125061e-04 -7.73683273e-03 6.33269523e+01] [ 5.34403100e-04 9.99999219e-01 -1.12935245e-03 1.70402594e+00] [ 7.73744007e-03 1.12518390e-03 9.99969433e-01 -9.21410435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59589822699999 meters 0.10258379492081654 Centerline is valid? [False, False] Translation: X:63.31, Y:1.70, Z:-0.91 [[ 9.99985210e-01 -2.66305504e-04 -5.43223905e-03 6.33145923e+01] [ 2.62739762e-04 9.99999750e-01 -6.57106798e-04 1.70301654e+00] [ 5.43241268e-03 6.55669814e-04 9.99985029e-01 -9.11994456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.625898227 meters 0.09957661902005925 Centerline is valid? [False, True] Translation: X:63.35, Y:1.71, Z:-0.91 [[ 9.99992853e-01 -2.27788473e-04 -3.77391854e-03 6.33500260e+01] [ 2.26843957e-04 9.99999943e-01 -2.50700783e-04 1.70540788e+00] [ 3.77397543e-03 2.49842901e-04 9.99992847e-01 -9.05948908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.655898227 meters 0.09331060926525492 Centerline is valid? [True, True] Translation: X:63.38, Y:1.70, Z:-0.91 [[ 9.99986472e-01 -1.70303271e-03 -4.91482598e-03 6.33811654e+01] [ 1.70077226e-03 9.99998446e-01 -4.64068162e-04 1.69912043e+00] [ 4.91560867e-03 4.55702885e-04 9.99987814e-01 -9.07144218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.685898227 meters 0.09273912229214479 Centerline is valid? [True, True] Translation: X:63.41, Y:1.70, Z:-0.92 [[ 9.99884833e-01 -5.32637719e-03 -1.42109374e-02 6.34106483e+01] [ 5.30783518e-03 9.99985013e-01 -1.34216875e-03 1.69912600e+00] [ 1.42178733e-02 1.26658487e-03 9.99898119e-01 -9.19528307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.715898227 meters 0.09224595057672734 Centerline is valid? [True, True] Translation: X:63.44, Y:1.70, Z:-0.93 [[ 9.99824247e-01 -6.48640048e-03 -1.75898307e-02 6.34404663e+01] [ 6.45816471e-03 9.99977765e-01 -1.66156158e-03 1.70063662e+00] [ 1.76002171e-02 1.54767154e-03 9.99843906e-01 -9.25963825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.745898227 meters 0.09587645129647009 Centerline is valid? [True, True] Translation: X:63.47, Y:1.71, Z:-0.93 [[ 9.99814410e-01 -6.77349216e-03 -1.80351137e-02 6.34673452e+01] [ 6.74382086e-03 9.99975806e-01 -1.70550699e-03 1.70795122e+00] [ 1.80462296e-02 1.58356489e-03 9.99835899e-01 -9.28262800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77589822699998 meters 0.0925588859432248 Centerline is valid? [True, True] Translation: X:63.50, Y:1.71, Z:-0.92 [[ 9.99855501e-01 -5.90122565e-03 -1.59421542e-02 6.34967930e+01] [ 5.87790449e-03 9.99981586e-01 -1.50932200e-03 1.70660839e+00] [ 1.59507675e-02 1.41539744e-03 9.99871777e-01 -9.24972939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80589822699999 meters 0.09972483290630726 Centerline is valid? [True, True] Translation: X:63.52, Y:1.72, Z:-0.92 [[ 9.99946970e-01 -2.29607594e-03 -1.00392040e-02 6.35246265e+01] [ 2.28664623e-03 9.99996934e-01 -9.50665807e-04 1.71744971e+00] [ 1.00413560e-02 9.27659285e-04 9.99949154e-01 -9.17792926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83589822699999 meters 0.1010024297051339 Centerline is valid? [True, False] Translation: X:63.52, Y:1.72, Z:-0.92 [[ 9.99946908e-01 -2.36251332e-03 -1.00298954e-02 6.35244214e+01] [ 2.35151726e-03 9.99996621e-01 -1.10798037e-03 1.71814921e+00] [ 1.00324792e-02 1.08433607e-03 9.99949085e-01 -9.17433931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86589822699999 meters 0.10304571948011783 Centerline is valid? [False, False] Translation: X:63.52, Y:1.72, Z:-0.92 [[ 9.99945864e-01 -2.45927119e-03 -1.01104012e-02 6.35246587e+01] [ 2.44591523e-03 9.99996120e-01 -1.33316484e-03 1.71914873e+00] [ 1.01136406e-02 1.30836348e-03 9.99948000e-01 -9.17450974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89589822699999 meters 0.10244791382056852 Centerline is valid? [False, False] Translation: X:63.53, Y:1.72, Z:-0.92 [[ 9.99943511e-01 -2.76367287e-03 -1.02634088e-02 6.35255242e+01] [ 2.74235584e-03 9.99994055e-01 -2.09048653e-03 1.72242323e+00] [ 1.02691252e-02 2.06222252e-03 9.99945145e-01 -9.18617663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92589822699999 meters 0.09193438018969978 Centerline is valid? [False, True] Translation: X:63.53, Y:1.72, Z:-0.92 [[ 9.99943114e-01 -2.97141184e-03 -1.02439837e-02 6.35258124e+01] [ 2.94505792e-03 9.99992318e-01 -2.58675001e-03 1.72462931e+00] [ 1.02515913e-02 2.55643374e-03 9.99944183e-01 -9.19418362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95589822699999 meters 0.09727572885865907 Centerline is valid? [True, True] Translation: X:63.55, Y:1.74, Z:-0.92 [[ 9.99943968e-01 -2.88972422e-03 -1.01838230e-02 6.35523637e+01] [ 2.87944059e-03 9.99995330e-01 -1.02431837e-03 1.73600299e+00] [ 1.01867355e-02 9.94937265e-04 9.99947619e-01 -9.22042720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98589822699999 meters 0.09301458428788208 Centerline is valid? [True, True] Translation: X:63.58, Y:1.74, Z:-0.92 [[ 9.99980969e-01 -4.28610486e-03 -4.43740254e-03 6.35828000e+01] [ 4.28416620e-03 9.99990723e-01 -4.46305143e-04 1.73760530e+00] [ 4.43927428e-03 4.27286080e-04 9.99990055e-01 -9.15316789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.015898227 meters 0.10027295025710067 Centerline is valid? [True, False] Translation: X:63.64, Y:1.74, Z:-0.91 [[ 9.99998868e-01 -7.49191506e-04 -1.30460416e-03 6.36433021e+01] [ 7.42146852e-04 9.99985188e-01 -5.39197765e-03 1.74397302e+00] [ 1.30862446e-03 5.39100334e-03 9.99984612e-01 -9.13869788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.045898227 meters 0.11277585375611662 Centerline is valid? [False, False] Translation: X:63.60, Y:1.74, Z:-0.91 [[ 9.99998347e-01 9.84442862e-04 -1.52848500e-03 6.36016710e+01] [-9.89763906e-04 9.99993440e-01 -3.48440879e-03 1.73962825e+00] [ 1.52504477e-03 3.48591587e-03 9.99992761e-01 -9.14700126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.075898227 meters 0.10651069867262612 Centerline is valid? [False, False] Translation: X:63.62, Y:1.74, Z:-0.92 [[ 9.99997080e-01 -2.27836035e-03 8.05190102e-04 6.36243238e+01] [ 2.27537254e-03 9.99990595e-01 3.69232353e-03 1.74138302e+00] [-8.13594973e-04 -3.69048064e-03 9.99992859e-01 -9.18140792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.105898227 meters 0.09199326959001751 Centerline is valid? [False, True] Translation: X:63.58, Y:1.74, Z:-0.92 [[ 9.99994638e-01 -3.26716712e-03 2.22896368e-04 6.35840963e+01] [ 3.26662761e-03 9.99991834e-01 2.37935138e-03 1.73868027e+00] [-2.30668287e-04 -2.37861051e-03 9.99997144e-01 -9.20275428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.135898227 meters 0.09800996452430892 Centerline is valid? [True, True] Translation: X:63.61, Y:1.75, Z:-0.93 [[ 9.99984212e-01 -5.48734771e-03 -1.21042940e-03 6.36130554e+01] [ 5.48721508e-03 9.99984939e-01 -1.12869324e-04 1.74931414e+00] [ 1.21103053e-03 1.06225656e-04 9.99999261e-01 -9.26789818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16589822699999 meters 0.09293649001054673 Centerline is valid? [True, True] Translation: X:63.64, Y:1.75, Z:-0.92 [[ 9.99979752e-01 -6.36298612e-03 -9.24836110e-05 6.36437565e+01] [ 6.36298535e-03 9.99979756e-01 -8.61858279e-06 1.74802904e+00] [ 9.25365787e-05 8.02993642e-06 9.99999996e-01 -9.22831570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19589822699999 meters 0.08821859504189031 Centerline is valid? [True, True] Translation: X:63.68, Y:1.75, Z:-0.92 [[ 9.99968524e-01 -7.57383504e-03 2.36369353e-03 6.36750038e+01] [ 7.57333525e-03 9.99971298e-01 2.20322545e-04 1.74621193e+00] [-2.36529437e-03 -2.02414567e-04 9.99997182e-01 -9.18914735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22589822699999 meters 0.08921319363188104 Centerline is valid? [True, True] Translation: X:63.70, Y:1.75, Z:-0.91 [[ 9.99935243e-01 -9.57083115e-03 6.15698200e-03 6.37040207e+01] [ 9.56747885e-03 9.99954066e-01 5.73695309e-04 1.75060820e+00] [-6.16218993e-03 -5.14751364e-04 9.99980881e-01 -9.11648013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25589822699999 meters 0.0755673087746138 Centerline is valid? [True, True] Translation: X:63.74, Y:1.73, Z:-0.91 [[ 9.99929761e-01 -1.04494934e-02 5.59291873e-03 6.37370651e+01] [ 1.04467404e-02 9.99945295e-01 5.21216171e-04 1.73366244e+00] [-5.59805922e-03 -4.62751792e-04 9.99984224e-01 -9.12806993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28589822699999 meters 0.08866924134956901 Centerline is valid? [True, True] Translation: X:63.77, Y:1.75, Z:-0.92 [[ 9.99928387e-01 -1.12337988e-02 4.12572935e-03 6.37662781e+01] [ 1.12323076e-02 9.99936842e-01 3.84423902e-04 1.75123329e+00] [-4.12978731e-03 -3.38054911e-04 9.99991415e-01 -9.15917501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31589822699999 meters 0.08291626905628645 Centerline is valid? [True, True] Translation: X:63.80, Y:1.74, Z:-0.92 [[ 9.99926550e-01 -1.19706636e-02 1.89696571e-03 6.37983238e+01] [ 1.19703497e-02 9.99928337e-01 1.76788837e-04 1.74430811e+00] [-1.89894605e-03 -1.54068509e-04 9.99998185e-01 -9.21111933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34589822699999 meters 0.08245737121212003 Centerline is valid? [True, True] Translation: X:63.83, Y:1.74, Z:-0.93 [[ 9.99925247e-01 -1.22197698e-02 4.21138804e-04 6.38302410e+01] [ 1.22197542e-02 9.99925335e-01 3.95087647e-05 1.74348284e+00] [-4.21590148e-04 -3.43595986e-05 9.99999911e-01 -9.26534360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.375898227 meters 0.08000302584897898 Centerline is valid? [True, True] Translation: X:63.86, Y:1.75, Z:-0.92 [[ 9.99944160e-01 -1.02150106e-02 2.70757459e-03 6.38613704e+01] [ 1.02143654e-02 9.99947800e-01 2.52037689e-04 1.74651963e+00] [-2.71000782e-03 -2.24367459e-04 9.99996303e-01 -9.20981473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.405898227 meters 0.08931842071730292 Centerline is valid? [True, True] Translation: X:63.89, Y:1.76, Z:-0.92 [[ 9.99955687e-01 -8.25706833e-03 4.52149862e-03 6.38897328e+01] [ 8.25524943e-03 9.99965836e-01 4.20793195e-04 1.76246426e+00] [-4.52481867e-03 -3.83448450e-04 9.99989689e-01 -9.16990479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.435898227 meters 0.08445155533724387 Centerline is valid? [True, True] Translation: X:63.92, Y:1.76, Z:-0.92 [[ 9.99969760e-01 -6.18602474e-03 4.71300578e-03 6.39202967e+01] [ 6.18402677e-03 9.99980783e-01 4.38381475e-04 1.75991741e+00] [-4.71562705e-03 -4.09222865e-04 9.99988798e-01 -9.15191679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.465898227 meters 0.09753700238947331 Centerline is valid? [True, True] Translation: X:63.95, Y:1.78, Z:-0.92 [[ 9.99986495e-01 -4.47809187e-03 2.63769598e-03 6.39483303e+01] [ 4.47745981e-03 9.99989946e-01 2.45483774e-04 1.77982252e+00] [-2.63876876e-03 -2.33670281e-04 9.99996491e-01 -9.18223490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.495898227 meters 0.09119698772297652 Centerline is valid? [True, True] Translation: X:63.98, Y:1.78, Z:-0.93 [[ 9.99993699e-01 -2.84158999e-03 -2.12771865e-03 6.39797906e+01] [ 2.84117550e-03 9.99995944e-01 -1.97802079e-04 1.77527750e+00] [ 2.12827209e-03 1.91755611e-04 9.99997717e-01 -9.27991891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52589822699998 meters 0.08966694106146456 Centerline is valid? [True, True] Translation: X:64.01, Y:1.77, Z:-0.93 [[ 9.99992263e-01 -3.16746719e-03 -2.33246719e-03 6.40102209e+01] [ 3.16696993e-03 9.99994962e-01 -2.16852953e-04 1.77400676e+00] [ 2.33314232e-03 2.09464422e-04 9.99997256e-01 -9.30706354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55589822699999 meters 0.08826481694439715 Centerline is valid? [True, True] Translation: X:64.04, Y:1.78, Z:-0.93 [[ 9.99992752e-01 -3.73313623e-03 -7.47893460e-04 6.40396705e+01] [ 3.73308526e-03 9.99993030e-01 -6.95327703e-05 1.77950632e+00] [ 7.48147822e-04 6.67403162e-05 9.99999718e-01 -9.26441611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58589822699999 meters 0.09742748817005617 Centerline is valid? [True, True] Translation: X:64.07, Y:1.80, Z:-0.92 [[ 9.99989462e-01 -4.49305628e-03 9.42035713e-04 6.40685620e+01] [ 4.49297568e-03 9.99989903e-01 8.76500202e-05 1.79615567e+00] [-9.42420018e-04 -8.34165531e-05 9.99999552e-01 -9.23980536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61589822699999 meters 0.09742748817005617 Centerline is valid? [True, True] Translation: X:64.10, Y:1.80, Z:-0.92 [[ 9.99989564e-01 -4.47043142e-03 9.42031286e-04 6.40993937e+01] [ 4.47035078e-03 9.99990004e-01 8.76976633e-05 1.79897804e+00] [-9.42413916e-04 -8.34855378e-05 9.99999552e-01 -9.24182915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64589822699999 meters 0.08688449057224581 Centerline is valid? [True, True] Translation: X:64.13, Y:1.79, Z:-0.93 [[ 9.99981797e-01 -5.95963777e-03 -9.42953055e-04 6.41315598e+01] [ 5.95955784e-03 9.99982238e-01 -8.75452542e-05 1.79055819e+00] [ 9.43458044e-04 8.19240773e-05 9.99999552e-01 -9.25303427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67589822699999 meters 0.08864528458872367 Centerline is valid? [True, True] Translation: X:64.16, Y:1.79, Z:-0.93 [[ 9.99977930e-01 -6.34677192e-03 -1.96416912e-03 6.41617134e+01] [ 6.34642577e-03 9.99979845e-01 -1.82417799e-04 1.79486638e+00] [ 1.96528729e-03 1.69948320e-04 9.99998054e-01 -9.28584563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70589822699999 meters 0.09069864712247269 Centerline is valid? [True, True] Translation: X:64.19, Y:1.80, Z:-0.93 [[ 9.99976611e-01 -6.71981781e-03 -1.27371218e-03 6.41913071e+01] [ 6.71967248e-03 9.99977416e-01 -1.18343809e-04 1.79949047e+00] [ 1.27447867e-03 1.09782112e-04 9.99999182e-01 -9.28702225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73589822699999 meters 0.09059956420854422 Centerline is valid? [True, True] Translation: X:64.22, Y:1.80, Z:-0.92 [[ 9.99968590e-01 -5.77548436e-03 5.42793392e-03 6.42221396e+01] [ 5.77283121e-03 9.99983210e-01 5.04335739e-04 1.80289269e+00] [-5.43075557e-03 -4.72985351e-04 9.99985141e-01 -9.16536327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.765898227 meters 0.09216473062200876 Centerline is valid? [True, True] Translation: X:64.25, Y:1.81, Z:-0.91 [[ 9.99967991e-01 -4.77947216e-03 6.41669445e-03 6.42517005e+01] [ 4.77574459e-03 9.99988418e-01 5.96115759e-04 1.80935941e+00] [-6.41946925e-03 -5.65452184e-04 9.99979235e-01 -9.13703396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.795898227 meters 0.09286604792222386 Centerline is valid? [True, True] Translation: X:64.28, Y:1.81, Z:-0.92 [[ 9.99983655e-01 -3.52815585e-03 4.49904291e-03 6.42820135e+01] [ 3.52631070e-03 9.99993695e-01 4.17988192e-04 1.81463389e+00] [-4.50048927e-03 -4.02116337e-04 9.99989792e-01 -9.16250781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.825898227 meters 0.09528493376807988 Centerline is valid? [True, True] Translation: X:64.31, Y:1.82, Z:-0.92 [[ 9.99995265e-01 -2.85750805e-03 1.14237598e-03 6.43124907e+01] [ 2.85738846e-03 9.99995912e-01 1.06304145e-04 1.82228274e+00] [-1.14267507e-03 -1.03039429e-04 9.99999342e-01 -9.22106990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.855898227 meters 0.09810949777150654 Centerline is valid? [True, True] Translation: X:64.34, Y:1.83, Z:-0.93 [[ 9.99996280e-01 -2.54473025e-03 -9.81641627e-04 6.43434521e+01] [ 2.54464225e-03 9.99996758e-01 -9.08861129e-05 1.82932123e+00] [ 9.81869725e-04 8.83878481e-05 9.99999514e-01 -9.27973776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88589822699998 meters 0.09486132664617525 Centerline is valid? [True, True] Translation: X:64.37, Y:1.83, Z:-0.93 [[ 9.99995202e-01 -3.00356735e-03 7.58522829e-04 6.43744025e+01] [ 3.00351480e-03 9.99995487e-01 7.04049250e-05 1.82749649e+00] [-7.58730872e-04 -6.81263527e-05 9.99999710e-01 -9.26590491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91589822699999 meters 0.09979097797783472 Centerline is valid? [True, True] Translation: X:64.40, Y:1.84, Z:-0.92 [[ 9.99988587e-01 -3.60613572e-03 3.13391963e-03 6.44039839e+01] [ 3.60524155e-03 9.99993459e-01 2.90924658e-04 1.83584996e+00] [-3.13494825e-03 -2.79622801e-04 9.99995047e-01 -9.23834042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94589822699999 meters 0.09845674277002675 Centerline is valid? [True, True] Translation: X:64.44, Y:1.84, Z:-0.92 [[ 9.99978361e-01 -4.39131431e-03 4.89843204e-03 6.44356906e+01] [ 4.38913940e-03 9.99990264e-01 4.54663373e-04 1.83664731e+00] [-4.90038092e-03 -4.33153634e-04 9.99987899e-01 -9.20920523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97589822699999 meters 0.0937403453320112 Centerline is valid? [True, True] Translation: X:64.47, Y:1.83, Z:-0.92 [[ 9.99961843e-01 -6.56297941e-03 5.76538130e-03 6.44663429e+01] [ 6.56000382e-03 9.99978340e-01 5.34872244e-04 1.83395205e+00] [-5.76876678e-03 -4.97030912e-04 9.99983237e-01 -9.17811388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00589822699999 meters 0.08340746879613231 Centerline is valid? [True, True] Translation: X:64.50, Y:1.82, Z:-0.92 [[ 9.99961051e-01 -7.37122978e-03 4.85401822e-03 6.44984180e+01] [ 7.36912982e-03 9.99972746e-01 4.50365870e-04 1.82400997e+00] [-4.85720568e-03 -4.14578438e-04 9.99988118e-01 -9.18454865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03589822699999 meters 0.09749064810226071 Centerline is valid? [True, True] Translation: X:64.53, Y:1.85, Z:-0.92 [[ 9.99961229e-01 -7.79129896e-03 4.10319053e-03 6.45274905e+01] [ 7.78980239e-03 9.99969587e-01 3.80588962e-04 1.84557576e+00] [-4.10603102e-03 -3.48611163e-04 9.99991509e-01 -9.20586827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06589822699999 meters 0.08841338064077828 Centerline is valid? [True, True] Translation: X:64.56, Y:1.84, Z:-0.92 [[ 9.99964074e-01 -6.46597296e-03 5.48105459e-03 6.45591732e+01] [ 6.46328442e-03 9.99978984e-01 5.08085068e-04 1.83724400e+00] [-5.48422466e-03 -4.72641200e-04 9.99984850e-01 -9.19790129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09589822699999 meters 0.09384064573852387 Centerline is valid? [True, True] Translation: X:64.59, Y:1.85, Z:-0.92 [[ 9.99973108e-01 -4.64471355e-03 5.67530715e-03 6.45879075e+01] [ 4.64180246e-03 9.99989088e-01 5.26003726e-04 1.84807165e+00] [-5.67768836e-03 -4.99645926e-04 9.99983757e-01 -9.18043158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.125898227 meters 0.10227267215584428 Centerline is valid? [True, False] Translation: X:64.57, Y:1.85, Z:-0.92 [[ 9.99994951e-01 4.84454077e-04 3.14050337e-03 6.45687334e+01] [-4.68759305e-04 9.99987408e-01 -4.99634534e-03 1.84629855e+00] [-3.14288433e-03 4.99484798e-03 9.99982587e-01 -9.16876347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.155898227 meters 0.10665325501704812 Centerline is valid? [False, False] Translation: X:64.62, Y:1.85, Z:-0.92 [[ 9.99996498e-01 2.37192401e-03 1.17406886e-03 6.46150828e+01] [-2.36891693e-03 9.99993927e-01 -2.55604526e-03 1.84872157e+00] [-1.18012448e-03 2.55325504e-03 9.99996044e-01 -9.17699878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.185898227 meters 0.1101749209749732 Centerline is valid? [False, False] Translation: X:64.57, Y:1.85, Z:-0.92 [[ 9.99997131e-01 2.26575864e-03 7.78003551e-04 6.45745785e+01] [-2.26346391e-03 9.99993123e-01 -2.93783284e-03 1.84500267e+00] [-7.84654621e-04 2.93606342e-03 9.99995382e-01 -9.19935243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.215898227 meters 0.09923301298496766 Centerline is valid? [False, True] Translation: X:64.57, Y:1.84, Z:-0.92 [[ 9.99996934e-01 2.35116080e-03 7.77207355e-04 6.45746265e+01] [-2.34902731e-03 9.99993502e-01 -2.73468155e-03 1.84409533e+00] [-7.83631981e-04 2.73284749e-03 9.99995959e-01 -9.20011557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.245898227 meters 0.10840293830980034 Centerline is valid? [True, False] Translation: X:64.57, Y:1.84, Z:-0.92 [[ 9.99996739e-01 2.43009897e-03 7.84989105e-04 6.45746212e+01] [-2.42809490e-03 9.99993816e-01 -2.54393555e-03 1.84324607e+00] [-7.91166266e-04 2.54202123e-03 9.99996456e-01 -9.20032274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27589822699998 meters 0.10774145424448864 Centerline is valid? [False, False] Translation: X:64.55, Y:1.84, Z:-0.92 [[ 9.99977221e-01 -1.93423485e-03 6.46657752e-03 6.45494194e+01] [ 1.91976986e-03 9.99995643e-01 2.24234410e-03 1.83925019e+00] [-6.47088656e-03 -2.22987868e-03 9.99976577e-01 -9.22727480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30589822699999 meters 0.08770087773457598 Centerline is valid? [False, True] Translation: X:64.55, Y:1.84, Z:-0.92 [[ 9.99977488e-01 -1.77244190e-03 6.47168004e-03 6.45492732e+01] [ 1.75539090e-03 9.99994976e-01 2.63943980e-03 1.83748209e+00] [-6.47632578e-03 -2.62802005e-03 9.99975575e-01 -9.22387500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33589822699999 meters 0.10676646971889678 Centerline is valid? [True, False] Translation: X:64.55, Y:1.83, Z:-0.92 [[ 9.99978237e-01 -1.54584050e-03 6.41371765e-03 6.45494896e+01] [ 1.52535879e-03 9.99993726e-01 3.19708660e-03 1.83499893e+00] [-6.41861959e-03 -3.18723380e-03 9.99974321e-01 -9.22413954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36589822699999 meters 0.10729207138685681 Centerline is valid? [False, False] Translation: X:64.59, Y:1.84, Z:-0.92 [[ 9.99975174e-01 -2.50235657e-03 6.58700289e-03 6.45899415e+01] [ 2.48406296e-03 9.99993040e-01 2.78394697e-03 1.83616866e+00] [-6.59392347e-03 -2.76751533e-03 9.99974430e-01 -9.20223937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39589822699999 meters 0.09188112606527885 Centerline is valid? [False, True] Translation: X:64.55, Y:1.83, Z:-0.92 [[ 9.99978757e-01 -2.95842416e-03 5.80796932e-03 6.45502469e+01] [ 2.94596808e-03 9.99993345e-01 2.15203732e-03 1.83199127e+00] [-5.81429731e-03 -2.13488151e-03 9.99980818e-01 -9.22615780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42589822699999 meters 0.11230410351555205 Centerline is valid? [True, False] Translation: X:64.59, Y:1.84, Z:-0.92 [[ 9.99980960e-01 -2.12350184e-03 5.79391401e-03 6.45919342e+01] [ 2.10542305e-03 9.99992902e-01 3.12462450e-03 1.83583290e+00] [-5.80050803e-03 -3.11236637e-03 9.99978333e-01 -9.21146259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45589822699999 meters 0.09424937284464145 Centerline is valid? [False, True] Translation: X:64.57, Y:1.83, Z:-0.92 [[ 9.99996430e-01 2.18536798e-03 1.53730528e-03 6.45730454e+01] [-2.18082091e-03 9.99993261e-01 -2.95330257e-03 1.83481992e+00] [-1.54374897e-03 2.94993944e-03 9.99994457e-01 -9.18703757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48589822699999 meters 0.09938394674250448 Centerline is valid? [True, True] Translation: X:64.60, Y:1.84, Z:-0.92 [[ 9.99995639e-01 2.84967329e-03 7.75261530e-04 6.46022952e+01] [-2.84972919e-03 9.99995937e-01 7.10165242e-05 1.84214163e+00] [-7.75056006e-04 -7.32254999e-05 9.99999697e-01 -9.21089329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.515898227 meters 0.09741874948968489 Centerline is valid? [True, True] Translation: X:64.63, Y:1.84, Z:-0.92 [[ 9.99991994e-01 3.41299929e-03 2.08867281e-03 6.46328078e+01] [-3.41340630e-03 9.99994156e-01 1.91329348e-04 1.84225518e+00] [-2.08800760e-03 -1.98457305e-04 9.99997800e-01 -9.19519267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.545898227 meters 0.10008552768582063 Centerline is valid? [True, False] Translation: X:64.63, Y:1.84, Z:-0.92 [[ 9.99991827e-01 3.41735185e-03 2.16043148e-03 6.46324320e+01] [-3.41778931e-03 9.99994140e-01 1.98828672e-04 1.84222506e+00] [-2.15973936e-03 -2.06210947e-04 9.99997646e-01 -9.19168243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.575898227 meters 0.09887609399018438 Centerline is valid? [False, True] Translation: X:64.63, Y:1.84, Z:-0.92 [[ 9.99991775e-01 3.40955225e-03 2.19676162e-03 6.46321336e+01] [-3.40995325e-03 9.99994170e-01 1.78819312e-04 1.84231814e+00] [-2.19613912e-03 -1.86308696e-04 9.99997571e-01 -9.18764687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.605898227 meters 0.09538398005840637 Centerline is valid? [True, True] Translation: X:64.66, Y:1.84, Z:-0.92 [[ 9.99987655e-01 4.24117068e-03 2.58884164e-03 6.46632841e+01] [-4.24180503e-03 9.99990975e-01 2.39592580e-04 1.84229439e+00] [-2.58780212e-03 -2.50570984e-04 9.99996620e-01 -9.18213690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63589822699998 meters 0.12662533705137494 Centerline is valid? [True, False] Translation: X:64.70, Y:1.85, Z:-0.92 [[ 9.99990163e-01 3.42006375e-03 2.82453845e-03 6.47037892e+01] [-3.41792662e-03 9.99993869e-01 -7.61112255e-04 1.84781585e+00] [-2.82712419e-03 7.51450702e-04 9.99995721e-01 -9.16164727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66589822699999 meters 0.10330513125943228 Centerline is valid? [False, False] Translation: X:64.70, Y:1.85, Z:-0.92 [[ 9.99990531e-01 3.33807830e-03 2.79188181e-03 6.47040117e+01] [-3.33542313e-03 9.99993981e-01 -9.55147298e-04 1.84867953e+00] [-2.79505337e-03 9.45826147e-04 9.99995647e-01 -9.16439291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69589822699999 meters 0.10272800033802527 Centerline is valid? [False, False] Translation: X:64.70, Y:1.85, Z:-0.92 [[ 9.99991327e-01 3.21268351e-03 2.65027108e-03 6.47046199e+01] [-3.20936935e-03 9.99994064e-01 -1.25380623e-03 1.85001811e+00] [-2.65428343e-03 1.24528965e-03 9.99995702e-01 -9.16873166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72589822699999 meters 0.10049210217681126 Centerline is valid? [False, False] Translation: X:64.70, Y:1.85, Z:-0.92 [[ 9.99991695e-01 3.16225384e-03 2.57105224e-03 6.47047784e+01] [-3.15873555e-03 9.99994071e-01 -1.37133571e-03 1.85054339e+00] [-2.57537351e-03 1.36320305e-03 9.99995755e-01 -9.16710908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75589822699999 meters 0.10126415765252096 Centerline is valid? [False, False] Translation: X:64.68, Y:1.85, Z:-0.91 [[ 9.99997223e-01 -2.30071945e-03 -5.10018285e-04 6.46840349e+01] [ 2.30239754e-03 9.99991857e-01 3.31445181e-03 1.84923462e+00] [ 5.02388508e-04 -3.31561687e-03 9.99994377e-01 -9.14579963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78589822699999 meters 0.09089938318754502 Centerline is valid? [False, True] Translation: X:64.68, Y:1.85, Z:-0.91 [[ 9.99997442e-01 -2.20773221e-03 -4.91572625e-04 6.46837086e+01] [ 2.20946066e-03 9.99991280e-01 3.54382354e-03 1.84823038e+00] [ 4.83744525e-04 -3.54490058e-03 9.99993600e-01 -9.13937047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81589822699999 meters 0.09628155455183941 Centerline is valid? [True, True] Translation: X:64.71, Y:1.86, Z:-0.91 [[ 9.99993578e-01 -3.29581796e-03 1.40777568e-03 6.47128496e+01] [ 3.29563754e-03 9.99994561e-01 1.30454407e-04 1.85796263e+00] [-1.40819797e-03 -1.25814051e-04 9.99999001e-01 -9.11085910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84589822699999 meters 0.09723672582521538 Centerline is valid? [True, True] Translation: X:64.74, Y:1.86, Z:-0.92 [[ 9.99985436e-01 -5.39233376e-03 -2.24460864e-04 6.47430198e+01] [ 5.39232923e-03 9.99985461e-01 -2.07967879e-05 1.85793685e+00] [ 2.24569744e-04 1.95861182e-05 9.99999975e-01 -9.16421377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.875898227 meters 0.09033667975221514 Centerline is valid? [True, True] Translation: X:64.77, Y:1.85, Z:-0.92 [[ 9.99975846e-01 -6.76909256e-03 -1.57675346e-03 6.47749100e+01] [ 6.76887059e-03 9.99977080e-01 -1.46065940e-04 1.85091567e+00] [ 1.57770606e-03 1.35389572e-04 9.99998746e-01 -9.17796272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.905898227 meters 0.0878157837461739 Centerline is valid? [True, True] Translation: X:64.81, Y:1.85, Z:-0.92 [[ 9.99961072e-01 -8.31749930e-03 -2.94504064e-03 6.48055999e+01] [ 8.31673159e-03 9.99965378e-01 -2.72831918e-04 1.84903685e+00] [ 2.94720796e-03 2.48328185e-04 9.99995626e-01 -9.20214245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.935898227 meters 0.08653243560186595 Centerline is valid? [True, True] Translation: X:64.84, Y:1.85, Z:-0.92 [[ 9.99946377e-01 -9.59857916e-03 -3.88716729e-03 6.48362397e+01] [ 9.59725121e-03 9.99953880e-01 -3.60133592e-04 1.84873694e+00] [ 3.89044479e-03 3.22808160e-04 9.99992380e-01 -9.21295777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.965898227 meters 0.08613226567440962 Centerline is valid? [True, True] Translation: X:64.87, Y:1.85, Z:-0.92 [[ 9.99941619e-01 -9.86795288e-03 -4.40257296e-03 6.48670208e+01] [ 9.86625202e-03 9.99951244e-01 -4.07884275e-04 1.84885314e+00] [ 4.40638329e-03 3.64423568e-04 9.99990225e-01 -9.20528962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.995898227 meters 0.08542472968447168 Centerline is valid? [True, True] Translation: X:64.90, Y:1.85, Z:-0.92 [[ 9.99952631e-01 -8.85732901e-03 -4.03518971e-03 6.48970236e+01] [ 8.85589169e-03 9.99960716e-01 -3.73923037e-04 1.84961048e+00] [ 4.03834315e-03 3.38170121e-04 9.99991789e-01 -9.19088266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02589822699998 meters 0.09501567541436062 Centerline is valid? [True, True] Translation: X:64.93, Y:1.86, Z:-0.92 [[ 9.99971003e-01 -7.20655665e-03 -2.46140154e-03 6.49253173e+01] [ 7.20601681e-03 9.99974010e-01 -2.28119204e-04 1.86105158e+00] [ 2.46298152e-03 2.10375688e-04 9.99996945e-01 -9.18875781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05589822699999 meters 0.0971005446693301 Centerline is valid? [True, True] Translation: X:64.96, Y:1.87, Z:-0.91 [[ 9.99996203e-01 -2.71371937e-03 4.79208396e-04 6.49552413e+01] [ 2.71369840e-03 9.99996317e-01 4.44080262e-05 1.86748483e+00] [-4.79327142e-04 -4.31074305e-05 9.99999884e-01 -9.12603681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08589822699999 meters 0.10108910059401041 Centerline is valid? [True, False] Translation: X:64.92, Y:1.87, Z:-0.92 [[ 9.99997137e-01 -2.39240895e-03 3.97708476e-05 6.49151190e+01] [ 2.39241424e-03 9.99997129e-01 -1.33509674e-04 1.86557598e+00] [-3.94513237e-05 1.33604440e-04 9.99999990e-01 -9.15429993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11589822699999 meters 0.09660922055194485 Centerline is valid? [False, True] Translation: X:64.92, Y:1.87, Z:-0.92 [[ 9.99996646e-01 -2.59005898e-03 9.38579957e-06 6.49154586e+01] [ 2.59006447e-03 9.99996439e-01 -6.42461789e-04 1.86778904e+00] [-7.72175222e-06 6.42483944e-04 9.99999794e-01 -9.16112949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14589822699999 meters 0.09474403298824229 Centerline is valid? [True, True] Translation: X:64.95, Y:1.87, Z:-0.92 [[ 9.99989335e-01 2.47735530e-03 -3.89785666e-03 6.49453326e+01] [-2.47884707e-03 9.99996856e-01 -3.77929278e-04 1.87162907e+00] [ 3.89690814e-03 3.87587437e-04 9.99992332e-01 -9.21793789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17589822699999 meters 0.10921920535297226 Centerline is valid? [True, False] Translation: X:64.97, Y:1.88, Z:-0.92 [[ 9.99998160e-01 7.57058380e-04 -1.76281027e-03 6.49667225e+01] [-7.42761769e-04 9.99966945e-01 8.09670486e-03 1.87528337e+00] [ 1.76888168e-03 -8.09538061e-03 9.99965667e-01 -9.24376587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20589822699999 meters 0.11323550505057932 Centerline is valid? [False, False] Translation: X:64.97, Y:1.88, Z:-0.92 [[ 9.99998627e-01 4.64955377e-04 -1.59081523e-03 6.49659301e+01] [-4.53222634e-04 9.99972755e-01 7.36773055e-03 1.87854174e+00] [ 1.59419755e-03 -7.36699944e-03 9.99971593e-01 -9.23829421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23589822699999 meters 0.10508246178308257 Centerline is valid? [False, False] Translation: X:64.94, Y:1.88, Z:-0.92 [[ 9.99987948e-01 1.63508966e-03 -4.62932100e-03 6.49396118e+01] [-1.64391551e-03 9.99996837e-01 -1.90334797e-03 1.88209470e+00] [ 4.62619422e-03 1.91093524e-03 9.99987473e-01 -9.16444222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.265898227 meters 0.09967148193946386 Centerline is valid? [False, True] Translation: X:64.94, Y:1.88, Z:-0.92 [[ 9.99988102e-01 1.44775465e-03 -4.65828515e-03 6.49396848e+01] [-1.45872335e-03 9.99996170e-01 -2.35212833e-03 1.88408500e+00] [ 4.65486201e-03 2.35889550e-03 9.99986384e-01 -9.16479025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.295898227 meters 0.11539071339947374 Centerline is valid? [True, False] Translation: X:64.96, Y:1.88, Z:-0.92 [[ 9.99992990e-01 -3.02450530e-03 -2.20744408e-03 6.49645901e+01] [ 3.03220250e-03 9.99989306e-01 3.49195414e-03 1.88495792e+00] [ 2.19685904e-03 -3.49862308e-03 9.99991467e-01 -9.22300014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.325898227 meters 0.09284428976869448 Centerline is valid? [False, True] Translation: X:64.94, Y:1.89, Z:-0.92 [[ 9.99970336e-01 -5.68441839e-03 -5.19746258e-03 6.49432645e+01] [ 5.63356019e-03 9.99936617e-01 -9.74802949e-03 1.88517127e+00] [ 5.25254503e-03 9.71846011e-03 9.99938979e-01 -9.18927419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.355898227 meters 0.09179557272192708 Centerline is valid? [True, True] Translation: X:64.97, Y:1.88, Z:-0.92 [[ 9.99956072e-01 -7.56380776e-03 -5.53566565e-03 6.49729411e+01] [ 7.56095167e-03 9.99971272e-01 -5.36688876e-04 1.88291411e+00] [ 5.53956603e-03 4.94810399e-04 9.99984534e-01 -9.19848366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38589822699998 meters 0.10618609392610988 Centerline is valid? [True, False] Translation: X:64.99, Y:1.89, Z:-0.92 [[ 9.99977759e-01 -6.58707402e-03 -1.04506458e-03 6.49911194e+01] [ 6.57668271e-03 9.99931779e-01 -9.65319250e-03 1.88669376e+00] [ 1.10857958e-03 9.64610475e-03 9.99952861e-01 -9.20257438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41589822699999 meters 0.07956756335084175 Centerline is valid? [False, True] Translation: X:64.95, Y:1.88, Z:-0.92 [[ 9.99995066e-01 -2.77828607e-03 -1.46612453e-03 6.49502302e+01] [ 2.77062606e-03 9.99982636e-01 -5.20108682e-03 1.87916608e+00] [ 1.48054918e-03 5.19699907e-03 9.99985399e-01 -9.21427630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44589822699999 meters 0.08584848712303371 Centerline is valid? [True, True] Translation: X:64.98, Y:1.89, Z:-0.92 [[ 9.99990928e-01 -2.73648480e-03 -3.26433444e-03 6.49794825e+01] [ 2.73609127e-03 9.99996249e-01 -1.25013815e-04 1.88672714e+00] [ 3.26466429e-03 1.16081164e-04 9.99994664e-01 -9.21818784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47589822699999 meters 0.08596550232650815 Centerline is valid? [True, True] Translation: X:65.01, Y:1.89, Z:-0.92 [[ 9.99988341e-01 -2.45189261e-03 -4.15996161e-03 6.50088234e+01] [ 2.45034730e-03 9.99996927e-01 -3.76528660e-04 1.88961311e+00] [ 4.16087204e-03 3.66330919e-04 9.99991276e-01 -9.23448157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50589822699999 meters 0.0876194522940325 Centerline is valid? [True, True] Translation: X:65.04, Y:1.89, Z:-0.93 [[ 9.99985828e-01 -2.02616932e-03 -4.92325727e-03 6.50382522e+01] [ 2.02399919e-03 9.99997852e-01 -4.45735115e-04 1.89329563e+00] [ 4.92414983e-03 4.35764129e-04 9.99987781e-01 -9.25151327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53589822699999 meters 0.0876194522940325 Centerline is valid? [True, True] Translation: X:65.07, Y:1.90, Z:-0.93 [[ 9.99985474e-01 -2.19415097e-03 -4.92318257e-03 6.50665188e+01] [ 2.19197883e-03 9.99997498e-01 -4.46559445e-04 1.89598259e+00] [ 4.92415007e-03 4.35761446e-04 9.99987781e-01 -9.25150796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56589822699999 meters 0.09562660053966962 Centerline is valid? [True, True] Translation: X:65.09, Y:1.91, Z:-0.93 [[ 9.99987284e-01 -2.27684507e-03 -4.49976911e-03 6.50946932e+01] [ 2.27503058e-03 9.99997329e-01 -4.08318040e-04 1.90731063e+00] [ 4.50068677e-03 3.98075735e-04 9.99989793e-01 -9.25966334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59589822699999 meters 0.08485219786621995 Centerline is valid? [True, True] Translation: X:65.13, Y:1.89, Z:-0.92 [[ 9.99991206e-01 -3.61489631e-03 -2.12612970e-03 6.51266282e+01] [ 3.61449416e-03 9.99993449e-01 -1.92955099e-04 1.89155902e+00] [ 2.12681329e-03 1.85268518e-04 9.99997721e-01 -9.22337132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.625898227 meters 0.09274464448511202 Centerline is valid? [True, True] Translation: X:65.16, Y:1.90, Z:-0.92 [[ 9.99988995e-01 -4.32012324e-03 -1.82922053e-03 6.51558754e+01] [ 4.31982674e-03 9.99990656e-01 -1.66009552e-04 1.90227136e+00] [ 1.82992062e-03 1.58105809e-04 9.99998313e-01 -9.21934750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.655898227 meters 0.09150228372392281 Centerline is valid? [True, True] Translation: X:65.19, Y:1.90, Z:-0.92 [[ 9.99985091e-01 -4.84454769e-03 -2.51961968e-03 6.51864156e+01] [ 4.84398680e-03 9.99988242e-01 -2.28666215e-04 1.90051313e+00] [ 2.52069784e-03 2.16457801e-04 9.99996800e-01 -9.23671810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.685898227 meters 0.08801324268638586 Centerline is valid? [True, True] Translation: X:65.22, Y:1.90, Z:-0.92 [[ 9.99980642e-01 -5.52138032e-03 -2.86867523e-03 6.52176065e+01] [ 5.52065602e-03 9.99984727e-01 -2.60344492e-04 1.89667710e+00] [ 2.87006888e-03 2.44502484e-04 9.99995851e-01 -9.23163369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.715898227 meters 0.08903917311654318 Centerline is valid? [True, True] Translation: X:65.25, Y:1.90, Z:-0.92 [[ 9.99974164e-01 -7.13376216e-03 -8.83301144e-04 6.52473549e+01] [ 7.13369411e-03 9.99974552e-01 -8.01633400e-05 1.89700966e+00] [ 8.83850532e-04 7.38600688e-05 9.99999607e-01 -9.19961702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.745898227 meters 0.08249561969304343 Centerline is valid? [True, True] Translation: X:65.28, Y:1.89, Z:-0.92 [[ 9.99969108e-01 -7.85332659e-03 -3.28519525e-04 6.52795141e+01] [ 7.85331722e-03 9.99969162e-01 -2.98071042e-05 1.89006300e+00] [ 3.28743479e-04 2.72262154e-05 9.99999946e-01 -9.19056937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77589822699998 meters 0.08962373675141616 Centerline is valid? [True, True] Translation: X:65.31, Y:1.90, Z:-0.92 [[ 9.99959239e-01 -8.90116489e-03 -1.51332468e-03 6.53091780e+01] [ 8.90096738e-03 9.99960376e-01 -1.37200467e-04 1.89867882e+00] [ 1.51448596e-03 1.23724821e-04 9.99998846e-01 -9.22134110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80589822699999 meters 0.08346043993093305 Centerline is valid? [True, True] Translation: X:65.34, Y:1.89, Z:-0.92 [[ 9.99949010e-01 -9.89727197e-03 -2.00555707e-03 6.53407847e+01] [ 9.89692712e-03 9.99951008e-01 -1.81801776e-04 1.89152657e+00] [ 2.00725816e-03 1.61943654e-04 9.99997972e-01 -9.23044204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83589822699999 meters 0.08741299622307802 Centerline is valid? [True, True] Translation: X:65.37, Y:1.90, Z:-0.92 [[ 9.99942747e-01 -1.05896122e-02 -1.53718388e-03 6.53704268e+01] [ 1.05894106e-02 9.99943921e-01 -1.39255443e-04 1.89722487e+00] [ 1.53857234e-03 1.22969599e-04 9.99998809e-01 -9.22215739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86589822699999 meters 0.08374721818820532 Centerline is valid? [True, True] Translation: X:65.40, Y:1.89, Z:-0.92 [[ 9.99936197e-01 -1.12571872e-02 -9.36493264e-04 6.54021708e+01] [ 1.12571127e-02 9.99936633e-01 -8.48158934e-05 1.89401486e+00] [ 9.37388709e-04 7.42682717e-05 9.99999558e-01 -9.20720906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89589822699999 meters 0.09629672804457523 Centerline is valid? [True, True] Translation: X:65.43, Y:1.91, Z:-0.92 [[ 9.99937280e-01 -1.10539541e-02 -1.80195718e-03 6.54314877e+01] [ 1.10536780e-02 9.99938893e-01 -1.63133858e-04 1.91047170e+00] [ 1.80365034e-03 1.43205372e-04 9.99998363e-01 -9.21422965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92589822699999 meters 0.08692343185141002 Centerline is valid? [True, True] Translation: X:65.46, Y:1.90, Z:-0.92 [[ 9.99942125e-01 -1.00291270e-02 -3.89405864e-03 6.54633575e+01] [ 1.00278300e-02 9.99949658e-01 -3.52443772e-04 1.89986549e+00] [ 3.89739730e-03 3.13374417e-04 9.99992356e-01 -9.24038179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95589822699999 meters 0.0845824041189987 Centerline is valid? [True, True] Translation: X:65.49, Y:1.90, Z:-0.93 [[ 9.99949257e-01 -8.32375049e-03 -5.67431100e-03 6.54934075e+01] [ 8.32096858e-03 9.99965248e-01 -5.13695356e-04 1.89810748e+00] [ 5.67838968e-03 4.66453526e-04 9.99983769e-01 -9.26356400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98589822699999 meters 0.09195433533419178 Centerline is valid? [True, True] Translation: X:65.52, Y:1.91, Z:-0.93 [[ 9.99956963e-01 -6.67495311e-03 -6.44338647e-03 6.55213978e+01] [ 6.67133101e-03 9.99977576e-01 -5.83471838e-04 1.90939960e+00] [ 6.44713663e-03 5.40460763e-04 9.99979071e-01 -9.28939219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.015898227 meters 0.0883584561175057 Centerline is valid? [True, True] Translation: X:65.55, Y:1.91, Z:-0.93 [[ 9.99974592e-01 -5.59501998e-03 -4.41712735e-03 6.55508668e+01] [ 5.59330633e-03 9.99984277e-01 -4.00212191e-04 1.90702862e+00] [ 4.41929710e-03 3.75495676e-04 9.99990164e-01 -9.25683962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.045898227 meters 0.09252261589782854 Centerline is valid? [True, True] Translation: X:65.58, Y:1.92, Z:-0.92 [[ 9.99980156e-01 -5.61936220e-03 -2.84780284e-03 6.55799549e+01] [ 5.61864991e-03 9.99984182e-01 -2.58058001e-04 1.91571275e+00] [ 2.84920791e-03 2.42052073e-04 9.99995912e-01 -9.23983601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.075898227 meters 0.08885152043691798 Centerline is valid? [True, True] Translation: X:65.61, Y:1.91, Z:-0.92 [[ 9.99979598e-01 -6.15050950e-03 -1.72475178e-03 6.56110102e+01] [ 6.15024902e-03 9.99981075e-01 -1.56291148e-04 1.91409339e+00] [ 1.72568041e-03 1.45680306e-04 9.99998500e-01 -9.22903787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.105898227 meters 0.08641348504635991 Centerline is valid? [True, True] Translation: X:65.64, Y:1.91, Z:-0.93 [[ 9.99952488e-01 -9.23611410e-03 -3.11702982e-03 6.56419287e+01] [ 9.23527827e-03 9.99957314e-01 -2.82436407e-04 1.91295254e+00] [ 3.11950538e-03 2.53636350e-04 9.99995102e-01 -9.25813232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13589822699998 meters 0.08550795284866085 Centerline is valid? [True, True] Translation: X:65.67, Y:1.91, Z:-0.93 [[ 9.99930741e-01 -1.08719541e-02 -4.50715642e-03 6.56729269e+01] [ 1.08702233e-02 9.99940834e-01 -4.08344675e-04 1.91353938e+00] [ 4.51132925e-03 3.59322597e-04 9.99989759e-01 -9.28425950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16589822699999 meters 0.08544956269428697 Centerline is valid? [True, True] Translation: X:65.70, Y:1.92, Z:-0.93 [[ 9.99905232e-01 -1.26692313e-02 -5.38673780e-03 6.57021809e+01] [ 1.26667846e-02 9.99919654e-01 -4.88095796e-04 1.91562546e+00] [ 5.39248880e-03 4.19816893e-04 9.99985372e-01 -9.29711413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19589822699999 meters 0.085498997593852 Centerline is valid? [True, True] Translation: X:65.73, Y:1.92, Z:-0.93 [[ 9.99890366e-01 -1.38451973e-02 -5.25047345e-03 6.57314726e+01] [ 1.38428886e-02 9.99904069e-01 -4.75809246e-04 1.91766090e+00] [ 5.25655744e-03 4.03075362e-04 9.99986103e-01 -9.29418233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22589822699999 meters 0.08016603158010566 Centerline is valid? [True, True] Translation: X:65.76, Y:1.91, Z:-0.93 [[ 9.99875344e-01 -1.53365939e-02 -3.75291540e-03 6.57623609e+01] [ 1.53354247e-02 9.99882348e-01 -3.40141247e-04 1.91297879e+00] [ 3.75769047e-03 2.82546296e-04 9.99992900e-01 -9.25910839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25589822699999 meters 0.084777197757259 Centerline is valid? [True, True] Translation: X:65.79, Y:1.92, Z:-0.93 [[ 9.99875716e-01 -1.54619341e-02 -3.07915351e-03 6.57925645e+01] [ 1.54611478e-02 9.99880430e-01 -2.79004341e-04 1.92099775e+00] [ 3.08309929e-03 2.31362418e-04 9.99995220e-01 -9.25221078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28589822699999 meters 0.07777508831362293 Centerline is valid? [True, True] Translation: X:65.82, Y:1.91, Z:-0.93 [[ 9.99877903e-01 -1.53213165e-02 -3.07183401e-03 6.58249142e+01] [ 1.53205335e-02 9.99882595e-01 -2.78267294e-04 1.91127948e+00] [ 3.07573678e-03 2.31171182e-04 9.99995243e-01 -9.26714018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31589822699999 meters 0.08163760305372804 Centerline is valid? [True, True] Translation: X:65.85, Y:1.92, Z:-0.93 [[ 9.99877630e-01 -1.53484959e-02 -3.02465566e-03 6.58548312e+01] [ 1.53477370e-02 9.99882179e-01 -2.73957097e-04 1.92061783e+00] [ 3.02850412e-03 2.27501953e-04 9.99995388e-01 -9.25066261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34589822699999 meters 0.07739265281445161 Centerline is valid? [True, True] Translation: X:65.89, Y:1.92, Z:-0.92 [[ 9.99907526e-01 -1.33728515e-02 -2.47125514e-03 6.58855938e+01] [ 1.33723390e-02 9.99910561e-01 -2.23822342e-04 1.91647737e+00] [ 2.47402726e-03 1.90755183e-04 9.99996921e-01 -9.23681641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.375898227 meters 0.08227617032440301 Centerline is valid? [True, True] Translation: X:65.92, Y:1.92, Z:-0.92 [[ 9.99919696e-01 -1.23989932e-02 -2.62045812e-03 6.59152026e+01] [ 1.23984136e-02 9.99923109e-01 -2.37304362e-04 1.92400298e+00] [ 2.62319897e-03 2.04795782e-04 9.99996538e-01 -9.24650192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.405898227 meters 0.07637907029585685 Centerline is valid? [True, True] Translation: X:65.95, Y:1.92, Z:-0.92 [[ 9.99911042e-01 -1.29866632e-02 -3.04226046e-03 6.59472419e+01] [ 1.29858850e-02 9.99915642e-01 -2.75428460e-04 1.91923659e+00] [ 3.04558072e-03 2.35897514e-04 9.99995334e-01 -9.24003087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.435898227 meters 0.07480461483769862 Centerline is valid? [True, True] Translation: X:65.98, Y:1.92, Z:-0.92 [[ 9.99875224e-01 -1.55360610e-02 -2.85796718e-03 6.59773193e+01] [ 1.55353844e-02 9.99879285e-01 -2.58774703e-04 1.91711679e+00] [ 2.86164252e-03 2.14342796e-04 9.99995883e-01 -9.23786726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.465898227 meters 0.07666888813763242 Centerline is valid? [True, True] Translation: X:66.01, Y:1.92, Z:-0.92 [[ 9.99860064e-01 -1.66047742e-02 -2.03329953e-03 6.60072100e+01] [ 1.66044339e-02 9.99862120e-01 -1.84105300e-04 1.91812803e+00] [ 2.03607621e-03 1.50317749e-04 9.99997916e-01 -9.24107127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.495898227 meters 0.07813929366577746 Centerline is valid? [True, True] Translation: X:66.04, Y:1.92, Z:-0.92 [[ 9.99842655e-01 -1.76760543e-02 -1.49108500e-03 6.60375583e+01] [ 1.76758726e-02 9.99843760e-01 -1.34975291e-04 1.92380107e+00] [ 1.49323787e-03 1.08597825e-04 9.99998879e-01 -9.21813767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52589822699998 meters 0.07328311048480977 Centerline is valid? [True, True] Translation: X:66.07, Y:1.92, Z:-0.92 [[ 9.99844669e-01 -1.75373718e-02 -1.75446019e-03 6.60697676e+01] [ 1.75371201e-02 9.99846200e-01 -1.58774079e-04 1.91899399e+00] [ 1.75697483e-03 1.27981238e-04 9.99998448e-01 -9.23052525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55589822699999 meters 0.07919239738447056 Centerline is valid? [True, True] Translation: X:66.10, Y:1.93, Z:-0.92 [[ 9.99866806e-01 -1.62429885e-02 -1.59231643e-03 6.60989593e+01] [ 1.62427795e-02 9.99868067e-01 -1.44100084e-04 1.92908498e+00] [ 1.59444697e-03 1.18217247e-04 9.99998722e-01 -9.22980047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58589822699999 meters 0.08285393847752441 Centerline is valid? [True, True] Translation: X:66.13, Y:1.94, Z:-0.92 [[ 9.99893653e-01 -1.45131472e-02 -1.43194648e-03 6.61279375e+01] [ 1.45129764e-02 9.99894673e-01 -1.29587063e-04 1.93647210e+00] [ 1.43367638e-03 1.08791476e-04 9.99998966e-01 -9.22301306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61589822699999 meters 0.08811775084133047 Centerline is valid? [True, True] Translation: X:66.16, Y:1.95, Z:-0.92 [[ 9.99947299e-01 -1.01955380e-02 -1.20442944e-03 6.61565315e+01] [ 1.01954141e-02 9.99948019e-01 -1.09009063e-04 1.94622877e+00] [ 1.20547824e-03 9.67236612e-05 9.99999269e-01 -9.21793114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64589822699999 meters 0.08115155959600544 Centerline is valid? [True, True] Translation: X:66.19, Y:1.94, Z:-0.92 [[ 9.99958629e-01 -9.08076771e-03 -5.29330025e-04 6.61884496e+01] [ 9.08074362e-03 9.99958768e-01 -4.78958564e-05 1.93998578e+00] [ 5.29743131e-04 4.30871647e-05 9.99999859e-01 -9.20769074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67589822699999 meters 0.08716549915598999 Centerline is valid? [True, True] Translation: X:66.22, Y:1.95, Z:-0.92 [[ 9.99959565e-01 -8.97566368e-03 5.52784870e-04 6.62192410e+01] [ 8.97563741e-03 9.99959717e-01 4.99972795e-05 1.95030939e+00] [-5.53211361e-04 -4.50336613e-05 9.99999846e-01 -9.20061936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70589822699999 meters 0.0779420326780563 Centerline is valid? [True, True] Translation: X:66.25, Y:1.94, Z:-0.92 [[ 9.99927168e-01 -1.20659130e-02 2.68907837e-04 6.62512725e+01] [ 1.20659069e-02 9.99927204e-01 2.43222079e-05 1.93766028e+00] [-2.69181731e-04 -2.10758196e-05 9.99999964e-01 -9.21604373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73589822699999 meters 0.08914273710550857 Centerline is valid? [True, True] Translation: X:66.28, Y:1.95, Z:-0.92 [[ 9.99898624e-01 -1.41957918e-02 -1.10473177e-03 6.62796878e+01] [ 1.41956900e-02 9.99899231e-01 -9.99253043e-05 1.95178082e+00] [ 1.10603896e-03 8.42327446e-05 9.99999385e-01 -9.24404111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.765898227 meters 0.07825438163999789 Centerline is valid? [True, True] Translation: X:66.31, Y:1.94, Z:-0.93 [[ 9.99863285e-01 -1.64142837e-02 -1.99561840e-03 6.63122182e+01] [ 1.64139560e-02 9.99865266e-01 -1.80497668e-04 1.93742010e+00] [ 1.99831226e-03 1.47716999e-04 9.99997992e-01 -9.25823078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.795898227 meters 0.07207573409486817 Centerline is valid? [True, True] Translation: X:66.34, Y:1.93, Z:-0.92 [[ 9.99824172e-01 -1.86892577e-02 -1.52877184e-03 6.63440977e+01] [ 1.86890680e-02 9.99825335e-01 -1.38262222e-04 1.92694016e+00] [ 1.53108883e-03 1.09666591e-04 9.99998822e-01 -9.24447963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.825898227 meters 0.08507139485158571 Centerline is valid? [True, True] Translation: X:66.37, Y:1.94, Z:-0.93 [[ 9.99841352e-01 -1.77165809e-02 -1.84242844e-03 6.63723618e+01] [ 1.77163038e-02 9.99843040e-01 -1.66629189e-04 1.94391446e+00] [ 1.84509135e-03 1.33961731e-04 9.99998289e-01 -9.25165652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.855898227 meters 0.07411954261832109 Centerline is valid? [True, True] Translation: X:66.40, Y:1.93, Z:-0.93 [[ 9.99866894e-01 -1.58804902e-02 -3.74232770e-03 6.64045007e+01] [ 1.58793343e-02 9.99873858e-01 -3.38384274e-04 1.93045044e+00] [ 3.74722934e-03 2.78913561e-04 9.99992940e-01 -9.27152356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88589822699998 meters 0.0811735880600498 Centerline is valid? [True, True] Translation: X:66.43, Y:1.94, Z:-0.93 [[ 9.99894549e-01 -1.32450956e-02 -5.95472977e-03 6.64336248e+01] [ 1.32421221e-02 9.99912174e-01 -5.38497749e-04 1.94088641e+00] [ 5.96133924e-03 4.59587705e-04 9.99982125e-01 -9.31951087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91589822699999 meters 0.08627466775041472 Centerline is valid? [True, True] Translation: X:66.46, Y:1.95, Z:-0.93 [[ 9.99961198e-01 -5.59784066e-03 -6.80189806e-03 6.64629249e+01] [ 5.59378469e-03 9.99984165e-01 -6.15177917e-04 1.95098156e+00] [ 6.80523402e-03 5.77105694e-04 9.99976678e-01 -9.32450539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94589822699999 meters 0.0944567370166913 Centerline is valid? [True, True] Translation: X:66.49, Y:1.96, Z:-0.93 [[ 9.99983174e-01 -2.31913924e-03 -5.31723171e-03 6.64915836e+01] [ 2.31661436e-03 9.99997201e-01 -4.80958288e-04 1.96458257e+00] [ 5.31833223e-03 4.68632220e-04 9.99985748e-01 -9.30449226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97589822699999 meters 0.09125080042694418 Centerline is valid? [True, True] Translation: X:66.52, Y:1.96, Z:-0.93 [[ 9.99992735e-01 -5.11365014e-04 -3.77738110e-03 6.65222332e+01] [ 5.10077820e-04 9.99999812e-01 -3.41719175e-04 1.95991981e+00] [ 3.77755513e-03 3.39789934e-04 9.99992807e-01 -9.29241440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00589822699999 meters 0.09163008959369562 Centerline is valid? [True, True] Translation: X:66.55, Y:1.97, Z:-0.93 [[ 9.99992379e-01 6.67490450e-04 -3.84669474e-03 6.65510271e+01] [-6.68834316e-04 9.99999716e-01 -3.48080139e-04 1.96606503e+00] [ 3.84646131e-03 3.50650288e-04 9.99992541e-01 -9.28473745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03589822699999 meters 0.08785441310206704 Centerline is valid? [True, True] Translation: X:66.58, Y:1.97, Z:-0.93 [[ 9.99991291e-01 1.04491225e-03 -4.04046202e-03 6.65797351e+01] [-1.04639875e-03 9.99999386e-01 -3.65807558e-04 1.96555598e+00] [ 4.04007730e-03 3.70032307e-04 9.99991770e-01 -9.29097228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06589822699999 meters 0.09434155390907925 Centerline is valid? [True, True] Translation: X:66.61, Y:1.98, Z:-0.93 [[ 9.99992434e-01 1.46300883e-03 -3.60449561e-03 6.66078920e+01] [-1.46419500e-03 9.99998875e-01 -3.26466328e-04 1.97589667e+00] [ 3.60401393e-03 3.31741542e-04 9.99993450e-01 -9.31674645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09589822699999 meters 0.09690430646447114 Centerline is valid? [True, True] Translation: X:66.64, Y:1.99, Z:-0.93 [[ 9.99993112e-01 1.15106219e-03 -3.52869108e-03 6.66360682e+01] [-1.15219751e-03 9.99999285e-01 -3.19724179e-04 1.98547159e+00] [ 3.52832053e-03 3.23787726e-04 9.99993723e-01 -9.29960343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.125898227 meters 0.09672786902748481 Centerline is valid? [True, True] Translation: X:66.67, Y:1.99, Z:-0.93 [[ 9.99993512e-01 -6.27915271e-04 -3.54707935e-03 6.66652595e+01] [ 6.26779005e-04 9.99999752e-01 -3.21440920e-04 1.98892182e+00] [ 3.54728030e-03 3.19215600e-04 9.99993657e-01 -9.28834365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.155898227 meters 0.08638123263440164 Centerline is valid? [True, True] Translation: X:66.70, Y:1.98, Z:-0.93 [[ 9.99992754e-01 -1.67525328e-03 -3.41829989e-03 6.66962295e+01] [ 1.67420395e-03 9.99998551e-01 -3.09811704e-04 1.97910988e+00] [ 3.41881395e-03 3.04086528e-04 9.99994110e-01 -9.27676364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.185898227 meters 0.09490395395487407 Centerline is valid? [True, True] Translation: X:66.72, Y:1.99, Z:-0.93 [[ 9.99991008e-01 -2.68829351e-03 -3.27968358e-03 6.67239954e+01] [ 2.68733271e-03 9.99996345e-01 -2.97326180e-04 1.99336081e+00] [ 3.28047089e-03 2.88509905e-04 9.99994578e-01 -9.28191003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.215898227 meters 0.08625170955486047 Centerline is valid? [True, True] Translation: X:66.75, Y:1.99, Z:-0.93 [[ 9.99985289e-01 -4.87020740e-03 -2.38820778e-03 6.67546802e+01] [ 4.86970410e-03 9.99988119e-01 -2.16513425e-04 1.98703975e+00] [ 2.38923387e-03 2.04880375e-04 9.99997125e-01 -9.27711708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.245898227 meters 0.08080534882539389 Centerline is valid? [True, True] Translation: X:66.79, Y:1.98, Z:-0.93 [[ 9.99974917e-01 -6.76717629e-03 -2.09069881e-03 6.67856360e+01] [ 6.76679468e-03 9.99977087e-01 -1.89548651e-04 1.98421664e+00] [ 2.09193362e-03 1.75396567e-04 9.99997797e-01 -9.28080089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27589822699998 meters 0.08827354041064767 Centerline is valid? [True, True] Translation: X:66.81, Y:2.00, Z:-0.93 [[ 9.99957784e-01 -8.92636864e-03 -2.17954438e-03 6.68139778e+01] [ 8.92595896e-03 9.99960143e-01 -1.97623265e-04 1.99846344e+00] [ 2.18122157e-03 1.78160399e-04 9.99997605e-01 -9.28435972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30589822699999 meters 0.07470639227895808 Centerline is valid? [True, True] Translation: X:66.85, Y:1.99, Z:-0.93 [[ 9.99927887e-01 -1.15449375e-02 -3.30675162e-03 6.68457855e+01] [ 1.15440087e-02 9.99933321e-01 -2.99828232e-04 1.98823267e+00] [ 3.30999263e-03 2.61633441e-04 9.99994488e-01 -9.28469498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33589822699999 meters 0.07555136389784196 Centerline is valid? [True, True] Translation: X:66.88, Y:1.99, Z:-0.93 [[ 9.99923560e-01 -1.18205910e-02 -3.62593508e-03 6.68759930e+01] [ 1.18194761e-02 9.99930094e-01 -3.28769077e-04 1.99447737e+00] [ 3.62956785e-03 2.85887293e-04 9.99993372e-01 -9.28429001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36589822699999 meters 0.07815801846400244 Centerline is valid? [True, True] Translation: X:66.91, Y:2.00, Z:-0.93 [[ 9.99920162e-01 -1.21874505e-02 -3.33703807e-03 6.69057693e+01] [ 1.21865087e-02 9.99925696e-01 -3.02411259e-04 2.00279447e+00] [ 3.34047573e-03 2.61720271e-04 9.99994386e-01 -9.28119973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39589822699999 meters 0.07681855906018846 Centerline is valid? [True, True] Translation: X:66.94, Y:2.01, Z:-0.93 [[ 9.99919883e-01 -1.24253673e-02 -2.41600831e-03 6.69358641e+01] [ 1.24248743e-02 9.99922784e-01 -2.18944432e-04 2.00577139e+00] [ 2.41854222e-03 1.88908291e-04 9.99997057e-01 -9.26352540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42589822699999 meters 0.07681855906018846 Centerline is valid? [True, True] Translation: X:66.97, Y:2.01, Z:-0.93 [[ 9.99920184e-01 -1.24011466e-02 -2.41601357e-03 6.69666748e+01] [ 1.24006537e-02 9.99923085e-01 -2.18886361e-04 2.00852149e+00] [ 2.41854218e-03 1.88908743e-04 9.99997057e-01 -9.26351962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45589822699999 meters 0.08311580294823714 Centerline is valid? [True, True] Translation: X:67.00, Y:2.02, Z:-0.92 [[ 9.99920934e-01 -1.24949265e-02 -1.41541256e-03 6.69963579e+01] [ 1.24947574e-02 9.99921929e-01 -1.28216524e-04 2.02063343e+00] [ 1.41690411e-03 1.10521150e-04 9.99998990e-01 -9.23911920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48589822699999 meters 0.08483312534476518 Centerline is valid? [True, True] Translation: X:67.03, Y:2.03, Z:-0.93 [[ 9.99923614e-01 -1.21339078e-02 -2.35258519e-03 6.70260316e+01] [ 1.21334398e-02 9.99926364e-01 -2.13083702e-04 2.02515557e+00] [ 2.35499749e-03 1.84522475e-04 9.99997210e-01 -9.26313355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.515898227 meters 0.0797311910294918 Centerline is valid? [True, True] Translation: X:67.06, Y:2.02, Z:-0.93 [[ 9.99916387e-01 -1.25259083e-02 -3.21265723e-03 6.70576779e+01] [ 1.25250379e-02 9.99921516e-01 -2.90907433e-04 2.02053791e+00] [ 3.21604897e-03 2.50644456e-04 9.99994797e-01 -9.28430188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.545898227 meters 0.07850273763719459 Centerline is valid? [True, True] Translation: X:67.09, Y:2.02, Z:-0.93 [[ 9.99909714e-01 -1.30789075e-02 -3.08304550e-03 6.70884543e+01] [ 1.30781085e-02 9.99914439e-01 -2.79170611e-04 2.02104447e+00] [ 3.08643296e-03 2.38825002e-04 9.99995208e-01 -9.27598560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.575898227 meters 0.084528285594921 Centerline is valid? [True, True] Translation: X:67.12, Y:2.03, Z:-0.93 [[ 9.99906927e-01 -1.31760945e-02 -3.53946013e-03 6.71182902e+01] [ 1.31750426e-02 9.99913154e-01 -3.20353090e-04 2.03125886e+00] [ 3.54337374e-03 2.73690736e-04 9.99993685e-01 -9.28071865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.605898227 meters 0.07933020068263442 Centerline is valid? [True, True] Translation: X:67.15, Y:2.03, Z:-0.93 [[ 9.99914891e-01 -1.23463900e-02 -4.21640766e-03 6.71498485e+01] [ 1.23448904e-02 9.99923726e-01 -3.81501943e-04 2.02681882e+00] [ 4.22079623e-03 3.29418384e-04 9.99991038e-01 -9.28536341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63589822699998 meters 0.08925354997091055 Centerline is valid? [True, True] Translation: X:67.18, Y:2.04, Z:-0.93 [[ 9.99937882e-01 -9.06415652e-03 -6.48637062e-03 6.71774667e+01] [ 9.06053803e-03 9.99958780e-01 -5.87028332e-04 2.04278960e+00] [ 6.49142417e-03 5.28221859e-04 9.99978791e-01 -9.32004453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66589822699999 meters 0.0876615098791361 Centerline is valid? [True, True] Translation: X:67.21, Y:2.04, Z:-0.93 [[ 9.99949795e-01 -7.10124698e-03 -7.06966871e-03 6.72075690e+01] [ 7.09689944e-03 9.99974612e-01 -6.39854005e-04 2.04414392e+00] [ 7.07403298e-03 5.89649153e-04 9.99974805e-01 -9.33231163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69589822699999 meters 0.09206779718473874 Centerline is valid? [True, True] Translation: X:67.24, Y:2.05, Z:-0.93 [[ 9.99978651e-01 -3.24602337e-03 -5.67101389e-03 6.72366647e+01] [ 3.24316393e-03 9.99994609e-01 -5.13344064e-04 2.05479436e+00] [ 5.67264965e-03 4.94941077e-04 9.99983788e-01 -9.32057469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72589822699999 meters 0.09681858144731362 Centerline is valid? [True, True] Translation: X:67.27, Y:2.06, Z:-0.93 [[ 9.99990625e-01 -1.48799254e-03 -4.06639943e-03 6.72659691e+01] [ 1.48650772e-03 9.99998827e-01 -3.68140423e-04 2.06269315e+00] [ 4.06694246e-03 3.62092238e-04 9.99991664e-01 -9.32078523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75589822699999 meters 0.09612787257721907 Centerline is valid? [True, True] Translation: X:67.29, Y:2.07, Z:-0.93 [[ 9.99994952e-01 -9.71505003e-04 -3.02515690e-03 6.72949246e+01] [ 9.70680686e-04 9.99999491e-01 -2.73943878e-04 2.07018948e+00] [ 3.02542150e-03 2.71006034e-04 9.99995387e-01 -9.28114547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78589822699999 meters 0.09606673935712938 Centerline is valid? [True, True] Translation: X:67.32, Y:2.08, Z:-0.93 [[ 9.99995891e-01 -1.44506007e-03 -2.47593122e-03 6.73239673e+01] [ 1.44450919e-03 9.99998932e-01 -2.24265410e-04 2.07602757e+00] [ 2.47625265e-03 2.20687983e-04 9.99996910e-01 -9.27116172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81589822699999 meters 0.0944976978991259 Centerline is valid? [True, True] Translation: X:67.35, Y:2.08, Z:-0.93 [[ 9.99979178e-01 -5.42774778e-03 -3.49035554e-03 6.73527338e+01] [ 5.42667696e-03 9.99985225e-01 -3.16191299e-04 2.08015562e+00] [ 3.49202018e-03 2.97243683e-04 9.99993859e-01 -9.29149095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84589822699999 meters 0.09137944548074418 Centerline is valid? [True, True] Translation: X:67.38, Y:2.08, Z:-0.93 [[ 9.99955454e-01 -8.56730684e-03 -3.96110560e-03 6.73834161e+01] [ 8.56595203e-03 9.99963247e-01 -3.58866770e-04 2.07880408e+00] [ 3.96403454e-03 3.24920143e-04 9.99992090e-01 -9.30192752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.875898227 meters 0.0880241067138601 Centerline is valid? [True, True] Translation: X:67.41, Y:2.08, Z:-0.93 [[ 9.99918320e-01 -1.22889000e-02 -3.51220053e-03 6.74139892e+01] [ 1.22878576e-02 9.99924451e-01 -3.18203095e-04 2.07743466e+00] [ 3.51584556e-03 2.75019684e-04 9.99993782e-01 -9.29213068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.905898227 meters 0.08176299969384591 Centerline is valid? [True, True] Translation: X:67.44, Y:2.07, Z:-0.92 [[ 9.99826075e-01 -1.86019022e-02 -1.33752896e-03 6.74437368e+01] [ 1.86017566e-02 9.99826965e-01 -1.21198349e-04 2.07359165e+00] [ 1.33955204e-03 9.62968811e-05 9.99999098e-01 -9.23462831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.935898227 meters 0.08239298676941895 Centerline is valid? [True, True] Translation: X:67.47, Y:2.08, Z:-0.92 [[ 9.99792264e-01 -2.03474155e-02 -1.18774711e-03 6.74731075e+01] [ 2.03473019e-02 9.99792966e-01 -1.07614274e-04 2.07862493e+00] [ 1.18969088e-03 8.34244698e-05 9.99999289e-01 -9.22924517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.965898227 meters 0.08199753353512368 Centerline is valid? [True, True] Translation: X:67.50, Y:2.08, Z:-0.92 [[ 9.99780737e-01 -2.07999275e-02 -2.41660051e-03 6.75038390e+01] [ 2.07994589e-02 9.99783644e-01 -2.18898724e-04 2.08293495e+00] [ 2.42063075e-03 1.68586745e-04 9.99997056e-01 -9.24122493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.995898227 meters 0.08501435290545191 Centerline is valid? [True, True] Translation: X:67.53, Y:2.09, Z:-0.93 [[ 9.99805277e-01 -1.95037675e-02 -3.00173066e-03 6.75327053e+01] [ 1.95030390e-02 9.99809761e-01 -2.71773046e-04 2.09421972e+00] [ 3.00646022e-03 2.13177255e-04 9.99995458e-01 -9.25814291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02589822699998 meters 0.08742822059084679 Centerline is valid? [True, True] Translation: X:67.56, Y:2.10, Z:-0.92 [[ 9.99834422e-01 -1.81133661e-02 -1.74223360e-03 6.75636683e+01] [ 1.81131187e-02 9.99835932e-01 -1.57701006e-04 2.10247068e+00] [ 1.74480425e-03 1.26117610e-04 9.99998470e-01 -9.23526862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05589822699999 meters 0.08825115592340874 Centerline is valid? [True, True] Translation: X:67.59, Y:2.11, Z:-0.92 [[ 9.99855243e-01 -1.70091935e-02 -4.25019872e-04 6.75941543e+01] [ 1.70091787e-02 9.99855333e-01 -3.84667347e-05 2.10801209e+00] [ 4.25612673e-04 3.12319274e-05 9.99999909e-01 -9.20777127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08589822699999 meters 0.09007719372435737 Centerline is valid? [True, True] Translation: X:67.62, Y:2.11, Z:-0.92 [[ 9.99854166e-01 -1.70583233e-02 -8.12080073e-04 6.76249151e+01] [ 1.70582692e-02 9.99854494e-01 -7.34712982e-05 2.11463721e+00] [ 8.13215208e-04 5.96079031e-05 9.99999668e-01 -9.21167224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11589822699999 meters 0.08932276684556352 Centerline is valid? [True, True] Translation: X:67.66, Y:2.12, Z:-0.92 [[ 9.99835211e-01 -1.80156025e-02 -2.23357539e-03 6.76564828e+01] [ 1.80151959e-02 9.99837693e-01 -2.02003792e-04 2.11685267e+00] [ 2.23685208e-03 1.61732206e-04 9.99997485e-01 -9.24536579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14589822699999 meters 0.08871987198811984 Centerline is valid? [True, True] Translation: X:67.69, Y:2.12, Z:-0.93 [[ 9.99808558e-01 -1.91915079e-02 -3.81227979e-03 6.76878973e+01] [ 1.91903324e-02 9.99815789e-01 -3.44697161e-04 2.11951559e+00] [ 3.81819279e-03 2.71472256e-04 9.99992674e-01 -9.28067175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17589822699999 meters 0.0862175862387311 Centerline is valid? [True, True] Translation: X:67.72, Y:2.12, Z:-0.93 [[ 9.99742098e-01 -2.24329659e-02 -3.53559472e-03 6.77174534e+01] [ 2.24319749e-02 9.99748320e-01 -3.19720797e-04 2.11991633e+00] [ 3.54187717e-03 2.40327968e-04 9.99993699e-01 -9.27670310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20589822699999 meters 0.08462068259103254 Centerline is valid? [True, True] Translation: X:67.75, Y:2.12, Z:-0.93 [[ 9.99709458e-01 -2.38936303e-02 -3.17714664e-03 6.77486719e+01] [ 2.38928374e-02 9.99714484e-01 -2.87272643e-04 2.11947411e+00] [ 3.18310350e-03 2.11278130e-04 9.99994912e-01 -9.27276584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23589822699999 meters 0.06773360471977266 Centerline is valid? [True, True] Translation: X:67.78, Y:2.10, Z:-0.93 [[ 9.99663626e-01 -2.56842127e-02 -3.59933399e-03 6.77811810e+01] [ 2.56832067e-02 9.99670079e-01 -3.25445937e-04 2.09792680e+00] [ 3.60650532e-03 2.32894026e-04 9.99993469e-01 -9.27976506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.265898227 meters 0.06695574636616221 Centerline is valid? [True, True] Translation: X:67.81, Y:2.09, Z:-0.93 [[ 9.99617108e-01 -2.74098999e-02 -3.78625211e-03 6.78115087e+01] [ 2.74087990e-02 9.99624250e-01 -3.42346770e-04 2.09466032e+00] [ 3.79421312e-03 2.38439064e-04 9.99992774e-01 -9.28231428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.295898227 meters 0.066634054448216 Centerline is valid? [True, True] Translation: X:67.84, Y:2.10, Z:-0.93 [[ 9.99637923e-01 -2.66054470e-02 -4.02150710e-03 6.78423142e+01] [ 2.66041988e-02 9.99645980e-01 -3.63569707e-04 2.09531306e+00] [ 4.02975634e-03 2.56449092e-04 9.99991848e-01 -9.27184537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.325898227 meters 0.06837445041974707 Centerline is valid? [True, True] Translation: X:67.87, Y:2.10, Z:-0.93 [[ 9.99693970e-01 -2.42707515e-02 -4.78497886e-03 6.78727388e+01] [ 2.42689580e-02 9.99705372e-01 -4.32545521e-04 2.09858764e+00] [ 4.79406727e-03 3.16286698e-04 9.99988458e-01 -9.28614125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.355898227 meters 0.07761550254072458 Centerline is valid? [True, True] Translation: X:67.90, Y:2.12, Z:-0.93 [[ 9.99769995e-01 -2.05965831e-02 -5.97813418e-03 6.79004836e+01] [ 2.05937190e-02 9.99787781e-01 -5.40259269e-04 2.11509812e+00] [ 5.98799301e-03 4.17022991e-04 9.99981985e-01 -9.28840023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38589822699998 meters 0.08281262671518094 Centerline is valid? [True, True] Translation: X:67.93, Y:2.12, Z:-0.93 [[ 9.99907429e-01 -1.12815867e-02 -7.60658443e-03 6.79300873e+01] [ 1.12766813e-02 9.99936180e-01 -6.87471972e-04 2.12474801e+00] [ 7.61385475e-03 6.01631303e-04 9.99970833e-01 -9.32000146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41589822699999 meters 0.08450535396033869 Centerline is valid? [True, True] Translation: X:67.96, Y:2.13, Z:-0.93 [[ 9.99950473e-01 -7.56794106e-03 -6.46349934e-03 6.79604588e+01] [ 7.56432220e-03 9.99971219e-01 -5.84154243e-04 2.12942615e+00] [ 6.46773417e-03 5.35233320e-04 9.99978941e-01 -9.30457937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44589822699999 meters 0.09217172808858771 Centerline is valid? [True, True] Translation: X:67.99, Y:2.14, Z:-0.93 [[ 9.99976035e-01 -5.17026945e-03 -4.60400643e-03 6.79891318e+01] [ 5.16840811e-03 9.99986557e-01 -4.16093489e-04 2.14159983e+00] [ 4.60609586e-03 3.92288134e-04 9.99989315e-01 -9.28118162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47589822699999 meters 0.095224969821072 Centerline is valid? [True, True] Translation: X:68.02, Y:2.15, Z:-0.93 [[ 9.99985339e-01 -4.31335477e-03 -3.27356033e-03 6.80182217e+01] [ 4.31240908e-03 9.99990658e-01 -2.95889862e-04 2.14830999e+00] [ 3.27480603e-03 2.81768593e-04 9.99994598e-01 -9.25152229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50589822699999 meters 0.08501645050063167 Centerline is valid? [True, True] Translation: X:68.05, Y:2.14, Z:-0.93 [[ 9.99972673e-01 -5.72545221e-03 -4.67688602e-03 6.80495987e+01] [ 5.72353698e-03 9.99983531e-01 -4.22789416e-04 2.13646793e+00] [ 4.67922966e-03 3.96009532e-04 9.99988974e-01 -9.26410929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53589822699999 meters 0.08198104368564348 Centerline is valid? [True, True] Translation: X:68.08, Y:2.13, Z:-0.93 [[ 9.99956086e-01 -7.44623176e-03 -5.69028994e-03 6.80799136e+01] [ 7.44342388e-03 9.99972165e-01 -5.14469669e-04 2.13375019e+00] [ 5.69396241e-03 4.72091836e-04 9.99983678e-01 -9.28638262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56589822699999 meters 0.08188742154771607 Centerline is valid? [True, True] Translation: X:68.11, Y:2.13, Z:-0.93 [[ 9.99934215e-01 -1.10392386e-02 -3.11455400e-03 6.81099317e+01] [ 1.10384148e-02 9.99939035e-01 -2.81572054e-04 2.13496814e+00] [ 3.11747247e-03 2.47173792e-04 9.99995110e-01 -9.26341738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59589822699999 meters 0.07945033047667753 Centerline is valid? [True, True] Translation: X:68.14, Y:2.13, Z:-0.92 [[ 9.99927193e-01 -1.19639767e-02 -1.57194555e-03 6.81410819e+01] [ 1.19637680e-02 9.99928421e-01 -1.42093405e-04 2.13457702e+00] [ 1.57353304e-03 1.23276668e-04 9.99998754e-01 -9.23630711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.625898227 meters 0.0783254689868628 Centerline is valid? [True, True] Translation: X:68.17, Y:2.14, Z:-0.92 [[ 9.99922519e-01 -1.24010063e-02 -1.08260390e-03 6.81727809e+01] [ 1.24009076e-02 9.99923101e-01 -9.78344205e-05 2.13601653e+00] [ 1.08373390e-03 8.44015692e-05 9.99999409e-01 -9.22783171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.655898227 meters 0.07783806714293467 Centerline is valid? [True, True] Translation: X:68.20, Y:2.14, Z:-0.93 [[ 9.99917843e-01 -1.21335149e-02 -4.13330717e-03 6.82043489e+01] [ 1.21320743e-02 9.99926334e-01 -3.73424167e-04 2.13653144e+00] [ 4.13753363e-03 3.23247898e-04 9.99991388e-01 -9.26631750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.685898227 meters 0.08515049675178753 Centerline is valid? [True, True] Translation: X:68.23, Y:2.15, Z:-0.93 [[ 9.99920293e-01 -1.16730725e-02 -4.81106511e-03 6.82341222e+01] [ 1.16711157e-02 9.99931796e-01 -4.34598326e-04 2.14747328e+00] [ 4.81581008e-03 3.78413188e-04 9.99988332e-01 -9.27977199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.715898227 meters 0.07869927544587617 Centerline is valid? [True, True] Translation: X:68.26, Y:2.14, Z:-0.93 [[ 9.99944943e-01 -9.83333382e-03 -3.66280109e-03 6.82648565e+01] [ 9.83218721e-03 9.99951608e-01 -3.30916330e-04 2.13973366e+00] [ 3.66587785e-03 2.94884765e-04 9.99993237e-01 -9.25280120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.745898227 meters 0.0821652812389635 Centerline is valid? [True, True] Translation: X:68.29, Y:2.15, Z:-0.92 [[ 9.99961748e-01 -8.22501935e-03 -2.97506763e-03 6.82933766e+01] [ 8.22425561e-03 9.99966144e-01 -2.68854620e-04 2.14613692e+00] [ 2.97717824e-03 2.44376620e-04 9.99995538e-01 -9.24602888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77589822699998 meters 0.08341050240383209 Centerline is valid? [True, True] Translation: X:68.32, Y:2.15, Z:-0.93 [[ 9.99971004e-01 -6.93082820e-03 -3.15508371e-03 6.83229128e+01] [ 6.92996273e-03 9.99975947e-01 -2.85160525e-04 2.15005884e+00] [ 3.15698422e-03 2.63287644e-04 9.99994982e-01 -9.25186741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80589822699999 meters 0.09314004576953028 Centerline is valid? [True, True] Translation: X:68.35, Y:2.17, Z:-0.93 [[ 9.99975868e-01 -5.80301904e-03 -3.81943058e-03 6.83513287e+01] [ 5.80174236e-03 9.99983110e-01 -3.45252885e-04 2.16528980e+00] [ 3.82136958e-03 3.23085201e-04 9.99992646e-01 -9.27180021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83589822699999 meters 0.08638939960142158 Centerline is valid? [True, True] Translation: X:68.38, Y:2.16, Z:-0.93 [[ 9.99978821e-01 -4.45503182e-03 -4.74453290e-03 6.83823113e+01] [ 4.45304646e-03 9.99989993e-01 -4.28933443e-04 2.15780867e+00] [ 4.74639633e-03 4.07796733e-04 9.99988653e-01 -9.30063342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86589822699999 meters 0.08847512001447001 Centerline is valid? [True, True] Translation: X:68.41, Y:2.16, Z:-0.93 [[ 9.99988456e-01 -1.81478932e-03 -4.44898602e-03 6.84118178e+01] [ 1.81301745e-03 9.99998276e-01 -4.02265069e-04 2.16436873e+00] [ 4.44970837e-03 3.94194336e-04 9.99990022e-01 -9.28305593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89589822699999 meters 0.09039516163401887 Centerline is valid? [True, True] Translation: X:68.44, Y:2.17, Z:-0.93 [[ 9.99990236e-01 -5.42903679e-04 -4.38549007e-03 6.84424049e+01] [ 5.41169888e-04 9.99999775e-01 -3.96524150e-04 2.16620748e+00] [ 4.38570436e-03 3.94146983e-04 9.99990305e-01 -9.29489359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92589822699999 meters 0.09552977995043402 Centerline is valid? [True, True] Translation: X:68.47, Y:2.18, Z:-0.93 [[ 9.99987147e-01 -7.99772251e-04 -5.00670505e-03 6.84700257e+01] [ 7.97514777e-04 9.99999579e-01 -4.52870453e-04 2.17634534e+00] [ 5.00706514e-03 4.48871710e-04 9.99987364e-01 -9.28648547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95589822699999 meters 0.08876244906357444 Centerline is valid? [True, True] Translation: X:68.50, Y:2.17, Z:-0.93 [[ 9.99984743e-01 -1.75998945e-03 -5.23600818e-03 6.85003896e+01] [ 1.75753286e-03 9.99998343e-01 -4.73736712e-04 2.16932348e+00] [ 5.23683327e-03 4.64527027e-04 9.99986180e-01 -9.28907441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98589822699999 meters 0.09548522340693222 Centerline is valid? [True, True] Translation: X:68.53, Y:2.18, Z:-0.93 [[ 9.99985271e-01 -2.89899379e-03 -4.58850337e-03 6.85287012e+01] [ 2.89711862e-03 9.99995717e-01 -4.15261558e-04 2.17839447e+00] [ 4.58968756e-03 4.01962003e-04 9.99989387e-01 -9.29009782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.015898227 meters 0.08974148410714824 Centerline is valid? [True, True] Translation: X:68.56, Y:2.17, Z:-0.93 [[ 9.99979440e-01 -5.43265094e-03 -3.40668706e-03 6.85602619e+01] [ 5.43163189e-03 9.99985201e-01 -3.08313818e-04 2.16900604e+00] [ 3.40831160e-03 2.89803610e-04 9.99994150e-01 -9.27037884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.045898227 meters 0.08452388923153464 Centerline is valid? [True, True] Translation: X:68.59, Y:2.16, Z:-0.93 [[ 9.99974298e-01 -6.43664307e-03 -3.15804113e-03 6.85908122e+01] [ 6.43577220e-03 9.99979249e-01 -2.85848328e-04 2.16346008e+00] [ 3.15981551e-03 2.65516547e-04 9.99994973e-01 -9.25548795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.075898227 meters 0.08321879841603678 Centerline is valid? [True, True] Translation: X:68.62, Y:2.16, Z:-0.92 [[ 9.99971376e-01 -7.00360572e-03 -2.86293569e-03 6.86216272e+01] [ 7.00289231e-03 9.99975446e-01 -2.59137225e-04 2.16321780e+00] [ 2.86468028e-03 2.39080977e-04 9.99995868e-01 -9.24223877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.105898227 meters 0.08322024111807719 Centerline is valid? [True, True] Translation: X:68.65, Y:2.16, Z:-0.92 [[ 9.99976092e-01 -6.46173080e-03 -2.46182637e-03 6.86521608e+01] [ 6.46120166e-03 9.99979101e-01 -2.22831011e-04 2.16366695e+00] [ 2.46321480e-03 2.06919327e-04 9.99996945e-01 -9.23335203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13589822699998 meters 0.09011284178228732 Centerline is valid? [True, True] Translation: X:68.68, Y:2.17, Z:-0.92 [[ 9.99984317e-01 -5.27723144e-03 -1.87501560e-03 6.86812175e+01] [ 5.27692243e-03 9.99986063e-01 -1.69716120e-04 2.17397816e+00] [ 1.87588509e-03 1.59819147e-04 9.99998228e-01 -9.22860240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16589822699999 meters 0.09335632636965518 Centerline is valid? [True, True] Translation: X:68.71, Y:2.18, Z:-0.92 [[ 9.99991388e-01 -3.87122139e-03 -1.49561864e-03 6.87108640e+01] [ 3.87102322e-03 9.99992498e-01 -1.35375190e-04 2.18033082e+00] [ 1.49613148e-03 1.29584450e-04 9.99998872e-01 -9.22861028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19589822699999 meters 0.09354421960141954 Centerline is valid? [True, True] Translation: X:68.74, Y:2.18, Z:-0.92 [[ 9.99998435e-01 -6.93663265e-04 -1.62726385e-03 6.87410442e+01] [ 6.93424467e-04 9.99999749e-01 -1.47307312e-04 2.18176297e+00] [ 1.62736563e-03 1.46178697e-04 9.99998665e-01 -9.23377566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22589822699999 meters 0.09832148517600026 Centerline is valid? [True, True] Translation: X:68.77, Y:2.19, Z:-0.92 [[ 9.99997573e-01 4.21604675e-04 -2.16228831e-03 6.87693379e+01] [-4.22028919e-04 9.99999892e-01 -1.95748878e-04 2.18905094e+00] [ 2.16220555e-03 1.96660951e-04 9.99997643e-01 -9.23886450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25589822699999 meters 0.09344210564535059 Centerline is valid? [True, True] Translation: X:68.80, Y:2.18, Z:-0.92 [[ 9.99995154e-01 7.92273239e-04 -3.01060162e-03 6.87992328e+01] [-7.93097540e-04 9.99999648e-01 -2.72615513e-04 2.18399869e+00] [ 3.01038458e-03 2.75001893e-04 9.99995431e-01 -9.24842929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28589822699999 meters 0.08690590801137993 Centerline is valid? [True, True] Translation: X:68.83, Y:2.18, Z:-0.93 [[ 9.99993512e-01 -1.36081395e-03 -3.33529795e-03 6.88301838e+01] [ 1.35981411e-03 9.99999030e-01 -3.02024839e-04 2.17687128e+00] [ 3.33570571e-03 2.97487495e-04 9.99994392e-01 -9.25541329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31589822699999 meters 0.09333816494098876 Centerline is valid? [True, True] Translation: X:68.86, Y:2.19, Z:-0.92 [[ 9.99993287e-01 -2.91038395e-03 -2.22592358e-03 6.88588840e+01] [ 2.90994231e-03 9.99995746e-01 -2.01619284e-04 2.18676595e+00] [ 2.22650090e-03 1.95140622e-04 9.99997502e-01 -9.24911102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34589822699999 meters 0.09333816494098876 Centerline is valid? [True, True] Translation: X:68.89, Y:2.19, Z:-0.92 [[ 9.99993287e-01 -2.91038395e-03 -2.22592354e-03 6.88888763e+01] [ 2.90994231e-03 9.99995746e-01 -2.01619726e-04 2.18948260e+00] [ 2.22650086e-03 1.95141063e-04 9.99997502e-01 -9.24910539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.375898227 meters 0.0952198066996791 Centerline is valid? [True, True] Translation: X:68.92, Y:2.19, Z:-0.92 [[ 9.99989814e-01 -4.45874269e-03 -7.00606216e-04 6.89181264e+01] [ 4.45869931e-03 9.99990058e-01 -6.34673362e-05 2.19283973e+00] [ 7.00882235e-04 6.03428973e-05 9.99999753e-01 -9.22875796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.405898227 meters 0.09103985141302394 Centerline is valid? [True, True] Translation: X:68.95, Y:2.19, Z:-0.92 [[ 9.99977730e-01 -6.60816138e-03 -9.33215014e-04 6.89490366e+01] [ 6.60808534e-03 9.99978163e-01 -8.45367781e-05 2.18737756e+00] [ 9.33753268e-04 7.83681311e-05 9.99999561e-01 -9.22338288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.435898227 meters 0.08279426543715873 Centerline is valid? [True, True] Translation: X:68.98, Y:2.18, Z:-0.92 [[ 9.99970959e-01 -7.31235544e-03 -2.14744009e-03 6.89807921e+01] [ 7.31195449e-03 9.99973248e-01 -1.94503750e-04 2.18021429e+00] [ 2.14880493e-03 1.78796117e-04 9.99997675e-01 -9.23952593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.465898227 meters 0.09074105007581833 Centerline is valid? [True, True] Translation: X:69.01, Y:2.19, Z:-0.93 [[ 9.99965310e-01 -7.16563688e-03 -4.24653204e-03 6.90104178e+01] [ 7.16406786e-03 9.99974264e-01 -3.84577642e-04 2.19419614e+00] [ 4.24917850e-03 3.54141857e-04 9.99990909e-01 -9.27416052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.495898227 meters 0.09194575244345703 Centerline is valid? [True, True] Translation: X:69.04, Y:2.20, Z:-0.93 [[ 9.99953656e-01 -6.05409709e-03 -7.48558368e-03 6.90406359e+01] [ 6.04919069e-03 9.99981474e-01 -6.77914692e-04 2.19990948e+00] [ 7.48954916e-03 6.32601551e-04 9.99971753e-01 -9.33974633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52589822699998 meters 0.0846143403671015 Centerline is valid? [True, True] Translation: X:69.07, Y:2.19, Z:-0.93 [[ 9.99947275e-01 -5.83291491e-03 -8.45124040e-03 6.90700888e+01] [ 5.82664115e-03 9.99982731e-01 -7.66779592e-04 2.19373176e+00] [ 8.45556701e-03 7.17496819e-04 9.99963994e-01 -9.34484775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55589822699999 meters 0.09105632876711586 Centerline is valid? [True, True] Translation: X:69.10, Y:2.21, Z:-0.94 [[ 9.99944125e-01 -6.35932415e-03 -8.44430627e-03 6.90974924e+01] [ 6.35306744e-03 9.99979524e-01 -7.67556602e-04 2.20552176e+00] [ 8.44901451e-03 7.13866467e-04 9.99964052e-01 -9.35320175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58589822699999 meters 0.08386793181920213 Centerline is valid? [True, True] Translation: X:69.13, Y:2.20, Z:-0.93 [[ 9.99944228e-01 -7.70043286e-03 -7.22804517e-03 6.91276546e+01] [ 7.69588226e-03 9.99970170e-01 -6.57178057e-04 2.20232593e+00] [ 7.23289012e-03 6.01515220e-04 9.99973661e-01 -9.31316680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61589822699999 meters 0.0880551527224348 Centerline is valid? [True, True] Translation: X:69.16, Y:2.21, Z:-0.93 [[ 9.99947893e-01 -8.56807311e-03 -5.54964079e-03 6.91560517e+01] [ 8.56540307e-03 9.99963189e-01 -5.04708602e-04 2.21116827e+00] [ 5.55376088e-03 4.57147394e-04 9.99984473e-01 -9.29986825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64589822699999 meters 0.09108462493010827 Centerline is valid? [True, True] Translation: X:69.18, Y:2.22, Z:-0.93 [[ 9.99944393e-01 -9.55724659e-03 -4.45753929e-03 6.91844379e+01] [ 9.55553310e-03 9.99954263e-01 -4.05542445e-04 2.21774668e+00] [ 4.46121128e-03 3.62925730e-04 9.99989983e-01 -9.29034117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67589822699999 meters 0.10306932207619078 Centerline is valid? [True, False] Translation: X:69.18, Y:2.22, Z:-0.93 [[ 9.99944868e-01 -9.49832728e-03 -4.47690858e-03 6.91845762e+01] [ 9.49723464e-03 9.99954865e-01 -2.65256845e-04 2.21712247e+00] [ 4.47922601e-03 2.22723970e-04 9.99989943e-01 -9.29189913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70589822699999 meters 0.08372817801718448 Centerline is valid? [False, True] Translation: X:69.19, Y:2.22, Z:-0.93 [[ 9.99943798e-01 -9.58898669e-03 -4.52241571e-03 6.91850849e+01] [ 9.58689962e-03 9.99953928e-01 -4.82948342e-04 2.21808889e+00] [ 4.52683833e-03 4.39565254e-04 9.99989657e-01 -9.30002974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73589822699999 meters 0.08419873503956088 Centerline is valid? [True, True] Translation: X:69.21, Y:2.22, Z:-0.93 [[ 9.99938261e-01 -1.00394130e-02 -4.76287854e-03 6.92140071e+01] [ 1.00375160e-02 9.99949534e-01 -4.22025413e-04 2.22238042e+00] [ 4.76687507e-03 3.74191888e-04 9.99988568e-01 -9.30718189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.765898227 meters 0.08491850806394056 Centerline is valid? [True, True] Translation: X:69.24, Y:2.23, Z:-0.93 [[ 9.99930774e-01 -1.09170781e-02 -4.38912777e-03 6.92440407e+01] [ 1.09154753e-02 9.99940349e-01 -3.88961029e-04 2.22679055e+00] [ 4.39311227e-03 3.41024687e-04 9.99990292e-01 -9.30078908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.795898227 meters 0.08834626348720662 Centerline is valid? [True, True] Translation: X:69.27, Y:2.23, Z:-0.93 [[ 9.99927661e-01 -1.16155459e-02 -3.12277341e-03 6.92734085e+01] [ 1.16147381e-02 9.99932508e-01 -2.76719160e-04 2.23388542e+00] [ 3.12577689e-03 2.40428947e-04 9.99995086e-01 -9.28657578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.825898227 meters 0.08609614160139699 Centerline is valid? [True, True] Translation: X:69.30, Y:2.23, Z:-0.92 [[ 9.99911937e-01 -1.32708484e-02 5.54681631e-05 6.93040918e+01] [ 1.32708481e-02 9.99911938e-01 4.93999791e-06 2.23489595e+00] [-5.55288364e-05 -4.20345332e-06 9.99999998e-01 -9.22460609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.855898227 meters 0.0841929663924976 Centerline is valid? [True, True] Translation: X:69.34, Y:2.24, Z:-0.92 [[ 9.99906139e-01 -1.36785501e-02 7.80967160e-04 6.93360736e+01] [ 1.36785002e-02 9.99906443e-01 6.92457636e-05 2.23560221e+00] [-7.81841276e-04 -5.85568047e-05 9.99999693e-01 -9.20767936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88589822699998 meters 0.08239892388828671 Centerline is valid? [True, True] Translation: X:69.37, Y:2.24, Z:-0.92 [[ 9.99911012e-01 -1.32745076e-02 1.32473752e-03 6.93675209e+01] [ 1.32743637e-02 9.99911885e-01 1.17350482e-04 2.23593068e+00] [-1.32617856e-03 -9.97549918e-05 9.99999116e-01 -9.21090469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91589822699999 meters 0.0815498328808732 Centerline is valid? [True, True] Translation: X:69.40, Y:2.24, Z:-0.92 [[ 9.99928967e-01 -1.18926477e-02 -7.90778960e-04 6.93990137e+01] [ 1.18925961e-02 9.99929278e-01 -6.99480153e-05 2.23621797e+00] [ 7.91554902e-04 6.05386320e-05 9.99999685e-01 -9.24768293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94589822699999 meters 0.08881470554992694 Centerline is valid? [True, True] Translation: X:69.43, Y:2.25, Z:-0.93 [[ 9.99939780e-01 -1.09490395e-02 -7.44562247e-04 6.94285034e+01] [ 1.09489935e-02 9.99940056e-01 -6.58746906e-05 2.24843552e+00] [ 7.45238879e-04 5.77185165e-05 9.99999721e-01 -9.26003236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97589822699999 meters 0.09678796334954133 Centerline is valid? [True, True] Translation: X:69.46, Y:2.26, Z:-0.92 [[ 9.99966345e-01 -8.14343012e-03 9.97056204e-04 6.94570270e+01] [ 8.14334615e-03 9.99966839e-01 8.82514994e-05 2.26255173e+00] [-9.97741810e-04 -8.01291555e-05 9.99999499e-01 -9.22266949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00589822699999 meters 0.08142171343891878 Centerline is valid? [True, True] Translation: X:69.49, Y:2.25, Z:-0.92 [[ 9.99981143e-01 -6.05709987e-03 1.01287263e-03 6.94887317e+01] [ 6.05701215e-03 9.99981652e-01 8.96504588e-05 2.24651461e+00] [-1.01339707e-03 -8.35137864e-05 9.99999483e-01 -9.21609653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03589822699999 meters 0.09913289155580694 Centerline is valid? [True, True] Translation: X:69.52, Y:2.27, Z:-0.92 [[ 9.99993535e-01 -3.58612901e-03 2.65386010e-04 6.95161977e+01] [ 3.58612291e-03 9.99993570e-01 2.34681282e-05 2.27203927e+00] [-2.65468463e-04 -2.25162696e-05 9.99999965e-01 -9.23536735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06589822699999 meters 0.10547666309971782 Centerline is valid? [True, False] Translation: X:69.50, Y:2.28, Z:-0.93 [[ 9.99988578e-01 -5.48879831e-05 4.77914091e-03 6.95027697e+01] [ 7.31516924e-05 9.99992696e-01 -3.82145559e-03 2.27582217e+00] [-4.77889625e-03 3.82176155e-03 9.99981278e-01 -9.33750749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09589822699999 meters 0.09479307680818637 Centerline is valid? [False, True] Translation: X:69.48, Y:2.27, Z:-0.93 [[ 9.99999519e-01 -9.78251758e-04 7.33016969e-05 6.94839459e+01] [ 9.77847684e-04 9.99985352e-01 5.32341634e-03 2.27359934e+00] [-7.85082646e-05 -5.32334210e-03 9.99985828e-01 -9.31816971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.125898227 meters 0.09223339185772783 Centerline is valid? [True, True] Translation: X:69.51, Y:2.28, Z:-0.93 [[ 9.99999583e-01 9.12633725e-04 2.49517019e-05 6.95137653e+01] [-9.12633783e-04 9.99999584e-01 2.31261873e-06 2.27904067e+00] [-2.49495809e-05 -2.33538953e-06 1.00000000e+00 -9.30837516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.155898227 meters 0.10272721845883023 Centerline is valid? [True, False] Translation: X:69.48, Y:2.28, Z:-0.94 [[ 9.99998870e-01 7.42905295e-04 -1.30699033e-03 6.94764708e+01] [-7.43847646e-04 9.99999464e-01 -7.20670186e-04 2.27872415e+00] [ 1.30645424e-03 7.21641574e-04 9.99998886e-01 -9.35170064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.185898227 meters 0.10455398102494622 Centerline is valid? [False, False] Translation: X:69.52, Y:2.28, Z:-0.93 [[ 9.99999420e-01 8.11005251e-04 -7.08183274e-04 6.95157767e+01] [-8.11735993e-04 9.99999138e-01 -1.03217660e-03 2.28435063e+00] [ 7.07345562e-04 1.03275086e-03 9.99999217e-01 -9.32161594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.215898227 meters 0.09261940951510271 Centerline is valid? [False, True] Translation: X:69.52, Y:2.29, Z:-0.93 [[ 9.99999522e-01 6.25378452e-04 -7.52144458e-04 6.95158502e+01] [-6.26485771e-04 9.99998719e-01 -1.47288218e-03 2.28631713e+00] [ 7.51222385e-04 1.47335268e-03 9.99998632e-01 -9.32066608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.245898227 meters 0.11510956202084331 Centerline is valid? [True, False] Translation: X:69.52, Y:2.29, Z:-0.93 [[ 9.99999629e-01 4.58160076e-04 -7.29351656e-04 6.95155734e+01] [-4.59528992e-04 9.99998131e-01 -1.87783487e-03 2.28812060e+00] [ 7.28489945e-04 1.87816934e-03 9.99997971e-01 -9.31665388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27589822699998 meters 0.08953057278602752 Centerline is valid? [False, True] Translation: X:69.52, Y:2.29, Z:-0.93 [[ 9.99999609e-01 4.29519835e-04 -7.72982691e-04 6.95150766e+01] [-4.31026617e-04 9.99998005e-01 -1.95019862e-03 2.28848271e+00] [ 7.72143500e-04 1.95053103e-03 9.99997800e-01 -9.30319465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30589822699999 meters 0.08484562253053629 Centerline is valid? [True, True] Translation: X:69.55, Y:2.28, Z:-0.93 [[ 9.99998620e-01 -1.59899449e-03 4.49799520e-04 6.95463894e+01] [ 1.59897666e-03 9.99998721e-01 3.99961579e-05 2.28355693e+00] [-4.49862898e-04 -3.92768838e-05 9.99999898e-01 -9.28419781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33589822699999 meters 0.08770140622458521 Centerline is valid? [True, True] Translation: X:69.58, Y:2.29, Z:-0.93 [[ 9.99991143e-01 -4.16159456e-03 6.29287166e-04 6.95751719e+01] [ 4.16156016e-03 9.99991339e-01 5.59662861e-05 2.28912705e+00] [-6.29514625e-04 -5.33469740e-05 9.99999800e-01 -9.28417943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36589822699999 meters 0.08539403378896421 Centerline is valid? [True, True] Translation: X:69.61, Y:2.29, Z:-0.93 [[ 9.99974757e-01 -7.10495940e-03 7.20893585e-05 6.96064415e+01] [ 7.10495895e-03 9.99974759e-01 6.43255374e-06 2.28888692e+00] [-7.21332420e-05 -5.92019943e-06 9.99999997e-01 -9.29354914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39589822699999 meters 0.08781104456621382 Centerline is valid? [True, True] Translation: X:69.64, Y:2.30, Z:-0.93 [[ 9.99922314e-01 -1.23834345e-02 -1.42025765e-03 6.96358291e+01] [ 1.23832675e-02 9.99923316e-01 -1.26310303e-04 2.29569519e+00] [ 1.42171289e-03 1.08713060e-04 9.99998983e-01 -9.32722603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42589822699999 meters 0.08467367598588255 Centerline is valid? [True, True] Translation: X:69.67, Y:2.29, Z:-0.93 [[ 9.99891289e-01 -1.45724468e-02 -2.24812243e-03 6.96671354e+01] [ 1.45720340e-02 9.99893802e-01 -1.99903634e-04 2.29499410e+00] [ 2.25079677e-03 1.67122186e-04 9.99997453e-01 -9.34117434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45589822699999 meters 0.07212871409496324 Centerline is valid? [True, True] Translation: X:69.70, Y:2.28, Z:-0.93 [[ 9.99841588e-01 -1.76217556e-02 -2.50433523e-03 6.96984355e+01] [ 1.76212527e-02 9.99844709e-01 -2.22706386e-04 2.28386338e+00] [ 2.50787081e-03 1.78541583e-04 9.99996839e-01 -9.31741548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48589822699999 meters 0.0777364678624482 Centerline is valid? [True, True] Translation: X:69.73, Y:2.29, Z:-0.93 [[ 9.99824832e-01 -1.87127975e-02 -3.69848721e-04 6.97279331e+01] [ 1.87127867e-02 9.99824900e-01 -3.28434292e-05 2.29497154e+00] [ 3.70398553e-04 2.59167759e-05 9.99999931e-01 -9.28810363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.515898227 meters 0.07509445639164855 Centerline is valid? [True, True] Translation: X:69.76, Y:2.30, Z:-0.93 [[ 9.99787908e-01 -2.04872272e-02 2.10076600e-03 6.97592388e+01] [ 2.04868797e-02 9.99790104e-01 1.86807061e-04 2.29550228e+00] [-2.10415222e-03 -1.43729300e-04 9.99997776e-01 -9.25065267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.545898227 meters 0.06663698711090903 Centerline is valid? [True, True] Translation: X:69.79, Y:2.29, Z:-0.92 [[ 9.99656197e-01 -2.57371062e-02 5.00899476e-03 6.97909241e+01] [ 2.57351966e-02 9.99668696e-01 4.45321103e-04 2.28776678e+00] [-5.01879653e-03 -3.16260536e-04 9.99987356e-01 -9.22146107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.575898227 meters 0.06264660210921927 Centerline is valid? [True, True] Translation: X:69.82, Y:2.29, Z:-0.92 [[ 9.99565313e-01 -2.88877384e-02 5.88934397e-03 6.98218564e+01] [ 2.88851531e-02 9.99582600e-01 5.23580503e-04 2.28525503e+00] [-5.90201081e-03 -3.53238307e-04 9.99982521e-01 -9.22287298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.605898227 meters 0.05748982166990037 Centerline is valid? [True, True] Translation: X:69.85, Y:2.28, Z:-0.92 [[ 9.99467602e-01 -3.19360027e-02 6.67857795e-03 6.98532049e+01] [ 3.19327461e-02 9.99489843e-01 5.93712467e-04 2.28175020e+00] [-6.69413163e-03 -3.80131042e-04 9.99977522e-01 -9.22957729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63589822699998 meters 0.05592662610894115 Centerline is valid? [True, True] Translation: X:69.88, Y:2.28, Z:-0.92 [[ 9.99386045e-01 -3.44093075e-02 6.59785145e-03 6.98838318e+01] [ 3.44061834e-02 9.99407760e-01 5.86466392e-04 2.28304774e+00] [-6.61412384e-03 -3.59099442e-04 9.99978062e-01 -9.23762806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66589822699999 meters 0.05882094973987397 Centerline is valid? [True, True] Translation: X:69.91, Y:2.28, Z:-0.93 [[ 9.99348100e-01 -3.57606823e-02 4.95459631e-03 6.99147342e+01] [ 3.57589375e-02 9.99360348e-01 4.40325232e-04 2.28484782e+00] [-4.96717342e-03 -2.62867084e-04 9.99987629e-01 -9.27413695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69589822699999 meters 0.05893249361198279 Centerline is valid? [True, True] Translation: X:69.94, Y:2.29, Z:-0.93 [[ 9.99283967e-01 -3.78024657e-02 1.58989088e-03 6.99445550e+01] [ 3.78022886e-02 9.99285228e-01 1.41314569e-04 2.29304329e+00] [-1.59409651e-03 -8.11118691e-05 9.99998726e-01 -9.29982321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72589822699999 meters 0.05356339504142406 Centerline is valid? [True, True] Translation: X:69.98, Y:2.29, Z:-0.93 [[ 9.99272850e-01 -3.81217174e-02 7.11075954e-04 6.99770078e+01] [ 3.81216820e-02 9.99273102e-01 6.32988033e-05 2.28827138e+00] [-7.12972134e-04 -3.61453642e-05 9.99999745e-01 -9.31331792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75589822699999 meters 0.05702862775008954 Centerline is valid? [True, True] Translation: X:70.01, Y:2.29, Z:-0.93 [[ 9.99223428e-01 -3.93981914e-02 5.68401476e-04 7.00066241e+01] [ 3.93981690e-02 9.99223589e-01 5.04987873e-05 2.29446881e+00] [-5.69949724e-04 -2.80655939e-05 9.99999837e-01 -9.32785819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78589822699999 meters 0.053731202940091226 Centerline is valid? [True, True] Translation: X:70.04, Y:2.29, Z:-0.93 [[ 9.99121605e-01 -4.18767826e-02 1.53422582e-03 7.00376938e+01] [ 4.18766227e-02 9.99122780e-01 1.36216478e-04 2.29218846e+00] [-1.53858428e-03 -7.18486306e-05 9.99998814e-01 -9.31850816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81589822699999 meters 0.04469801497895374 Centerline is valid? [True, True] Translation: X:70.07, Y:2.28, Z:-0.93 [[ 9.98793903e-01 -4.89998077e-02 3.12384034e-03 7.00700111e+01] [ 4.89991798e-02 9.98798780e-01 2.77271888e-04 2.28118391e+00] [-3.13367419e-03 -1.23871857e-04 9.99995082e-01 -9.28929364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84589822699999 meters 0.04012708827679892 Centerline is valid? [True, True] Translation: X:70.10, Y:2.28, Z:-0.93 [[ 9.98564409e-01 -5.35018696e-02 2.58297792e-03 7.01010201e+01] [ 5.35014554e-02 9.98567745e-01 2.29239131e-04 2.27537415e+00] [-2.59154316e-03 -9.07169591e-05 9.99996638e-01 -9.28927065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.875898227 meters 0.03607988859889915 Centerline is valid? [True, True] Translation: X:70.13, Y:2.27, Z:-0.93 [[ 9.98328832e-01 -5.77624270e-02 1.74492724e-03 7.01318051e+01] [ 5.77622445e-02 9.98330356e-01 1.54849714e-04 2.26897380e+00] [-1.75095833e-03 -5.38000206e-05 9.99998466e-01 -9.30106181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.905898227 meters 0.032073476921658996 Centerline is valid? [True, True] Translation: X:70.16, Y:2.26, Z:-0.93 [[ 9.98092981e-01 -6.17260066e-02 5.48161231e-04 7.01633957e+01] [ 6.17259892e-02 9.98093132e-01 4.86796431e-05 2.26285664e+00] [-5.50120760e-04 -1.47510159e-05 9.99999849e-01 -9.31808735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.935898227 meters 0.026257134142498702 Centerline is valid? [True, True] Translation: X:70.19, Y:2.25, Z:-0.93 [[ 9.97694045e-01 -6.78683496e-02 -6.92119391e-04 7.01945447e+01] [ 6.78683233e-02 9.97694285e-01 -6.14124306e-05 2.25225880e+00] [ 6.94691521e-04 1.42978337e-05 9.99999759e-01 -9.33919258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.965898227 meters 0.02411431678667543 Centerline is valid? [True, True] Translation: X:70.22, Y:2.25, Z:-0.93 [[ 9.97532972e-01 -7.01907019e-02 -1.11175160e-03 7.02233412e+01] [ 7.01906354e-02 9.97533591e-01 -9.88071440e-05 2.24957032e+00] [ 1.11594491e-03 2.05288325e-05 9.99999377e-01 -9.33937339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.995898227 meters 0.02178251479602874 Centerline is valid? [True, True] Translation: X:70.25, Y:2.24, Z:-0.93 [[ 9.97354625e-01 -7.26836211e-02 -9.18048588e-04 7.02533759e+01] [ 7.26835763e-02 9.97355048e-01 -8.21545570e-05 2.24345243e+00] [ 9.21591684e-04 1.52101728e-05 9.99999575e-01 -9.32249964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02589822699998 meters 0.027089395040151502 Centerline is valid? [True, True] Translation: X:70.28, Y:2.24, Z:-0.93 [[ 9.97313879e-01 -7.32453979e-02 -3.71619595e-04 7.02821679e+01] [ 7.32453905e-02 9.97313948e-01 -3.36668394e-05 2.24228492e+00] [ 3.73087347e-04 6.35698390e-06 9.99999930e-01 -9.33407534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05589822699999 meters 0.0183930360296149 Centerline is valid? [True, True] Translation: X:70.31, Y:2.24, Z:-0.93 [[ 9.97251682e-01 -7.40883285e-02 -4.79364051e-05 7.03122554e+01] [ 7.40883284e-02 9.97251683e-01 -4.35787178e-06 2.23775449e+00] [ 4.81275281e-05 7.94366838e-07 9.99999999e-01 -9.29972462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08589822699999 meters 0.01975082521119329 Centerline is valid? [True, True] Translation: X:70.34, Y:2.24, Z:-0.93 [[ 9.97175285e-01 -7.51093426e-02 -1.92151252e-04 7.03406032e+01] [ 7.51093406e-02 9.97175304e-01 -1.72578311e-05 2.23887219e+00] [ 1.92904708e-04 2.77672876e-06 9.99999981e-01 -9.31653448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11589822699999 meters 0.01834485399977122 Centerline is valid? [True, True] Translation: X:70.37, Y:2.23, Z:-0.93 [[ 9.96830828e-01 -7.95454988e-02 -9.02656829e-04 7.03708500e+01] [ 7.95454579e-02 9.96831236e-01 -8.11584353e-05 2.22667928e+00] [ 9.06252311e-04 9.09897944e-06 9.99999589e-01 -9.34963038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14589822699999 meters 0.013552280014226781 Centerline is valid? [True, True] Translation: X:70.40, Y:2.22, Z:-0.93 [[ 9.96633829e-01 -8.19815985e-02 1.66937142e-04 7.03990132e+01] [ 8.19815972e-02 9.96633843e-01 1.47214983e-05 2.22154517e+00] [-1.67582098e-04 -9.86169665e-07 9.99999986e-01 -9.32721852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17589822699999 meters 0.0229540292808172 Centerline is valid? [True, True] Translation: X:70.43, Y:2.22, Z:-0.93 [[ 9.96468281e-01 -8.39528060e-02 1.70021013e-03 7.04279322e+01] [ 8.39526695e-02 9.96469732e-01 1.51652378e-04 2.21794044e+00] [-1.70693958e-03 -8.37960478e-06 9.99998543e-01 -9.31583043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20589822699999 meters 0.011320856268543842 Centerline is valid? [True, True] Translation: X:70.46, Y:2.22, Z:-0.93 [[ 9.96401388e-01 -8.46903824e-02 3.43709929e-03 7.04560649e+01] [ 8.46898249e-02 9.96407316e-01 3.07678148e-04 2.21625087e+00] [-3.45080826e-03 -1.54835961e-05 9.99994046e-01 -9.26744685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23589822699999 meters 0.011320856268543842 Centerline is valid? [True, True] Translation: X:70.48, Y:2.22, Z:-0.93 [[ 9.96385297e-01 -8.48794843e-02 3.43704060e-03 7.04834160e+01] [ 8.48789257e-02 9.96391225e-01 3.08332342e-04 2.21889696e+00] [-3.45080819e-03 -1.54854979e-05 9.99994046e-01 -9.26839887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.265898227 meters 0.013711936561986918 Centerline is valid? [True, True] Translation: X:70.51, Y:2.22, Z:-0.92 [[ 9.96583260e-01 -8.24263263e-02 5.26379006e-03 7.05108377e+01] [ 8.24249760e-02 9.96597160e-01 4.73326195e-04 2.22206332e+00] [-5.28489276e-03 -3.78411933e-05 9.99986034e-01 -9.23873410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.295898227 meters 0.026734983745293768 Centerline is valid? [True, True] Translation: X:70.54, Y:2.22, Z:-0.93 [[ 9.96744978e-01 -8.04530888e-02 5.17198737e-03 7.05395571e+01] [ 8.04517560e-02 9.96758395e-01 4.65570420e-04 2.22380591e+00] [-5.19267841e-03 -4.79595126e-05 9.99986517e-01 -9.26778079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.325898227 meters 0.017874236420302524 Centerline is valid? [True, True] Translation: X:70.57, Y:2.23, Z:-0.93 [[ 9.96896667e-01 -7.85644192e-02 4.96670222e-03 7.05670001e+01] [ 7.85631633e-02 9.96909037e-01 4.47757523e-04 2.23223263e+00] [-4.98652814e-03 -5.61681451e-05 9.99987566e-01 -9.25249803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.355898227 meters 0.018100285019373254 Centerline is valid? [True, True] Translation: X:70.60, Y:2.24, Z:-0.93 [[ 9.97018107e-01 -7.70260745e-02 4.67739972e-03 7.05951758e+01] [ 7.70249424e-02 9.97029077e-01 4.21947945e-04 2.23523495e+00] [-4.69600451e-03 -6.04132977e-05 9.99988972e-01 -9.26198708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38589822699998 meters 0.018860804138965133 Centerline is valid? [True, True] Translation: X:70.62, Y:2.24, Z:-0.93 [[ 9.97063804e-01 -7.65174625e-02 2.97453344e-03 7.06229401e+01] [ 7.65170021e-02 9.97068241e-01 2.68433428e-04 2.23871262e+00] [-2.98635267e-03 -4.00428734e-05 9.99995540e-01 -9.29197129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41589822699999 meters 0.016443471594400662 Centerline is valid? [True, True] Translation: X:70.65, Y:2.24, Z:-0.93 [[ 9.96930960e-01 -7.82511110e-02 2.32920541e-03 7.06517245e+01] [ 7.82508335e-02 9.96933680e-01 2.10163699e-04 2.23701992e+00] [-2.33850886e-03 -2.72564343e-05 9.99997265e-01 -9.30902273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44589822699999 meters 0.015291620259081469 Centerline is valid? [True, True] Translation: X:70.68, Y:2.24, Z:-0.93 [[ 9.96746278e-01 -8.05789968e-02 1.97063128e-03 7.06796269e+01] [ 8.05788020e-02 9.96748225e-01 1.78216715e-04 2.23632885e+00] [-1.97858376e-03 -1.88457396e-05 9.99998042e-01 -9.32176097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47589822699999 meters 0.010467880287269677 Centerline is valid? [True, True] Translation: X:70.71, Y:2.23, Z:-0.93 [[ 9.96176569e-01 -8.73451875e-02 1.74960937e-03 7.07095076e+01] [ 8.73450445e-02 9.96178106e-01 1.58118489e-04 2.22581076e+00] [-1.75673343e-03 -4.69422576e-06 9.99998457e-01 -9.32451891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50589822699999 meters 0.009995863275146582 Centerline is valid? [True, True] Translation: X:70.74, Y:2.22, Z:-0.93 [[ 9.95894653e-01 -9.05140242e-02 1.02583274e-03 7.07364824e+01] [ 9.05139766e-02 9.95895181e-01 9.28511825e-05 2.22217839e+00] [-1.03002622e-03 3.82204658e-07 9.99999470e-01 -9.34306424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53589822699999 meters 0.010836058675770144 Centerline is valid? [True, True] Translation: X:70.77, Y:2.22, Z:-0.94 [[ 9.95623195e-01 -9.34580772e-02 -2.05303952e-04 7.07651811e+01] [ 9.34580753e-02 9.95623216e-01 -1.88565001e-05 2.21762290e+00] [ 2.06167673e-04 -4.13343319e-07 9.99999979e-01 -9.37619369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56589822699999 meters 0.012108559763331063 Centerline is valid? [True, True] Translation: X:70.79, Y:2.21, Z:-0.94 [[ 9.95352212e-01 -9.62902819e-02 -1.46852575e-03 7.07943592e+01] [ 9.62901886e-02 9.95353295e-01 -1.34238403e-04 2.21367578e+00] [ 1.47462779e-03 -7.79013036e-06 9.99998913e-01 -9.39686669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59589822699999 meters 0.013035194970146454 Centerline is valid? [True, True] Translation: X:70.82, Y:2.21, Z:-0.94 [[ 9.95169486e-01 -9.81415426e-02 -2.43557234e-03 7.08232221e+01] [ 9.81412915e-02 9.95172466e-01 -2.22694078e-04 2.21167344e+00] [ 2.44567007e-03 -1.74118636e-05 9.99997009e-01 -9.40912948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.625898227 meters 0.013087707819836886 Centerline is valid? [True, True] Translation: X:70.85, Y:2.21, Z:-0.94 [[ 9.95201921e-01 -9.77479429e-02 -4.29842493e-03 7.08513420e+01] [ 9.77471595e-02 9.95211203e-01 -3.92456083e-04 2.21031286e+00] [ 4.31620242e-03 -2.95857794e-05 9.99990685e-01 -9.43182379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.655898227 meters 0.01707180090865082 Centerline is valid? [True, True] Translation: X:70.88, Y:2.22, Z:-0.94 [[ 9.95395883e-01 -9.57402510e-02 -4.56521683e-03 7.08801951e+01] [ 9.57393409e-02 9.95406351e-01 -4.17974297e-04 2.21507062e+00] [ 4.58426279e-03 -2.10209561e-05 9.99989492e-01 -9.44019418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.685898227 meters 0.011096937831269513 Centerline is valid? [True, True] Translation: X:70.91, Y:2.22, Z:-0.94 [[ 9.95689205e-01 -9.26628970e-02 -4.07360531e-03 7.09078611e+01] [ 9.26621469e-02 9.95697538e-01 -3.72894596e-04 2.22058984e+00] [ 4.09063227e-03 -6.18188976e-06 9.99991633e-01 -9.44379985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.715898227 meters 0.010541129776257187 Centerline is valid? [True, True] Translation: X:70.94, Y:2.23, Z:-0.94 [[ 9.95943416e-01 -8.99229991e-02 -3.25058883e-03 7.09357330e+01] [ 8.99225032e-02 9.95948721e-01 -2.98675895e-04 2.22775551e+00] [ 3.26427762e-03 5.16320649e-06 9.99994672e-01 -9.40544102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.745898227 meters 0.01238991187796326 Centerline is valid? [True, True] Translation: X:70.96, Y:2.24, Z:-0.94 [[ 9.96401199e-01 -8.47438792e-02 -1.76808763e-03 7.09640836e+01] [ 8.47437233e-02 9.96402767e-01 -1.63018877e-04 2.23669213e+00] [ 1.77554226e-03 1.25978757e-05 9.99998424e-01 -9.38436872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77589822699998 meters 0.013627478760942347 Centerline is valid? [True, True] Translation: X:70.99, Y:2.24, Z:-0.94 [[ 9.96543760e-01 -8.30627827e-02 -1.05320698e-03 7.09912300e+01] [ 8.30627265e-02 9.96544316e-01 -9.70260367e-05 2.24097856e+00] [ 1.05762668e-03 9.20844805e-06 9.99999441e-01 -9.38455742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80589822699999 meters 0.014727009574665877 Centerline is valid? [True, True] Translation: X:71.02, Y:2.24, Z:-0.94 [[ 9.96618128e-01 -8.21718203e-02 3.13931423e-04 7.10193023e+01] [ 8.21718154e-02 9.96618178e-01 2.86646394e-05 2.24489892e+00] [-3.15225188e-04 -2.77138432e-06 9.99999950e-01 -9.36442047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83589822699999 meters 0.014563113180970262 Centerline is valid? [True, True] Translation: X:71.05, Y:2.25, Z:-0.93 [[ 9.96585983e-01 -8.25411290e-02 1.82785264e-03 7.10471971e+01] [ 8.25409600e-02 9.96587659e-01 1.67816820e-04 2.24723856e+00] [-1.83546717e-03 -1.63711784e-05 9.99998315e-01 -9.33447487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86589822699999 meters 0.011954391245294366 Centerline is valid? [True, True] Translation: X:71.08, Y:2.25, Z:-0.93 [[ 9.96326068e-01 -8.55902795e-02 2.94462890e-03 7.10760264e+01] [ 8.55898514e-02 9.96330419e-01 2.71320395e-04 2.24613786e+00] [-2.95704573e-03 -1.82932324e-05 9.99995628e-01 -9.31299659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89589822699999 meters 0.011045486133883337 Centerline is valid? [True, True] Translation: X:71.10, Y:2.25, Z:-0.93 [[ 9.96140605e-01 -8.77348005e-02 2.54939706e-03 7.11037100e+01] [ 8.77344855e-02 9.96143867e-01 2.35368246e-04 2.24660621e+00] [-2.56021624e-03 -1.07898277e-05 9.99996723e-01 -9.32303737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92589822699999 meters 0.010165083870123319 Centerline is valid? [True, True] Translation: X:71.13, Y:2.25, Z:-0.93 [[ 9.95939881e-01 -8.99999441e-02 1.94015087e-03 7.11317878e+01] [ 8.99997658e-02 9.95941770e-01 1.79191596e-04 2.24620237e+00] [-1.94840452e-03 -3.85093313e-06 9.99998102e-01 -9.33693143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95589822699999 meters 0.025576062498331047 Centerline is valid? [True, True] Translation: X:71.16, Y:2.24, Z:-0.94 [[ 9.95493723e-01 -9.48086347e-02 1.88977077e-03 7.11589576e+01] [ 9.48084740e-02 9.95495516e-01 1.74612588e-04 2.24269765e+00] [-1.89781311e-03 5.34054720e-06 9.99998199e-01 -9.35771325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98589822699999 meters 0.011250834025989812 Centerline is valid? [True, True] Translation: X:71.19, Y:2.24, Z:-0.93 [[ 9.95263282e-01 -9.71841367e-02 2.49843122e-03 7.11882223e+01] [ 9.71838628e-02 9.95266418e-01 2.31066968e-04 2.24338026e+00] [-2.50906074e-03 1.28347276e-05 9.99996852e-01 -9.34499775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.015898227 meters 0.01223003041986303 Centerline is valid? [True, True] Translation: X:71.22, Y:2.25, Z:-0.94 [[ 9.95046521e-01 -9.93860115e-02 2.20024806e-03 7.12170341e+01] [ 9.93858038e-02 9.95048954e-01 2.03796797e-04 2.24508136e+00] [-2.20960908e-03 1.58861278e-05 9.99997559e-01 -9.35294218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.045898227 meters 0.013254850595811498 Centerline is valid? [True, True] Translation: X:71.25, Y:2.25, Z:-0.94 [[ 9.94890033e-01 -1.00937150e-01 2.34833854e-03 7.12452277e+01] [ 1.00936916e-01 9.94892804e-01 2.18087091e-04 2.24766277e+00] [-2.35835820e-03 2.00613780e-05 9.99997219e-01 -9.35859429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.075898227 meters 0.014148233223897076 Centerline is valid? [True, True] Translation: X:71.27, Y:2.25, Z:-0.94 [[ 9.94789652e-01 -1.01901768e-01 3.09477950e-03 7.12721632e+01] [ 1.01901367e-01 9.94794466e-01 2.87663074e-04 2.25334956e+00] [-3.10798290e-03 2.91980115e-05 9.99995170e-01 -9.35073770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.105898227 meters 0.014903628224261818 Centerline is valid? [True, True] Translation: X:71.30, Y:2.26, Z:-0.93 [[ 9.94731507e-01 -1.02457709e-01 3.41261592e-03 7.12992184e+01] [ 1.02457223e-01 9.94737361e-01 3.17484358e-04 2.25801702e+00] [-3.42718527e-03 3.38354561e-05 9.99994127e-01 -9.34806922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13589822699998 meters 0.014727031106297668 Centerline is valid? [True, True] Translation: X:71.33, Y:2.26, Z:-0.94 [[ 9.94647239e-01 -1.03283806e-01 3.05375131e-03 7.13276644e+01] [ 1.03283420e-01 9.94651926e-01 2.84216021e-04 2.26419794e+00] [-3.06677453e-03 3.27071976e-05 9.99995297e-01 -9.35761369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16589822699999 meters 0.015943175554733957 Centerline is valid? [True, True] Translation: X:71.35, Y:2.27, Z:-0.94 [[ 9.94515872e-01 -1.04558506e-01 2.38722181e-03 7.13548636e+01] [ 1.04558273e-01 9.94518737e-01 2.22546735e-04 2.26899037e+00] [-2.39740597e-03 2.82775282e-05 9.99997126e-01 -9.37580302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19589822699999 meters 0.019299353261509465 Centerline is valid? [True, True] Translation: X:71.38, Y:2.27, Z:-0.94 [[ 9.94188655e-01 -1.07648955e-01 7.87265266e-04 7.13817016e+01] [ 1.07648931e-01 9.94188967e-01 7.33088174e-05 2.27455389e+00] [-7.90582059e-04 1.18654696e-05 9.99999687e-01 -9.40052039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22589822699999 meters 0.020446928994587135 Centerline is valid? [True, True] Translation: X:71.41, Y:2.28, Z:-0.94 [[ 9.94064052e-01 -1.08795560e-01 4.31316844e-04 7.14095840e+01] [ 1.08795553e-01 9.94064146e-01 4.01216605e-05 2.27944478e+00] [-4.33121669e-04 7.04185413e-06 9.99999906e-01 -9.40560174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25589822699999 meters 0.020824005202742003 Centerline is valid? [True, True] Translation: X:71.44, Y:2.29, Z:-0.94 [[ 9.93973112e-01 -1.09623819e-01 -2.67418156e-04 7.14376023e+01] [ 1.09623816e-01 9.93973148e-01 -2.56188930e-05 2.28522227e+00] [ 2.68614907e-04 -3.85090794e-06 9.99999964e-01 -9.41232810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28589822699999 meters 0.02254584899028168 Centerline is valid? [True, True] Translation: X:71.47, Y:2.29, Z:-0.94 [[ 9.93681173e-01 -1.12210345e-01 -2.56212565e-03 7.14662544e+01] [ 1.12210098e-01 9.93684475e-01 -2.40186651e-04 2.29296350e+00] [ 2.57289590e-03 -4.88274173e-05 9.99996689e-01 -9.43918754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31589822699999 meters 0.029102831398254602 Centerline is valid? [True, True] Translation: X:71.49, Y:2.29, Z:-0.95 [[ 9.93358280e-01 -1.15002537e-01 -3.70734715e-03 7.14949003e+01] [ 1.15002040e-01 9.93365195e-01 -3.47720545e-04 2.29049693e+00] [ 3.72273836e-03 -8.09414029e-05 9.99993067e-01 -9.47995846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34589822699999 meters 0.030096553405505207 Centerline is valid? [True, True] Translation: X:71.52, Y:2.29, Z:-0.95 [[ 9.92910553e-01 -1.18797203e-01 -3.98225164e-03 7.15240598e+01] [ 1.18796659e-01 9.92918533e-01 -3.73582487e-04 2.29468155e+00] [ 3.99843201e-03 -1.02144198e-04 9.99992001e-01 -9.47299308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.375898227 meters 0.03379339804393618 Centerline is valid? [True, True] Translation: X:71.55, Y:2.29, Z:-0.95 [[ 9.92397086e-01 -1.23030970e-01 -3.37705417e-03 7.15547865e+01] [ 1.23030604e-01 9.92402827e-01 -3.16704497e-04 2.29464093e+00] [ 3.39036257e-03 -1.01184394e-04 9.99994248e-01 -9.46058133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.405898227 meters 0.041644514257884804 Centerline is valid? [True, True] Translation: X:71.59, Y:2.29, Z:-0.94 [[ 9.91488968e-01 -1.30165213e-01 -2.57754684e-03 7.15856498e+01] [ 1.30165024e-01 9.91492314e-01 -2.41721145e-04 2.29053861e+00] [ 2.58708156e-03 -9.58425972e-05 9.99996649e-01 -9.42621519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.435898227 meters 0.04470214699629008 Centerline is valid? [True, True] Translation: X:71.61, Y:2.29, Z:-0.94 [[ 9.91244445e-01 -1.32016849e-01 -2.44998475e-03 7.16145534e+01] [ 1.32016683e-01 9.91247468e-01 -2.29969634e-04 2.29053947e+00] [ 2.45890105e-03 -9.54827373e-05 9.99996972e-01 -9.42388689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.465898227 meters 0.04438488005328463 Centerline is valid? [True, True] Translation: X:71.64, Y:2.30, Z:-0.94 [[ 9.91032805e-01 -1.33597189e-01 -2.40203085e-03 7.16429964e+01] [ 1.33597032e-01 9.91035712e-01 -2.26311645e-04 2.29504593e+00] [ 2.41073295e-03 -9.66219293e-05 9.99997090e-01 -9.42325738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.495898227 meters 0.046505925787253405 Centerline is valid? [True, True] Translation: X:71.67, Y:2.30, Z:-0.94 [[ 9.90853251e-01 -1.34931296e-01 -1.83839322e-03 7.16703628e+01] [ 1.34931206e-01 9.90854954e-01 -1.73316185e-04 2.29600408e+00] [ 1.84496681e-03 -7.63257090e-05 9.99998295e-01 -9.42184126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52589822699998 meters 0.04406689785329895 Centerline is valid? [True, True] Translation: X:71.70, Y:2.30, Z:-0.94 [[ 9.90872129e-01 -1.34802056e-01 -9.11006473e-04 7.16991468e+01] [ 1.34802033e-01 9.90872547e-01 -8.64366262e-05 2.30208622e+00] [ 9.14343139e-04 -3.71578808e-05 9.99999581e-01 -9.40487713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55589822699999 meters 0.044652084173817295 Centerline is valid? [True, True] Translation: X:71.73, Y:2.30, Z:-0.94 [[ 9.91011862e-01 -1.33772174e-01 -7.03805377e-04 7.17272113e+01] [ 1.33772160e-01 9.91012111e-01 -6.70210827e-05 2.30457471e+00] [ 7.06445208e-04 -2.77308775e-05 9.99999750e-01 -9.39238012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58589822699999 meters 0.04321300450634161 Centerline is valid? [True, True] Translation: X:71.76, Y:2.31, Z:-0.94 [[ 9.91282899e-01 -1.31750154e-01 -3.34454938e-04 7.17565107e+01] [ 1.31750150e-01 9.91282955e-01 -3.16651203e-05 2.30992121e+00] [ 3.35711363e-04 -1.26753961e-05 9.99999944e-01 -9.38558809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61589822699999 meters 0.03922034303029552 Centerline is valid? [True, True] Translation: X:71.78, Y:2.32, Z:-0.94 [[ 9.91932537e-01 -1.26765813e-01 -5.19901349e-04 7.17847058e+01] [ 1.26765805e-01 9.91932673e-01 -4.91559719e-05 2.31876782e+00] [ 5.21938432e-04 -1.71463051e-05 9.99999864e-01 -9.39042964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64589822699999 meters 0.036507788070687455 Centerline is valid? [True, True] Translation: X:71.81, Y:2.33, Z:-0.94 [[ 9.92184732e-01 -1.24777624e-01 4.38545103e-05 7.18127427e+01] [ 1.24777624e-01 9.92184733e-01 3.98611344e-06 2.32503013e+00] [-4.40091534e-05 1.51710069e-06 9.99999999e-01 -9.37671250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67589822699999 meters 0.03462782421417751 Centerline is valid? [True, True] Translation: X:71.84, Y:2.33, Z:-0.94 [[ 9.92434964e-01 -1.22766485e-01 1.10982548e-03 7.18403265e+01] [ 1.22766445e-01 9.92435584e-01 1.04743578e-04 2.32996124e+00] [-1.11428930e-03 3.22981402e-05 9.99999379e-01 -9.36091625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70589822699999 meters 0.03264971943030138 Centerline is valid? [True, True] Translation: X:71.87, Y:2.34, Z:-0.93 [[ 9.92675353e-01 -1.20782399e-01 2.69361394e-03 7.18686889e+01] [ 1.20782152e-01 9.92679005e-01 2.54662649e-04 2.33535821e+00] [-2.70465277e-03 7.25431536e-05 9.99996340e-01 -9.33656707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73589822699999 meters 0.027961567906359352 Centerline is valid? [True, True] Translation: X:71.90, Y:2.34, Z:-0.93 [[ 9.92803153e-01 -1.19687290e-01 4.10506025e-03 7.18972554e+01] [ 1.19686706e-01 9.92811634e-01 3.88447290e-04 2.34393627e+00] [-4.12204378e-03 1.05669446e-04 9.99991499e-01 -9.32937802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.765898227 meters 0.03350418950080083 Centerline is valid? [True, True] Translation: X:71.93, Y:2.34, Z:-0.93 [[ 9.92647392e-01 -1.20963865e-01 4.34728539e-03 7.19256809e+01] [ 1.20963220e-01 9.92656904e-01 4.11996255e-04 2.33814549e+00] [-4.36519951e-03 1.16894631e-04 9.99990466e-01 -9.32565065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.795898227 meters 0.03178174116550967 Centerline is valid? [True, True] Translation: X:71.96, Y:2.34, Z:-0.93 [[ 9.92323620e-01 -1.23583820e-01 4.56868048e-03 7.19550709e+01] [ 1.23583134e-01 9.92334128e-01 4.33222274e-04 2.34118309e+00] [-4.58719682e-03 1.34715155e-04 9.99989470e-01 -9.33297066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.825898227 meters 0.04554018389933753 Centerline is valid? [True, True] Translation: X:71.99, Y:2.32, Z:-0.93 [[ 9.91401089e-01 -1.30792206e-01 4.15686797e-03 7.19864507e+01] [ 1.30791701e-01 9.91409792e-01 3.94256319e-04 2.32029445e+00] [-4.17272527e-03 1.52817690e-04 9.99991282e-01 -9.34560427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.855898227 meters 0.045425797928410075 Centerline is valid? [True, True] Translation: X:72.02, Y:2.32, Z:-0.94 [[ 9.90928022e-01 -1.34344570e-01 3.63205805e-03 7.20164083e+01] [ 1.34344208e-01 9.90934667e-01 3.44518549e-04 2.32044965e+00] [-3.64541643e-03 1.46552877e-04 9.99993345e-01 -9.35218115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88589822699998 meters 0.05415882023259254 Centerline is valid? [True, True] Translation: X:72.05, Y:2.31, Z:-0.94 [[ 9.90474831e-01 -1.37663798e-01 2.87887835e-03 7.20470918e+01] [ 1.37663584e-01 9.90479007e-01 2.73108663e-04 2.30958100e+00] [-2.88906574e-03 1.25809454e-04 9.99995819e-01 -9.35742891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91589822699999 meters 0.04785438160454925 Centerline is valid? [True, True] Translation: X:72.08, Y:2.32, Z:-0.94 [[ 9.90052514e-01 -1.40676235e-01 2.49347226e-03 7.20768790e+01] [ 1.40676084e-01 9.90055647e-01 2.36592656e-04 2.31861452e+00] [-2.50195926e-03 1.16532761e-04 9.99996863e-01 -9.36099061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94589822699999 meters 0.050105481119515204 Centerline is valid? [True, True] Translation: X:72.11, Y:2.32, Z:-0.94 [[ 9.89551532e-01 -1.44170540e-01 1.61892920e-03 7.21073128e+01] [ 1.44170481e-01 9.89552853e-01 1.53595319e-04 2.31637938e+00] [-1.62415993e-03 8.14113185e-05 9.99998678e-01 -9.37044170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97589822699999 meters 0.05722696409745019 Centerline is valid? [True, True] Translation: X:72.14, Y:2.31, Z:-0.94 [[ 9.89469190e-01 -1.44743029e-01 4.21058023e-04 7.21359909e+01] [ 1.44743025e-01 9.89469280e-01 3.96823541e-05 2.31001184e+00] [-4.22367722e-04 2.16807451e-05 9.99999911e-01 -9.39195974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00589822699999 meters 0.06580566798912309 Centerline is valid? [True, True] Translation: X:72.16, Y:2.30, Z:-0.94 [[ 9.89500338e-01 -1.44527390e-01 -9.56559172e-04 7.21648603e+01] [ 1.44527369e-01 9.89500799e-01 -9.11089411e-05 2.30326839e+00] [ 9.59683803e-04 -4.80966528e-05 9.99999538e-01 -9.42991823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03589822699999 meters 0.05611354378417031 Centerline is valid? [True, True] Translation: X:72.19, Y:2.32, Z:-0.94 [[ 9.89766778e-01 -1.42683106e-01 -1.80478735e-03 7.21936390e+01] [ 1.42683030e-01 9.89768419e-01 -1.71689551e-04 2.31951926e+00] [ 1.81081873e-03 -8.75799147e-05 9.99998357e-01 -9.43088759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06589822699999 meters 0.04763555564017357 Centerline is valid? [True, True] Translation: X:72.22, Y:2.34, Z:-0.94 [[ 9.90640984e-01 -1.36489791e-01 -9.88404597e-04 7.22226286e+01] [ 1.36489765e-01 9.90641477e-01 -9.39910895e-05 2.33822104e+00] [ 9.91983414e-04 -4.17956863e-05 9.99999507e-01 -9.41049490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09589822699999 meters 0.037561666706751276 Centerline is valid? [True, True] Translation: X:72.25, Y:2.36, Z:-0.94 [[ 9.91097762e-01 -1.33134203e-01 -7.13981605e-04 7.22511661e+01] [ 1.33134189e-01 9.91098019e-01 -6.79349865e-05 2.35764881e+00] [ 7.16670225e-04 -2.77251486e-05 9.99999743e-01 -9.38479218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.125898227 meters 0.03969488948929151 Centerline is valid? [True, True] Translation: X:72.28, Y:2.36, Z:-0.94 [[ 9.91488981e-01 -1.30185739e-01 -1.12829280e-03 7.22799018e+01] [ 1.30185701e-01 9.91489623e-01 -1.07402355e-04 2.36214743e+00] [ 1.13267285e-03 -4.03993374e-05 9.99999358e-01 -9.39453391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.155898227 meters 0.03969488948929151 Centerline is valid? [True, True] Translation: X:72.31, Y:2.36, Z:-0.94 [[ 9.91464681e-01 -1.30370676e-01 -1.12821962e-03 7.23072630e+01] [ 1.30370637e-01 9.91465322e-01 -1.08170901e-04 2.36492842e+00] [ 1.13269294e-03 -3.98390832e-05 9.99999358e-01 -9.39548657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.185898227 meters 0.03927583054454715 Centerline is valid? [True, True] Translation: X:72.33, Y:2.37, Z:-0.94 [[ 9.91658783e-01 -1.28872305e-01 -2.18773093e-03 7.23346648e+01] [ 1.28872157e-01 9.91661194e-01 -2.08980705e-04 2.37360496e+00] [ 2.19641969e-03 -7.47000530e-05 9.99997585e-01 -9.41516415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.215898227 meters 0.03864444649996972 Centerline is valid? [True, True] Translation: X:72.36, Y:2.39, Z:-0.95 [[ 9.91699773e-01 -1.28525490e-01 -3.57194366e-03 7.23623706e+01] [ 1.28525092e-01 9.91706198e-01 -3.41866847e-04 2.38686123e+00] [ 3.58625728e-03 -1.20055112e-04 9.99993562e-01 -9.45778272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.245898227 meters 0.036731253660266104 Centerline is valid? [True, True] Translation: X:72.39, Y:2.40, Z:-0.95 [[ 9.91576755e-01 -1.29468021e-01 -3.68382671e-03 7.23898455e+01] [ 1.29467604e-01 9.91583590e-01 -3.52432661e-04 2.39735545e+00] [ 3.69845087e-03 -1.27472182e-04 9.99993153e-01 -9.46375837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27589822699998 meters 0.03791135648745078 Centerline is valid? [True, True] Translation: X:72.42, Y:2.40, Z:-0.95 [[ 9.91389600e-01 -1.30907765e-01 -3.13344359e-03 7.24170063e+01] [ 1.30907470e-01 9.91394545e-01 -3.00082096e-04 2.40167575e+00] [ 3.14576196e-03 -1.12692902e-04 9.99995046e-01 -9.45705199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30589822699999 meters 0.039339122809567965 Centerline is valid? [True, True] Translation: X:72.45, Y:2.41, Z:-0.94 [[ 9.91100438e-01 -1.33099185e-01 -2.12787238e-03 7.24464194e+01] [ 1.33099054e-01 9.91102719e-01 -2.03744286e-04 2.40637802e+00] [ 2.13605830e-03 -8.12867491e-05 9.99997715e-01 -9.43834017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33589822699999 meters 0.05103248948687844 Centerline is valid? [True, True] Translation: X:72.48, Y:2.40, Z:-0.94 [[ 9.90229987e-01 -1.39430435e-01 -1.93047455e-03 7.24763703e+01] [ 1.39430339e-01 9.90231865e-01 -1.84712916e-04 2.40038980e+00] [ 1.93737202e-03 -8.62584539e-05 9.99998120e-01 -9.43178495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36589822699999 meters 0.04887271782732248 Centerline is valid? [True, True] Translation: X:72.51, Y:2.41, Z:-0.94 [[ 9.89713524e-01 -1.43035573e-01 -2.82237409e-03 7.25056597e+01] [ 1.43035383e-01 9.89717539e-01 -2.70131291e-04 2.40909972e+00] [ 2.83199152e-03 -1.36346767e-04 9.99995981e-01 -9.43491802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39589822699999 meters 0.051349104855765645 Centerline is valid? [True, True] Translation: X:72.54, Y:2.41, Z:-0.95 [[ 9.89214080e-01 -1.46433090e-01 -3.58514605e-03 7.25363355e+01] [ 1.46432805e-01 9.89220560e-01 -3.43146391e-04 2.41128894e+00] [ 3.59674817e-03 -1.85537751e-04 9.99993514e-01 -9.45364303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42589822699999 meters 0.06093836530199417 Centerline is valid? [True, True] Translation: X:72.57, Y:2.41, Z:-0.95 [[ 9.88422938e-01 -1.51686633e-01 -3.35567207e-03 7.25660942e+01] [ 1.51686414e-01 9.88428616e-01 -3.21158730e-04 2.40636032e+00] [ 3.36555779e-03 -1.91569209e-04 9.99994318e-01 -9.46145713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45589822699999 meters 0.0638622432911659 Centerline is valid? [True, True] Translation: X:72.59, Y:2.41, Z:-0.94 [[ 9.88172633e-01 -1.53337282e-01 -1.58892965e-03 7.25941896e+01] [ 1.53337235e-01 9.88173906e-01 -1.52303996e-04 2.40738557e+00] [ 1.59349270e-03 -9.31394384e-05 9.99998726e-01 -9.43618952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48589822699999 meters 0.06437236156053625 Centerline is valid? [True, True] Translation: X:72.62, Y:2.41, Z:-0.94 [[ 9.87982406e-01 -1.54566052e-01 3.17635066e-04 7.26231599e+01] [ 1.54566050e-01 9.87982457e-01 3.02708108e-05 2.41162382e+00] [-3.18496712e-04 1.91885689e-05 9.99999949e-01 -9.39458662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.515898227 meters 0.06310197530168996 Centerline is valid? [True, True] Translation: X:72.65, Y:2.42, Z:-0.94 [[ 9.87840075e-01 -1.55462615e-01 1.83324013e-03 7.26519225e+01] [ 1.55462556e-01 9.87841770e-01 1.75360475e-04 2.41776240e+00] [-1.83821317e-03 1.11772092e-04 9.99998304e-01 -9.36382808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.545898227 meters 0.06434254637781602 Centerline is valid? [True, True] Translation: X:72.68, Y:2.42, Z:-0.94 [[ 9.87633044e-01 -1.56765951e-01 2.32547007e-03 7.26809840e+01] [ 1.56765859e-01 9.87635771e-01 2.23119367e-04 2.42159455e+00] [-2.33169495e-03 1.44194253e-04 9.99997271e-01 -9.36409399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.575898227 meters 0.06389687351991823 Centerline is valid? [True, True] Translation: X:72.71, Y:2.43, Z:-0.94 [[ 9.87565160e-01 -1.57198005e-01 1.96013514e-03 7.27093829e+01] [ 1.57197940e-01 9.87567098e-01 1.87925902e-04 2.42612888e+00] [-1.96530654e-03 1.22540132e-04 9.99998061e-01 -9.38165031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.605898227 meters 0.06695272921254938 Centerline is valid? [True, True] Translation: X:72.74, Y:2.43, Z:-0.94 [[ 9.87541857e-01 -1.57351177e-01 1.29936357e-03 7.27358219e+01] [ 1.57351149e-01 9.87542708e-01 1.24674614e-04 2.42824088e+00] [-1.30279472e-03 8.13349515e-05 9.99999148e-01 -9.41112739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63589822699998 meters 0.07001168218119527 Centerline is valid? [True, True] Translation: X:72.76, Y:2.43, Z:-0.94 [[ 9.87670959e-01 -1.56538493e-01 1.33320223e-03 7.27641790e+01] [ 1.56538462e-01 9.87671855e-01 1.28248386e-04 2.42669758e+00] [-1.33684213e-03 8.20302196e-05 9.99999103e-01 -9.39939395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66589822699999 meters 0.0761400268170632 Centerline is valid? [True, True] Translation: X:72.79, Y:2.43, Z:-0.94 [[ 9.87919945e-01 -1.54949612e-01 2.19088244e-03 7.27933780e+01] [ 1.54949524e-01 9.87922366e-01 2.11050490e-04 2.42694481e+00] [-2.19712395e-03 1.30975202e-04 9.99997578e-01 -9.37835485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69589822699999 meters 0.0595788061362668 Centerline is valid? [True, True] Translation: X:72.82, Y:2.46, Z:-0.94 [[ 9.87961349e-01 -1.54685174e-01 2.20671012e-03 7.28192061e+01] [ 1.54685084e-01 9.87963805e-01 2.12444163e-04 2.45557410e+00] [-2.21301168e-03 1.31458517e-04 9.99997543e-01 -9.37932768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72589822699999 meters 0.06143490415515807 Centerline is valid? [True, True] Translation: X:72.85, Y:2.46, Z:-0.94 [[ 9.87949139e-01 -1.54761647e-01 2.30915276e-03 7.28465666e+01] [ 1.54761548e-01 9.87951828e-01 2.22813985e-04 2.45590886e+00] [-2.31581475e-03 1.37239171e-04 9.99997309e-01 -9.37239160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75589822699999 meters 0.06618215624061087 Centerline is valid? [True, True] Translation: X:72.88, Y:2.46, Z:-0.94 [[ 9.87622538e-01 -1.56845334e-01 1.12368776e-03 7.28757928e+01] [ 1.56845312e-01 9.87623175e-01 1.08512303e-04 2.45529123e+00] [-1.12679973e-03 6.90759620e-05 9.99999363e-01 -9.40912232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78589822699999 meters 0.06161543072697553 Centerline is valid? [True, True] Translation: X:72.90, Y:2.46, Z:-0.94 [[ 9.87408331e-01 -1.58192236e-01 -5.88708814e-05 7.29048701e+01] [ 1.58192236e-01 9.87408333e-01 -5.77243299e-06 2.46493408e+00] [ 5.90427530e-05 -3.61316795e-06 9.99999998e-01 -9.42218537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81589822699999 meters 0.06384285381614008 Centerline is valid? [True, True] Translation: X:72.93, Y:2.47, Z:-0.94 [[ 9.87276442e-01 -1.59013047e-01 -2.78631521e-04 7.29325315e+01] [ 1.59013045e-01 9.87276481e-01 -2.71542585e-05 2.46546593e+00] [ 2.79404229e-04 -1.74972868e-05 9.99999961e-01 -9.43684495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84589822699999 meters 0.06834056813016162 Centerline is valid? [True, True] Translation: X:72.96, Y:2.46, Z:-0.94 [[ 9.87261029e-01 -1.59107666e-01 -6.42013713e-04 7.29606478e+01] [ 1.59107659e-01 9.87261236e-01 -6.23351973e-05 2.46354200e+00] [ 6.43753260e-04 -4.06081880e-05 9.99999792e-01 -9.43962666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.875898227 meters 0.05960218581599051 Centerline is valid? [True, True] Translation: X:72.99, Y:2.48, Z:-0.94 [[ 9.87753573e-01 -1.56017622e-01 -1.17527618e-03 7.29891594e+01] [ 1.56017597e-01 9.87754269e-01 -1.13757748e-04 2.48126568e+00] [ 1.17863227e-03 -7.09991427e-05 9.99999303e-01 -9.41902051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.905898227 meters 0.0648410931889246 Centerline is valid? [True, True] Translation: X:73.02, Y:2.48, Z:-0.94 [[ 9.88199144e-01 -1.53166063e-01 -1.61530174e-03 7.30190249e+01] [ 1.53166011e-01 9.88200460e-01 -1.56412906e-04 2.47975273e+00] [ 1.62019907e-03 -9.28422237e-05 9.99998683e-01 -9.42993122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.935898227 meters 0.06318713840110553 Centerline is valid? [True, True] Translation: X:73.05, Y:2.49, Z:-0.94 [[ 9.88674051e-01 -1.50067294e-01 -1.85155867e-03 7.30482453e+01] [ 1.50067221e-01 9.88675780e-01 -1.79183506e-04 2.49171850e+00] [ 1.85748080e-03 -1.00704181e-04 9.99998270e-01 -9.44248355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.965898227 meters 0.05355636789026851 Centerline is valid? [True, True] Translation: X:73.08, Y:2.51, Z:-0.94 [[ 9.89261391e-01 -1.46148077e-01 -1.62458049e-03 7.30774937e+01] [ 1.46148016e-01 9.89262722e-01 -1.57258724e-04 2.50705574e+00] [ 1.63011998e-03 -8.18592310e-05 9.99998668e-01 -9.42311324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.995898227 meters 0.04776400518728564 Centerline is valid? [True, True] Translation: X:73.11, Y:2.53, Z:-0.94 [[ 9.90137134e-01 -1.40101385e-01 -2.41571896e-04 7.31056680e+01] [ 1.40101384e-01 9.90137163e-01 -2.33882297e-05 2.52747680e+00] [ 2.42466035e-04 -1.06870023e-05 9.99999971e-01 -9.40729848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02589822699998 meters 0.04603542365605682 Centerline is valid? [True, True] Translation: X:73.13, Y:2.54, Z:-0.94 [[ 9.90312942e-01 -1.38853287e-01 2.03436379e-04 7.31339924e+01] [ 1.38853285e-01 9.90312963e-01 1.94208491e-05 2.53894006e+00] [-2.04162332e-04 9.01509133e-06 9.99999979e-01 -9.41488222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05589822699999 meters 0.04178734721663106 Centerline is valid? [True, True] Translation: X:73.16, Y:2.55, Z:-0.94 [[ 9.90332633e-01 -1.38712784e-01 2.01224959e-04 7.31618502e+01] [ 1.38712783e-01 9.90332653e-01 1.89421502e-05 2.55058702e+00] [-2.01907166e-04 9.15344452e-06 9.99999980e-01 -9.41269970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08589822699999 meters 0.04894001461355354 Centerline is valid? [True, True] Translation: X:73.19, Y:2.55, Z:-0.94 [[ 9.89825313e-01 -1.42287819e-01 1.64327005e-04 7.31904262e+01] [ 1.42287818e-01 9.89825326e-01 1.59048161e-05 2.55290204e+00] [-1.64918093e-04 7.63874135e-06 9.99999986e-01 -9.41917671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11589822699999 meters 0.05136043963090501 Centerline is valid? [True, True] Translation: X:73.22, Y:2.56, Z:-0.94 [[ 9.89338955e-01 -1.45631149e-01 -2.98374253e-05 7.32199211e+01] [ 1.45631149e-01 9.89338955e-01 -2.91922043e-06 2.55799690e+00] [ 2.99444566e-05 -1.45716005e-06 1.00000000e+00 -9.41923733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14589822699999 meters 0.060194899971468055 Centerline is valid? [True, True] Translation: X:73.25, Y:2.55, Z:-0.94 [[ 9.88726220e-01 -1.49734620e-01 7.20463289e-05 7.32496585e+01] [ 1.49734620e-01 9.88726223e-01 6.95422249e-06 2.55433025e+00] [-7.22753825e-05 3.91200759e-06 9.99999997e-01 -9.42786556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17589822699999 meters 0.07210938301434106 Centerline is valid? [True, True] Translation: X:73.28, Y:2.56, Z:-0.95 [[ 9.87071414e-01 -1.60280348e-01 4.84329165e-04 7.32802107e+01] [ 1.60280344e-01 9.87071532e-01 4.69996060e-05 2.55666100e+00] [-4.85600644e-04 3.12364775e-05 9.99999882e-01 -9.45021748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20589822699999 meters 0.07879477166287494 Centerline is valid? [True, True] Translation: X:73.31, Y:2.55, Z:-0.94 [[ 9.86369242e-01 -1.64544499e-01 9.09259142e-04 7.33103574e+01] [ 1.64544487e-01 9.86369659e-01 8.82224150e-05 2.55062757e+00] [-9.11382143e-04 6.25937027e-05 9.99999583e-01 -9.42785652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23589822699999 meters 0.07268607530796468 Centerline is valid? [True, True] Translation: X:73.34, Y:2.57, Z:-0.94 [[ 9.85679974e-01 -1.68622862e-01 1.14877041e-03 7.33394461e+01] [ 1.68622846e-01 9.85680640e-01 1.11556717e-04 2.56607253e+00] [-1.15113177e-03 8.37497144e-05 9.99999334e-01 -9.41407251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.265898227 meters 0.07630427636228446 Centerline is valid? [True, True] Translation: X:73.37, Y:2.57, Z:-0.94 [[ 9.85028573e-01 -1.72386706e-01 1.23857550e-03 7.33694779e+01] [ 1.72386691e-01 9.85029347e-01 1.20250474e-04 2.56785648e+00] [-1.24076280e-03 9.50637794e-05 9.99999226e-01 -9.41252388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.295898227 meters 0.0835061175051082 Centerline is valid? [True, True] Translation: X:73.40, Y:2.57, Z:-0.94 [[ 9.83731357e-01 -1.79637575e-01 1.71985978e-03 7.33998292e+01] [ 1.79637556e-01 9.83732850e-01 1.67019652e-04 2.56500599e+00] [-1.72188557e-03 1.44648938e-04 9.99998507e-01 -9.42153933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.325898227 meters 0.07913173520123425 Centerline is valid? [True, True] Translation: X:73.43, Y:2.57, Z:-0.94 [[ 9.83181957e-01 -1.82620190e-01 1.76220593e-03 7.34299289e+01] [ 1.82620174e-01 9.83183524e-01 1.71148545e-04 2.57409246e+00] [-1.76382702e-03 1.53544192e-04 9.99998433e-01 -9.42835436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.355898227 meters 0.08915636657784277 Centerline is valid? [True, True] Translation: X:73.46, Y:2.57, Z:-0.95 [[ 9.82709529e-01 -1.85150584e-01 1.11491665e-03 7.34599151e+01] [ 1.85150579e-01 9.82710156e-01 1.08275027e-04 2.56864741e+00] [-1.11568710e-03 1.00024563e-04 9.99999373e-01 -9.45765024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38589822699998 meters 0.09145493740914275 Centerline is valid? [True, True] Translation: X:73.49, Y:2.57, Z:-0.95 [[ 9.82656165e-01 -1.85436806e-01 -2.26613907e-04 7.34881426e+01] [ 1.85436806e-01 9.82656191e-01 -2.23241614e-05 2.56697971e+00] [ 2.26823280e-04 -2.00855843e-05 9.99999974e-01 -9.46219497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41589822699999 meters 0.0808719123978047 Centerline is valid? [True, True] Translation: X:73.52, Y:2.59, Z:-0.95 [[ 9.83292951e-01 -1.82003868e-01 -3.09265867e-03 7.35167936e+01] [ 1.82003816e-01 9.83297778e-01 -3.00646404e-04 2.58742927e+00] [ 3.09572321e-03 -2.67252190e-04 9.99995173e-01 -9.47900497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44589822699999 meters 0.08943353366671962 Centerline is valid? [True, True] Translation: X:73.55, Y:2.58, Z:-0.95 [[ 9.83851535e-01 -1.78961732e-01 -2.97571834e-03 7.35469256e+01] [ 1.78961669e-01 9.83856004e-01 -2.89396257e-04 2.58048227e+00] [ 2.97946922e-03 -2.47816571e-04 9.99995531e-01 -9.47523835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47589822699999 meters 0.07679142528975899 Centerline is valid? [True, True] Translation: X:73.58, Y:2.60, Z:-0.94 [[ 9.84951615e-01 -1.72830191e-01 -2.00523546e-04 7.35752439e+01] [ 1.72830191e-01 9.84951636e-01 -1.95038648e-05 2.60114165e+00] [ 2.00876851e-04 -1.54461595e-05 9.99999980e-01 -9.42177847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50589822699999 meters 0.07648535966075268 Centerline is valid? [True, True] Translation: X:73.60, Y:2.61, Z:-0.94 [[ 9.85272570e-01 -1.70988550e-01 9.37641915e-04 7.36047156e+01] [ 1.70988541e-01 9.85273013e-01 9.11437016e-05 2.60603262e+00] [-9.39417804e-04 7.05246337e-05 9.99999556e-01 -9.41739496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53589822699999 meters 0.07458642341820963 Centerline is valid? [True, True] Translation: X:73.63, Y:2.61, Z:-0.94 [[ 9.85450154e-01 -1.69958567e-01 1.44207676e-03 7.36341494e+01] [ 1.69958543e-01 9.85451203e-01 1.40184363e-04 2.60976697e+00] [-1.44492181e-03 1.06948562e-04 9.99998950e-01 -9.41259725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56589822699999 meters 0.07563863846989309 Centerline is valid? [True, True] Translation: X:73.66, Y:2.61, Z:-0.94 [[ 9.85305333e-01 -1.70797324e-01 1.29397358e-03 7.36632674e+01] [ 1.70797305e-01 9.85306178e-01 1.25514520e-04 2.61024530e+00] [-1.29639771e-03 9.73370748e-05 9.99999155e-01 -9.42553052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59589822699999 meters 0.08030761016708327 Centerline is valid? [True, True] Translation: X:73.69, Y:2.61, Z:-0.95 [[ 9.85022886e-01 -1.72423413e-01 2.83061482e-04 7.36927980e+01] [ 1.72423412e-01 9.85022927e-01 2.75470093e-05 2.60551721e+00] [-2.83571798e-04 2.16719918e-05 9.99999960e-01 -9.45205281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.625898227 meters 0.0764743800302302 Centerline is valid? [True, True] Translation: X:73.72, Y:2.61, Z:-0.95 [[ 9.84350032e-01 -1.76222092e-01 -8.88397005e-04 7.37224841e+01] [ 1.76222085e-01 9.84350430e-01 -8.66049294e-05 2.61076322e+00] [ 8.89755675e-04 -7.13056072e-05 9.99999602e-01 -9.45603752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.655898227 meters 0.07711113464723568 Centerline is valid? [True, True] Translation: X:73.75, Y:2.61, Z:-0.94 [[ 9.84075526e-01 -1.77750367e-01 -4.07420188e-04 7.37523899e+01] [ 1.77750366e-01 9.84075610e-01 -3.97458283e-05 2.61221802e+00] [ 4.07997106e-04 -3.33061907e-05 9.99999916e-01 -9.44208551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.685898227 meters 0.08500454156569509 Centerline is valid? [True, True] Translation: X:73.78, Y:2.60, Z:-0.94 [[ 9.83998443e-01 -1.78176768e-01 3.21958112e-04 7.37807935e+01] [ 1.78176767e-01 9.83998495e-01 3.10929787e-05 2.60418990e+00] [-3.22346344e-04 2.67700128e-05 9.99999948e-01 -9.43130029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.715898227 meters 0.07879049753793294 Centerline is valid? [True, True] Translation: X:73.81, Y:2.61, Z:-0.94 [[ 9.84143317e-01 -1.77370417e-01 1.29107663e-03 7.38090419e+01] [ 1.77370403e-01 9.84144158e-01 1.25840938e-04 2.61413554e+00] [-1.29292599e-03 1.05153265e-04 9.99999159e-01 -9.41533373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.745898227 meters 0.0734137115441081 Centerline is valid? [True, True] Translation: X:73.84, Y:2.62, Z:-0.94 [[ 9.84156499e-01 -1.77290156e-01 2.04575817e-03 7.38375155e+01] [ 1.77290122e-01 9.84158612e-01 1.99434105e-04 2.62384217e+00] [-2.04870822e-03 1.66418345e-04 9.99997888e-01 -9.40983737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77589822699998 meters 0.08028819461742542 Centerline is valid? [True, True] Translation: X:73.87, Y:2.62, Z:-0.94 [[ 9.84189903e-01 -1.77096697e-01 2.64462596e-03 7.38659323e+01] [ 1.77096638e-01 9.84193433e-01 2.58437885e-04 2.61792444e+00] [-2.64859200e-03 2.14002409e-04 9.99996470e-01 -9.41514363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80589822699999 meters 0.08074890608429529 Centerline is valid? [True, True] Translation: X:73.89, Y:2.62, Z:-0.94 [[ 9.84227385e-01 -1.76885923e-01 2.79720410e-03 7.38948592e+01] [ 1.76885855e-01 9.84231334e-01 2.73550178e-04 2.62041818e+00] [-2.80148310e-03 2.25550262e-04 9.99996050e-01 -9.41597067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83589822699999 meters 0.07937101659197708 Centerline is valid? [True, True] Translation: X:73.92, Y:2.63, Z:-0.94 [[ 9.84350307e-01 -1.76215688e-01 1.58274357e-03 7.39229824e+01] [ 1.76215665e-01 9.84351571e-01 1.55011063e-04 2.62640160e+00] [-1.58529150e-03 1.26319024e-04 9.99998735e-01 -9.43464697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86589822699999 meters 0.08088867116225956 Centerline is valid? [True, True] Translation: X:73.95, Y:2.63, Z:-0.94 [[ 9.84399311e-01 -1.75946965e-01 8.13549381e-04 7.39505655e+01] [ 1.75946959e-01 9.84399645e-01 7.96097984e-05 2.62819568e+00] [-8.14864825e-04 6.47737091e-05 9.99999666e-01 -9.44122702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89589822699999 meters 0.08759853208967865 Centerline is valid? [True, True] Translation: X:73.98, Y:2.62, Z:-0.95 [[ 9.84429941e-01 -1.75777353e-01 1.16468686e-04 7.39789182e+01] [ 1.75777353e-01 9.84429948e-01 1.11453356e-05 2.62363723e+00] [-1.16614360e-04 9.50075523e-06 9.99999993e-01 -9.45585287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92589822699999 meters 0.0802495287153241 Centerline is valid? [True, True] Translation: X:74.01, Y:2.64, Z:-0.95 [[ 9.84395814e-01 -1.75968189e-01 -2.79322700e-04 7.40060278e+01] [ 1.75968188e-01 9.84395853e-01 -2.76360620e-05 2.63756043e+00] [ 2.79827175e-04 -2.19470855e-05 9.99999961e-01 -9.46489091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95589822699999 meters 0.09106517925049684 Centerline is valid? [True, True] Translation: X:74.04, Y:2.63, Z:-0.95 [[ 9.84147230e-01 -1.77353046e-01 -3.57443233e-04 7.40361951e+01] [ 1.77353045e-01 9.84147294e-01 -3.51382142e-05 2.62972035e+00] [ 3.58008660e-04 -2.88124696e-05 9.99999935e-01 -9.48227490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98589822699999 meters 0.08354266141624 Centerline is valid? [True, True] Translation: X:74.07, Y:2.65, Z:-0.95 [[ 9.83919266e-01 -1.78613768e-01 1.83752812e-05 7.40651998e+01] [ 1.78613768e-01 9.83919266e-01 1.80522431e-06 2.64557790e+00] [-1.84022311e-05 1.50588323e-06 1.00000000e+00 -9.48684361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.015898227 meters 0.0899630310965483 Centerline is valid? [True, True] Translation: X:74.09, Y:2.64, Z:-0.95 [[ 9.83756037e-01 -1.79510534e-01 1.69506888e-04 7.40948065e+01] [ 1.79510533e-01 9.83756051e-01 1.65416895e-05 2.63943851e+00] [-1.69722835e-04 1.41552850e-05 9.99999985e-01 -9.47407257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.045898227 meters 0.0899630310965483 Centerline is valid? [True, True] Translation: X:74.12, Y:2.64, Z:-0.95 [[ 9.83724853e-01 -1.79681345e-01 1.69551508e-04 7.41222192e+01] [ 1.79681344e-01 9.83724867e-01 1.60881679e-05 2.64229444e+00] [-1.69682779e-04 1.46389124e-05 9.99999985e-01 -9.47502738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.075898227 meters 0.08468364615378458 Centerline is valid? [True, True] Translation: X:74.15, Y:2.65, Z:-0.95 [[ 9.83025780e-01 -1.83463684e-01 -1.18019268e-03 7.41516477e+01] [ 1.83463676e-01 9.83026483e-01 -1.16212622e-04 2.65305433e+00] [ 1.18148145e-03 -1.02282483e-04 9.99999297e-01 -9.49984970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.105898227 meters 0.0886494331467856 Centerline is valid? [True, True] Translation: X:74.18, Y:2.65, Z:-0.95 [[ 9.82517795e-01 -1.86160082e-01 -1.79045788e-03 7.41823805e+01] [ 1.86160067e-01 9.82519414e-01 -1.76275899e-04 2.65139224e+00] [ 1.79197516e-03 -1.60117551e-04 9.99998382e-01 -9.52713902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13589822699998 meters 0.0883262603636484 Centerline is valid? [True, True] Translation: X:74.21, Y:2.66, Z:-0.95 [[ 9.82079803e-01 -1.88444591e-01 -2.81004196e-03 7.42125308e+01] [ 1.88444564e-01 9.82083790e-01 -2.76660203e-04 2.65532349e+00] [ 2.81183178e-03 -2.57834736e-04 9.99996014e-01 -9.54608527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16589822699999 meters 0.08934617373464261 Centerline is valid? [True, True] Translation: X:74.24, Y:2.66, Z:-0.96 [[ 9.81720584e-01 -1.90291386e-01 -3.72603015e-03 7.42427001e+01] [ 1.90291352e-01 9.81727593e-01 -3.66869429e-04 2.65750625e+00] [ 3.72775870e-03 -3.48868045e-04 9.99992991e-01 -9.56380703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19589822699999 meters 0.09350598195258404 Centerline is valid? [True, True] Translation: X:74.27, Y:2.66, Z:-0.96 [[ 9.81644334e-01 -1.90667531e-01 -4.50487799e-03 7.42709979e+01] [ 1.90667483e-01 9.81654580e-01 -4.43998119e-04 2.65542055e+00] [ 4.50689014e-03 -4.23085511e-04 9.99989754e-01 -9.58237838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22589822699999 meters 0.09188503872500133 Centerline is valid? [True, True] Translation: X:74.30, Y:2.66, Z:-0.96 [[ 9.81946319e-01 -1.89122533e-01 -3.75434255e-03 7.43004742e+01] [ 1.89122489e-01 9.81953434e-01 -3.69898826e-04 2.66114355e+00] [ 3.75654577e-03 -3.46809817e-04 9.99992884e-01 -9.56490889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25589822699999 meters 0.08790025748671808 Centerline is valid? [True, True] Translation: X:74.33, Y:2.67, Z:-0.95 [[ 9.82315726e-01 -1.87209178e-01 -2.92214662e-03 7.43296028e+01] [ 1.87209143e-01 9.82320036e-01 -2.87910708e-04 2.67120314e+00] [ 2.92438270e-03 -2.64233350e-04 9.99995689e-01 -9.54708366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28589822699999 meters 0.08586694951076763 Centerline is valid? [True, True] Translation: X:74.36, Y:2.68, Z:-0.95 [[ 9.83144097e-01 -1.82825375e-01 -1.60210563e-03 7.43582306e+01] [ 1.82825359e-01 9.83145393e-01 -1.57873353e-04 2.68233849e+00] [ 1.60396603e-03 -1.37693281e-04 9.99998704e-01 -9.52362214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31589822699999 meters 0.08605091285874614 Centerline is valid? [True, True] Translation: X:74.39, Y:2.69, Z:-0.95 [[ 9.83493580e-01 -1.80937755e-01 -1.38121515e-03 7.43870210e+01] [ 1.80937741e-01 9.83494543e-01 -1.36156181e-04 2.68851176e+00] [ 1.38305336e-03 -1.16005219e-04 9.99999037e-01 -9.52704786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34589822699999 meters 0.0829611040495641 Centerline is valid? [True, True] Translation: X:74.42, Y:2.70, Z:-0.95 [[ 9.83750569e-01 -1.79533607e-01 -1.58178685e-03 7.44158445e+01] [ 1.79533587e-01 9.83751832e-01 -1.55988276e-04 2.69890762e+00] [ 1.58409085e-03 -1.30530313e-04 9.99998737e-01 -9.54476691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.375898227 meters 0.08715211467464798 Centerline is valid? [True, True] Translation: X:74.44, Y:2.70, Z:-0.95 [[ 9.84086188e-01 -1.77688590e-01 -1.06772600e-03 7.44447842e+01] [ 1.77688580e-01 9.84086763e-01 -1.05304997e-04 2.70214813e+00] [ 1.06944652e-03 -8.60935230e-05 9.99999424e-01 -9.54903629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.405898227 meters 0.08055806743058501 Centerline is valid? [True, True] Translation: X:74.47, Y:2.72, Z:-0.95 [[ 9.84130334e-01 -1.77446131e-01 -5.96548554e-04 7.44722902e+01] [ 1.77446128e-01 9.84130514e-01 -5.94507067e-05 2.71697586e+00] [ 5.97630932e-04 -4.73479869e-05 9.99999820e-01 -9.54102551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.435898227 meters 0.08251786003306927 Centerline is valid? [True, True] Translation: X:74.50, Y:2.72, Z:-0.95 [[ 9.84003971e-01 -1.78144747e-01 -7.95820849e-04 7.45009645e+01] [ 1.78144741e-01 9.84004291e-01 -7.87718908e-05 2.72087841e+00] [ 7.97123929e-04 -6.42594461e-05 9.99999680e-01 -9.54396122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.465898227 meters 0.08265557948565184 Centerline is valid? [True, True] Translation: X:74.53, Y:2.73, Z:-0.95 [[ 9.83789499e-01 -1.79321841e-01 -1.37828990e-03 7.45304575e+01] [ 1.79321825e-01 9.83790458e-01 -1.36262596e-04 2.72661302e+00] [ 1.38038331e-03 -1.13103750e-04 9.99999041e-01 -9.54560549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.495898227 meters 0.08605394870962231 Centerline is valid? [True, True] Translation: X:74.56, Y:2.73, Z:-0.95 [[ 9.83007974e-01 -1.83562413e-01 4.05393850e-04 7.45608364e+01] [ 1.83562412e-01 9.83008057e-01 4.00527811e-05 2.72924284e+00] [-4.05857606e-04 3.50428698e-05 9.99999917e-01 -9.52446927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52589822699998 meters 0.08588053036720221 Centerline is valid? [True, True] Translation: X:74.59, Y:2.73, Z:-0.95 [[ 9.82449038e-01 -1.86520050e-01 2.03954440e-03 7.45904712e+01] [ 1.86520030e-01 9.82451138e-01 2.01508269e-04 2.73434885e+00] [-2.04133805e-03 1.82444278e-04 9.99997900e-01 -9.50237339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55589822699999 meters 0.10007369125430146 Centerline is valid? [True, False] Translation: X:74.59, Y:2.73, Z:-0.95 [[ 9.84809512e-01 -1.73624779e-01 2.15899845e-03 7.45903904e+01] [ 1.73634340e-01 9.84794409e-01 -5.57570630e-03 2.73433018e+00] [-1.15808882e-03 5.86588488e-03 9.99982125e-01 -9.49714692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58589822699999 meters 0.09272139716072676 Centerline is valid? [False, True] Translation: X:74.55, Y:2.73, Z:-0.95 [[ 9.87362694e-01 -1.58440905e-01 -3.37481040e-03 7.45485576e+01] [ 1.58401003e-01 9.87325129e-01 -9.91018357e-03 2.72957951e+00] [ 4.90221356e-03 9.25037220e-03 9.99945198e-01 -9.46889003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61589822699999 meters 0.10532210758782841 Centerline is valid? [True, False] Translation: X:74.59, Y:2.73, Z:-0.95 [[ 9.89242393e-01 -1.46279936e-01 1.29171563e-03 7.45938923e+01] [ 1.46284868e-01 9.89169953e-01 -1.19808398e-02 2.73240887e+00] [ 4.74830187e-04 1.20409131e-02 9.99927393e-01 -9.53427061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64589822699999 meters 0.1056557069568082 Centerline is valid? [False, False] Translation: X:74.58, Y:2.73, Z:-0.96 [[ 9.91778064e-01 -1.27749903e-01 7.49892250e-03 7.45781951e+01] [ 1.27865350e-01 9.91632813e-01 -1.77430698e-02 2.72888192e+00] [-5.16950217e-03 1.85560398e-02 9.99814458e-01 -9.57659861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67589822699999 meters 0.09648587537658007 Centerline is valid? [False, True] Translation: X:74.58, Y:2.73, Z:-0.96 [[ 9.93803919e-01 -1.10955420e-01 6.53191604e-03 7.45797252e+01] [ 1.11062019e-01 9.93627792e-01 -1.92104005e-02 2.72557165e+00] [-4.35879524e-03 1.98168191e-02 9.99794126e-01 -9.58931146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70589822699999 meters 0.10534810772190992 Centerline is valid? [True, False] Translation: X:74.62, Y:2.72, Z:-0.96 [[ 9.95254020e-01 -9.67095818e-02 1.08024365e-02 7.46213161e+01] [ 9.69052150e-02 9.95105411e-01 -1.93545765e-02 2.72239456e+00] [-8.87778997e-03 2.03095325e-02 9.99754324e-01 -9.63169202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73589822699999 meters 0.10663653666546273 Centerline is valid? [False, False] Translation: X:74.62, Y:2.72, Z:-0.96 [[ 9.96625626e-01 -8.15355620e-02 9.45057929e-03 7.46210983e+01] [ 8.17304383e-02 9.96400644e-01 -2.24920416e-02 2.71945820e+00] [-7.58266204e-03 2.31885451e-02 9.99702353e-01 -9.62407629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.765898227 meters 0.10846757279538966 Centerline is valid? [False, False] Translation: X:74.62, Y:2.72, Z:-0.96 [[ 9.97737302e-01 -6.66798164e-02 8.60692159e-03 7.46223657e+01] [ 6.68836191e-02 9.97419731e-01 -2.60856428e-02 2.71654505e+00] [-6.84532755e-03 2.66022809e-02 9.99622659e-01 -9.63291784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.795898227 meters 0.09701669167216906 Centerline is valid? [False, True] Translation: X:74.63, Y:2.71, Z:-0.97 [[ 9.98701779e-01 -5.03061162e-02 8.00315925e-03 7.46250478e+01] [ 5.05137153e-02 9.98322637e-01 -2.82891736e-02 2.71363096e+00] [-6.56661659e-03 2.86567173e-02 9.99567743e-01 -9.66075771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.825898227 meters 0.09602537018040411 Centerline is valid? [True, True] Translation: X:74.66, Y:2.70, Z:-0.97 [[ 9.98716107e-01 -4.98434954e-02 9.04230379e-03 7.46561457e+01] [ 4.98496544e-02 9.98756629e-01 -4.56894038e-04 2.70240023e+00] [-9.00828766e-03 9.07063154e-04 9.99959013e-01 -9.70734503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.855898227 meters 0.09470748643558949 Centerline is valid? [True, True] Translation: X:74.69, Y:2.70, Z:-0.97 [[ 9.98771493e-01 -4.87398749e-02 8.94032696e-03 7.46866458e+01] [ 4.87458559e-02 9.98811112e-01 -4.52172501e-04 2.70394638e+00] [-8.90765908e-03 8.87420894e-04 9.99959932e-01 -9.70779796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88589822699998 meters 0.09583131943792675 Centerline is valid? [True, True] Translation: X:74.72, Y:2.70, Z:-0.97 [[ 9.98834838e-01 -4.74787770e-02 8.64477054e-03 7.47162069e+01] [ 4.74843223e-02 9.98871888e-01 -4.37224224e-04 2.70289384e+00] [-8.61425939e-03 8.47205857e-04 9.99962538e-01 -9.72346322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91589822699999 meters 0.09668913590339365 Centerline is valid? [True, True] Translation: X:74.75, Y:2.70, Z:-0.97 [[ 9.98961367e-01 -4.48259680e-02 8.17432596e-03 7.47461419e+01] [ 4.48308382e-02 9.98994507e-01 -4.13434757e-04 2.70127275e+00] [-8.14757412e-03 7.79467234e-04 9.99966504e-01 -9.73301282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94589822699999 meters 0.09809601773277267 Centerline is valid? [True, True] Translation: X:74.78, Y:2.70, Z:-0.97 [[ 9.99017413e-01 -4.35685000e-02 8.12370430e-03 7.47758062e+01] [ 4.35732687e-02 9.99050150e-01 -4.10863439e-04 2.69904891e+00] [-8.09808729e-03 7.64436080e-04 9.99966918e-01 -9.73292099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97589822699999 meters 0.08863823865609177 Centerline is valid? [True, True] Translation: X:74.81, Y:2.71, Z:-0.97 [[ 9.99069829e-01 -4.23034171e-02 8.36043945e-03 7.48074273e+01] [ 4.23084235e-02 9.99104508e-01 -4.22784492e-04 2.71076554e+00] [-8.33506752e-03 7.76108243e-04 9.99964962e-01 -9.72535768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00589822699999 meters 0.08068992681873387 Centerline is valid? [True, True] Translation: X:74.84, Y:2.72, Z:-0.97 [[ 9.99095263e-01 -4.17734433e-02 7.97711967e-03 7.48405666e+01] [ 4.17779836e-02 9.99126838e-01 -4.03304487e-04 2.72189984e+00] [-7.95330693e-03 7.36207577e-04 9.99968101e-01 -9.73329404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03589822699999 meters 0.08356972923199991 Centerline is valid? [True, True] Translation: X:74.87, Y:2.71, Z:-0.97 [[ 9.99088526e-01 -4.20846928e-02 7.14110553e-03 7.48712813e+01] [ 4.20883416e-02 9.99113828e-01 -3.61382971e-04 2.71347462e+00] [-7.11956859e-03 6.61610869e-04 9.99974437e-01 -9.74229848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06589822699999 meters 0.09835105502072032 Centerline is valid? [True, True] Translation: X:74.90, Y:2.69, Z:-0.98 [[ 9.99058860e-01 -4.28142189e-02 6.95241557e-03 7.49015332e+01] [ 4.28176961e-02 9.99082840e-01 -3.52005399e-04 2.69198748e+00] [-6.93096826e-03 6.49360530e-04 9.99975770e-01 -9.75660861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09589822699999 meters 0.10241469652025557 Centerline is valid? [True, False] Translation: X:74.90, Y:2.69, Z:-0.97 [[ 9.99382969e-01 -3.45154696e-02 6.50875842e-03 7.49007810e+01] [ 3.45902394e-02 9.99332528e-01 -1.17479671e-02 2.69296868e+00] [-6.09892740e-03 1.19658578e-02 9.99909807e-01 -9.73762833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.125898227 meters 0.08891669447932392 Centerline is valid? [False, True] Translation: X:74.86, Y:2.70, Z:-0.97 [[ 9.99706588e-01 -2.41735591e-02 1.54151706e-03 7.48562765e+01] [ 2.42012284e-02 9.99473874e-01 -2.15934312e-02 2.69537242e+00] [-1.01871594e-03 2.16244021e-02 9.99765646e-01 -9.68527832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.155898227 meters 0.093015199363067 Centerline is valid? [True, True] Translation: X:74.89, Y:2.68, Z:-0.97 [[ 9.99712090e-01 -2.38559421e-02 2.57494152e-03 7.48863125e+01] [ 2.38564907e-02 9.99715377e-01 -1.82527911e-04 2.68025043e+00] [-2.56985426e-03 2.43904428e-04 9.99996668e-01 -9.73985079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.185898227 meters 0.09154027061184153 Centerline is valid? [True, True] Translation: X:74.92, Y:2.68, Z:-0.97 [[ 9.99752812e-01 -2.21241564e-02 2.19939644e-03 7.49168718e+01] [ 2.21245530e-02 9.99755210e-01 -1.56126866e-04 2.67982017e+00] [-2.19540388e-03 2.04748936e-04 9.99997569e-01 -9.73283377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.215898227 meters 0.09725104312099794 Centerline is valid? [True, True] Translation: X:74.95, Y:2.67, Z:-0.97 [[ 9.99800839e-01 -1.98618793e-02 1.94628359e-03 7.49459715e+01] [ 1.98621858e-02 9.99802718e-01 -1.38269247e-04 2.67151511e+00] [-1.94315333e-03 1.76899155e-04 9.99998096e-01 -9.74862455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.245898227 meters 0.08385279681848937 Centerline is valid? [True, True] Translation: X:74.98, Y:2.69, Z:-0.97 [[ 9.99879217e-01 -1.53135791e-02 2.65437880e-03 7.49776034e+01] [ 1.53141329e-02 9.99882714e-01 -1.88447326e-04 2.68991514e+00] [-2.65118167e-03 2.29074075e-04 9.99996459e-01 -9.72962801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27589822699998 meters 0.08974447211891626 Centerline is valid? [True, True] Translation: X:75.01, Y:2.68, Z:-0.97 [[ 9.99912465e-01 -1.26613156e-02 3.84092767e-03 7.50065034e+01] [ 1.26624560e-02 9.99919791e-01 -2.72729803e-04 2.68197591e+00] [-3.83716647e-03 3.21341508e-04 9.99992586e-01 -9.71580341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30589822699999 meters 0.07846075622707281 Centerline is valid? [True, True] Translation: X:75.04, Y:2.70, Z:-0.97 [[ 9.99940130e-01 -9.96073476e-03 4.52995271e-03 7.50383558e+01] [ 9.96229293e-03 9.99950323e-01 -3.21534697e-04 2.69667875e+00] [-4.52652496e-03 3.66644163e-04 9.99989688e-01 -9.70072021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33589822699999 meters 0.07698873455176362 Centerline is valid? [True, True] Translation: X:75.07, Y:2.70, Z:-0.97 [[ 9.99966575e-01 -6.54832338e-03 4.89572485e-03 7.50688568e+01] [ 6.55010269e-03 9.99978487e-01 -3.47496182e-04 2.70295344e+00] [-4.89334401e-03 3.79552067e-04 9.99987955e-01 -9.71807707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36589822699999 meters 0.07699847955544 Centerline is valid? [True, True] Translation: X:75.10, Y:2.70, Z:-0.97 [[ 9.99967122e-01 -6.75188899e-03 4.49066521e-03 7.51012708e+01] [ 6.75338723e-03 9.99977145e-01 -3.18554180e-04 2.70409260e+00] [-4.48841173e-03 3.48870908e-04 9.99989866e-01 -9.72442564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39589822699999 meters 0.07789674135393838 Centerline is valid? [True, True] Translation: X:75.13, Y:2.70, Z:-0.97 [[ 9.99956000e-01 -8.03806796e-03 4.83615535e-03 7.51327271e+01] [ 8.03982217e-03 9.99967621e-01 -3.43395753e-04 2.70447023e+00] [-4.83323852e-03 3.82262472e-04 9.99988247e-01 -9.72782678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42589822699999 meters 0.08336750260791635 Centerline is valid? [True, True] Translation: X:75.16, Y:2.70, Z:-0.97 [[ 9.99941480e-01 -9.35666587e-03 5.43038643e-03 7.51621815e+01] [ 9.35889733e-03 9.99956130e-01 -3.85654739e-04 2.69802599e+00] [-5.42653975e-03 4.36454599e-04 9.99985181e-01 -9.72745888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45589822699999 meters 0.0981530306272245 Centerline is valid? [True, True] Translation: X:75.19, Y:2.68, Z:-0.97 [[ 9.99908754e-01 -1.20821775e-02 6.04192695e-03 7.51910510e+01] [ 1.20849918e-02 9.99926882e-01 -4.29489465e-04 2.68097297e+00] [-6.03629601e-03 5.02466913e-04 9.99981655e-01 -9.73368826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48589822699999 meters 0.08890066289707908 Centerline is valid? [True, True] Translation: X:75.22, Y:2.69, Z:-0.97 [[ 9.99892220e-01 -1.35491604e-02 5.65405713e-03 7.52229512e+01] [ 1.35516491e-02 9.99908091e-01 -4.02084975e-04 2.69246232e+00] [-5.64808956e-03 4.78663437e-04 9.99983935e-01 -9.74127085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.515898227 meters 0.08219975734730106 Centerline is valid? [True, True] Translation: X:75.26, Y:2.70, Z:-0.98 [[ 9.99881934e-01 -1.47244460e-02 4.39426024e-03 7.52552122e+01] [ 1.47259604e-02 9.99891518e-01 -3.12474380e-04 2.70131438e+00] [-4.38918253e-03 3.77147189e-04 9.99990296e-01 -9.76018374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.545898227 meters 0.09383644156463866 Centerline is valid? [True, True] Translation: X:75.28, Y:2.69, Z:-0.98 [[ 9.99867951e-01 -1.61190467e-02 2.06331977e-03 7.52842715e+01] [ 1.61193832e-02 9.99870064e-01 -1.46556115e-04 2.68825289e+00] [-2.06068933e-03 1.79796204e-04 9.99997861e-01 -9.81053662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.575898227 meters 0.0935769270521315 Centerline is valid? [True, True] Translation: X:75.32, Y:2.69, Z:-0.98 [[ 9.99865781e-01 -1.62601353e-02 2.00700402e-03 7.53165783e+01] [ 1.62604541e-02 9.99867780e-01 -1.42604692e-04 2.68732129e+00] [-2.00441988e-03 1.75220349e-04 9.99997976e-01 -9.81303852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.605898227 meters 0.09116980695181025 Centerline is valid? [True, True] Translation: X:75.35, Y:2.69, Z:-0.98 [[ 9.99868382e-01 -1.59563953e-02 2.93458354e-03 7.53485987e+01] [ 1.59570763e-02 9.99872656e-01 -2.08807580e-04 2.68915515e+00] [-2.93087802e-03 2.55607471e-04 9.99995672e-01 -9.80001167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63589822699998 meters 0.08461924576217987 Centerline is valid? [True, True] Translation: X:75.38, Y:2.70, Z:-0.98 [[ 9.99873724e-01 -1.53592173e-02 4.07802006e-03 7.53805047e+01] [ 1.53605293e-02 9.99881978e-01 -2.90583796e-04 2.69680500e+00] [-4.07307563e-03 3.53187649e-04 9.99991643e-01 -9.77965467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66589822699999 meters 0.0806191801182043 Centerline is valid? [True, True] Translation: X:75.41, Y:2.71, Z:-0.98 [[ 9.99892344e-01 -1.39565561e-02 4.52939211e-03 7.54116225e+01] [ 1.39581612e-02 9.99902528e-01 -3.22959626e-04 2.70538089e+00] [-4.52444321e-03 3.86146843e-04 9.99989690e-01 -9.78029190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69589822699999 meters 0.08054947682351639 Centerline is valid? [True, True] Translation: X:75.44, Y:2.70, Z:-0.98 [[ 9.99905539e-01 -1.30504784e-02 4.31257072e-03 7.54417280e+01] [ 1.30519249e-02 9.99914773e-01 -3.07451502e-04 2.70319266e+00] [-4.30819078e-03 3.63709809e-04 9.99990654e-01 -9.78339716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72589822699999 meters 0.09255815724153503 Centerline is valid? [True, True] Translation: X:75.47, Y:2.69, Z:-0.98 [[ 9.99917893e-01 -1.23532640e-02 3.40638283e-03 7.54711510e+01] [ 1.23541626e-02 9.99923655e-01 -2.42867364e-04 2.68656675e+00] [-3.40312257e-03 2.84930430e-04 9.99994169e-01 -9.81282742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75589822699999 meters 0.0834173998571921 Centerline is valid? [True, True] Translation: X:75.50, Y:2.70, Z:-0.98 [[ 9.99924135e-01 -1.19642570e-02 2.92932991e-03 7.55040258e+01] [ 1.19649193e-02 9.99928396e-01 -2.08687473e-04 2.69732107e+00] [-2.92662336e-03 2.43720837e-04 9.99995688e-01 -9.81556287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78589822699999 meters 0.08607899746720823 Centerline is valid? [True, True] Translation: X:75.53, Y:2.70, Z:-0.98 [[ 9.99928879e-01 -1.13416323e-02 3.68842101e-03 7.55346994e+01] [ 1.13426795e-02 9.99935635e-01 -2.63137815e-04 2.69551235e+00] [-3.68519920e-03 3.04955678e-04 9.99993163e-01 -9.81512612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81589822699999 meters 0.07971522651672476 Centerline is valid? [True, True] Translation: X:75.57, Y:2.70, Z:-0.98 [[ 9.99925193e-01 -1.12934863e-02 4.69743583e-03 7.55675976e+01] [ 1.12951848e-02 9.99936151e-01 -3.35191642e-04 2.70051775e+00] [-4.69335042e-03 3.88224972e-04 9.99988911e-01 -9.78562235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84589822699999 meters 0.08097405104826391 Centerline is valid? [True, True] Translation: X:75.60, Y:2.70, Z:-0.98 [[ 9.99916922e-01 -1.18076321e-02 5.17002449e-03 7.55997446e+01] [ 1.18096977e-02 9.99930195e-01 -3.69186924e-04 2.69647607e+00] [-5.16530437e-03 4.30212678e-04 9.99986567e-01 -9.78671471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.875898227 meters 0.08639900511506676 Centerline is valid? [True, True] Translation: X:75.63, Y:2.69, Z:-0.98 [[ 9.99875559e-01 -1.47929276e-02 5.48058399e-03 7.56288075e+01] [ 1.47952956e-02 9.99890467e-01 -3.91782482e-04 2.68630249e+00] [-5.47418807e-03 4.72820588e-04 9.99984905e-01 -9.78944663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.905898227 meters 0.08593157742003671 Centerline is valid? [True, True] Translation: X:75.66, Y:2.68, Z:-0.98 [[ 9.99835890e-01 -1.70177085e-02 6.21214855e-03 7.56594012e+01] [ 1.70207932e-02 9.99855037e-01 -4.44039112e-04 2.68387293e+00] [-6.20369149e-03 5.49701937e-04 9.99980606e-01 -9.77604009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.935898227 meters 0.09558186833191915 Centerline is valid? [True, True] Translation: X:75.69, Y:2.67, Z:-0.98 [[ 9.99782646e-01 -1.94808091e-02 7.42688866e-03 7.56884245e+01] [ 1.94852858e-02 9.99810003e-01 -5.30877026e-04 2.66757027e+00] [-7.41513566e-03 6.75476685e-04 9.99972279e-01 -9.76258554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.965898227 meters 0.09558186833191915 Centerline is valid? [True, True] Translation: X:75.72, Y:2.67, Z:-0.98 [[ 9.99783481e-01 -1.94378887e-02 7.42688886e-03 7.57201475e+01] [ 1.94423642e-02 9.99810838e-01 -5.30874168e-04 2.66522342e+00] [-7.41516491e-03 6.75155502e-04 9.99972279e-01 -9.76529543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.995898227 meters 0.09661370356821784 Centerline is valid? [True, True] Translation: X:75.75, Y:2.66, Z:-0.98 [[ 9.99726425e-01 -2.19389923e-02 8.10895369e-03 7.57508324e+01] [ 2.19444123e-02 9.99759024e-01 -5.80021782e-04 2.65939350e+00] [-8.09427453e-03 7.57809326e-04 9.99966954e-01 -9.75792753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02589822699998 meters 0.09864964470281314 Centerline is valid? [True, True] Translation: X:75.78, Y:2.65, Z:-0.98 [[ 9.99637734e-01 -2.58796598e-02 7.39211625e-03 7.57809563e+01] [ 2.58842716e-02 9.99664806e-01 -5.28881518e-04 2.64984188e+00] [-7.37595119e-03 7.20029467e-04 9.99972538e-01 -9.77270507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05589822699999 meters 0.10119994098687045 Centerline is valid? [True, False] Translation: X:75.76, Y:2.65, Z:-0.97 [[ 9.99848700e-01 -1.71668209e-02 2.80654571e-03 7.57565356e+01] [ 1.72220924e-02 9.99630610e-01 -2.10247997e-02 2.65455541e+00] [-2.44458002e-03 2.10699533e-02 9.99775015e-01 -9.70851351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08589822699999 meters 0.10095840300089921 Centerline is valid? [False, False] Translation: X:75.76, Y:2.65, Z:-0.97 [[ 9.99964402e-01 -7.91308328e-03 2.92868132e-03 7.57566850e+01] [ 7.94350326e-03 9.99913056e-01 -1.05252854e-02 2.64719150e+00] [-2.84513923e-03 1.05481747e-02 9.99940319e-01 -9.72983281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11589822699999 meters 0.09905101079361121 Centerline is valid? [False, True] Translation: X:75.76, Y:2.64, Z:-0.97 [[ 9.99990310e-01 -3.12902041e-03 3.09673226e-03 7.57562714e+01] [ 3.14447987e-03 9.99982556e-01 -4.99997338e-03 2.64198064e+00] [-3.08103322e-03 5.00966254e-03 9.99982705e-01 -9.73304012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14589822699999 meters 0.08285601317888772 Centerline is valid? [True, True] Translation: X:75.79, Y:2.66, Z:-0.97 [[ 9.99986238e-01 -1.77974895e-03 4.93519647e-03 7.57888684e+01] [ 1.78204510e-03 9.99998306e-01 -4.60901363e-04 2.65650332e+00] [-4.93436782e-03 4.69689763e-04 9.99987716e-01 -9.71644257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17589822699999 meters 0.0898789497668875 Centerline is valid? [True, True] Translation: X:75.82, Y:2.64, Z:-0.97 [[ 9.99986121e-01 1.62570444e-04 5.26614298e-03 7.58176152e+01] [-1.59982468e-04 9.99999866e-01 -4.91854338e-04 2.64425211e+00] [-5.26622223e-03 4.91005021e-04 9.99986013e-01 -9.70832462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20589822699999 meters 0.08790304576481713 Centerline is valid? [True, True] Translation: X:75.85, Y:2.64, Z:-0.97 [[ 9.99986924e-01 2.77468849e-03 4.29567604e-03 7.58488242e+01] [-2.77299053e-03 9.99996075e-01 -4.01175880e-04 2.64379249e+00] [-4.29677232e-03 3.89258765e-04 9.99990693e-01 -9.71527366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23589822699999 meters 0.0909462136311696 Centerline is valid? [True, True] Translation: X:75.88, Y:2.63, Z:-0.98 [[ 9.99960328e-01 8.66708205e-03 2.05526126e-03 7.58777664e+01] [-8.66670569e-03 9.99962425e-01 -1.91954337e-04 2.63445584e+00] [-2.05684772e-03 1.74134377e-04 9.99997870e-01 -9.76102341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.265898227 meters 0.08432849423416466 Centerline is valid? [True, True] Translation: X:75.91, Y:2.64, Z:-0.98 [[ 9.99938427e-01 1.10428855e-02 1.09397142e-03 7.59087342e+01] [-1.10427803e-02 9.99939021e-01 -1.02141753e-04 2.63788716e+00] [-1.09503265e-03 9.00549780e-05 9.99999396e-01 -9.77996883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.295898227 meters 0.07939152065067107 Centerline is valid? [True, True] Translation: X:75.94, Y:2.64, Z:-0.98 [[ 9.99917082e-01 1.28772709e-02 6.53997857e-05 7.59390447e+01] [-1.28772705e-02 9.99917084e-01 -6.17205839e-06 2.63916058e+00] [-6.54738423e-05 5.32937588e-06 9.99999998e-01 -9.78577819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.325898227 meters 0.0827687463629545 Centerline is valid? [True, True] Translation: X:75.97, Y:2.63, Z:-0.98 [[ 9.99888908e-01 1.48838729e-02 -8.01305668e-04 7.59672291e+01] [-1.48838178e-02 9.99889227e-01 7.47024923e-05 2.63054845e+00] [ 8.02328768e-04 -6.27677059e-05 9.99999676e-01 -9.79877495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.355898227 meters 0.08227637623614102 Centerline is valid? [True, True] Translation: X:76.00, Y:2.63, Z:-0.98 [[ 9.99815458e-01 1.91000175e-02 -2.05878530e-03 7.59967622e+01] [-1.90996621e-02 9.99817566e-01 1.92138360e-04 2.62680771e+00] [ 2.06207956e-03 -1.52780799e-04 9.99997862e-01 -9.81941685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38589822699998 meters 0.07202180179069724 Centerline is valid? [True, True] Translation: X:76.03, Y:2.64, Z:-0.98 [[ 9.99779007e-01 2.09127210e-02 -2.14356568e-03 7.60275404e+01] [-2.09123401e-02 9.99781293e-01 1.99958418e-04 2.63779352e+00] [ 2.14727854e-03 -1.55087254e-04 9.99997683e-01 -9.81104351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41589822699999 meters 0.06483977550236812 Centerline is valid? [True, True] Translation: X:76.06, Y:2.65, Z:-0.98 [[ 9.99745603e-01 2.24754363e-02 -1.89290272e-03 7.60579635e+01] [-2.24751421e-02 9.99747387e-01 1.76514578e-04 2.64556256e+00] [ 1.89639179e-03 -1.33926416e-04 9.99998193e-01 -9.79513236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44589822699999 meters 0.0748483405626848 Centerline is valid? [True, True] Translation: X:76.09, Y:2.64, Z:-0.98 [[ 9.99647252e-01 2.65336822e-02 -1.15580942e-03 7.60865660e+01] [-2.65335753e-02 9.99647917e-01 1.07727902e-04 2.63636605e+00] [ 1.15826089e-03 -7.70221453e-05 9.99999326e-01 -9.79566022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47589822699999 meters 0.0668435771737172 Centerline is valid? [True, True] Translation: X:76.12, Y:2.64, Z:-0.98 [[ 9.99586462e-01 2.87552295e-02 -2.04732679e-04 7.61171310e+01] [-2.87552262e-02 9.99586483e-01 1.90286579e-05 2.64246255e+00] [ 2.05195192e-04 -1.31336543e-05 9.99999979e-01 -9.76420378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50589822699999 meters 0.06140278397585442 Centerline is valid? [True, True] Translation: X:76.15, Y:2.65, Z:-0.98 [[ 9.99533881e-01 3.05234717e-02 5.80981733e-04 7.61474636e+01] [-3.05234453e-02 9.99534050e-01 -5.42766337e-05 2.64837353e+00] [-5.82367736e-04 3.65177702e-05 9.99999830e-01 -9.75634654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53589822699999 meters 0.06543730038841498 Centerline is valid? [True, True] Translation: X:76.18, Y:2.65, Z:-0.98 [[ 9.99503386e-01 3.14817693e-02 1.37124066e-03 7.61757994e+01] [-3.14816232e-02 9.99504323e-01 -1.28002772e-04 2.64602238e+00] [-1.37459072e-03 8.47703220e-05 9.99999052e-01 -9.75619549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56589822699999 meters 0.06685905300507487 Centerline is valid? [True, True] Translation: X:76.20, Y:2.65, Z:-0.98 [[ 9.99524372e-01 3.08344229e-02 5.18775433e-04 7.62031346e+01] [-3.08344018e-02 9.99524506e-01 -4.86094717e-05 2.64577237e+00] [-5.20027603e-04 3.25902215e-05 9.99999864e-01 -9.76525242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59589822699999 meters 0.06882012319555081 Centerline is valid? [True, True] Translation: X:76.23, Y:2.64, Z:-0.98 [[ 9.99551361e-01 2.99497594e-02 -2.97748936e-04 7.62323900e+01] [-2.99497525e-02 9.99551405e-01 2.75753181e-05 2.64483098e+00] [ 2.98441241e-04 -1.86454398e-05 9.99999955e-01 -9.79356321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.625898227 meters 0.07028984671425684 Centerline is valid? [True, True] Translation: X:76.26, Y:2.64, Z:-0.98 [[ 9.99589103e-01 2.86629388e-02 -2.45373758e-04 7.62606263e+01] [-2.86629341e-02 9.99589133e-01 2.26404978e-05 2.64295332e+00] [ 2.45921885e-04 -1.55980630e-05 9.99999970e-01 -9.79375931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.655898227 meters 0.0721900175831245 Centerline is valid? [True, True] Translation: X:76.29, Y:2.64, Z:-0.98 [[ 9.99633935e-01 2.70543430e-02 -2.41139056e-04 7.62909237e+01] [-2.70543384e-02 9.99633964e-01 2.23889319e-05 2.64116509e+00] [ 2.41656508e-04 -1.58568785e-05 9.99999971e-01 -9.79441958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.685898227 meters 0.0759164608146973 Centerline is valid? [True, True] Translation: X:76.32, Y:2.64, Z:-0.98 [[ 9.99708696e-01 2.41204762e-02 8.52170050e-04 7.63217687e+01] [-2.41204173e-02 9.99709057e-01 -7.93021624e-05 2.64092938e+00] [-8.53834923e-04 5.87243641e-05 9.99999634e-01 -9.76476950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.715898227 meters 0.077187109385972 Centerline is valid? [True, True] Translation: X:76.35, Y:2.64, Z:-0.98 [[ 9.99740361e-01 2.27267905e-02 1.64421127e-03 7.63517072e+01] [-2.27265694e-02 9.99741706e-01 -1.53040585e-04 2.64025362e+00] [-1.64726470e-03 1.15633568e-04 9.99998637e-01 -9.75110084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.745898227 meters 0.07796119591692191 Centerline is valid? [True, True] Translation: X:76.38, Y:2.64, Z:-0.98 [[ 9.99799022e-01 1.99468692e-02 2.00958323e-03 7.63823376e+01] [-1.99465336e-02 9.99801031e-01 -1.86932445e-04 2.64290043e+00] [-2.01291210e-03 1.46810657e-04 9.99997963e-01 -9.75911974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77589822699998 meters 0.07374009288540527 Centerline is valid? [True, True] Translation: X:76.41, Y:2.65, Z:-0.98 [[ 9.99818719e-01 1.89573619e-02 1.77410749e-03 7.64124918e+01] [-1.89570987e-02 9.99820284e-01 -1.65087497e-04 2.64846003e+00] [-1.77691828e-03 1.31425639e-04 9.99998413e-01 -9.76974961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80589822699999 meters 0.08034499001869656 Centerline is valid? [True, True] Translation: X:76.44, Y:2.64, Z:-0.98 [[ 9.99832412e-01 1.82564932e-02 1.35953271e-03 7.64402039e+01] [-1.82563380e-02 9.99833331e-01 -1.26535028e-04 2.64036442e+00] [-1.36161620e-03 1.01693733e-04 9.99999068e-01 -9.78051304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83589822699999 meters 0.07801971698662602 Centerline is valid? [True, True] Translation: X:76.47, Y:2.64, Z:-0.98 [[ 9.99842405e-01 1.77195578e-02 1.08762522e-03 7.64698847e+01] [-1.77194581e-02 9.99842993e-01 -1.01209984e-04 2.64367468e+00] [-1.08924785e-03 8.19219040e-05 9.99999403e-01 -9.78236462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86589822699999 meters 0.08312123977537154 Centerline is valid? [True, True] Translation: X:76.50, Y:2.64, Z:-0.98 [[ 9.99864725e-01 1.63223134e-02 2.02811232e-03 7.64989903e+01] [-1.63219644e-02 9.99866770e-01 -1.88510026e-04 2.63799184e+00] [-2.03091904e-03 1.55381749e-04 9.99997926e-01 -9.77117408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89589822699999 meters 0.07238274665340369 Centerline is valid? [True, True] Translation: X:76.53, Y:2.65, Z:-0.98 [[ 9.99889225e-01 1.47799681e-02 1.75766594e-03 7.65301196e+01] [-1.47797036e-02 9.99890761e-01 -1.63356773e-04 2.65046978e+00] [-1.75988834e-03 1.37360895e-04 9.99998442e-01 -9.76653005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92589822699999 meters 0.0722279171051914 Centerline is valid? [True, True] Translation: X:76.56, Y:2.65, Z:-0.98 [[ 9.99912317e-01 1.31765229e-02 1.31800297e-03 7.65607317e+01] [-1.31763728e-02 9.99913180e-01 -1.22456766e-04 2.64877403e+00] [-1.31950210e-03 1.05079530e-04 9.99999124e-01 -9.77718648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95589822699999 meters 0.08816067101966386 Centerline is valid? [True, True] Translation: X:76.59, Y:2.63, Z:-0.98 [[ 9.99953092e-01 9.67469225e-03 -4.62300284e-04 7.65882677e+01] [-9.67467344e-03 9.99953198e-01 4.29015498e-05 2.62709438e+00] [ 4.62693707e-04 -3.84269331e-05 9.99999892e-01 -9.82686887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98589822699999 meters 0.09092408520794343 Centerline is valid? [True, True] Translation: X:76.62, Y:2.62, Z:-0.99 [[ 9.99969173e-01 7.70236038e-03 -1.52533085e-03 7.66170361e+01] [-7.70215323e-03 9.99970328e-01 1.41631745e-04 2.62127866e+00] [ 1.52637649e-03 -1.29879047e-04 9.99998827e-01 -9.85027292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.015898227 meters 0.08123482507972901 Centerline is valid? [True, True] Translation: X:76.65, Y:2.63, Z:-0.99 [[ 9.99980235e-01 5.68223767e-03 -2.69115291e-03 7.66485988e+01] [-5.68158542e-03 9.99983828e-01 2.49953358e-04 2.63135682e+00] [ 2.69252969e-03 -2.34658402e-04 9.99996348e-01 -9.85414182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.045898227 meters 0.09806123735619007 Centerline is valid? [True, True] Translation: X:76.67, Y:2.61, Z:-0.99 [[ 9.99983263e-01 4.69356960e-03 -3.38278461e-03 7.66746740e+01] [-4.69253452e-03 9.99988941e-01 3.13856805e-04 2.60860533e+00] [ 3.38422031e-03 -2.97977718e-04 9.99994229e-01 -9.87238845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.075898227 meters 0.08229592955190715 Centerline is valid? [True, True] Translation: X:76.71, Y:2.63, Z:-0.99 [[ 9.99978853e-01 5.40498311e-03 -3.61671224e-03 7.67051839e+01] [-5.40380509e-03 9.99985343e-01 3.35409711e-04 2.62714484e+00] [ 3.61847211e-03 -3.15858610e-04 9.99993403e-01 -9.86017683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.105898227 meters 0.09631192005189888 Centerline is valid? [True, True] Translation: X:76.73, Y:2.61, Z:-0.99 [[ 9.99968772e-01 7.15070423e-03 -3.36487594e-03 7.67328291e+01] [-7.14969411e-03 9.99974392e-01 3.12129244e-04 2.60757992e+00] [ 3.36702172e-03 -2.88061664e-04 9.99994290e-01 -9.87915049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13589822699998 meters 0.07842305529070905 Centerline is valid? [True, True] Translation: X:76.77, Y:2.63, Z:-0.99 [[ 9.99954018e-01 9.08203509e-03 -3.07868095e-03 7.67651949e+01] [-9.08119851e-03 9.99958724e-01 2.85603002e-04 2.62990772e+00] [ 3.08114773e-03 -2.57631757e-04 9.99995220e-01 -9.85871521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16589822699999 meters 0.07720103549181187 Centerline is valid? [True, True] Translation: X:76.79, Y:2.63, Z:-0.98 [[ 9.99907178e-01 1.35857213e-02 -1.03113701e-03 7.67949076e+01] [-1.35856300e-02 9.99907707e-01 9.55874529e-05 2.63392160e+00] [ 1.03234047e-03 -8.15699344e-05 9.99999464e-01 -9.83124243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19589822699999 meters 0.07609935933948132 Centerline is valid? [True, True] Translation: X:76.82, Y:2.64, Z:-0.98 [[ 9.99884826e-01 1.51764477e-02 -1.04811557e-04 7.68246195e+01] [-1.51764467e-02 9.99884831e-01 9.62112815e-06 2.63523718e+00] [ 1.04945501e-04 -8.02935303e-06 9.99999994e-01 -9.81333176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22589822699999 meters 0.07711793686916629 Centerline is valid? [True, True] Translation: X:76.85, Y:2.63, Z:-0.98 [[ 9.99876304e-01 1.57217692e-02 4.50483329e-04 7.68521790e+01] [-1.57217518e-02 9.99876405e-01 -4.19971988e-05 2.63382517e+00] [-4.51087922e-04 3.49096168e-05 9.99999898e-01 -9.80755103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25589822699999 meters 0.07502870778085712 Centerline is valid? [True, True] Translation: X:76.88, Y:2.64, Z:-0.98 [[ 9.99875551e-01 1.57542105e-02 8.28574701e-04 7.68809659e+01] [-1.57541521e-02 9.99875893e-01 -7.69540506e-05 2.63600155e+00] [-8.29684219e-04 6.38909820e-05 9.99999654e-01 -9.80029716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28589822699999 meters 0.07718374789877999 Centerline is valid? [True, True] Translation: X:76.91, Y:2.64, Z:-0.98 [[ 9.99884907e-01 1.50524986e-02 1.89599608e-03 7.69109601e+01] [-1.50521924e-02 9.99886694e-01 -1.75668228e-04 2.63711883e+00] [-1.89842550e-03 1.47109112e-04 9.99998187e-01 -9.77984235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31589822699999 meters 0.07699486012771778 Centerline is valid? [True, True] Translation: X:76.94, Y:2.64, Z:-0.98 [[ 9.99890798e-01 1.45924433e-02 2.33527491e-03 7.69406092e+01] [-1.45919775e-02 9.99893508e-01 -2.16377821e-04 2.64064396e+00] [-2.33818371e-03 1.82277913e-04 9.99997250e-01 -9.78775096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34589822699999 meters 0.07529875322923896 Centerline is valid? [True, True] Translation: X:76.97, Y:2.64, Z:-0.98 [[ 9.99890623e-01 1.45496990e-02 2.65491987e-03 7.69690532e+01] [-1.45490971e-02 9.99894126e-01 -2.45902892e-04 2.63985822e+00] [-2.65821660e-03 2.07249309e-04 9.99996445e-01 -9.76907162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.375898227 meters 0.07069082777222281 Centerline is valid? [True, True] Translation: X:77.00, Y:2.65, Z:-0.98 [[ 9.99886281e-01 1.49539942e-02 1.94993321e-03 7.69983282e+01] [-1.49492828e-02 9.99885352e-01 -2.40880669e-03 2.64627587e+00] [-1.98573093e-03 2.37938266e-03 9.99995198e-01 -9.76119119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.405898227 meters 0.07477519989027852 Centerline is valid? [True, True] Translation: X:77.03, Y:2.64, Z:-0.98 [[ 9.99905574e-01 1.35630267e-02 2.21066848e-03 7.70257700e+01] [-1.35675075e-02 9.99905907e-01 2.02465985e-03 2.63775249e+00] [-2.18299996e-03 -2.05446193e-03 9.99995507e-01 -9.78748137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.435898227 meters 0.08099288406925428 Centerline is valid? [True, True] Translation: X:77.05, Y:2.63, Z:-0.98 [[ 9.99921438e-01 1.23284476e-02 2.26437402e-03 7.70539476e+01] [-1.23280049e-02 9.99923985e-01 -2.09372434e-04 2.62855201e+00] [-2.26678313e-03 1.81440771e-04 9.99997414e-01 -9.77709028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.465898227 meters 0.07759677351168734 Centerline is valid? [True, True] Translation: X:77.08, Y:2.63, Z:-0.98 [[ 9.99947384e-01 9.55876846e-03 3.72271163e-03 7.70844406e+01] [-9.55755273e-03 9.99954266e-01 -3.44225247e-04 2.63108909e+00] [-3.72583175e-03 3.08627122e-04 9.99993011e-01 -9.75217072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49589822699998 meters 0.08519403033459143 Centerline is valid? [True, True] Translation: X:77.11, Y:2.62, Z:-0.98 [[ 9.99959685e-01 8.32327571e-03 3.36927744e-03 7.71126328e+01] [-8.32227309e-03 9.99965321e-01 -3.11488839e-04 2.61957195e+00] [-3.37175320e-03 2.83436235e-04 9.99994275e-01 -9.76009659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52589822699998 meters 0.07796668350265606 Centerline is valid? [True, True] Translation: X:77.14, Y:2.63, Z:-0.98 [[ 9.99967797e-01 7.77753856e-03 1.97842041e-03 7.71434598e+01] [-7.77719175e-03 9.99969740e-01 -1.82932148e-04 2.62610849e+00] [-1.97978330e-03 1.67539703e-04 9.99998026e-01 -9.78087888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55589822699999 meters 0.08446772381438154 Centerline is valid? [True, True] Translation: X:77.17, Y:2.61, Z:-0.98 [[ 9.99971860e-01 7.44019772e-03 9.60441260e-04 7.71711150e+01] [-7.44011572e-03 9.99972318e-01 -8.89246925e-05 2.61311087e+00] [-9.61076291e-04 8.17763960e-05 9.99999535e-01 -9.80788914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58589822699999 meters 0.08657498632186343 Centerline is valid? [True, True] Translation: X:77.20, Y:2.61, Z:-0.98 [[ 9.99973678e-01 7.04603437e-03 1.73133726e-03 7.71997164e+01] [-7.04576763e-03 9.99975165e-01 -1.60118206e-04 2.60657191e+00] [-1.73242246e-03 1.47915391e-04 9.99998488e-01 -9.79634375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61589822699999 meters 0.08356279397552199 Centerline is valid? [True, True] Translation: X:77.23, Y:2.61, Z:-0.98 [[ 9.99974180e-01 6.59783471e-03 2.84749883e-03 7.72292444e+01] [-6.59711196e-03 9.99978204e-01 -2.63138284e-04 2.60707026e+00] [-2.84917291e-03 2.44346221e-04 9.99995911e-01 -9.77725515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64589822699999 meters 0.08090357815414433 Centerline is valid? [True, True] Translation: X:77.26, Y:2.61, Z:-0.98 [[ 9.99977750e-01 5.96687948e-03 2.98274499e-03 7.72590477e+01] [-5.96608386e-03 9.99982165e-01 -2.75565829e-04 2.60748200e+00] [-2.98433606e-03 2.57764390e-04 9.99995514e-01 -9.76826273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67589822699999 meters 0.08733970638956544 Centerline is valid? [True, True] Translation: X:77.29, Y:2.59, Z:-0.98 [[ 9.99977830e-01 6.26733402e-03 2.24964669e-03 7.72873932e+01] [-6.26688244e-03 9.99980341e-01 -2.07727488e-04 2.59391154e+00] [-2.25090437e-03 1.93624612e-04 9.99997448e-01 -9.79388506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70589822699999 meters 0.08584992733207228 Centerline is valid? [True, True] Translation: X:77.32, Y:2.59, Z:-0.98 [[ 9.99977221e-01 6.50260249e-03 1.80911168e-03 7.73174076e+01] [-6.50231063e-03 9.99978846e-01 -1.67163789e-04 2.59186023e+00] [-1.81016041e-03 1.55396575e-04 9.99998350e-01 -9.80574852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73589822699999 meters 0.08337112259313456 Centerline is valid? [True, True] Translation: X:77.35, Y:2.59, Z:-0.98 [[ 9.99970154e-01 7.65991703e-03 1.00807735e-03 7.73475262e+01] [-7.65982704e-03 9.99970659e-01 -9.30933294e-05 2.59197443e+00] [-1.00876085e-03 8.53688528e-05 9.99999488e-01 -9.81182878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.765898227 meters 0.08149821064696916 Centerline is valid? [True, True] Translation: X:77.38, Y:2.59, Z:-0.98 [[ 9.99949077e-01 1.00813526e-02 4.58245036e-04 7.73775181e+01] [-1.00813342e-02 9.99949181e-01 -4.23700673e-05 2.59259171e+00] [-4.58648896e-04 3.77481883e-05 9.99999894e-01 -9.81309771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.795898227 meters 0.07098413257096443 Centerline is valid? [True, True] Translation: X:77.41, Y:2.61, Z:-0.98 [[ 9.99820953e-01 1.89223308e-02 8.07581573e-05 7.74098259e+01] [-1.89223303e-02 9.99820957e-01 -7.50494649e-06 2.60722846e+00] [-8.08857091e-05 5.97547023e-06 9.99999997e-01 -9.80425031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.825898227 meters 0.07241015057829589 Centerline is valid? [True, True] Translation: X:77.44, Y:2.61, Z:-0.98 [[ 9.99711174e-01 2.39657390e-02 1.79197600e-03 7.74390460e+01] [-2.39654808e-02 9.99712773e-01 -1.65477192e-04 2.60509774e+00] [-1.79542708e-03 1.22483832e-04 9.99998381e-01 -9.78489544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.855898227 meters 0.07241015057829589 Centerline is valid? [True, True] Translation: X:77.47, Y:2.60, Z:-0.98 [[ 9.99712215e-01 2.39223046e-02 1.79197128e-03 7.74673149e+01] [-2.39220461e-02 9.99713813e-01 -1.65528335e-04 2.60256844e+00] [-1.79541826e-03 1.22613079e-04 9.99998381e-01 -9.78614628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88589822699998 meters 0.06528955791099471 Centerline is valid? [True, True] Translation: X:77.50, Y:2.61, Z:-0.97 [[ 9.99578019e-01 2.88076481e-02 3.72871010e-03 7.74982912e+01] [-2.88065644e-02 9.99584946e-01 -3.44030336e-04 2.61121894e+00] [-3.73707319e-03 2.36473834e-04 9.99992989e-01 -9.74875039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91589822699999 meters 0.05774966920746649 Centerline is valid? [True, True] Translation: X:77.53, Y:2.62, Z:-0.97 [[ 9.99293065e-01 3.67508446e-02 7.92116364e-03 7.75300929e+01] [-3.67462027e-02 9.99324363e-01 -7.30817802e-04 2.62333318e+00] [-7.94266998e-03 4.39228477e-04 9.99968360e-01 -9.68354791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94589822699999 meters 0.05072334455087597 Centerline is valid? [True, True] Translation: X:77.56, Y:2.63, Z:-0.97 [[ 9.99165571e-01 3.99152831e-02 8.65636798e-03 7.75611546e+01] [-3.99098581e-02 9.99202965e-01 -7.98620895e-04 2.63229946e+00] [-8.68134573e-03 4.52480085e-04 9.99962214e-01 -9.67800521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97589822699999 meters 0.04905264669429704 Centerline is valid? [True, True] Translation: X:77.59, Y:2.63, Z:-0.97 [[ 9.99051754e-01 4.27244163e-02 8.37957450e-03 7.75900929e+01] [-4.27194324e-02 9.99086809e-01 -7.72937331e-04 2.63425876e+00] [-8.40494565e-03 4.14233730e-04 9.99964592e-01 -9.68926344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00589822699999 meters 0.044599284673972395 Centerline is valid? [True, True] Translation: X:77.62, Y:2.64, Z:-0.97 [[ 9.98821861e-01 4.81038469e-02 6.39602341e-03 7.76208892e+01] [-4.81010541e-02 9.98842300e-01 -5.89843612e-04 2.64174912e+00] [-6.41699248e-03 2.81493226e-04 9.99979371e-01 -9.72076116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03589822699999 meters 0.04436097748740816 Centerline is valid? [True, True] Translation: X:77.65, Y:2.64, Z:-0.98 [[ 9.98705699e-01 5.05287176e-02 5.81163333e-03 7.76512106e+01] [-5.05264531e-02 9.98722579e-01 -5.35904977e-04 2.64438969e+00] [-5.83128802e-03 2.41570136e-04 9.99982969e-01 -9.75039130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06589822699999 meters 0.04197972129346656 Centerline is valid? [True, True] Translation: X:77.68, Y:2.64, Z:-0.97 [[ 9.98572094e-01 5.30653399e-02 6.15165190e-03 7.76798148e+01] [-5.30628513e-02 9.98591013e-01 -5.67166723e-04 2.64358508e+00] [-6.17308120e-03 2.39932672e-04 9.99980918e-01 -9.71723644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09589822699999 meters 0.03938345204304006 Centerline is valid? [True, True] Translation: X:77.71, Y:2.65, Z:-0.97 [[ 9.98445373e-01 5.52783288e-02 7.15152418e-03 7.77100181e+01] [-5.52750234e-02 9.98470950e-01 -6.59176737e-04 2.64601000e+00] [-7.17702733e-03 2.62851297e-04 9.99974210e-01 -9.70238139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.125898227 meters 0.03255205868164862 Centerline is valid? [True, True] Translation: X:77.74, Y:2.65, Z:-0.97 [[ 9.98174050e-01 5.98419782e-02 8.21607699e-03 7.77408794e+01] [-5.98377709e-02 9.98207828e-01 -7.57165946e-04 2.65416959e+00] [-8.24666268e-03 2.64151666e-04 9.99965961e-01 -9.70189987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.155898227 meters 0.034784360632442834 Centerline is valid? [True, True] Translation: X:77.77, Y:2.65, Z:-0.97 [[ 9.98044246e-01 6.20362496e-02 7.69330471e-03 7.77680864e+01] [-6.20326275e-02 9.98073870e-01 -7.08775898e-04 2.64884094e+00] [-7.72245620e-03 2.30153801e-04 9.99970155e-01 -9.71731698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.185898227 meters 0.030212556847272403 Centerline is valid? [True, True] Translation: X:77.80, Y:2.65, Z:-0.97 [[ 9.97918838e-01 6.41088614e-02 6.93150443e-03 7.77975906e+01] [-6.41059752e-02 9.97942893e-01 -6.37986179e-04 2.65184736e+00] [-6.95814615e-03 1.92307575e-04 9.99975773e-01 -9.74737062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.215898227 meters 0.02835351662475602 Centerline is valid? [True, True] Translation: X:77.83, Y:2.65, Z:-0.98 [[ 9.97695971e-01 6.76161918e-02 5.54971170e-03 7.78263344e+01] [-6.76143990e-02 9.97711397e-01 -5.10243718e-04 2.65039394e+00] [-5.57151136e-03 1.33827680e-04 9.99984470e-01 -9.77056958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24589822699998 meters 0.025769740089483413 Centerline is valid? [True, True] Translation: X:77.86, Y:2.65, Z:-0.98 [[ 9.97643385e-01 6.84481573e-02 4.74611939e-03 7.78555773e+01] [-6.84468564e-02 9.97654669e-01 -4.36176170e-04 2.65073840e+00] [-4.76484363e-03 1.10291318e-04 9.99988642e-01 -9.77747570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27589822699998 meters 0.02483503231209228 Centerline is valid? [True, True] Translation: X:77.88, Y:2.65, Z:-0.98 [[ 9.97623385e-01 6.87541678e-02 4.52171058e-03 7.78840330e+01] [-6.87529933e-02 9.97633627e-01 -4.14861696e-04 2.64871099e+00] [-4.53953400e-03 1.02994592e-04 9.99989691e-01 -9.78173189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30589822699999 meters 0.02342742720443291 Centerline is valid? [True, True] Translation: X:77.91, Y:2.65, Z:-0.98 [[ 9.97591205e-01 6.92428644e-02 4.14889114e-03 7.79131223e+01] [-6.92418824e-02 9.97599828e-01 -3.80041673e-04 2.64619149e+00] [-4.16524827e-03 9.18491976e-05 9.99991321e-01 -9.78858930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33589822699999 meters 0.02297840890406363 Centerline is valid? [True, True] Translation: X:77.94, Y:2.64, Z:-0.98 [[ 9.97482790e-01 7.07864291e-02 4.16714573e-03 7.79407597e+01] [-7.07854549e-02 9.97491491e-01 -3.80994055e-04 2.64014368e+00] [-4.18366162e-03 8.50617068e-05 9.99991245e-01 -9.80322228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36589822699999 meters 0.02267631894263088 Centerline is valid? [True, True] Translation: X:77.97, Y:2.64, Z:-0.98 [[ 9.97457559e-01 7.11672346e-02 3.69359135e-03 7.79688935e+01] [-7.11664723e-02 9.97464395e-01 -3.37580944e-04 2.63636342e+00] [-3.70825057e-03 7.38627976e-05 9.99993122e-01 -9.81486760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39589822699999 meters 0.02348999617156928 Centerline is valid? [True, True] Translation: X:78.00, Y:2.63, Z:-0.98 [[ 9.97436391e-01 7.14639096e-02 3.68175576e-03 7.79960066e+01] [-7.14631566e-02 9.97443184e-01 -3.35830225e-04 2.63163175e+00] [-3.69634192e-03 7.18593997e-05 9.99993166e-01 -9.81727911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42589822699999 meters 0.023707616308874507 Centerline is valid? [True, True] Translation: X:78.02, Y:2.63, Z:-0.98 [[ 9.97435775e-01 7.14603750e-02 3.91023953e-03 7.80235585e+01] [-7.14595264e-02 9.97443436e-01 -3.56482928e-04 2.62866803e+00] [-3.92571716e-03 7.61449605e-05 9.99992291e-01 -9.80523425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45589822699999 meters 0.02239605200100353 Centerline is valid? [True, True] Translation: X:78.05, Y:2.63, Z:-0.98 [[ 9.97389206e-01 7.19757803e-02 5.85309522e-03 7.80523086e+01] [-7.19738956e-02 9.97406374e-01 -5.32271763e-04 2.62623981e+00] [-5.87622516e-03 1.09612047e-04 9.99982729e-01 -9.77818082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48589822699999 meters 0.02689676035156028 Centerline is valid? [True, True] Translation: X:78.08, Y:2.62, Z:-0.98 [[ 9.97399330e-01 7.17476040e-02 6.84527384e-03 7.80801871e+01] [-7.17450296e-02 9.97422811e-01 -6.21230663e-04 2.62228652e+00] [-6.87220409e-03 1.28500673e-04 9.99976378e-01 -9.78190524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.515898227 meters 0.02122468687229174 Centerline is valid? [True, True] Translation: X:78.11, Y:2.62, Z:-0.98 [[ 9.97407115e-01 7.15571743e-02 7.65620361e-03 7.81078935e+01] [-7.15539597e-02 9.97436489e-01 -6.93314266e-04 2.61875853e+00] [-7.68618846e-03 1.43684897e-04 9.99970450e-01 -9.75412264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.545898227 meters 0.022734482922111974 Centerline is valid? [True, True] Translation: X:78.14, Y:2.61, Z:-0.97 [[ 9.97491845e-01 7.02876064e-02 8.34695758e-03 7.81353777e+01] [-7.02837507e-02 9.97526754e-01 -7.54727983e-04 2.61074262e+00] [-8.37936152e-03 1.66179523e-04 9.99964879e-01 -9.74319906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.575898227 meters 0.024565915016187823 Centerline is valid? [True, True] Translation: X:78.16, Y:2.60, Z:-0.97 [[ 9.97531712e-01 6.96730130e-02 8.72666744e-03 7.81621827e+01] [-6.96687813e-02 9.97569867e-01 -7.88350314e-04 2.60438214e+00] [-8.76038722e-03 1.78428152e-04 9.99961611e-01 -9.73465104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.605898227 meters 0.025257911432451114 Centerline is valid? [True, True] Translation: X:78.19, Y:2.60, Z:-0.97 [[ 9.97531932e-01 6.95740582e-02 9.46018667e-03 7.81891951e+01] [-6.95690879e-02 9.97576770e-01 -8.53848010e-04 2.59925885e+00] [-9.49666813e-03 1.93604097e-04 9.99954887e-01 -9.72561255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63589822699998 meters 0.0230060433964594 Centerline is valid? [True, True] Translation: X:78.22, Y:2.60, Z:-0.97 [[ 9.97505137e-01 6.98849197e-02 9.97996359e-03 7.82179563e+01] [-6.98794090e-02 9.97555040e-01 -9.00239913e-04 2.59746426e+00] [-1.00184762e-02 2.00599980e-04 9.99949794e-01 -9.72909809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66589822699999 meters 0.023530355052924057 Centerline is valid? [True, True] Translation: X:78.24, Y:2.59, Z:-0.97 [[ 9.97485866e-01 7.00789451e-02 1.05303729e-02 7.82443229e+01] [-7.00728283e-02 9.97541427e-01 -9.49169308e-04 2.59013740e+00] [-1.05710000e-02 2.08889959e-04 9.99944104e-01 -9.72135573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69589822699999 meters 0.023567131730495506 Centerline is valid? [True, True] Translation: X:78.27, Y:2.59, Z:-0.97 [[ 9.97494960e-01 6.99984708e-02 1.01989643e-02 7.82721799e+01] [-6.99927363e-02 9.97547078e-01 -9.18550330e-04 2.58542607e+00] [-1.02382442e-02 2.02395906e-04 9.99947567e-01 -9.72707030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72589822699999 meters 0.023711435361770946 Centerline is valid? [True, True] Translation: X:78.30, Y:2.58, Z:-0.97 [[ 9.97495605e-01 7.00390858e-02 9.85114405e-03 7.83002356e+01] [-7.00337454e-02 9.97544229e-01 -8.86456584e-04 2.57951741e+00] [-9.88903850e-03 1.94324033e-04 9.99951083e-01 -9.73273499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75589822699999 meters 0.022872013573443692 Centerline is valid? [True, True] Translation: X:78.33, Y:2.57, Z:-0.97 [[ 9.97481571e-01 7.01917364e-02 1.01801282e-02 7.83276335e+01] [-7.01860494e-02 9.97533499e-01 -9.15261959e-04 2.57457120e+00] [-1.02192627e-02 1.98453957e-04 9.99947762e-01 -9.73659759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78589822699999 meters 0.021859785376760844 Centerline is valid? [True, True] Translation: X:78.36, Y:2.57, Z:-0.97 [[ 9.97390606e-01 7.13303169e-02 1.11339114e-02 7.83563117e+01] [-7.13235925e-02 9.97452728e-01 -1.00036752e-03 2.56688211e+00] [-1.11769068e-02 2.03646608e-04 9.99937516e-01 -9.72802806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81589822699999 meters 0.02057487832152801 Centerline is valid? [True, True] Translation: X:78.39, Y:2.56, Z:-0.97 [[ 9.97316259e-01 7.23849748e-02 1.09861219e-02 7.83851381e+01] [-7.23784973e-02 9.97376749e-01 -9.86578205e-04 2.56312775e+00] [-1.10287160e-02 1.88771490e-04 9.99939164e-01 -9.72770629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84589822699999 meters 0.019731081596524012 Centerline is valid? [True, True] Translation: X:78.41, Y:2.56, Z:-0.97 [[ 9.97231243e-01 7.36330197e-02 1.03935355e-02 7.84130975e+01] [-7.36272949e-02 9.97285391e-01 -9.32886180e-04 2.55870609e+00] [-1.04340123e-02 1.65055346e-04 9.99945551e-01 -9.73524976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.875898227 meters 0.018628778167773707 Centerline is valid? [True, True] Translation: X:78.44, Y:2.55, Z:-0.98 [[ 9.97158445e-01 7.46849724e-02 9.85849882e-03 7.84417237e+01] [-7.46798777e-02 9.97207167e-01 -8.84412710e-04 2.55417106e+00] [-9.89701802e-03 1.45668116e-04 9.99951013e-01 -9.75310074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.905898227 meters 0.018180805776578348 Centerline is valid? [True, True] Translation: X:78.47, Y:2.55, Z:-0.98 [[ 9.97088195e-01 7.56802798e-02 9.36089762e-03 7.84685297e+01] [-7.56757349e-02 9.97132127e-01 -8.39288187e-04 2.54624463e+00] [-9.39756932e-03 1.28451536e-04 9.99955834e-01 -9.76226169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.935898227 meters 0.01733793873775415 Centerline is valid? [True, True] Translation: X:78.50, Y:2.54, Z:-0.98 [[ 9.97096790e-01 7.54714028e-02 1.01024276e-02 7.84974755e+01] [-7.54661041e-02 9.97147957e-01 -9.05222518e-04 2.54363451e+00] [-1.01419335e-02 1.40203610e-04 9.99948559e-01 -9.75169585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.965898227 meters 0.020205371416035043 Centerline is valid? [True, True] Translation: X:78.52, Y:2.54, Z:-0.97 [[ 9.97107967e-01 7.51464742e-02 1.13450001e-02 7.85247125e+01] [-7.51397806e-02 9.97172493e-01 -1.01570452e-03 2.53589399e+00] [-1.13892486e-02 1.60306258e-04 9.99935128e-01 -9.72066279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99589822699998 meters 0.02327088738144282 Centerline is valid? [True, True] Translation: X:78.55, Y:2.53, Z:-0.97 [[ 9.97217578e-01 7.35392018e-02 1.22101434e-02 7.85536642e+01] [-7.35313374e-02 9.97292309e-01 -1.09237671e-03 2.53194065e+00] [-1.22574146e-02 1.91509081e-04 9.99924857e-01 -9.73654006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02589822699998 meters 0.02080989712355029 Centerline is valid? [True, True] Translation: X:78.58, Y:2.53, Z:-0.97 [[ 9.97330528e-01 7.20260564e-02 1.20027035e-02 7.85817405e+01] [-7.20183553e-02 9.97402729e-01 -1.07317406e-03 2.52734296e+00] [-1.20488257e-02 2.05894283e-04 9.99927389e-01 -9.73673110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05589822699999 meters 0.02358855829750161 Centerline is valid? [True, True] Translation: X:78.61, Y:2.52, Z:-0.97 [[ 9.97488351e-01 6.99607504e-02 1.10672238e-02 7.86089360e+01] [-6.99540828e-02 9.97549722e-01 -9.88908409e-04 2.52059717e+00] [-1.11092908e-02 2.12227125e-04 9.99938267e-01 -9.74866141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08589822699999 meters 0.02532999047301229 Centerline is valid? [True, True] Translation: X:78.64, Y:2.52, Z:-0.98 [[ 9.97673995e-01 6.72792081e-02 1.09594063e-02 7.86384145e+01] [-6.72725125e-02 9.97734158e-01 -9.78871324e-04 2.51511615e+00] [-1.10004317e-02 2.39327667e-04 9.99939465e-01 -9.75942286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11589822699999 meters 0.03347063925634344 Centerline is valid? [True, True] Translation: X:78.67, Y:2.50, Z:-0.97 [[ 9.98084926e-01 6.07480685e-02 1.16684528e-02 7.86667918e+01] [-6.07400334e-02 9.98153076e-01 -1.04209992e-03 2.49793658e+00] [-1.17102076e-02 3.31362011e-04 9.99931378e-01 -9.74375862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14589822699999 meters 0.03213285778590005 Centerline is valid? [True, True] Translation: X:78.70, Y:2.50, Z:-0.98 [[ 9.98245199e-01 5.80395218e-02 1.17446253e-02 7.86961231e+01] [-5.80311972e-02 9.98314219e-01 -1.04864116e-03 2.49648476e+00] [-1.17856891e-02 3.65246337e-04 9.99930480e-01 -9.76436924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17589822699999 meters 0.03362223251140495 Centerline is valid? [True, True] Translation: X:78.72, Y:2.49, Z:-0.97 [[ 9.98243855e-01 5.81692767e-02 1.12045557e-02 7.87232247e+01] [-5.81617146e-02 9.98306674e-01 -9.99862257e-04 2.48695864e+00] [-1.12437440e-02 3.46430183e-04 9.99936727e-01 -9.74146972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20589822699999 meters 0.02987086737363817 Centerline is valid? [True, True] Translation: X:78.75, Y:2.49, Z:-0.97 [[ 9.98083345e-01 6.09091468e-02 1.09413500e-02 7.87532989e+01] [-6.09021047e-02 9.98143267e-01 -9.75965101e-04 2.48869238e+00] [-1.09804800e-02 3.07743269e-04 9.99939665e-01 -9.74682656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23589822699999 meters 0.027506948688084898 Centerline is valid? [True, True] Translation: X:78.78, Y:2.49, Z:-0.97 [[ 9.97833970e-01 6.48240752e-02 1.11896505e-02 7.87821640e+01] [-6.48169596e-02 9.97896671e-01 -9.97770594e-04 2.48919737e+00] [-1.12307945e-02 2.70330268e-04 9.99936896e-01 -9.74109769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.265898227 meters 0.0178859366645305 Centerline is valid? [True, True] Translation: X:78.81, Y:2.50, Z:-0.97 [[ 9.97080425e-01 7.55836042e-02 1.08510026e-02 7.88136510e+01] [-7.55775502e-02 9.97139458e-01 -9.67483253e-04 2.50022565e+00] [-1.08930887e-02 1.44566420e-04 9.99940658e-01 -9.74569927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.295898227 meters 0.013756556020633366 Centerline is valid? [True, True] Translation: X:78.84, Y:2.51, Z:-0.97 [[ 9.96601439e-01 8.16776432e-02 1.06927065e-02 7.88425482e+01] [-8.16721178e-02 9.96658797e-01 -9.53117268e-04 2.50551000e+00] [-1.07348284e-02 7.65820560e-05 9.99942377e-01 -9.74121528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.325898227 meters 0.011320421721774825 Centerline is valid? [True, True] Translation: X:78.87, Y:2.51, Z:-0.97 [[ 9.96133091e-01 8.71656035e-02 1.10010673e-02 7.88721661e+01] [-8.71601031e-02 9.96193835e-01 -9.79350096e-04 2.51151762e+00] [-1.10445610e-02 1.67088816e-05 9.99939007e-01 -9.73038317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.355898227 meters 0.011792310717411677 Centerline is valid? [True, True] Translation: X:78.90, Y:2.52, Z:-0.97 [[ 9.95669664e-01 9.22797821e-02 1.12411058e-02 7.89001222e+01] [-9.22743772e-02 9.95733117e-01 -9.99624033e-04 2.51689144e+00] [-1.12853864e-02 -4.19707087e-05 9.99936317e-01 -9.72386038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38589822699998 meters 0.01562502862951031 Centerline is valid? [True, True] Translation: X:78.93, Y:2.52, Z:-0.97 [[ 9.95079129e-01 9.84713109e-02 1.09967134e-02 7.89281910e+01] [-9.84665239e-02 9.95139884e-01 -9.77204085e-04 2.52401121e+00] [-1.10394947e-02 -1.10412758e-04 9.99939057e-01 -9.73312487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41589822699999 meters 0.01680759309334404 Centerline is valid? [True, True] Translation: X:78.96, Y:2.52, Z:-0.97 [[ 9.94915501e-01 1.00160073e-01 1.05406496e-02 7.89564784e+01] [-1.00155776e-01 9.94971328e-01 -9.36043252e-04 2.52296838e+00] [-1.05813983e-02 -1.24423007e-04 9.99944008e-01 -9.74886672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44589822699999 meters 0.017032478870224105 Centerline is valid? [True, True] Translation: X:78.98, Y:2.52, Z:-0.98 [[ 9.94806900e-01 1.01202844e-01 1.08266059e-02 7.89848926e+01] [-1.01198388e-01 9.94865802e-01 -9.60111990e-04 2.51987924e+00] [-1.08681860e-02 -1.40509024e-04 9.99940930e-01 -9.76635032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47589822699999 meters 0.01725758292927773 Centerline is valid? [True, True] Translation: X:79.01, Y:2.52, Z:-0.98 [[ 9.94728377e-01 1.01904270e-01 1.14444993e-02 7.90135416e+01] [-1.01899359e-01 9.94794197e-01 -1.01293923e-03 2.51691580e+00] [-1.14881443e-02 -1.58587747e-04 9.99933997e-01 -9.77015761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50589822699999 meters 0.01798073640615533 Centerline is valid? [True, True] Translation: X:79.04, Y:2.51, Z:-0.98 [[ 9.94702393e-01 1.02138292e-01 1.16154398e-02 7.90410008e+01] [-1.02133266e-01 9.94770196e-01 -1.02665749e-03 2.51452933e+00] [-1.16595544e-02 -1.65104137e-04 9.99932011e-01 -9.76358772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53589822699999 meters 0.018345462209030525 Centerline is valid? [True, True] Translation: X:79.07, Y:2.51, Z:-0.98 [[ 9.94739043e-01 1.01812287e-01 1.13355704e-02 7.90688292e+01] [-1.01807490e-01 9.94803615e-01 -1.00093007e-03 2.51169411e+00] [-1.13785734e-02 -1.58381750e-04 9.99935249e-01 -9.76032846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56589822699999 meters 0.017286517872204532 Centerline is valid? [True, True] Translation: X:79.10, Y:2.51, Z:-0.98 [[ 9.94814577e-01 1.01027637e-01 1.17206328e-02 7.90962391e+01] [-1.01022475e-01 9.94883607e-01 -1.03313193e-03 2.50601251e+00] [-1.17650403e-02 -1.56272626e-04 9.99930777e-01 -9.76237576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59589822699999 meters 0.015757103246167484 Centerline is valid? [True, True] Translation: X:79.12, Y:2.50, Z:-0.97 [[ 9.95057981e-01 9.83129085e-02 1.39350843e-02 7.91229748e+01] [-9.83053676e-02 9.95155540e-01 -1.22675911e-03 2.49513334e+00] [-1.39881826e-02 -1.49197134e-04 9.99902149e-01 -9.74139531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.625898227 meters 0.01447673985967009 Centerline is valid? [True, True] Translation: X:79.15, Y:2.49, Z:-0.97 [[ 9.95249918e-01 9.61990527e-02 1.49446653e-02 7.91513060e+01] [-9.61901715e-02 9.95362108e-01 -1.31361513e-03 2.48666149e+00] [-1.50017221e-02 -1.30154565e-04 9.99887459e-01 -9.72835248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.655898227 meters 0.014304249849870488 Centerline is valid? [True, True] Translation: X:79.18, Y:2.48, Z:-0.97 [[ 9.95400322e-01 9.45240745e-02 1.56011991e-02 7.91782167e+01] [-9.45142122e-02 9.95522570e-01 -1.36991046e-03 2.47925326e+00] [-1.56608353e-02 -1.10925734e-04 9.99877355e-01 -9.70837732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.685898227 meters 0.01350954809388703 Centerline is valid? [True, True] Translation: X:79.21, Y:2.47, Z:-0.97 [[ 9.95524463e-01 9.32050752e-02 1.56159298e-02 7.92068589e+01] [-9.31950439e-02 9.95646928e-01 -1.37043931e-03 2.47084860e+00] [-1.56756844e-02 -9.10214061e-05 9.99877125e-01 -9.71263762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.715898227 meters 0.01382165653919173 Centerline is valid? [True, True] Translation: X:79.23, Y:2.46, Z:-0.97 [[ 9.95469655e-01 9.40370690e-02 1.40426104e-02 7.92336857e+01] [-9.40290503e-02 9.95568692e-01 -1.23164484e-03 2.46219913e+00] [-1.40962035e-02 -9.43482513e-05 9.99900639e-01 -9.74504627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74589822699998 meters 0.014832455498225398 Centerline is valid? [True, True] Translation: X:79.26, Y:2.46, Z:-0.98 [[ 9.95214817e-01 9.68601288e-02 1.28679451e-02 7.92626443e+01] [-9.68536525e-02 9.95297996e-01 -1.12698645e-03 2.45966089e+00] [-1.29166000e-02 -1.24713874e-04 9.99916569e-01 -9.77581621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77589822699998 meters 0.014832455498225398 Centerline is valid? [True, True] Translation: X:79.29, Y:2.46, Z:-0.98 [[ 9.95233016e-01 9.66729303e-02 1.28681477e-02 7.92899807e+01] [-9.66664683e-02 9.95316195e-01 -1.12466997e-03 2.45744122e+00] [-1.29166010e-02 -1.24609707e-04 9.99916569e-01 -9.77702702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80589822699999 meters 0.019361531996233687 Centerline is valid? [True, True] Translation: X:79.32, Y:2.46, Z:-0.98 [[ 9.94822440e-01 1.00820502e-01 1.27882563e-02 7.93182626e+01] [-1.00814480e-01 9.94904616e-01 -1.11636670e-03 2.46041394e+00] [-1.28356479e-02 -1.78654766e-04 9.99917604e-01 -9.76875920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83589822699999 meters 0.028704254464302168 Centerline is valid? [True, True] Translation: X:79.35, Y:2.47, Z:-0.98 [[ 9.93808103e-01 1.10287683e-01 1.34937763e-02 7.93496228e+01] [-1.10281853e-01 9.93899656e-01 -1.17765635e-03 2.46869154e+00] [-1.35413406e-02 -3.17754237e-04 9.99908261e-01 -9.75033865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86589822699999 meters 0.032655664920264046 Centerline is valid? [True, True] Translation: X:79.38, Y:2.47, Z:-0.98 [[ 9.93329322e-01 1.14530255e-01 1.34044141e-02 7.93797795e+01] [-1.14524890e-01 9.93419690e-01 -1.16974022e-03 2.47070723e+00] [-1.34501796e-02 -3.73201791e-04 9.99909473e-01 -9.75136429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89589822699999 meters 0.03706096897273681 Centerline is valid? [True, True] Translation: X:79.41, Y:2.47, Z:-0.98 [[ 9.93001867e-01 1.17449018e-01 1.23701293e-02 7.94083208e+01] [-1.17444679e-01 9.93078840e-01 -1.07916065e-03 2.47333387e+00] [-1.24112601e-02 -3.81197322e-04 9.99922905e-01 -9.76693075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92589822699999 meters 0.034330544709261626 Centerline is valid? [True, True] Translation: X:79.44, Y:2.47, Z:-0.98 [[ 9.92859184e-01 1.18737504e-01 1.14911405e-02 7.94364331e+01] [-1.18733861e-01 9.92925611e-01 -1.00112216e-03 2.46622710e+00] [-1.15287185e-02 -3.70414144e-04 9.99933474e-01 -9.80830710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95589822699999 meters 0.03507838333603765 Centerline is valid? [True, True] Translation: X:79.46, Y:2.46, Z:-0.98 [[ 9.92918907e-01 1.18258727e-01 1.12658012e-02 7.94644046e+01] [-1.18255216e-01 9.92982751e-01 -9.79586259e-04 2.46185911e+00] [-1.13025909e-02 -3.59590039e-04 9.99936059e-01 -9.82587100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98589822699999 meters 0.0335558552119034 Centerline is valid? [True, True] Translation: X:79.49, Y:2.46, Z:-0.98 [[ 9.93110618e-01 1.16603929e-01 1.16113811e-02 7.94924097e+01] [-1.16600110e-01 9.93178433e-01 -1.00765452e-03 2.45542949e+00] [-1.16496697e-02 -3.53175902e-04 9.99932078e-01 -9.82417460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.015898227 meters 0.03700037299324906 Centerline is valid? [True, True] Translation: X:79.52, Y:2.45, Z:-0.98 [[ 9.93388221e-01 1.14222044e-01 1.15398364e-02 7.95199115e+01] [-1.14218125e-01 9.93455192e-01 -1.00028744e-03 2.45181994e+00] [-1.15785652e-02 -3.24384713e-04 9.99932914e-01 -9.83547514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.045898227 meters 0.029273875489957003 Centerline is valid? [True, True] Translation: X:79.55, Y:2.44, Z:-0.98 [[ 9.93651089e-01 1.11971062e-01 1.09541766e-02 7.95481097e+01] [-1.11967407e-01 9.93711427e-01 -9.48253366e-04 2.43901837e+00] [-1.09914674e-02 -2.84277758e-04 9.99939552e-01 -9.83534796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.075898227 meters 0.029679057645471588 Centerline is valid? [True, True] Translation: X:79.58, Y:2.43, Z:-0.98 [[ 9.94016642e-01 1.08582815e-01 1.18612130e-02 7.95757046e+01] [-1.08578302e-01 9.94087371e-01 -1.02567923e-03 2.43033975e+00] [-1.19024532e-02 -2.68328149e-04 9.99929127e-01 -9.80270958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.105898227 meters 0.025603395590189752 Centerline is valid? [True, True] Translation: X:79.60, Y:2.42, Z:-0.98 [[ 9.94075954e-01 1.07862638e-01 1.33659558e-02 7.96027908e+01] [-1.07856868e-01 9.94165763e-01 -1.15385328e-03 2.41869657e+00] [-1.34124333e-02 -2.94592341e-04 9.99910006e-01 -9.79362466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13589822699998 meters 0.02695764223577072 Centerline is valid? [True, True] Translation: X:79.63, Y:2.41, Z:-0.98 [[ 9.94041494e-01 1.08028113e-01 1.45408014e-02 7.96303150e+01] [-1.08021324e-01 9.94147787e-01 -1.25376138e-03 2.41207732e+00] [-1.45911470e-02 -3.24425783e-04 9.99893491e-01 -9.77024029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16589822699999 meters 0.03165408349658955 Centerline is valid? [True, True] Translation: X:79.66, Y:2.41, Z:-0.98 [[ 9.93941396e-01 1.08968871e-01 1.43626757e-02 7.96578132e+01] [-1.08962359e-01 9.94045106e-01 -1.23745737e-03 2.41357477e+00] [-1.44119918e-02 -3.35030918e-04 9.99896086e-01 -9.76101228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19589822699999 meters 0.033317230271252156 Centerline is valid? [True, True] Translation: X:79.69, Y:2.41, Z:-0.98 [[ 9.93805879e-01 1.10189461e-01 1.44276900e-02 7.96861912e+01] [-1.10183046e-01 9.93910537e-01 -1.24123338e-03 2.41071102e+00] [-1.44766040e-02 -3.56141794e-04 9.99895145e-01 -9.76509835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22589822699999 meters 0.03105858033088436 Centerline is valid? [True, True] Translation: X:79.71, Y:2.40, Z:-0.98 [[ 9.93697071e-01 1.11101610e-01 1.49185767e-02 7.97145621e+01] [-1.11094889e-01 9.93808978e-01 -1.28107518e-03 2.40236405e+00] [-1.49685450e-02 -3.84376971e-04 9.99887891e-01 -9.78400416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25589822699999 meters 0.03111716986961131 Centerline is valid? [True, True] Translation: X:79.74, Y:2.39, Z:-0.98 [[ 9.93763137e-01 1.10531392e-01 1.47525954e-02 7.97420978e+01] [-1.10524781e-01 9.93872563e-01 -1.26523552e-03 2.39357410e+00] [-1.48020481e-02 -3.73182950e-04 9.99890374e-01 -9.78429974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28589822699999 meters 0.029975841817713365 Centerline is valid? [True, True] Translation: X:79.77, Y:2.39, Z:-0.98 [[ 9.93954211e-01 1.08839460e-01 1.44567894e-02 7.97692977e+01] [-1.08832946e-01 9.94059281e-01 -1.23892449e-03 2.38608463e+00] [-1.45057495e-02 -3.41940756e-04 9.99894728e-01 -9.78471105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31589822699999 meters 0.02467485571226146 Centerline is valid? [True, True] Translation: X:79.80, Y:2.37, Z:-0.98 [[ 9.94182985e-01 1.06733758e-01 1.44255492e-02 7.97972277e+01] [-1.06727061e-01 9.94287588e-01 -1.23551106e-03 2.37229606e+00] [-1.44750152e-02 -3.11272389e-04 9.99895183e-01 -9.80523429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34589822699999 meters 0.0254981811561852 Centerline is valid? [True, True] Translation: X:79.82, Y:2.37, Z:-0.98 [[ 9.94407149e-01 1.04600596e-01 1.45992287e-02 7.98245612e+01] [-1.04593519e-01 9.94514271e-01 -1.24955860e-03 2.36738661e+00] [-1.46498459e-02 -2.84414702e-04 9.99892645e-01 -9.78353361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.375898227 meters 0.02192596016251735 Centerline is valid? [True, True] Translation: X:79.85, Y:2.35, Z:-0.98 [[ 9.94763742e-01 1.00829000e-01 1.66916110e-02 7.98520790e+01] [-1.00819232e-01 9.94903736e-01 -1.42779221e-03 2.35243720e+00] [-1.67505090e-02 -2.62519493e-04 9.99859666e-01 -9.76896730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.405898227 meters 0.01885950566222538 Centerline is valid? [True, True] Translation: X:79.88, Y:2.34, Z:-0.98 [[ 9.94941452e-01 9.89855614e-02 1.71279451e-02 7.98796340e+01] [-9.89750168e-02 9.95088841e-01 -1.46431164e-03 2.34145232e+00] [-1.71887727e-02 -2.38334309e-04 9.99852234e-01 -9.78754568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.435898227 meters 0.017576704136690314 Centerline is valid? [True, True] Translation: X:79.91, Y:2.33, Z:-0.98 [[ 9.95122386e-01 9.72374898e-02 1.66224916e-02 7.99083161e+01] [-9.72273251e-02 9.95261187e-01 -1.42046689e-03 2.33350185e+00] [-1.66818433e-02 -2.02621988e-04 9.99860828e-01 -9.79592439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.465898227 meters 0.015345946262778867 Centerline is valid? [True, True] Translation: X:79.94, Y:2.32, Z:-0.99 [[ 9.95406065e-01 9.47446262e-02 1.37920813e-02 7.99367192e+01] [-9.47373956e-02 9.95501601e-01 -1.17813395e-03 2.32108800e+00] [-1.38416609e-02 -1.33904191e-04 9.99904191e-01 -9.85163086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49589822699998 meters 0.016522529417145257 Centerline is valid? [True, True] Translation: X:79.96, Y:2.32, Z:-0.99 [[ 9.95487174e-01 9.39806106e-02 1.31503131e-02 7.99647658e+01] [-9.39739781e-02 9.95574021e-01 -1.12274961e-03 2.31507697e+00] [-1.31976268e-02 -1.18104394e-04 9.99912901e-01 -9.87623273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52589822699998 meters 0.01474771567167705 Centerline is valid? [True, True] Translation: X:79.99, Y:2.31, Z:-0.99 [[ 9.95514268e-01 9.36910254e-02 1.31656278e-02 7.99909252e+01] [-9.36843694e-02 9.95601315e-01 -1.12274138e-03 2.31001629e+00] [-1.32129071e-02 -1.15708471e-04 9.99912699e-01 -9.86584426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55589822699999 meters 0.015154958655543336 Centerline is valid? [True, True] Translation: X:80.02, Y:2.31, Z:-0.98 [[ 9.95403018e-01 9.46623124e-02 1.45560502e-02 8.00196449e+01] [-9.46542962e-02 9.95509430e-01 -1.24020967e-03 2.30525347e+00] [-1.46080864e-02 -1.43284238e-04 9.99893286e-01 -9.84841675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58589822699999 meters 0.017063431751737135 Centerline is valid? [True, True] Translation: X:80.05, Y:2.31, Z:-0.98 [[ 9.95271366e-01 9.60360164e-02 1.45599140e-02 8.00479126e+01] [-9.60281551e-02 9.95377846e-01 -1.23971379e-03 2.30595379e+00] [-1.46116730e-02 -1.64310042e-04 9.99893230e-01 -9.83093096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61589822699999 meters 0.018585746056682808 Centerline is valid? [True, True] Translation: X:80.08, Y:2.31, Z:-0.98 [[ 9.95131761e-01 9.75195182e-02 1.42380677e-02 8.00756677e+01] [-9.75121679e-02 9.95233596e-01 -1.21121495e-03 2.30654503e+00] [-1.42883205e-02 -1.83066389e-04 9.99897900e-01 -9.83787869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64589822699999 meters 0.019236449070365966 Centerline is valid? [True, True] Translation: X:80.10, Y:2.31, Z:-0.99 [[ 9.94926032e-01 9.95613193e-02 1.44822462e-02 8.01041864e+01] [-9.95539435e-02 9.95031405e-01 -1.23112562e-03 2.30648128e+00] [-1.45328623e-02 -2.16885800e-04 9.99894369e-01 -9.86574315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67589822699999 meters 0.02139312102221253 Centerline is valid? [True, True] Translation: X:80.13, Y:2.31, Z:-0.98 [[ 9.94887398e-01 9.98699814e-02 1.50017204e-02 8.01320647e+01] [-9.98621148e-02 9.95000469e-01 -1.27443933e-03 2.30776573e+00] [-1.50539971e-02 -2.30179894e-04 9.99886656e-01 -9.84290261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70589822699999 meters 0.020746427176763456 Centerline is valid? [True, True] Translation: X:80.16, Y:2.30, Z:-0.98 [[ 9.94960653e-01 9.91661028e-02 1.48116111e-02 8.01605154e+01] [-9.91583654e-02 9.95070870e-01 -1.25767813e-03 2.30469269e+00] [-1.48633217e-02 -2.17354891e-04 9.99889511e-01 -9.84923392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73589822699999 meters 0.019205992659982084 Centerline is valid? [True, True] Translation: X:80.19, Y:2.30, Z:-0.99 [[ 9.95130680e-01 9.75387769e-02 1.41815664e-02 8.01885859e+01] [-9.75315269e-02 9.95231708e-01 -1.20359398e-03 2.30054414e+00] [-1.42313417e-02 -1.85416526e-04 9.99898712e-01 -9.86228791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.765898227 meters 0.019342112251804093 Centerline is valid? [True, True] Translation: X:80.22, Y:2.29, Z:-0.99 [[ 9.95551216e-01 9.35344768e-02 1.13612232e-02 8.02169701e+01] [-9.35295685e-02 9.95616036e-01 -9.63744983e-04 2.29348523e+00] [-1.14015594e-02 -1.03152818e-04 9.99934995e-01 -9.93944297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.795898227 meters 0.0136854779863588 Centerline is valid? [True, True] Translation: X:80.25, Y:2.29, Z:-0.99 [[ 9.95683278e-01 9.21793117e-02 1.08528255e-02 8.02455704e+01] [-9.21747579e-02 9.95742420e-01 -9.20113655e-04 2.28857413e+00] [-1.08914342e-02 -8.42147856e-05 9.99940683e-01 -9.94493329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.825898227 meters 0.012980139862040177 Centerline is valid? [True, True] Translation: X:80.27, Y:2.29, Z:-0.99 [[ 9.95813568e-01 9.07570054e-02 1.08859564e-02 8.02728304e+01] [-9.07523452e-02 9.95873065e-01 -9.22327033e-04 2.28528378e+00] [-1.09247384e-02 -6.94602974e-05 9.99940321e-01 -9.94612002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.855898227 meters 0.012373547741020764 Centerline is valid? [True, True] Translation: X:80.30, Y:2.28, Z:-0.99 [[ 9.95932671e-01 8.93513014e-02 1.15956838e-02 8.03012231e+01] [-8.93459257e-02 9.96000171e-01 -9.81846871e-04 2.28145292e+00] [-1.16370324e-02 -5.81737270e-05 9.99932286e-01 -9.93720151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88589822699998 meters 0.011851764740004267 Centerline is valid? [True, True] Translation: X:80.33, Y:2.28, Z:-0.99 [[ 9.96106313e-01 8.72480087e-02 1.26490638e-02 8.03291870e+01] [-8.72414524e-02 9.96186621e-01 -1.07023588e-03 2.27688964e+00] [-1.26942041e-02 -3.74539854e-05 9.99919425e-01 -9.92027761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91589822699999 meters 0.02141236648612958 Centerline is valid? [True, True] Translation: X:80.36, Y:2.27, Z:-0.99 [[ 9.96176042e-01 8.64927603e-02 1.23407836e-02 8.03570260e+01] [-8.64864712e-02 9.96252479e-01 -1.04338788e-03 2.27425351e+00] [-1.23847817e-02 -2.79128119e-05 9.99923305e-01 -9.94024182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94589822699999 meters 0.011649036608526892 Centerline is valid? [True, True] Translation: X:80.39, Y:2.27, Z:-0.99 [[ 9.96193575e-01 8.63514757e-02 1.19072616e-02 8.03853413e+01] [-8.63456167e-02 9.96264735e-01 -1.00622942e-03 2.27006454e+00] [-1.19496742e-02 -2.57405560e-05 9.99928600e-01 -9.93967286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97589822699999 meters 0.011562797286741939 Centerline is valid? [True, True] Translation: X:80.41, Y:2.27, Z:-1.00 [[ 9.96155154e-01 8.67984454e-02 1.18717615e-02 8.04133616e+01] [-8.67926612e-02 9.96225892e-01 -1.00254126e-03 2.26707932e+00] [-1.19139752e-02 -3.16951262e-05 9.99929026e-01 -9.95744472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00589822699999 meters 0.012925727965335643 Centerline is valid? [True, True] Translation: X:80.44, Y:2.27, Z:-1.00 [[ 9.95863649e-01 9.00376760e-02 1.21987584e-02 8.04414069e+01] [-9.00318213e-02 9.95938357e-01 -1.02936771e-03 2.26801826e+00] [-1.22418933e-02 -7.31665514e-05 9.99925063e-01 -9.95147540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03589822699999 meters 0.014145129832848316 Centerline is valid? [True, True] Translation: X:80.47, Y:2.27, Z:-0.99 [[ 9.95683665e-01 9.20034244e-02 1.22233038e-02 8.04704314e+01] [-9.19977020e-02 9.95758686e-01 -1.03081045e-03 2.26888127e+00] [-1.22662991e-02 -9.81547404e-05 9.99924761e-01 -9.94865986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06589822699999 meters 0.015456789081446301 Centerline is valid? [True, True] Translation: X:80.50, Y:2.27, Z:-0.99 [[ 9.95493633e-01 9.40204810e-02 1.23521691e-02 8.04997204e+01] [-9.40147997e-02 9.95570255e-01 -1.04109226e-03 2.26917481e+00] [-1.23953361e-02 -1.24885986e-04 9.99923167e-01 -9.94752917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09589822699999 meters 0.018815037142879916 Centerline is valid? [True, True] Translation: X:80.53, Y:2.27, Z:-0.99 [[ 9.95098276e-01 9.80394945e-02 1.29490440e-02 8.05275591e+01] [-9.80336053e-02 9.95182508e-01 -1.09029366e-03 2.27293572e+00] [-1.29935539e-02 -1.84492121e-04 9.99915563e-01 -9.93505827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.125898227 meters 0.020753645902145075 Centerline is valid? [True, True] Translation: X:80.56, Y:2.27, Z:-0.99 [[ 9.94875817e-01 1.00132244e-01 1.39871881e-02 8.05564926e+01] [-1.00125593e-01 9.94974111e-01 -1.17675731e-03 2.27349821e+00] [-1.40347214e-02 -2.29748111e-04 9.99901482e-01 -9.92685986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.155898227 meters 0.021624628267361775 Centerline is valid? [True, True] Translation: X:80.59, Y:2.27, Z:-0.99 [[ 9.94716042e-01 1.01566411e-01 1.49752917e-02 8.05854317e+01] [-1.01558960e-01 9.94828725e-01 -1.25915176e-03 2.27302183e+00] [-1.50257379e-02 -2.68376605e-04 9.99887071e-01 -9.92142590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.185898227 meters 0.021937902423639355 Centerline is valid? [True, True] Translation: X:80.61, Y:2.27, Z:-0.99 [[ 9.94771644e-01 1.00942370e-01 1.54924175e-02 8.06131110e+01] [-1.00934334e-01 9.94892238e-01 -1.30174377e-03 2.27167069e+00] [-1.55446870e-02 -2.68779047e-04 9.99879138e-01 -9.92227713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.215898227 meters 0.01973096810082042 Centerline is valid? [True, True] Translation: X:80.64, Y:2.27, Z:-0.99 [[ 9.94962572e-01 9.90296758e-02 1.55757624e-02 8.06416421e+01] [-9.90213313e-02 9.95084451e-01 -1.30794200e-03 2.26517155e+00] [-1.56287241e-02 -2.40979393e-04 9.99877835e-01 -9.93409289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24589822699998 meters 0.018511738516264743 Centerline is valid? [True, True] Translation: X:80.67, Y:2.26, Z:-0.99 [[ 9.95216909e-01 9.64048271e-02 1.57928562e-02 8.06688960e+01] [-9.63959321e-02 9.95342186e-01 -1.32527436e-03 2.25986066e+00] [-1.58470588e-02 -2.03431643e-04 9.99874407e-01 -9.92628431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27589822699998 meters 0.023715751506411982 Centerline is valid? [True, True] Translation: X:80.70, Y:2.25, Z:-1.00 [[ 9.95837186e-01 8.99650551e-02 1.46487916e-02 8.06956036e+01] [-8.99567174e-02 9.95944918e-01 -1.22843679e-03 2.24712099e+00] [-1.46999060e-02 -9.44341697e-05 9.99891946e-01 -9.96520807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30589822699999 meters 0.012431518437489858 Centerline is valid? [True, True] Translation: X:80.72, Y:2.24, Z:-1.00 [[ 9.96099111e-01 8.70817000e-02 1.42596901e-02 8.07243551e+01] [-8.70735124e-02 9.96201172e-01 -1.19521022e-03 2.23885766e+00] [-1.43096010e-02 -5.10934700e-05 9.99897611e-01 -9.97023248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33589822699999 meters 0.011946161045795623 Centerline is valid? [True, True] Translation: X:80.75, Y:2.23, Z:-1.00 [[ 9.96348628e-01 8.42290842e-02 1.39596949e-02 8.07522982e+01] [-8.42209660e-02 9.96446417e-01 -1.16945469e-03 2.23280850e+00] [-1.40085900e-02 -1.05144146e-05 9.99901875e-01 -9.97750395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36589822699999 meters 0.012895153731668064 Centerline is valid? [True, True] Translation: X:80.78, Y:2.22, Z:-1.00 [[ 9.96755677e-01 7.92953564e-02 1.37973617e-02 8.07792686e+01] [-7.92869662e-02 9.96851164e-01 -1.15490551e-03 2.22439514e+00] [-1.38454947e-02 5.72076767e-05 9.99904145e-01 -9.97966936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39589822699999 meters 0.01420961999087256 Centerline is valid? [True, True] Translation: X:80.81, Y:2.22, Z:-1.00 [[ 9.96924242e-01 7.72149825e-02 1.34127897e-02 8.08067320e+01] [-7.72068768e-02 9.97014463e-01 -1.12185547e-03 2.21929433e+00] [-1.34593694e-02 8.28453105e-05 9.99909415e-01 -9.97710701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42589822699999 meters 0.014951938599084048 Centerline is valid? [True, True] Translation: X:80.84, Y:2.22, Z:-1.00 [[ 9.97056047e-01 7.56209126e-02 1.26774282e-02 8.08354179e+01] [-7.56135503e-02 9.97136635e-01 -1.05973454e-03 2.21530209e+00] [-1.27212661e-02 9.80293759e-05 9.99919077e-01 -9.99354963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45589822699999 meters 0.015478997172803738 Centerline is valid? [True, True] Translation: X:80.86, Y:2.21, Z:-1.00 [[ 9.97174789e-01 7.40950488e-02 1.23435682e-02 8.08641183e+01] [-7.40879593e-02 9.97251177e-01 -1.03126260e-03 2.21225300e+00] [-1.23860494e-02 1.13839288e-04 9.99923283e-01 -1.00241008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48589822699999 meters 0.01687474317435483 Centerline is valid? [True, True] Translation: X:80.89, Y:2.21, Z:-1.00 [[ 9.97393548e-01 7.12221281e-02 1.15549954e-02 8.08926304e+01] [-7.12157289e-02 9.97460470e-01 -9.64846143e-04 2.20799758e+00] [-1.15943695e-02 1.39433900e-04 9.99932773e-01 -1.00495835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.515898227 meters 0.019537262648741532 Centerline is valid? [True, True] Translation: X:80.92, Y:2.20, Z:-1.01 [[ 9.97518284e-01 6.95616341e-02 1.08835994e-02 8.09203602e+01] [-6.95558645e-02 9.97577645e-01 -9.08200449e-04 2.20283036e+00] [-1.09204113e-02 1.48928389e-04 9.99940359e-01 -1.00535580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.545898227 meters 0.020196165503668987 Centerline is valid? [True, True] Translation: X:80.95, Y:2.20, Z:-1.01 [[ 9.97645170e-01 6.79046858e-02 9.64724547e-03 8.09487187e+01] [-6.79000808e-02 9.97691802e-01 -8.04441736e-04 2.20202092e+00] [-9.67960308e-03 1.47498665e-04 9.99953141e-01 -1.00850104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.575898227 meters 0.022170575392041637 Centerline is valid? [True, True] Translation: X:80.98, Y:2.20, Z:-1.01 [[ 9.97877513e-01 6.47123132e-02 7.26539585e-03 8.09765459e+01] [-6.47096197e-02 9.97903953e-01 -6.05435293e-04 2.19803946e+00] [-7.28934635e-03 1.34009262e-04 9.99973423e-01 -1.01282902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.605898227 meters 0.02372342167381343 Centerline is valid? [True, True] Translation: X:81.01, Y:2.19, Z:-1.01 [[ 9.97989895e-01 6.30103531e-02 6.77236053e-03 8.10054563e+01] [-6.30079760e-02 9.98012864e-01 -5.63997300e-04 2.19410736e+00] [-6.79444060e-03 1.36150877e-04 9.99976908e-01 -1.01469059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63589822699998 meters 0.025422009603799856 Centerline is valid? [True, True] Translation: X:81.03, Y:2.19, Z:-1.02 [[ 9.98092286e-01 6.13930057e-02 6.53355693e-03 8.10338810e+01] [-6.13907606e-02 9.98113660e-01 -5.43812216e-04 2.19027978e+00] [-6.55461869e-03 1.41674748e-04 9.99978508e-01 -1.01568023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66589822699999 meters 0.025422009603799856 Centerline is valid? [True, True] Translation: X:81.06, Y:2.19, Z:-1.02 [[ 9.98095122e-01 6.13468844e-02 6.53358203e-03 8.10621172e+01] [-6.13446403e-02 9.98116496e-01 -5.43510502e-04 2.18801451e+00] [-6.55461868e-03 1.41674941e-04 9.99978508e-01 -1.01580509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69589822699999 meters 0.02710880728398125 Centerline is valid? [True, True] Translation: X:81.09, Y:2.19, Z:-1.02 [[ 9.98195728e-01 5.96906565e-02 6.50486295e-03 8.10899378e+01] [-5.96883990e-02 9.98216912e-01 -5.40795706e-04 2.18511230e+00] [-6.52554466e-03 1.51555108e-04 9.99978697e-01 -1.01625729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72589822699999 meters 0.029915070491807434 Centerline is valid? [True, True] Translation: X:81.12, Y:2.18, Z:-1.02 [[ 9.98337887e-01 5.74242028e-02 4.89116749e-03 8.11178482e+01] [-5.74229003e-02 9.98349861e-01 -4.06417869e-04 2.18468885e+00] [-4.90643461e-03 1.24877333e-04 9.99987956e-01 -1.01884765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75589822699999 meters 0.02973226825885878 Centerline is valid? [True, True] Translation: X:81.15, Y:2.18, Z:-1.02 [[ 9.98391515e-01 5.65319523e-02 4.30363206e-03 8.11466163e+01] [-5.65309366e-02 9.98400784e-01 -3.57380274e-04 2.18411393e+00] [-4.31695303e-03 1.13517082e-04 9.99990675e-01 -1.02015381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78589822699999 meters 0.03147658795094144 Centerline is valid? [True, True] Translation: X:81.17, Y:2.18, Z:-1.02 [[ 9.98444235e-01 5.56177592e-02 3.97166650e-03 8.11745765e+01] [-5.56168876e-02 9.98452129e-01 -3.29652622e-04 2.18142688e+00] [-3.98385341e-03 1.08248031e-04 9.99992059e-01 -1.02077861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81589822699999 meters 0.0340083210901456 Centerline is valid? [True, True] Translation: X:81.20, Y:2.18, Z:-1.02 [[ 9.98544031e-01 5.37164842e-02 4.93542739e-03 8.12018848e+01] [-5.37151169e-02 9.98556217e-01 -4.09265011e-04 2.18019416e+00] [-4.95028599e-03 1.43562074e-04 9.99987737e-01 -1.01986623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84589822699999 meters 0.03251262343993889 Centerline is valid? [True, True] Translation: X:81.23, Y:2.18, Z:-1.02 [[ 9.98586908e-01 5.28513268e-02 5.56094021e-03 8.12312207e+01] [-5.28495798e-02 9.98602378e-01 -4.60745378e-04 2.18231202e+00] [-5.57751912e-03 1.66200949e-04 9.99984432e-01 -1.01895922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.875898227 meters 0.035993783916775164 Centerline is valid? [True, True] Translation: X:81.26, Y:2.18, Z:-1.02 [[ 9.98625577e-01 5.20628684e-02 6.03445692e-03 8.12602213e+01] [-5.20607986e-02 9.98643792e-01 -4.99680425e-04 2.18210911e+00] [-6.05228773e-03 1.84835007e-04 9.99981668e-01 -1.01987115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.905898227 meters 0.03305903932355293 Centerline is valid? [True, True] Translation: X:81.29, Y:2.18, Z:-1.02 [[ 9.98637325e-01 5.17476206e-02 6.75847467e-03 8.12893113e+01] [-5.17450194e-02 9.98660173e-01 -5.59294149e-04 2.18423147e+00] [-6.77836162e-03 2.08814610e-04 9.99977005e-01 -1.01907519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.935898227 meters 0.03322659537684674 Centerline is valid? [True, True] Translation: X:81.32, Y:2.18, Z:-1.02 [[ 9.98618360e-01 5.19952555e-02 7.60685290e-03 8.13180056e+01] [-5.19919703e-02 9.98647305e-01 -6.29121542e-04 2.18429898e+00] [-7.62927448e-03 2.32757053e-04 9.99970870e-01 -1.01839006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.965898227 meters 0.032414757391130054 Centerline is valid? [True, True] Translation: X:81.35, Y:2.19, Z:-1.02 [[ 9.98592826e-01 5.24920133e-02 7.54697949e-03 8.13472999e+01] [-5.24887965e-02 9.98621318e-01 -6.23820251e-04 2.18594695e+00] [-7.56932018e-03 2.26810557e-04 9.99971327e-01 -1.01833347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99589822699998 meters 0.030907602741347778 Centerline is valid? [True, True] Translation: X:81.38, Y:2.19, Z:-1.02 [[ 9.98522071e-01 5.39829201e-02 6.28628316e-03 8.13770673e+01] [-5.39807193e-02 9.98541843e-01 -5.19352802e-04 2.19326924e+00] [-6.30515295e-03 1.79247149e-04 9.99980106e-01 -1.02124494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02589822699998 meters 0.0352238109586168 Centerline is valid? [True, True] Translation: X:81.40, Y:2.19, Z:-1.02 [[ 9.98481009e-01 5.48506159e-02 5.20425315e-03 8.14048101e+01] [-5.48491205e-02 9.98494561e-01 -4.29738399e-04 2.19266123e+00] [-5.21998988e-03 1.43636922e-04 9.99986365e-01 -1.02398400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05589822699999 meters 0.029844780684341654 Centerline is valid? [True, True] Translation: X:81.43, Y:2.19, Z:-1.02 [[ 9.98437188e-01 5.56557162e-02 5.06184537e-03 8.14337986e+01] [-5.56543133e-02 9.98450010e-01 -4.17695263e-04 2.19337635e+00] [-5.07724669e-03 1.35328955e-04 9.99987102e-01 -1.02420935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08589822699999 meters 0.029426338664444093 Centerline is valid? [True, True] Translation: X:81.46, Y:2.19, Z:-1.02 [[ 9.98386414e-01 5.65066669e-02 5.61832948e-03 8.14630048e+01] [-5.65049536e-02 9.98402211e-01 -4.63348133e-04 2.19356827e+00] [-5.63553484e-03 1.45137034e-04 9.99984110e-01 -1.02397705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11589822699999 meters 0.033763314070682164 Centerline is valid? [True, True] Translation: X:81.49, Y:2.20, Z:-1.02 [[ 9.98280148e-01 5.82176946e-02 6.88811307e-03 8.14922243e+01] [-5.82151620e-02 9.98303898e-01 -5.67767803e-04 2.19947571e+00] [-6.90948426e-03 1.65798707e-04 9.99976115e-01 -1.02333714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14589822699999 meters 0.026094096322192593 Centerline is valid? [True, True] Translation: X:81.52, Y:2.20, Z:-1.02 [[ 9.98240467e-01 5.89382803e-02 6.49988005e-03 8.15218698e+01] [-5.89360421e-02 9.98261617e-01 -5.35502168e-04 2.20174478e+00] [-6.52014235e-03 1.51482730e-04 9.99978732e-01 -1.02224437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17589822699999 meters 0.026069304125176676 Centerline is valid? [True, True] Translation: X:81.55, Y:2.20, Z:-1.02 [[ 9.98229738e-01 5.92166560e-02 5.54770989e-03 8.15510195e+01] [-5.92150309e-02 9.98245146e-01 -4.56871286e-04 2.20230599e+00] [-5.56502886e-03 1.27554692e-04 9.99984507e-01 -1.02430822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20589822699999 meters 0.02556618725519265 Centerline is valid? [True, True] Translation: X:81.58, Y:2.20, Z:-1.03 [[ 9.98237379e-01 5.91927283e-02 4.28433837e-03 8.15790161e+01] [-5.91917595e-02 9.98246568e-01 -3.52678897e-04 2.20310888e+00] [-4.29770210e-03 9.84597314e-05 9.99990760e-01 -1.02686772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23589822699999 meters 0.026689273332482562 Centerline is valid? [True, True] Translation: X:81.61, Y:2.20, Z:-1.03 [[ 9.98281077e-01 5.85046040e-02 3.47879364e-03 8.16067405e+01] [-5.85039618e-02 9.98287135e-01 -2.86169891e-04 2.20100565e+00] [-3.48957719e-03 8.21547773e-05 9.99993908e-01 -1.02880354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.265898227 meters 0.03272821298862371 Centerline is valid? [True, True] Translation: X:81.63, Y:2.19, Z:-1.03 [[ 9.98468560e-01 5.51902410e-02 3.81722179e-03 8.16346237e+01] [-5.51894446e-02 9.98475852e-01 -3.13753973e-04 2.19383027e+00] [-3.82871993e-03 1.02603128e-04 9.99992665e-01 -1.02832426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.295898227 meters 0.03369528713129622 Centerline is valid? [True, True] Translation: X:81.66, Y:2.19, Z:-1.03 [[ 9.98566803e-01 5.33309752e-02 4.48863207e-03 8.16631522e+01] [-5.33298562e-02 9.98576883e-01 -3.68698762e-04 2.19200984e+00] [-4.50190729e-03 1.28792241e-04 9.99989858e-01 -1.02681095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.325898227 meters 0.03610502088933919 Centerline is valid? [True, True] Translation: X:81.69, Y:2.20, Z:-1.03 [[ 9.98663102e-01 5.14169664e-02 5.32022520e-03 8.16925916e+01] [-5.14153687e-02 9.98677260e-01 -4.36731041e-04 2.19681993e+00] [-5.33564331e-03 1.62605835e-04 9.99985752e-01 -1.02722012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.355898227 meters 0.034252318762226695 Centerline is valid? [True, True] Translation: X:81.72, Y:2.19, Z:-1.03 [[ 9.98771113e-01 4.92529274e-02 5.51482858e-03 8.17212544e+01] [-4.92511792e-02 9.98786322e-01 -4.52446323e-04 2.19193541e+00] [-5.53041966e-03 1.80278507e-04 9.99984691e-01 -1.02715393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38589822699998 meters 0.03678377882254687 Centerline is valid? [True, True] Translation: X:81.75, Y:2.19, Z:-1.03 [[ 9.98814129e-01 4.84456683e-02 4.83240373e-03 8.17486820e+01] [-4.84443174e-02 9.98825806e-01 -3.96293686e-04 2.18874544e+00] [-4.84592827e-03 1.61721233e-04 9.99988245e-01 -1.02887383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41589822699999 meters 0.03418734563507175 Centerline is valid? [True, True] Translation: X:81.78, Y:2.19, Z:-1.03 [[ 9.98852600e-01 4.77380714e-02 3.81569768e-03 8.17781061e+01] [-4.77372246e-02 9.98859880e-01 -3.12740780e-04 2.19258177e+00] [-3.82627697e-03 1.30231124e-04 9.99992671e-01 -1.03057728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44589822699999 meters 0.03910211687067105 Centerline is valid? [True, True] Translation: X:81.81, Y:2.19, Z:-1.03 [[ 9.98967676e-01 4.53969169e-02 1.64415309e-03 8.18067125e+01] [-4.53967564e-02 9.98969027e-01 -1.34804967e-04 2.18956160e+00] [-1.64857774e-03 6.00265874e-05 9.99998639e-01 -1.03458266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47589822699999 meters 0.03967305897382985 Centerline is valid? [True, True] Translation: X:81.84, Y:2.19, Z:-1.03 [[ 9.99053542e-01 4.34707324e-02 1.52163009e-03 8.18361218e+01] [-4.34705929e-02 9.99054699e-01 -1.24655426e-04 2.18861261e+00] [-1.52561055e-03 5.83912827e-05 9.99998835e-01 -1.03452785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50589822699999 meters 0.04575685872705595 Centerline is valid? [True, True] Translation: X:81.86, Y:2.18, Z:-1.03 [[ 9.99158479e-01 4.09540630e-02 2.25784257e-03 8.18643708e+01] [-4.09537498e-02 9.99161026e-01 -1.84813853e-04 2.17997453e+00] [-2.26351717e-03 9.21912088e-05 9.99997434e-01 -1.03335148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53589822699999 meters 0.04372201963523524 Centerline is valid? [True, True] Translation: X:81.90, Y:2.18, Z:-1.03 [[ 9.99260063e-01 3.83540240e-02 2.88007227e-03 8.18952592e+01] [-3.83535041e-02 9.99264206e-01 -2.35552277e-04 2.18094778e+00] [-2.88698751e-03 1.24917119e-04 9.99995825e-01 -1.03223624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56589822699999 meters 0.046961708591452114 Centerline is valid? [True, True] Translation: X:81.92, Y:2.18, Z:-1.03 [[ 9.99369757e-01 3.53806717e-02 2.88028727e-03 8.19248658e+01] [-3.53801393e-02 9.99373899e-01 -2.35587403e-04 2.17516983e+00] [-2.88681916e-03 1.33533961e-04 9.99995824e-01 -1.03294119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59589822699999 meters 0.0555858578506142 Centerline is valid? [True, True] Translation: X:81.95, Y:2.16, Z:-1.04 [[ 9.99531986e-01 3.05086735e-02 2.24272268e-03 8.19530859e+01] [-3.05083386e-02 9.99534495e-01 -1.83410020e-04 2.16141128e+00] [-2.24727428e-03 1.14902439e-04 9.99997468e-01 -1.03516959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.625898227 meters 0.05287679252823666 Centerline is valid? [True, True] Translation: X:81.98, Y:2.16, Z:-1.04 [[ 9.99561453e-01 2.95388361e-02 2.08790571e-03 8.19818449e+01] [-2.95385435e-02 9.99563627e-01 -1.70834637e-04 2.16183313e+00] [-2.09204086e-03 1.09086024e-04 9.99997806e-01 -1.03554814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.655898227 meters 0.05373272409562466 Centerline is valid? [True, True] Translation: X:82.01, Y:2.16, Z:-1.04 [[ 9.99536909e-01 3.03636145e-02 2.00452736e-03 8.20096696e+01] [-3.03633466e-02 9.99538914e-01 -1.63955784e-04 2.15721210e+00] [-2.00858139e-03 1.03015698e-04 9.99997977e-01 -1.03556154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.685898227 meters 0.052445477228925605 Centerline is valid? [True, True] Translation: X:82.04, Y:2.16, Z:-1.04 [[ 9.99495353e-01 3.17326803e-02 1.44105954e-03 8.20387166e+01] [-3.17325433e-02 9.99496389e-01 -1.17820778e-04 2.15612939e+00] [-1.44407257e-03 7.20328360e-05 9.99998955e-01 -1.03626390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.715898227 meters 0.048862605005184016 Centerline is valid? [True, True] Translation: X:82.07, Y:2.16, Z:-1.04 [[ 9.99449164e-01 3.31867934e-02 7.79278972e-05 8.20677863e+01] [-3.31867930e-02 9.99449167e-01 -6.55999903e-06 2.15854556e+00] [-7.81026773e-05 3.97020855e-06 9.99999997e-01 -1.03789045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74589822699998 meters 0.04801809217418834 Centerline is valid? [True, True] Translation: X:82.10, Y:2.16, Z:-1.04 [[ 9.99395023e-01 3.47542448e-02 -1.31523618e-03 8.20968488e+01] [-3.47541339e-02 9.99395887e-01 1.07094509e-04 2.15696009e+00] [ 1.31816362e-03 -6.13198248e-05 9.99999129e-01 -1.04055404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77589822699998 meters 0.04678747828128521 Centerline is valid? [True, True] Translation: X:82.13, Y:2.16, Z:-1.04 [[ 9.99289669e-01 3.76542388e-02 -1.52194310e-03 8.21258080e+01] [-3.76540936e-02 9.99290825e-01 1.23965538e-04 2.15689623e+00] [ 1.52553161e-03 -6.65700929e-05 9.99998834e-01 -1.04087719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80589822699999 meters 0.04386413595840325 Centerline is valid? [True, True] Translation: X:82.16, Y:2.16, Z:-1.04 [[ 9.99222039e-01 3.94295267e-02 -7.92923294e-04 8.21559382e+01] [-3.94294878e-02 9.99222353e-01 6.45182657e-05 2.15872789e+00] [ 7.94850604e-04 -3.32035136e-05 9.99999684e-01 -1.03901954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83589822699999 meters 0.04117520982370041 Centerline is valid? [True, True] Translation: X:82.19, Y:2.16, Z:-1.04 [[ 9.99146483e-01 4.13060907e-02 3.34906251e-04 8.21861109e+01] [-4.13060838e-02 9.99146539e-01 -2.74317156e-05 2.16085062e+00] [-3.35753519e-04 1.35746365e-05 9.99999944e-01 -1.03738415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86589822699999 meters 0.039865505593807325 Centerline is valid? [True, True] Translation: X:82.22, Y:2.16, Z:-1.04 [[ 9.99076622e-01 4.29533850e-02 9.54346763e-04 8.22154419e+01] [-4.29533302e-02 9.99077077e-01 -7.78616787e-05 2.16109907e+00] [-9.56810397e-04 3.67974113e-05 9.99999542e-01 -1.03665767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89589822699999 meters 0.037672220622024 Centerline is valid? [True, True] Translation: X:82.24, Y:2.16, Z:-1.04 [[ 9.98949222e-01 4.58196415e-02 1.00596366e-03 8.22445432e+01] [-4.58195822e-02 9.98949728e-01 -8.19902989e-05 2.16300066e+00] [-1.00866389e-03 3.58113109e-05 9.99999491e-01 -1.03786694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92589822699999 meters 0.035645116866995785 Centerline is valid? [True, True] Translation: X:82.27, Y:2.16, Z:-1.04 [[ 9.98911093e-01 4.66466079e-02 8.50282439e-04 8.22733291e+01] [-4.66465658e-02 9.98911454e-01 -6.93812746e-05 2.16418492e+00] [-8.52593269e-04 2.96429691e-05 9.99999636e-01 -1.03861724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95589822699999 meters 0.03928591119218429 Centerline is valid? [True, True] Translation: X:82.30, Y:2.16, Z:-1.04 [[ 9.98917109e-01 4.65067197e-02 1.31658721e-03 8.23004130e+01] [-4.65066185e-02 9.98917976e-01 -1.07362545e-04 2.15901703e+00] [-1.32015571e-03 4.60162643e-05 9.99999128e-01 -1.03891144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98589822699999 meters 0.04066502988476855 Centerline is valid? [True, True] Translation: X:82.33, Y:2.16, Z:-1.04 [[ 9.99021361e-01 4.41664049e-02 2.37684650e-03 8.23295375e+01] [-4.41660699e-02 9.99024184e-01 -1.93274099e-04 2.15968882e+00] [-2.38306336e-03 8.81089852e-05 9.99997157e-01 -1.03772105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.015898227 meters 0.041078265464956056 Centerline is valid? [True, True] Translation: X:82.36, Y:2.16, Z:-1.04 [[ 9.99112142e-01 4.20385488e-02 2.77271598e-03 8.23588542e+01] [-4.20380852e-02 9.99115984e-01 -2.25299419e-04 2.15969876e+00] [-2.77973612e-03 1.08539714e-04 9.99996131e-01 -1.03800704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.045898227 meters 0.042705263924792354 Centerline is valid? [True, True] Translation: X:82.39, Y:2.16, Z:-1.04 [[ 9.99222373e-01 3.93900304e-02 1.75352662e-03 8.23895593e+01] [-3.93898411e-02 9.99223909e-01 -1.42350879e-04 2.15854072e+00] [-1.75777293e-03 7.31690484e-05 9.99998452e-01 -1.03995586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.075898227 meters 0.05037565203164078 Centerline is valid? [True, True] Translation: X:82.42, Y:2.15, Z:-1.04 [[ 9.99431097e-01 3.37119865e-02 -9.91936322e-04 8.24183113e+01] [-3.37119233e-02 9.99431588e-01 8.04054650e-05 2.15394870e+00] [ 9.94083122e-04 -4.69196408e-05 9.99999505e-01 -1.04391583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.105898227 meters 0.0520154256516758 Centerline is valid? [True, True] Translation: X:82.45, Y:2.15, Z:-1.05 [[ 9.99517721e-01 3.10073898e-02 -1.69329461e-03 8.24487668e+01] [-3.10072013e-02 9.99519152e-01 1.37423614e-04 2.15275888e+00] [ 1.69674154e-03 -8.48530108e-05 9.99998557e-01 -1.04507878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13589822699998 meters 0.0532018950824123 Centerline is valid? [True, True] Translation: X:82.48, Y:2.15, Z:-1.05 [[ 9.99598931e-01 2.82639946e-02 -1.76769458e-03 8.24788498e+01] [-2.82637851e-02 9.99600489e-01 1.43391168e-04 2.15173741e+00] [ 1.77104117e-03 -9.33719182e-05 9.99998427e-01 -1.04518338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16589822699999 meters 0.05855297810802206 Centerline is valid? [True, True] Translation: X:82.51, Y:2.14, Z:-1.05 [[ 9.99667886e-01 2.57546696e-02 -9.03129724e-04 8.25077734e+01] [-2.57546139e-02 9.99668292e-01 7.31654708e-05 2.14475556e+00] [ 9.04714502e-04 -4.98814141e-05 9.99999590e-01 -1.04525271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19589822699999 meters 0.05933225813940016 Centerline is valid? [True, True] Translation: X:82.54, Y:2.15, Z:-1.04 [[ 9.99793170e-01 2.03218476e-02 8.00173287e-04 8.25381618e+01] [-2.03218021e-02 9.99793489e-01 -6.49554590e-05 2.14698471e+00] [-8.01328057e-04 4.86810611e-05 9.99999678e-01 -1.04131687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22589822699999 meters 0.06425405817169516 Centerline is valid? [True, True] Translation: X:82.57, Y:2.14, Z:-1.04 [[ 9.99838624e-01 1.79344934e-02 1.03911701e-03 8.25669321e+01] [-1.79344153e-02 9.99839162e-01 -8.43611394e-05 2.14168932e+00] [-1.04046286e-03 6.57115695e-05 9.99999457e-01 -1.04035207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25589822699999 meters 0.07076411540573845 Centerline is valid? [True, True] Translation: X:82.60, Y:2.13, Z:-1.04 [[ 9.99873035e-01 1.59165554e-02 7.59559322e-04 8.25955120e+01] [-1.59165131e-02 9.99873322e-01 -6.16732839e-05 2.13401676e+00] [-7.60444729e-04 4.95759177e-05 9.99999710e-01 -1.04139901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28589822699999 meters 0.0727413206439801 Centerline is valid? [True, True] Translation: X:82.63, Y:2.13, Z:-1.04 [[ 9.99900913e-01 1.40699245e-02 4.49699549e-04 8.26257132e+01] [-1.40699095e-02 9.99901013e-01 -3.64983001e-05 2.13145526e+00] [-4.50168563e-04 3.01674517e-05 9.99999898e-01 -1.04207195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31589822699999 meters 0.06310758896360659 Centerline is valid? [True, True] Translation: X:82.66, Y:2.15, Z:-1.04 [[ 9.99925006e-01 1.21438313e-02 1.58413527e-03 8.26570475e+01] [-1.21436430e-02 9.99926255e-01 -1.28435280e-04 2.14508619e+00] [-1.58557814e-03 1.09188475e-04 9.99998737e-01 -1.04137061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34589822699999 meters 0.06508770775433387 Centerline is valid? [True, True] Translation: X:82.69, Y:2.14, Z:-1.04 [[ 9.99927173e-01 1.20131904e-02 1.15374540e-03 8.26850482e+01] [-1.20130903e-02 9.99927836e-01 -9.36907017e-05 2.14299600e+00] [-1.15478767e-03 7.98238308e-05 9.99999330e-01 -1.04137333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.375898227 meters 0.07438716370738069 Centerline is valid? [True, True] Translation: X:82.71, Y:2.13, Z:-1.04 [[ 9.99923478e-01 1.23691863e-02 2.04996064e-04 8.27130885e+01] [-1.23691831e-02 9.99923499e-01 -1.67455735e-05 2.13214127e+00] [-2.05187511e-04 1.42086582e-05 9.99999979e-01 -1.04270051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.405898227 meters 0.0702788458651575 Centerline is valid? [True, True] Translation: X:82.74, Y:2.14, Z:-1.04 [[ 9.99901515e-01 1.40341892e-02 -2.93428579e-05 8.27443596e+01] [-1.40341891e-02 9.99901516e-01 2.26718185e-06 2.14378944e+00] [ 2.93717862e-05 -1.85515535e-06 1.00000000e+00 -1.04284763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.435898227 meters 0.0635150429682298 Centerline is valid? [True, True] Translation: X:82.77, Y:2.15, Z:-1.04 [[ 9.99877607e-01 1.56138709e-02 9.89320328e-04 8.27748529e+01] [-1.56137992e-02 9.99878094e-01 -8.01015073e-05 2.14966263e+00] [-9.90450418e-04 6.46446544e-05 9.99999507e-01 -1.03966777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.465898227 meters 0.06542497086777031 Centerline is valid? [True, True] Translation: X:82.80, Y:2.15, Z:-1.04 [[ 9.99860148e-01 1.66779278e-02 1.23746530e-03 8.28038619e+01] [-1.66778164e-02 9.99860911e-01 -1.00235979e-04 2.14913518e+00] [-1.23896491e-03 7.95837414e-05 9.99999229e-01 -1.04118788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49589822699998 meters 0.06710144052483037 Centerline is valid? [True, True] Translation: X:82.83, Y:2.14, Z:-1.04 [[ 9.99840712e-01 1.78011632e-02 1.29212621e-03 8.28324110e+01] [-1.78010428e-02 9.99841543e-01 -1.04615439e-04 2.14397314e+00] [-1.29378374e-03 8.15975810e-05 9.99999160e-01 -1.04168483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52589822699998 meters 0.06183784371993468 Centerline is valid? [True, True] Translation: X:82.86, Y:2.15, Z:-1.04 [[ 9.99821307e-01 1.89011799e-02 3.13935165e-04 8.28621518e+01] [-1.89011728e-02 9.99821357e-01 -2.55188410e-05 2.14985452e+00] [-3.14361419e-04 1.95805381e-05 9.99999950e-01 -1.04357147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55589822699999 meters 0.06050302278064182 Centerline is valid? [True, True] Translation: X:82.89, Y:2.15, Z:-1.05 [[ 9.99799562e-01 2.00204672e-02 -1.28275714e-04 8.28911011e+01] [-2.00204661e-02 9.99799570e-01 1.01625996e-05 2.15021344e+00] [ 1.28453464e-04 -7.59242302e-06 9.99999992e-01 -1.04522589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58589822699999 meters 0.06050302278064182 Centerline is valid? [True, True] Translation: X:82.92, Y:2.15, Z:-1.05 [[ 9.99800458e-01 1.99756671e-02 -1.28276169e-04 8.29193832e+01] [-1.99756659e-02 9.99800466e-01 1.01569164e-05 2.14800692e+00] [ 1.28453464e-04 -7.59248783e-06 9.99999992e-01 -1.04535095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61589822699999 meters 0.061249072982723765 Centerline is valid? [True, True] Translation: X:82.95, Y:2.15, Z:-1.04 [[ 9.99757132e-01 2.20221909e-02 8.36409322e-04 8.29477741e+01] [-2.20221420e-02 9.99757481e-01 -6.76382778e-05 2.14576542e+00] [-8.37696020e-04 4.92023258e-05 9.99999648e-01 -1.04365690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64589822699999 meters 0.05518785032645637 Centerline is valid? [True, True] Translation: X:82.98, Y:2.15, Z:-1.04 [[ 9.99723595e-01 2.34881484e-02 1.01968821e-03 8.29778395e+01] [-2.34880766e-02 9.99724114e-01 -8.23567623e-05 2.15253713e+00] [-1.02134130e-03 5.83834836e-05 9.99999477e-01 -1.04174663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67589822699999 meters 0.059836358907786005 Centerline is valid? [True, True] Translation: X:83.01, Y:2.15, Z:-1.04 [[ 9.99672472e-01 2.55898847e-02 3.26600545e-04 8.30064393e+01] [-2.55898774e-02 9.99672525e-01 -2.64389304e-05 2.14859587e+00] [-3.27170161e-04 1.80726030e-05 9.99999946e-01 -1.04246826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70589822699999 meters 0.05329428953676075 Centerline is valid? [True, True] Translation: X:83.04, Y:2.15, Z:-1.04 [[ 9.99586878e-01 2.87350479e-02 6.08879596e-04 8.30377001e+01] [-2.87350233e-02 9.99587063e-01 -4.91192105e-05 2.15434813e+00] [-6.10039610e-04 3.16027489e-05 9.99999813e-01 -1.04216839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73589822699999 meters 0.050662560927911555 Centerline is valid? [True, True] Translation: X:83.07, Y:2.16, Z:-1.04 [[ 9.99416427e-01 3.41195110e-02 1.63216603e-03 8.30675689e+01] [-3.41193414e-02 9.99417757e-01 -1.31672262e-04 2.15777908e+00] [-1.63570831e-03 7.59069916e-05 9.99998659e-01 -1.04303617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.765898227 meters 0.04516410089760533 Centerline is valid? [True, True] Translation: X:83.10, Y:2.16, Z:-1.04 [[ 9.99357027e-01 3.57404519e-02 2.85511576e-03 8.30978487e+01] [-3.57399398e-02 9.99361098e-01 -2.30218183e-04 2.16306659e+00] [-2.86151972e-03 1.28028494e-04 9.99995898e-01 -1.04202126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.795898227 meters 0.046474400826738003 Centerline is valid? [True, True] Translation: X:83.13, Y:2.16, Z:-1.04 [[ 9.99333583e-01 3.63473046e-02 3.35622023e-03 8.31257659e+01] [-3.63466005e-02 9.99339207e-01 -2.70564711e-04 2.16023473e+00] [-3.36383676e-03 1.48397206e-04 9.99994331e-01 -1.04144767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.825898227 meters 0.04999973025153122 Centerline is valid? [True, True] Translation: X:83.15, Y:2.16, Z:-1.04 [[ 9.99350579e-01 3.58805395e-02 3.31762566e-03 8.31537943e+01] [-3.58798496e-02 9.99356075e-01 -2.67266531e-04 2.15830662e+00] [-3.32507902e-03 1.48057054e-04 9.99994461e-01 -1.04201440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.855898227 meters 0.04965302989565783 Centerline is valid? [True, True] Translation: X:83.18, Y:2.16, Z:-1.04 [[ 9.99385103e-01 3.49197586e-02 3.16641394e-03 8.31823571e+01] [-3.49191259e-02 9.99390109e-01 -2.54904084e-04 2.15952013e+00] [-3.17338397e-03 1.44178938e-04 9.99994954e-01 -1.04280331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88589822699998 meters 0.049752766774367685 Centerline is valid? [True, True] Translation: X:83.21, Y:2.16, Z:-1.04 [[ 9.99419335e-01 3.39719252e-02 2.62696835e-03 8.32114141e+01] [-3.39714866e-02 9.99422780e-01 -2.11394989e-04 2.15962287e+00] [-2.63263351e-03 1.22030219e-04 9.99996527e-01 -1.04451793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91589822699999 meters 0.05439560949571507 Centerline is valid? [True, True] Translation: X:83.24, Y:2.15, Z:-1.05 [[ 9.99461307e-01 3.27660097e-02 1.86642874e-03 8.32398179e+01] [-3.27657863e-02 9.99463046e-01 -1.50138077e-04 2.15403911e+00] [-1.87034598e-03 8.89021934e-05 9.99998247e-01 -1.04676492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94589822699999 meters 0.0554147129599101 Centerline is valid? [True, True] Translation: X:83.27, Y:2.16, Z:-1.05 [[ 9.99563911e-01 2.95119775e-02 1.01535340e-03 8.32703669e+01] [-2.95119098e-02 9.99564425e-01 -8.16071016e-05 2.15625097e+00] [-1.01731953e-03 5.16064956e-05 9.99999481e-01 -1.04840353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97589822699999 meters 0.056452500987309466 Centerline is valid? [True, True] Translation: X:83.30, Y:2.16, Z:-1.05 [[ 9.99618407e-01 2.75973244e-02 1.19538240e-03 8.32997665e+01] [-2.75972290e-02 9.99619119e-01 -9.61674831e-05 2.15560803e+00] [-1.19758107e-03 6.31415444e-05 9.99999281e-01 -1.04798166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00589822699999 meters 0.06442605671344408 Centerline is valid? [True, True] Translation: X:83.33, Y:2.15, Z:-1.05 [[ 9.99675830e-01 2.54178531e-02 1.47197069e-03 8.33284747e+01] [-2.54177064e-02 9.99676911e-01 -1.18271938e-04 2.14535521e+00] [-1.47450133e-03 8.08194793e-05 9.99998910e-01 -1.04823836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03589822699999 meters 0.06160688314664656 Centerline is valid? [True, True] Translation: X:83.36, Y:2.15, Z:-1.05 [[ 9.99726183e-01 2.33706681e-02 1.17101578e-03 8.33588458e+01] [-2.33705739e-02 9.99726866e-01 -9.40870075e-05 2.14868463e+00] [-1.17289481e-03 6.66939342e-05 9.99999310e-01 -1.04826549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06589822699999 meters 0.07246049294604447 Centerline is valid? [True, True] Translation: X:83.39, Y:2.14, Z:-1.05 [[ 9.99773183e-01 2.12922929e-02 -4.69059085e-04 8.33871851e+01] [-2.12922776e-02 9.99773293e-01 3.76229040e-05 2.14111927e+00] [ 4.69753824e-04 -2.76270342e-05 9.99999889e-01 -1.05264139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09589822699999 meters 0.06560678016093312 Centerline is valid? [True, True] Translation: X:83.42, Y:2.15, Z:-1.05 [[ 9.99778845e-01 2.09961150e-02 -1.19361838e-03 8.34171949e+01] [-2.09960157e-02 9.99779555e-01 9.56011721e-05 2.14979445e+00] [ 1.19536251e-03 -7.05187991e-05 9.99999283e-01 -1.05319012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.125898227 meters 0.053362772630190194 Centerline is valid? [True, True] Translation: X:83.45, Y:2.16, Z:-1.05 [[ 9.99772106e-01 2.13100174e-02 -1.27215795e-03 8.34470420e+01] [-2.13099050e-02 9.99772913e-01 1.01828649e-04 2.16338851e+00] [ 1.27403903e-03 -7.46958782e-05 9.99999186e-01 -1.05106920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.155898227 meters 0.06730641597266229 Centerline is valid? [True, True] Translation: X:83.47, Y:2.15, Z:-1.05 [[ 9.99776197e-01 2.10819747e-02 -1.76251200e-03 8.34733656e+01] [-2.10817587e-02 9.99777745e-01 1.41005723e-04 2.14508329e+00] [ 1.76509295e-03 -1.03817313e-04 9.99998437e-01 -1.05385581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.185898227 meters 0.06825958969736275 Centerline is valid? [True, True] Translation: X:83.50, Y:2.14, Z:-1.05 [[ 9.99776251e-01 2.09902490e-02 -2.61878259e-03 8.35012019e+01] [-2.09897720e-02 9.99779669e-01 2.09519556e-04 2.14371932e+00] [ 2.62260346e-03 -1.54505027e-04 9.99996549e-01 -1.05496864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.215898227 meters 0.06002588895550785 Centerline is valid? [True, True] Translation: X:83.53, Y:2.16, Z:-1.05 [[ 9.99751267e-01 2.22442262e-02 -1.61221940e-03 8.35326962e+01] [-2.22440469e-02 9.99752562e-01 1.29064407e-04 2.15758450e+00] [ 1.61469141e-03 -9.31700205e-05 9.99998692e-01 -1.05147607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24589822699998 meters 0.052213922517635396 Centerline is valid? [True, True] Translation: X:83.56, Y:2.17, Z:-1.05 [[ 9.99725181e-01 2.34298089e-02 -7.78754836e-04 8.35627285e+01] [-2.34297676e-02 9.99725483e-01 6.21222500e-05 2.17084379e+00] [ 7.79996568e-04 -4.38591328e-05 9.99999695e-01 -1.05011350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27589822699998 meters 0.05142878771328147 Centerline is valid? [True, True] Translation: X:83.59, Y:2.17, Z:-1.05 [[ 9.99676511e-01 2.54336573e-02 -5.27930288e-05 8.35920131e+01] [-2.54336571e-02 9.99676512e-01 4.12036450e-06 2.16917041e+00] [ 5.28807468e-05 -2.77631182e-06 9.99999999e-01 -1.04916237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30589822699999 meters 0.05522786625768506 Centerline is valid? [True, True] Translation: X:83.62, Y:2.17, Z:-1.05 [[ 9.99607392e-01 2.79148968e-02 -2.41273602e-03 8.36209266e+01] [-2.79145123e-02 9.99610295e-01 1.92894758e-04 2.16653298e+00] [ 2.41718040e-03 -1.25468676e-04 9.99997071e-01 -1.05281610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33589822699999 meters 0.04927671593508714 Centerline is valid? [True, True] Translation: X:83.65, Y:2.17, Z:-1.05 [[ 9.99589164e-01 2.83418672e-02 -4.27096168e-03 8.36504977e+01] [-2.83406672e-02 9.99598264e-01 3.41234899e-04 2.17385216e+00] [ 4.27891712e-03 -2.20052804e-04 9.99990821e-01 -1.05381072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36589822699999 meters 0.04909224499860403 Centerline is valid? [True, True] Translation: X:83.68, Y:2.17, Z:-1.05 [[ 9.99583122e-01 2.84109566e-02 -5.13812673e-03 8.36789376e+01] [-2.84092218e-02 9.99596292e-01 4.10321404e-04 2.17393954e+00] [ 5.14771006e-03 -2.64180168e-04 9.99986716e-01 -1.05448809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39589822699999 meters 0.052899727407999204 Centerline is valid? [True, True] Translation: X:83.71, Y:2.17, Z:-1.06 [[ 9.99578184e-01 2.85359650e-02 -5.39938425e-03 8.37062930e+01] [-2.85340530e-02 9.99592728e-01 4.30835806e-04 2.16846500e+00] [ 5.40947955e-03 -2.76587757e-04 9.99985330e-01 -1.05590417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42589822699999 meters 0.04848866307817777 Centerline is valid? [True, True] Translation: X:83.74, Y:2.17, Z:-1.05 [[ 9.99566811e-01 2.92328670e-02 -3.41027706e-03 8.37363015e+01] [-2.92321087e-02 9.99572614e-01 2.72007556e-04 2.17447091e+00] [ 3.41677111e-03 -1.72200135e-04 9.99994148e-01 -1.05281475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45589822699999 meters 0.048948934210136755 Centerline is valid? [True, True] Translation: X:83.76, Y:2.17, Z:-1.05 [[ 9.99570743e-01 2.92463912e-02 -1.72559707e-03 8.37648751e+01] [-2.92461974e-02 9.99572229e-01 1.37432957e-04 2.17330634e+00] [ 1.72887833e-03 -8.69068107e-05 9.99998502e-01 -1.05100137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48589822699999 meters 0.051387834480059624 Centerline is valid? [True, True] Translation: X:83.79, Y:2.17, Z:-1.05 [[ 9.99595355e-01 2.84251273e-02 -1.06691104e-03 8.37937587e+01] [-2.84250529e-02 9.99595923e-01 8.48449508e-05 2.17390472e+00] [ 1.06889166e-03 -5.44836158e-05 9.99999427e-01 -1.05074870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.515898227 meters 0.048272653618657985 Centerline is valid? [True, True] Translation: X:83.82, Y:2.17, Z:-1.05 [[ 9.99604868e-01 2.80948662e-02 -8.86542703e-04 8.38222609e+01] [-2.80948148e-02 9.99605260e-01 7.04236231e-05 2.17333035e+00] [ 8.88171292e-04 -4.54885434e-05 9.99999605e-01 -1.04957010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.545898227 meters 0.0524002126224726 Centerline is valid? [True, True] Translation: X:83.85, Y:2.17, Z:-1.05 [[ 9.99676659e-01 2.52793825e-02 -2.74428694e-03 8.38509525e+01] [-2.52788777e-02 9.99680414e-01 2.18489303e-04 2.16833710e+00] [ 2.74893318e-03 -1.49046162e-04 9.99996211e-01 -1.05253891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.575898227 meters 0.05389183881734903 Centerline is valid? [True, True] Translation: X:83.88, Y:2.16, Z:-1.05 [[ 9.99720744e-01 2.33950713e-02 -3.33227044e-03 8.38809185e+01] [-2.33943165e-02 9.99726280e-01 2.65318888e-04 2.16446757e+00] [ 3.33756549e-03 -1.87288606e-04 9.99994413e-01 -1.05345589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.605898227 meters 0.06035346231318631 Centerline is valid? [True, True] Translation: X:83.91, Y:2.15, Z:-1.05 [[ 9.99767139e-01 2.12462535e-02 -3.77670484e-03 8.39091970e+01] [-2.12452687e-02 9.99774249e-01 3.00685699e-04 2.15366028e+00] [ 3.78224069e-03 -2.20378572e-04 9.99992823e-01 -1.05448533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63589822699998 meters 0.06322059288660413 Centerline is valid? [True, True] Translation: X:83.94, Y:2.15, Z:-1.05 [[ 9.99852390e-01 1.67698977e-02 -3.73760748e-03 8.39386507e+01] [-1.67689022e-02 9.99859348e-01 2.97531936e-04 2.14543829e+00] [ 3.74207135e-03 -2.34812443e-04 9.99992971e-01 -1.05418718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66589822699999 meters 0.06782382643091112 Centerline is valid? [True, True] Translation: X:83.97, Y:2.14, Z:-1.05 [[ 9.99886516e-01 1.47665202e-02 -2.98408545e-03 8.39669410e+01] [-1.47658771e-02 9.99890950e-01 2.37419721e-04 2.13613692e+00] [ 2.98726590e-03 -1.93330139e-04 9.99995519e-01 -1.05375164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69589822699999 meters 0.06922444785933243 Centerline is valid? [True, True] Translation: X:84.00, Y:2.13, Z:-1.05 [[ 9.99905677e-01 1.35527874e-02 -2.22675558e-03 8.39964018e+01] [-1.35524265e-02 9.99908146e-01 1.77092997e-04 2.13093003e+00] [ 2.22895115e-03 -1.46898351e-04 9.99997505e-01 -1.05261899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72589822699999 meters 0.0670267057688599 Centerline is valid? [True, True] Translation: X:84.02, Y:2.13, Z:-1.05 [[ 9.99914276e-01 1.29480505e-02 -1.94641271e-03 8.40247252e+01] [-1.29477743e-02 9.99916162e-01 1.54468147e-04 2.13055633e+00] [ 1.94824959e-03 -1.29253193e-04 9.99998094e-01 -1.05170468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75589822699999 meters 0.06828944760924019 Centerline is valid? [True, True] Translation: X:84.05, Y:2.13, Z:-1.05 [[ 9.99914501e-01 1.30023048e-02 -1.38924426e-03 8.40518277e+01] [-1.30021643e-02 9.99915462e-01 1.10117366e-04 2.12547307e+00] [ 1.39055859e-03 -9.20447688e-05 9.99999029e-01 -1.05143625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78589822699999 meters 0.06651934412241141 Centerline is valid? [True, True] Translation: X:84.08, Y:2.12, Z:-1.05 [[ 9.99908234e-01 1.34466671e-02 -1.64662046e-03 8.40808616e+01] [-1.34464703e-02 9.99909584e-01 1.30555784e-04 2.12475699e+00] [ 1.64822712e-03 -1.08402570e-04 9.99998636e-01 -1.05080544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81589822699999 meters 0.059557285338797644 Centerline is valid? [True, True] Translation: X:84.11, Y:2.13, Z:-1.05 [[ 9.99875451e-01 1.53486093e-02 -3.67467015e-03 8.41117019e+01] [-1.53476405e-02 9.99882175e-01 2.91694033e-04 2.12968222e+00] [ 3.67871429e-03 -2.35260186e-04 9.99993206e-01 -1.05197805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84589822699999 meters 0.06608539766219437 Centerline is valid? [True, True] Translation: X:84.14, Y:2.12, Z:-1.05 [[ 9.99854768e-01 1.65881595e-02 -3.90832550e-03 8.41396219e+01] [-1.65870740e-02 9.99862377e-01 3.10008981e-04 2.11839565e+00] [ 3.91293011e-03 -2.45136274e-04 9.99992314e-01 -1.05319918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.875898227 meters 0.06565559790113926 Centerline is valid? [True, True] Translation: X:84.17, Y:2.12, Z:-1.05 [[ 9.99835354e-01 1.78992093e-02 -2.98043227e-03 8.41685219e+01] [-1.78985839e-02 9.99839780e-01 2.36363418e-04 2.11585746e+00] [ 2.98418546e-03 -1.82978984e-04 9.99995531e-01 -1.05248589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.905898227 meters 0.06319014267781402 Centerline is valid? [True, True] Translation: X:84.20, Y:2.11, Z:-1.05 [[ 9.99816723e-01 1.91208238e-02 -9.55903371e-04 8.41985478e+01] [-1.91207600e-02 9.99817179e-01 7.57800755e-05 2.11411073e+00] [ 9.57177589e-04 -5.74885879e-05 9.99999540e-01 -1.05051370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.935898227 meters 0.060487247435869265 Centerline is valid? [True, True] Translation: X:84.23, Y:2.11, Z:-1.05 [[ 9.99824129e-01 1.87294013e-02 -9.59659932e-04 8.42273752e+01] [-1.87293371e-02 9.99824588e-01 7.58868705e-05 2.11449245e+00] [ 9.60912912e-04 -5.78997299e-05 9.99999537e-01 -1.05070993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.965898227 meters 0.06042841531111008 Centerline is valid? [True, True] Translation: X:84.26, Y:2.11, Z:-1.05 [[ 9.99843038e-01 1.75832744e-02 -2.17422486e-03 8.42569872e+01] [-1.75829413e-02 9.99845393e-01 1.72227857e-04 2.11169418e+00] [ 2.17691704e-03 -1.33971556e-04 9.99997622e-01 -1.05181163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99589822699998 meters 0.07007490770356584 Centerline is valid? [True, True] Translation: X:84.29, Y:2.10, Z:-1.06 [[ 9.99862076e-01 1.61185994e-02 -4.00248419e-03 8.42854284e+01] [-1.61174585e-02 9.99870055e-01 3.17138323e-04 2.09648369e+00] [ 4.00707592e-03 -2.52584709e-04 9.99991940e-01 -1.05565219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02589822699998 meters 0.06601011379453307 Centerline is valid? [True, True] Translation: X:84.32, Y:2.10, Z:-1.06 [[ 9.99870329e-01 1.45659891e-02 -6.86713116e-03 8.43152379e+01] [-1.45625944e-02 9.99893812e-01 5.44079276e-04 2.09634852e+00] [ 6.87432700e-03 -4.44005479e-04 9.99976273e-01 -1.05907035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05589822699999 meters 0.06593509828827313 Centerline is valid? [True, True] Translation: X:84.34, Y:2.09, Z:-1.06 [[ 9.99869993e-01 1.47009478e-02 -6.62413815e-03 8.43435442e+01] [-1.46977950e-02 9.99891844e-01 5.24385917e-04 2.09280701e+00] [ 6.63113068e-03 -4.26957519e-04 9.99977923e-01 -1.05922767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08589822699999 meters 0.06618183174157319 Centerline is valid? [True, True] Translation: X:84.37, Y:2.09, Z:-1.06 [[ 9.99871134e-01 1.50045099e-02 -5.70794075e-03 8.43727139e+01] [-1.50021748e-02 9.99887359e-01 4.51690140e-04 2.08879996e+00] [ 5.71407519e-03 -3.66000407e-04 9.99983608e-01 -1.05805482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11589822699999 meters 0.06042799032077573 Centerline is valid? [True, True] Translation: X:84.40, Y:2.09, Z:-1.06 [[ 9.99861440e-01 1.57305266e-02 -5.44529107e-03 8.44020145e+01] [-1.57284139e-02 9.99876208e-01 4.30594405e-04 2.09349430e+00] [ 5.45139046e-03 -3.44888950e-04 9.99985082e-01 -1.05646176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14589822699999 meters 0.0642835179225313 Centerline is valid? [True, True] Translation: X:84.43, Y:2.09, Z:-1.06 [[ 9.99808095e-01 1.82823414e-02 -7.03767582e-03 8.44301520e+01] [-1.82788762e-02 9.99832773e-01 5.56388365e-04 2.08698196e+00] [ 7.04667101e-03 -4.27640786e-04 9.99975080e-01 -1.06007803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17589822699999 meters 0.07055510249041604 Centerline is valid? [True, True] Translation: X:84.46, Y:2.08, Z:-1.07 [[ 9.99783476e-01 1.90287130e-02 -8.42074743e-03 8.44574526e+01] [-1.90237849e-02 9.99818810e-01 6.64956708e-04 2.07722522e+00] [ 8.43187495e-03 -5.04618242e-04 9.99964324e-01 -1.06538859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20589822699999 meters 0.0657490724792562 Centerline is valid? [True, True] Translation: X:84.49, Y:2.08, Z:-1.07 [[ 9.99818647e-01 1.81654980e-02 -5.71727648e-03 8.44871186e+01] [-1.81121233e-02 9.99793145e-01 9.25296290e-03 2.07787267e+00] [ 5.88417851e-03 -9.14773283e-03 9.99940846e-01 -1.06933979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23589822699999 meters 0.06667219015190375 Centerline is valid? [True, True] Translation: X:84.52, Y:2.08, Z:-1.06 [[ 9.99778668e-01 1.89706911e-02 -9.09545410e-03 8.45151397e+01] [-1.90440736e-02 9.99786234e-01 -8.05047563e-03 2.08280750e+00] [ 8.94078671e-03 8.22190831e-03 9.99926229e-01 -1.06194567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.265898227 meters 0.06864476590109352 Centerline is valid? [True, True] Translation: X:84.54, Y:2.07, Z:-1.06 [[ 9.99834089e-01 1.74610850e-02 -5.18696065e-03 8.45417837e+01] [-1.74592017e-02 9.99847493e-01 4.08151269e-04 2.07441807e+00] [ 5.19329637e-03 -3.17523360e-04 9.99986464e-01 -1.05876717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.295898227 meters 0.06398647224103038 Centerline is valid? [True, True] Translation: X:84.57, Y:2.08, Z:-1.06 [[ 9.99850837e-01 1.64908773e-02 -5.13368933e-03 8.45720960e+01] [-1.64890193e-02 9.99863965e-01 4.04026676e-04 2.07809836e+00] [ 5.13965372e-03 -3.19316908e-04 9.99986741e-01 -1.05681646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.325898227 meters 0.06569999292570697 Centerline is valid? [True, True] Translation: X:84.60, Y:2.07, Z:-1.06 [[ 9.99864921e-01 1.54178648e-02 -5.69460898e-03 8.46001396e+01] [-1.54155633e-02 9.99881073e-01 4.47834777e-04 2.07389114e+00] [ 5.70083639e-03 -3.59988679e-04 9.99983685e-01 -1.05757931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.355898227 meters 0.06306990053693896 Centerline is valid? [True, True] Translation: X:84.63, Y:2.08, Z:-1.06 [[ 9.99875729e-01 1.45818417e-02 -5.99139961e-03 8.46302112e+01] [-1.45792792e-02 9.99893606e-01 4.71144031e-04 2.07568277e+00] [ 5.99763231e-03 -3.83735193e-04 9.99981940e-01 -1.05730163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38589822699998 meters 0.07461211359672273 Centerline is valid? [True, True] Translation: X:84.66, Y:2.06, Z:-1.06 [[ 9.99889958e-01 1.36678695e-02 -5.76717450e-03 8.46572736e+01] [-1.36654820e-02 9.99906520e-01 4.53182302e-04 2.05944657e+00] [ 5.77282942e-03 -3.74321213e-04 9.99983267e-01 -1.05866608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41589822699999 meters 0.06190275275636529 Centerline is valid? [True, True] Translation: X:84.69, Y:2.07, Z:-1.05 [[ 9.99920870e-01 1.18490589e-02 -4.22534419e-03 8.46875039e+01] [-1.18477619e-02 9.99929758e-01 3.31863973e-04 2.07354457e+00] [ 4.22897967e-03 -2.81776840e-04 9.99991018e-01 -1.05481903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44589822699999 meters 0.0637005291073581 Centerline is valid? [True, True] Translation: X:84.72, Y:2.07, Z:-1.05 [[ 9.99934613e-01 1.09112276e-02 -3.42281938e-03 8.47153326e+01] [-1.09103725e-02 9.99940444e-01 2.68407223e-04 2.06863487e+00] [ 3.42554419e-03 -2.31045438e-04 9.99994106e-01 -1.05468003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47589822699999 meters 0.0637005291073581 Centerline is valid? [True, True] Translation: X:84.74, Y:2.07, Z:-1.05 [[ 9.99935107e-01 1.08658380e-02 -3.42282320e-03 8.47436296e+01] [-1.08649828e-02 9.99940938e-01 2.68358502e-04 2.06648873e+00] [ 3.42553698e-03 -2.31152172e-04 9.99994106e-01 -1.05480498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50589822699999 meters 0.07957359658595203 Centerline is valid? [True, True] Translation: X:84.77, Y:2.04, Z:-1.06 [[ 9.99949188e-01 9.44110965e-03 -3.53365356e-03 8.47703806e+01] [-9.44018945e-03 9.99955402e-01 2.76999538e-04 2.04354683e+00] [ 3.53611115e-03 -2.43627104e-04 9.99993718e-01 -1.05670409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53589822699999 meters 0.07017777306047097 Centerline is valid? [True, True] Translation: X:84.80, Y:2.05, Z:-1.06 [[ 9.99959060e-01 7.88705840e-03 -4.43548361e-03 8.48010242e+01] [-7.88559257e-03 9.99968848e-01 3.47870450e-04 2.05420467e+00] [ 4.43808911e-03 -3.12879791e-04 9.99990103e-01 -1.05658699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56589822699999 meters 0.06870963601234514 Centerline is valid? [True, True] Translation: X:84.83, Y:2.05, Z:-1.06 [[ 9.99966480e-01 5.85792400e-03 -5.72050364e-03 8.48312128e+01] [-5.85545317e-03 9.99982756e-01 4.48577956e-04 2.05086293e+00] [ 5.72303273e-03 -4.15066779e-04 9.99983537e-01 -1.05663467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59589822699999 meters 0.07439494720663416 Centerline is valid? [True, True] Translation: X:84.86, Y:2.04, Z:-1.06 [[ 9.99974994e-01 4.34070409e-03 -5.58291999e-03 8.48597551e+01] [-4.33832762e-03 9.99990494e-01 4.37708620e-04 2.03905266e+00] [ 5.58476688e-03 -4.13477139e-04 9.99984320e-01 -1.05839888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.625898227 meters 0.07589401126941768 Centerline is valid? [True, True] Translation: X:84.89, Y:2.03, Z:-1.06 [[ 9.99981644e-01 2.54433578e-03 -5.49888355e-03 8.48894270e+01] [-2.54200364e-03 9.99996676e-01 4.31059042e-04 2.03224712e+00] [ 5.49996203e-03 -4.17072948e-04 9.99984788e-01 -1.05855668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.655898227 meters 0.07358938884510266 Centerline is valid? [True, True] Translation: X:84.92, Y:2.03, Z:-1.06 [[ 9.99990090e-01 -2.02589396e-03 -3.96428248e-03 8.49195308e+01] [ 2.02714177e-03 9.99997897e-01 3.10770747e-04 2.02743349e+00] [ 3.96364456e-03 -3.18803829e-04 9.99992094e-01 -1.05562513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.685898227 meters 0.08520827936172491 Centerline is valid? [True, True] Translation: X:84.95, Y:2.01, Z:-1.06 [[ 9.99984049e-01 -4.41173546e-03 -3.52690840e-03 8.49474505e+01] [ 4.41273795e-03 9.99990226e-01 2.76510131e-04 2.00704922e+00] [ 3.52565404e-03 -2.92069043e-04 9.99993742e-01 -1.05619539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.715898227 meters 0.08165936647501947 Centerline is valid? [True, True] Translation: X:84.98, Y:2.01, Z:-1.06 [[ 9.99971548e-01 -6.45603144e-03 -3.90171174e-03 8.49776124e+01] [ 6.45727369e-03 9.99979105e-01 3.05872903e-04 2.00554492e+00] [ 3.89965549e-03 -3.31058620e-04 9.99992342e-01 -1.05616061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74589822699998 meters 0.0839527991058363 Centerline is valid? [True, True] Translation: X:85.01, Y:2.00, Z:-1.06 [[ 9.99958684e-01 -8.07521049e-03 -4.17377001e-03 8.50072470e+01] [ 8.07664608e-03 9.99967330e-01 3.27213665e-04 1.99590119e+00] [ 4.17099133e-03 -3.60910209e-04 9.99991236e-01 -1.05797521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77589822699998 meters 0.08278464605098612 Centerline is valid? [True, True] Translation: X:85.04, Y:1.99, Z:-1.06 [[ 9.99958441e-01 -8.06288298e-03 -4.25517613e-03 8.50374675e+01] [ 8.06437499e-03 9.99967427e-01 3.33592847e-04 1.99007862e+00] [ 4.25234781e-03 -3.67894319e-04 9.99990891e-01 -1.05899616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80589822699999 meters 0.08428738251286678 Centerline is valid? [True, True] Translation: X:85.07, Y:1.98, Z:-1.06 [[ 9.99987932e-01 -3.93077042e-03 -2.94709506e-03 8.50660774e+01] [ 3.93146822e-03 9.99992245e-01 2.31018941e-04 1.97955549e+00] [ 2.94616412e-03 -2.42602563e-04 9.99995631e-01 -1.05731211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83589822699999 meters 0.07260430877152652 Centerline is valid? [True, True] Translation: X:85.10, Y:1.99, Z:-1.05 [[ 9.99997361e-01 -2.23749930e-04 -2.28625721e-03 8.50972769e+01] [ 2.24160139e-04 9.99999959e-01 1.79169062e-04 1.99077282e+00] [ 2.28621703e-03 -1.79681077e-04 9.99997370e-01 -1.05426302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86589822699999 meters 0.076198237888117 Centerline is valid? [True, True] Translation: X:85.13, Y:1.98, Z:-1.05 [[ 9.99993217e-01 3.17744851e-03 -1.86278607e-03 8.51259823e+01] [-3.17718222e-03 9.99994942e-01 1.45892446e-04 1.98280136e+00] [ 1.86324022e-03 -1.39973045e-04 9.99998254e-01 -1.05349353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89589822699999 meters 0.07639304567124401 Centerline is valid? [True, True] Translation: X:85.16, Y:1.98, Z:-1.06 [[ 9.99977150e-01 6.35641732e-03 -2.30100500e-03 8.51551775e+01] [-6.35601940e-03 9.99979784e-01 1.80203538e-04 1.97953600e+00] [ 2.30210393e-03 -1.65574188e-04 9.99997336e-01 -1.05508024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92589822699999 meters 0.06475347030779348 Centerline is valid? [True, True] Translation: X:85.19, Y:1.99, Z:-1.05 [[ 9.99956602e-01 9.00317749e-03 -2.39511410e-03 8.51868251e+01] [-9.00275376e-03 9.99959457e-01 1.87637875e-04 1.98947279e+00] [ 2.39670633e-03 -1.66067110e-04 9.99997114e-01 -1.05431098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95589822699999 meters 0.07025200636163326 Centerline is valid? [True, True] Translation: X:85.22, Y:1.97, Z:-1.06 [[ 9.99934756e-01 1.13138068e-02 -1.57523384e-03 8.52150837e+01] [-1.13136265e-02 9.99935991e-01 1.23329535e-04 1.97344833e+00] [ 1.57652834e-03 -1.05499881e-04 9.99998752e-01 -1.05526081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98589822699999 meters 0.0627255273020062 Centerline is valid? [True, True] Translation: X:85.24, Y:1.98, Z:-1.06 [[ 9.99936632e-01 1.11754970e-02 -1.35674413e-03 8.52443775e+01] [-1.11753634e-02 9.99937548e-01 1.06012748e-04 1.97684806e+00] [ 1.35784415e-03 -9.08439211e-05 9.99999074e-01 -1.05535328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.015898227 meters 0.057571071493095004 Centerline is valid? [True, True] Translation: X:85.27, Y:1.98, Z:-1.06 [[ 9.99939667e-01 1.07334701e-02 -2.33569072e-03 8.52729501e+01] [-1.07330728e-02 9.99942382e-01 1.82530463e-04 1.97747170e+00] [ 2.33751532e-03 -1.57450312e-04 9.99997256e-01 -1.05660318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.045898227 meters 0.06773777601616643 Centerline is valid? [True, True] Translation: X:85.30, Y:1.96, Z:-1.06 [[ 9.99943604e-01 9.69295478e-03 -4.33988822e-03 8.52998337e+01] [-9.69157378e-03 9.99952978e-01 3.39128585e-04 1.95865614e+00] [ 4.34297131e-03 -2.97049113e-04 9.99990525e-01 -1.06120371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.075898227 meters 0.07455167810165376 Centerline is valid? [True, True] Translation: X:85.33, Y:1.94, Z:-1.07 [[ 9.99936225e-01 7.62094181e-03 -8.33474771e-03 8.53274767e+01] [-7.61576958e-03 9.99970787e-01 6.52125561e-04 1.94053642e+00] [ 8.33947403e-03 -5.88608453e-04 9.99965053e-01 -1.06784135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.105898227 meters 0.06578294653076217 Centerline is valid? [True, True] Translation: X:85.36, Y:1.95, Z:-1.07 [[ 9.99933322e-01 7.06774497e-03 -9.13225068e-03 8.53568078e+01] [-7.06151981e-03 9.99974812e-01 7.13733159e-04 1.94668315e+00] [ 9.13706515e-03 -6.49198000e-04 9.99958045e-01 -1.06665469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13589822699998 meters 0.06926193659241993 Centerline is valid? [True, True] Translation: X:85.38, Y:1.94, Z:-1.07 [[ 9.99938575e-01 6.98258510e-03 -8.60755820e-03 8.53840746e+01] [-6.97705639e-03 9.99975434e-01 6.72169531e-04 1.93729137e+00] [ 8.61204023e-03 -6.12072823e-04 9.99962728e-01 -1.06689868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16589822699999 meters 0.06457692301123778 Centerline is valid? [True, True] Translation: X:85.41, Y:1.94, Z:-1.06 [[ 9.99934096e-01 9.76606781e-03 -6.03553456e-03 8.54139967e+01] [-9.76340026e-03 9.99952226e-01 4.71280928e-04 1.93846104e+00] [ 6.03984878e-03 -4.12322529e-04 9.99981675e-01 -1.06161678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19589822699999 meters 0.06463848134414472 Centerline is valid? [True, True] Translation: X:85.44, Y:1.94, Z:-1.06 [[ 9.99914150e-01 1.20794070e-02 -5.07747585e-03 8.54435983e+01] [-1.20775491e-02 9.99926985e-01 3.96415347e-04 1.93547223e+00] [ 5.08189359e-03 -3.35057851e-04 9.99987031e-01 -1.06077420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22589822699999 meters 0.07363598518638124 Centerline is valid? [True, True] Translation: X:85.47, Y:1.92, Z:-1.06 [[ 9.99880698e-01 1.46973614e-02 -4.75147169e-03 8.54721727e+01] [-1.46957642e-02 9.99891943e-01 3.70895296e-04 1.92052879e+00] [ 4.75640944e-03 -3.01024540e-04 9.99988643e-01 -1.06300667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25589822699999 meters 0.05644702265434221 Centerline is valid? [True, True] Translation: X:85.50, Y:1.94, Z:-1.06 [[ 9.99842236e-01 1.69845211e-02 -5.19899134e-03 8.55038208e+01] [-1.69826398e-02 9.99855702e-01 4.05782157e-04 1.93886982e+00] [ 5.20513315e-03 -3.17425541e-04 9.99986403e-01 -1.06122878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28589822699999 meters 0.0620549102520788 Centerline is valid? [True, True] Translation: X:85.53, Y:1.93, Z:-1.06 [[ 9.99817385e-01 1.83493391e-02 -5.33839145e-03 8.55320240e+01] [-1.83473753e-02 9.99831586e-01 4.16602075e-04 1.92771385e+00] [ 5.34513676e-03 -3.18580526e-04 9.99985664e-01 -1.06359542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31589822699999 meters 0.06515388414775865 Centerline is valid? [True, True] Translation: X:85.56, Y:1.92, Z:-1.07 [[ 9.99812829e-01 1.84499246e-02 -5.82295019e-03 8.55587218e+01] [-1.84475928e-02 9.99829726e-01 4.53902685e-04 1.91863048e+00] [ 5.83033316e-03 -3.46398313e-04 9.99982943e-01 -1.06579434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34589822699999 meters 0.05678360212146028 Centerline is valid? [True, True] Translation: X:85.59, Y:1.93, Z:-1.06 [[ 9.99826844e-01 1.74811652e-02 -6.37895170e-03 8.55889889e+01] [-1.74783471e-02 9.99847118e-01 4.97260639e-04 1.92580827e+00] [ 6.38666917e-03 -3.85681003e-04 9.99979531e-01 -1.06386714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.375898227 meters 0.05765760312917043 Centerline is valid? [True, True] Translation: X:85.62, Y:1.92, Z:-1.06 [[ 9.99843858e-01 1.62806354e-02 -6.87033386e-03 8.56183076e+01] [-1.62773392e-02 9.99867372e-01 5.35412340e-04 1.92074245e+00] [ 6.87813951e-03 -4.23497984e-04 9.99976256e-01 -1.06428492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.405898227 meters 0.07295301092706878 Centerline is valid? [True, True] Translation: X:85.64, Y:1.90, Z:-1.07 [[ 9.99864379e-01 1.49062399e-02 -7.00203935e-03 8.56448862e+01] [-1.49027856e-02 9.99888799e-01 5.45249662e-04 1.89724815e+00] [ 7.00938834e-03 -4.40825824e-04 9.99975337e-01 -1.06762077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.435898227 meters 0.0769411011082018 Centerline is valid? [True, True] Translation: X:85.67, Y:1.89, Z:-1.07 [[ 9.99874560e-01 1.48313250e-02 -5.55836741e-03 8.56716628e+01] [-1.48291495e-02 9.99889949e-01 4.32401333e-04 1.88747914e+00] [ 5.56416879e-03 -3.49921232e-04 9.99984459e-01 -1.06611490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.465898227 meters 0.05824383390771247 Centerline is valid? [True, True] Translation: X:85.70, Y:1.91, Z:-1.06 [[ 9.99854161e-01 1.64897121e-02 -4.44374618e-03 8.57030358e+01] [-1.64883379e-02 9.99863998e-01 3.45695787e-04 1.90899410e+00] [ 4.44884225e-03 -2.72375383e-04 9.99990067e-01 -1.06100842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49589822699998 meters 0.05877580364262716 Centerline is valid? [True, True] Translation: X:85.73, Y:1.91, Z:-1.06 [[ 9.99814335e-01 1.89425394e-02 -3.53203514e-03 8.57322340e+01] [-1.89416866e-02 9.99820552e-01 2.74732461e-04 1.90671422e+00] [ 3.53660545e-03 -2.07778750e-04 9.99993725e-01 -1.06044683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52589822699998 meters 0.0568631870387574 Centerline is valid? [True, True] Translation: X:85.76, Y:1.91, Z:-1.06 [[ 9.99772741e-01 2.11324672e-02 -2.80807002e-03 8.57621618e+01] [-2.11319372e-02 9.99776672e-01 2.18308949e-04 1.90894811e+00] [ 2.81205630e-03 -1.58919377e-04 9.99996034e-01 -1.05996032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55589822699999 meters 0.05403446409986794 Centerline is valid? [True, True] Translation: X:85.79, Y:1.91, Z:-1.06 [[ 9.99716177e-01 2.36058888e-02 -3.21365252e-03 8.57924111e+01] [-2.36052072e-02 9.99721327e-01 2.49867837e-04 1.91164350e+00] [ 3.21865531e-03 -1.73937986e-04 9.99994805e-01 -1.06050723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58589822699999 meters 0.0535533549364896 Centerline is valid? [True, True] Translation: X:85.82, Y:1.91, Z:-1.06 [[ 9.99723158e-01 2.32627772e-02 -3.52859257e-03 8.58212920e+01] [-2.32619544e-02 9.99729367e-01 2.74045876e-04 1.90995305e+00] [ 3.53401269e-03 -1.91888049e-04 9.99993737e-01 -1.06091875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61589822699999 meters 0.05889143483580472 Centerline is valid? [True, True] Translation: X:85.85, Y:1.90, Z:-1.06 [[ 9.99747260e-01 2.22347317e-02 -3.32150792e-03 8.58486230e+01] [-2.22339981e-02 9.99752761e-01 2.57632461e-04 1.89994669e+00] [ 3.32641510e-03 -1.83716946e-04 9.99994451e-01 -1.06121265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64589822699999 meters 0.059592162248866445 Centerline is valid? [True, True] Translation: X:85.88, Y:1.89, Z:-1.06 [[ 9.99781966e-01 2.07257145e-02 -2.54279328e-03 8.58780914e+01] [-2.07252795e-02 9.99785189e-01 1.97303932e-04 1.89481882e+00] [ 2.54633633e-03 -1.44560812e-04 9.99996748e-01 -1.06111598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67589822699999 meters 0.06130795961931947 Centerline is valid? [True, True] Translation: X:85.91, Y:1.89, Z:-1.06 [[ 9.99827449e-01 1.84808882e-02 -1.87879372e-03 8.59080313e+01] [-1.84806467e-02 9.99829208e-01 1.45784029e-04 1.88753000e+00] [ 1.88116705e-03 -1.11037551e-04 9.99998224e-01 -1.06012079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70589822699999 meters 0.06483142475685814 Centerline is valid? [True, True] Translation: X:85.94, Y:1.88, Z:-1.06 [[ 9.99876282e-01 1.56167344e-02 -1.88128538e-03 8.59370905e+01] [-1.56164873e-02 9.99878045e-01 1.45943913e-04 1.87817999e+00] [ 1.88333512e-03 -1.16546788e-04 9.99998220e-01 -1.05983484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73589822699999 meters 0.06577413544394849 Centerline is valid? [True, True] Translation: X:85.97, Y:1.87, Z:-1.06 [[ 9.99943462e-01 1.01574028e-02 -3.14647920e-03 8.59670800e+01] [-1.01566846e-02 9.99948390e-01 2.44162963e-04 1.87061453e+00] [ 3.14879687e-03 -2.12191362e-04 9.99995020e-01 -1.06062571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.765898227 meters 0.0644081670092204 Centerline is valid? [True, True] Translation: X:86.00, Y:1.87, Z:-1.06 [[ 9.99956868e-01 8.07958827e-03 -4.58059856e-03 8.59975100e+01] [-8.07804428e-03 9.99967309e-01 3.55473290e-04 1.86828315e+00] [ 4.58332089e-03 -3.18455680e-04 9.99989446e-01 -1.06224120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.795898227 meters 0.07406105169644701 Centerline is valid? [True, True] Translation: X:86.02, Y:1.85, Z:-1.07 [[ 9.99959366e-01 6.78475597e-03 -5.93580690e-03 8.60242456e+01] [-6.78214231e-03 9.99976895e-01 4.60337776e-04 1.85183232e+00] [ 5.93879303e-03 -4.20061584e-04 9.99982277e-01 -1.06611184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.825898227 meters 0.0761622574398968 Centerline is valid? [True, True] Translation: X:86.05, Y:1.84, Z:-1.07 [[ 9.99966476e-01 5.77530155e-03 -5.80450268e-03 8.60521016e+01] [-5.77278621e-03 9.99983236e-01 4.50003580e-04 1.84482195e+00] [ 5.80700428e-03 -4.16480341e-04 9.99983052e-01 -1.06678545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.855898227 meters 0.07676242258399771 Centerline is valid? [True, True] Translation: X:86.08, Y:1.84, Z:-1.07 [[ 9.99973160e-01 5.53902196e-03 -4.79559458e-03 8.60806034e+01] [-5.53730380e-03 9.99984600e-01 3.71483775e-04 1.83956472e+00] [ 4.79757838e-03 -3.44919140e-04 9.99988432e-01 -1.06574866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88589822699998 meters 0.06584820622152299 Centerline is valid? [True, True] Translation: X:86.11, Y:1.85, Z:-1.06 [[ 9.99952289e-01 8.91937268e-03 -3.98294352e-03 8.61113271e+01] [-8.91821415e-03 9.99960184e-01 3.08537863e-04 1.84705665e+00] [ 3.98553690e-03 -2.73002400e-04 9.99992020e-01 -1.06146575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91589822699999 meters 0.07113304172803815 Centerline is valid? [True, True] Translation: X:86.14, Y:1.84, Z:-1.06 [[ 9.99917607e-01 1.20736961e-02 -4.35953163e-03 8.61403100e+01] [-1.20723377e-02 9.99927070e-01 3.37780742e-04 1.83638204e+00] [ 4.36329195e-03 -2.85123173e-04 9.99990440e-01 -1.06396941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94589822699999 meters 0.06870505471814688 Centerline is valid? [True, True] Translation: X:86.17, Y:1.84, Z:-1.07 [[ 9.99869885e-01 1.51796783e-02 -5.45803466e-03 8.61698679e+01] [-1.51775957e-02 9.99884724e-01 4.22777654e-04 1.83595075e+00] [ 5.46382311e-03 -3.39882800e-04 9.99985015e-01 -1.06625899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97589822699999 meters 0.060110903971007594 Centerline is valid? [True, True] Translation: X:86.20, Y:1.84, Z:-1.07 [[ 9.99824892e-01 1.75514932e-02 -6.49081517e-03 8.62000729e+01] [-1.75485989e-02 9.99845885e-01 5.02595632e-04 1.84386823e+00] [ 6.49863615e-03 -3.88602911e-04 9.99978808e-01 -1.06703804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00589822699999 meters 0.05578278451558875 Centerline is valid? [True, True] Translation: X:86.23, Y:1.85, Z:-1.07 [[ 9.99793604e-01 1.93286551e-02 -6.25727039e-03 8.62303032e+01] [-1.93260002e-02 9.99813118e-01 4.84484334e-04 1.84659334e+00] [ 6.26546545e-03 -3.63456329e-04 9.99980306e-01 -1.06607646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03589822699999 meters 0.05533977795447608 Centerline is valid? [True, True] Translation: X:86.26, Y:1.84, Z:-1.06 [[ 9.99756447e-01 2.14291039e-02 -5.27641702e-03 8.62591133e+01] [-2.14272456e-02 9.99770327e-01 4.08470294e-04 1.84487923e+00] [ 5.28395832e-03 -2.95311726e-04 9.99985996e-01 -1.06445659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06589822699999 meters 0.050773176390062805 Centerline is valid? [True, True] Translation: X:86.29, Y:1.85, Z:-1.06 [[ 9.99620266e-01 2.72390452e-02 -4.16621718e-03 8.62885082e+01] [-2.72379376e-02 9.99628927e-01 3.22357318e-04 1.85009611e+00] [ 4.17345192e-03 -2.08755745e-04 9.99991269e-01 -1.06193217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09589822699999 meters 0.05195098236794665 Centerline is valid? [True, True] Translation: X:86.32, Y:1.85, Z:-1.06 [[ 9.99533701e-01 3.03073742e-02 -3.72059400e-03 8.63173910e+01] [-3.03065119e-02 9.99540611e-01 2.87944928e-04 1.84732543e+00] [ 3.72761166e-03 -1.75052433e-04 9.99993037e-01 -1.06249558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.125898227 meters 0.046350232006432956 Centerline is valid? [True, True] Translation: X:86.35, Y:1.85, Z:-1.06 [[ 9.99456391e-01 3.27987028e-02 -3.34175751e-03 8.63479091e+01] [-3.27980213e-02 9.99461967e-01 2.58550846e-04 1.85262962e+00] [ 3.34843966e-03 -1.48807261e-04 9.99994383e-01 -1.06148506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.155898227 meters 0.04232914564549175 Centerline is valid? [True, True] Translation: X:86.38, Y:1.86, Z:-1.06 [[ 9.99417765e-01 3.39920584e-02 -2.94467517e-03 8.63771644e+01] [-3.39915353e-02 9.99422095e-01 2.27527897e-04 1.85570363e+00] [ 2.95070757e-03 -1.27301392e-04 9.99995639e-01 -1.06071566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.185898227 meters 0.04785901113105578 Centerline is valid? [True, True] Translation: X:86.40, Y:1.85, Z:-1.06 [[ 9.99412479e-01 3.41755908e-02 -2.59329349e-03 8.64038770e+01] [-3.41751863e-02 9.99415838e-01 2.00149941e-04 1.84595354e+00] [ 2.59861883e-03 -1.11406061e-04 9.99996617e-01 -1.06189564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.215898227 meters 0.04348270208655255 Centerline is valid? [True, True] Translation: X:86.43, Y:1.85, Z:-1.06 [[ 9.99435316e-01 3.35146380e-02 -2.41227003e-03 8.64326944e+01] [-3.35142863e-02 9.99438221e-01 1.86100767e-04 1.84876793e+00] [ 2.41715196e-03 -1.05150170e-04 9.99997073e-01 -1.06124439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24589822699998 meters 0.04482993088650409 Centerline is valid? [True, True] Translation: X:86.46, Y:1.84, Z:-1.06 [[ 9.99477867e-01 3.22095118e-02 -2.55745355e-03 8.64615192e+01] [-3.22091122e-02 9.99481132e-01 1.97276033e-04 1.84376339e+00] [ 2.56248073e-03 -1.14799720e-04 9.99996710e-01 -1.06206716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27589822699998 meters 0.0471773592882152 Centerline is valid? [True, True] Translation: X:86.49, Y:1.84, Z:-1.06 [[ 9.99532136e-01 3.03730811e-02 -3.60358223e-03 8.64891779e+01] [-3.03722765e-02 9.99538617e-01 2.77818129e-04 1.83795932e+00] [ 3.61035779e-03 -1.68239152e-04 9.99993468e-01 -1.06346621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30589822699999 meters 0.046961812320425025 Centerline is valid? [True, True] Translation: X:86.52, Y:1.84, Z:-1.06 [[ 9.99623422e-01 2.69879299e-02 -4.96646247e-03 8.65192978e+01] [-2.69863586e-02 9.99635728e-01 3.83137866e-04 1.83595160e+00] [ 4.97499343e-03 -2.48966847e-04 9.99987594e-01 -1.06401575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33589822699999 meters 0.049456772037817745 Centerline is valid? [True, True] Translation: X:86.55, Y:1.83, Z:-1.06 [[ 9.99655613e-01 2.56759185e-02 -5.42240071e-03 8.65473617e+01] [-2.56740286e-02 9.99670280e-01 4.17870136e-04 1.83095464e+00] [ 5.43134204e-03 -2.78511356e-04 9.99985211e-01 -1.06461006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36589822699999 meters 0.06212942841520743 Centerline is valid? [True, True] Translation: X:86.57, Y:1.81, Z:-1.07 [[ 9.99678255e-01 2.47706684e-02 -5.45901450e-03 8.65735158e+01] [-2.47687415e-02 9.99693119e-01 4.20319463e-04 1.81312283e+00] [ 5.46775083e-03 -2.84971309e-04 9.99985011e-01 -1.06724242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39589822699999 meters 0.06212942841520743 Centerline is valid? [True, True] Translation: X:86.60, Y:1.81, Z:-1.07 [[ 9.99679833e-01 2.47068756e-02 -5.45904316e-03 8.66009612e+01] [-2.47049498e-02 9.99694698e-01 4.19947203e-04 1.81113694e+00] [ 5.46775209e-03 -2.84947362e-04 9.99985011e-01 -1.06736354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42589822699999 meters 0.05273826042158415 Centerline is valid? [True, True] Translation: X:86.63, Y:1.82, Z:-1.06 [[ 9.99688151e-01 2.44204350e-02 -5.21951049e-03 8.66308917e+01] [-2.44186714e-02 9.99701739e-01 4.01344855e-04 1.82207755e+00] [ 5.22775473e-03 -2.73766184e-04 9.99986298e-01 -1.06397750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45589822699999 meters 0.0526017868789182 Centerline is valid? [True, True] Translation: X:86.66, Y:1.82, Z:-1.06 [[ 9.99695529e-01 2.41706216e-02 -4.96299727e-03 8.66595134e+01] [-2.41690252e-02 9.99707814e-01 3.81381070e-04 1.82124938e+00] [ 4.97076537e-03 -2.61314144e-04 9.99987612e-01 -1.06392754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48589822699999 meters 0.05353962337253773 Centerline is valid? [True, True] Translation: X:86.69, Y:1.82, Z:-1.07 [[ 9.99704264e-01 2.36606864e-02 -5.61746635e-03 8.66879431e+01] [-2.36586345e-02 9.99720002e-01 4.31441432e-04 1.81936362e+00] [ 5.62610168e-03 -2.98412256e-04 9.99984129e-01 -1.06514755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.515898227 meters 0.05480863454769564 Centerline is valid? [True, True] Translation: X:86.72, Y:1.82, Z:-1.07 [[ 9.99714870e-01 2.28681857e-02 -6.87204543e-03 8.67153407e+01] [-2.28650991e-02 9.99738420e-01 5.27400620e-04 1.81576725e+00] [ 6.88230853e-03 -3.70120242e-04 9.99976248e-01 -1.06658455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.545898227 meters 0.05301739647741422 Centerline is valid? [True, True] Translation: X:86.74, Y:1.82, Z:-1.07 [[ 9.99731495e-01 2.18851674e-02 -7.61422233e-03 8.67446380e+01] [-2.18813507e-02 9.99760404e-01 5.84215108e-04 1.81630823e+00] [ 7.62518364e-03 -4.17448775e-04 9.99970841e-01 -1.06769054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.575898227 meters 0.05526692834093799 Centerline is valid? [True, True] Translation: X:86.77, Y:1.81, Z:-1.07 [[ 9.99780370e-01 1.97813029e-02 -6.92178951e-03 8.67723012e+01] [-1.97781012e-02 9.99804253e-01 5.30703190e-04 1.81073919e+00] [ 6.93093259e-03 -3.93686778e-04 9.99975903e-01 -1.06746641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.605898227 meters 0.05731913635382218 Centerline is valid? [True, True] Translation: X:86.80, Y:1.81, Z:-1.07 [[ 9.99794367e-01 1.93560759e-02 -6.04704980e-03 8.67996371e+01] [-1.93536272e-02 9.99812594e-01 4.63209828e-04 1.80574854e+00] [ 6.05488247e-03 -3.46082229e-04 9.99981609e-01 -1.06652568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63589822699998 meters 0.07105008739000161 Centerline is valid? [True, True] Translation: X:86.83, Y:1.79, Z:-1.07 [[ 9.99793634e-01 1.95956650e-02 -5.35710777e-03 8.68262944e+01] [-1.95937484e-02 9.99807940e-01 4.10025693e-04 1.78849771e+00] [ 5.36411361e-03 -3.04975256e-04 9.99985567e-01 -1.06804417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66589822699999 meters 0.058236369448747265 Centerline is valid? [True, True] Translation: X:86.86, Y:1.80, Z:-1.06 [[ 9.99776399e-01 2.07328868e-02 -4.15927248e-03 8.68572289e+01] [-2.07317417e-02 9.99785024e-01 3.18259513e-04 1.79940903e+00] [ 4.16497677e-03 -2.31959387e-04 9.99991300e-01 -1.06279811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69589822699999 meters 0.05988979084659543 Centerline is valid? [True, True] Translation: X:86.89, Y:1.79, Z:-1.06 [[ 9.99751672e-01 2.20709896e-02 -3.07676136e-03 8.68855310e+01] [-2.20703698e-02 9.99756392e-01 2.35282816e-04 1.79448241e+00] [ 3.08120476e-03 -1.67319127e-04 9.99995239e-01 -1.06138727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72589822699999 meters 0.05491235239984335 Centerline is valid? [True, True] Translation: X:86.92, Y:1.80, Z:-1.06 [[ 9.99720602e-01 2.35563088e-02 -1.95413041e-03 8.69159436e+01] [-2.35560621e-02 9.99722506e-01 1.49179275e-04 1.79785009e+00] [ 1.95710227e-03 -1.03105977e-04 9.99998080e-01 -1.05859267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75589822699999 meters 0.05254907843796342 Centerline is valid? [True, True] Translation: X:86.95, Y:1.80, Z:-1.06 [[ 9.99633200e-01 2.70782530e-02 4.84277009e-04 8.69458750e+01] [-2.70782382e-02 9.99633317e-01 -3.70819333e-05 1.79819907e+00] [-4.85103546e-04 2.39549635e-05 9.99999882e-01 -1.05504915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78589822699999 meters 0.050523173990617176 Centerline is valid? [True, True] Translation: X:86.98, Y:1.80, Z:-1.05 [[ 9.99580310e-01 2.89474168e-02 1.11804096e-03 8.69756740e+01] [-2.89473392e-02 9.99580934e-01 -8.55480553e-05 1.79805232e+00] [-1.12004882e-03 5.31478408e-05 9.99999371e-01 -1.05384739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81589822699999 meters 0.04584223409357893 Centerline is valid? [True, True] Translation: X:87.01, Y:1.80, Z:-1.05 [[ 9.99528968e-01 3.06851797e-02 5.11856015e-04 8.70058635e+01] [-3.06851636e-02 9.99529099e-01 -3.93444714e-05 1.80078894e+00] [-5.12822273e-04 2.36195534e-05 9.99999868e-01 -1.05378654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84589822699999 meters 0.04886902335472208 Centerline is valid? [True, True] Translation: X:87.03, Y:1.79, Z:-1.06 [[ 9.99494903e-01 3.17787648e-02 -2.22447958e-04 8.70329748e+01] [-3.17787619e-02 9.99494927e-01 1.67207263e-05 1.79391677e+00] [ 2.22866970e-04 -9.64315996e-06 9.99999975e-01 -1.05604103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.875898227 meters 0.04997224039177326 Centerline is valid? [True, True] Translation: X:87.06, Y:1.79, Z:-1.06 [[ 9.99470806e-01 3.25109901e-02 -1.06911928e-03 8.70605432e+01] [-3.25109217e-02 9.99471377e-01 8.12838774e-05 1.78979166e+00] [ 1.07119674e-03 -4.64828092e-05 9.99999425e-01 -1.05716692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.905898227 meters 0.04790607579903051 Centerline is valid? [True, True] Translation: X:87.09, Y:1.79, Z:-1.06 [[ 9.99452978e-01 3.30409372e-02 -1.42888835e-03 8.70895141e+01] [-3.30408155e-02 9.99453997e-01 1.08704961e-04 1.78981853e+00] [ 1.43169988e-03 -6.14338608e-05 9.99998973e-01 -1.05745235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.935898227 meters 0.049652605039560066 Centerline is valid? [True, True] Translation: X:87.12, Y:1.79, Z:-1.06 [[ 9.99429193e-01 3.37537871e-02 -1.40350977e-03 8.71167326e+01] [-3.37536705e-02 9.99430177e-01 1.06645231e-04 1.78620029e+00] [ 1.40630970e-03 -5.92107504e-05 9.99999009e-01 -1.05835047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.965898227 meters 0.04728334872737257 Centerline is valid? [True, True] Translation: X:87.15, Y:1.78, Z:-1.06 [[ 9.99422282e-01 3.39662150e-02 -1.18249528e-03 8.71458819e+01] [-3.39661325e-02 9.99422980e-01 8.98093074e-05 1.78461905e+00] [ 1.18486344e-03 -4.95926315e-05 9.99999297e-01 -1.05698201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99589822699998 meters 0.04913300606345729 Centerline is valid? [True, True] Translation: X:87.17, Y:1.78, Z:-1.06 [[ 9.99434121e-01 3.36132688e-02 -1.25943960e-03 8.71737316e+01] [-3.36131751e-02 9.99434913e-01 9.54933969e-05 1.77899444e+00] [ 1.26193775e-03 -5.31055955e-05 9.99999202e-01 -1.05787226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02589822699998 meters 0.04906543790127525 Centerline is valid? [True, True] Translation: X:87.20, Y:1.77, Z:-1.06 [[ 9.99462263e-01 3.27414621e-02 -1.78355161e-03 8.72020936e+01] [-3.27412726e-02 9.99463852e-01 1.35365107e-04 1.77457371e+00] [ 1.78702741e-03 -7.68965665e-05 9.99998400e-01 -1.05900693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05589822699999 meters 0.0515696964980146 Centerline is valid? [True, True] Translation: X:87.23, Y:1.76, Z:-1.06 [[ 9.99515873e-01 3.09901569e-02 -2.76237114e-03 8.72310326e+01] [-3.09896952e-02 9.99519682e-01 2.09796246e-04 1.76295050e+00] [ 2.76754595e-03 -1.24089638e-04 9.99996163e-01 -1.06122419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08589822699999 meters 0.04707958487232098 Centerline is valid? [True, True] Translation: X:87.26, Y:1.76, Z:-1.06 [[ 9.99529141e-01 3.05773932e-02 -2.55334337e-03 8.72597321e+01] [-3.05769980e-02 9.99532396e-01 1.93691905e-04 1.76366214e+00] [ 2.55807201e-03 -1.15527128e-04 9.99996721e-01 -1.05977250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11589822699999 meters 0.04664587604838311 Centerline is valid? [True, True] Translation: X:87.29, Y:1.76, Z:-1.06 [[ 9.99516211e-01 3.10214056e-02 -2.23966981e-03 8.72880861e+01] [-3.10211029e-02 9.99518715e-01 1.69770528e-04 1.75962868e+00] [ 2.24385841e-03 -1.00211368e-04 9.99997478e-01 -1.05966503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14589822699999 meters 0.044984674036224845 Centerline is valid? [True, True] Translation: X:87.32, Y:1.76, Z:-1.06 [[ 9.99492624e-01 3.17302721e-02 -2.77204071e-03 8.73165741e+01] [-3.17298114e-02 9.99496461e-01 2.10041872e-04 1.75770470e+00] [ 2.77730956e-03 -1.21978973e-04 9.99996136e-01 -1.05995030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17589822699999 meters 0.044466104178820146 Centerline is valid? [True, True] Translation: X:87.35, Y:1.75, Z:-1.06 [[ 9.99455705e-01 3.27969370e-02 -3.55740882e-03 8.73451617e+01] [-3.27961854e-02 9.99462024e-01 2.69443476e-04 1.75456887e+00] [ 3.56433194e-03 -1.52627380e-04 9.99993636e-01 -1.06131985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20589822699999 meters 0.05052104660904052 Centerline is valid? [True, True] Translation: X:87.37, Y:1.74, Z:-1.07 [[ 9.99356067e-01 3.55202174e-02 -5.07603373e-03 8.73732441e+01] [-3.55187217e-02 9.99368937e-01 3.84537717e-04 1.74219812e+00] [ 5.08648930e-03 -2.03995871e-04 9.99987043e-01 -1.06515094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23589822699999 meters 0.041953815385857005 Centerline is valid? [True, True] Translation: X:87.40, Y:1.75, Z:-1.06 [[ 9.99313458e-01 3.66317959e-02 -5.54286978e-03 8.74031980e+01] [-3.66300307e-02 9.99328807e-01 4.19674029e-04 1.75009864e+00] [ 5.55452286e-03 -2.16350415e-04 9.99984550e-01 -1.06287876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.265898227 meters 0.04022445695770492 Centerline is valid? [True, True] Translation: X:87.43, Y:1.75, Z:-1.06 [[ 9.99278324e-01 3.76024595e-02 -5.37462064e-03 8.74319599e+01] [-3.76008156e-02 9.99292757e-01 4.06630058e-04 1.74898986e+00] [ 5.38610976e-03 -2.04246483e-04 9.99985474e-01 -1.06209465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.295898227 meters 0.0412206112898632 Centerline is valid? [True, True] Translation: X:87.46, Y:1.74, Z:-1.06 [[ 9.99261783e-01 3.81467010e-02 -4.55164525e-03 8.74599395e+01] [-3.81455287e-02 9.99272135e-01 3.44126177e-04 1.74448370e+00] [ 4.56145955e-03 -1.70247223e-04 9.99989582e-01 -1.06214283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.325898227 meters 0.04158445311185098 Centerline is valid? [True, True] Translation: X:87.49, Y:1.74, Z:-1.06 [[ 9.99276317e-01 3.78786328e-02 -3.47161000e-03 8.74881169e+01] [-3.78779505e-02 9.99282339e-01 2.62091618e-04 1.74107604e+00] [ 3.47904623e-03 -1.30404475e-04 9.99993940e-01 -1.06133238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.355898227 meters 0.0513561534323028 Centerline is valid? [True, True] Translation: X:87.52, Y:1.73, Z:-1.06 [[ 9.99325089e-01 3.65971688e-02 -3.16448966e-03 8.75153465e+01] [-3.65965965e-02 9.99330092e-01 2.38595831e-04 1.72870614e+00] [ 3.17110168e-03 -1.22625248e-04 9.99994965e-01 -1.06440269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38589822699998 meters 0.0457402284634416 Centerline is valid? [True, True] Translation: X:87.55, Y:1.73, Z:-1.06 [[ 9.99426345e-01 3.37320195e-02 -3.02190417e-03 8.75458671e+01] [-3.37314837e-02 9.99430906e-01 2.28083367e-04 1.73069673e+00] [ 3.02787814e-03 -1.26019215e-04 9.99995408e-01 -1.06203859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41589822699999 meters 0.0457402284634416 Centerline is valid? [True, True] Translation: X:87.57, Y:1.73, Z:-1.06 [[ 9.99428610e-01 3.36648390e-02 -3.02193802e-03 8.75733009e+01] [-3.36643044e-02 9.99433171e-01 2.27634741e-04 1.72875063e+00] [ 3.02788839e-03 -1.25773232e-04 9.99995408e-01 -1.06215960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44589822699999 meters 0.04864384750781026 Centerline is valid? [True, True] Translation: X:87.60, Y:1.72, Z:-1.06 [[ 9.99469942e-01 3.24060274e-02 -3.11201895e-03 8.76016696e+01] [-3.24054541e-02 9.99474778e-01 2.34473462e-04 1.72294291e+00] [ 3.11798280e-03 -1.33502790e-04 9.99995130e-01 -1.06242335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47589822699999 meters 0.051533164627345945 Centerline is valid? [True, True] Translation: X:87.63, Y:1.72, Z:-1.06 [[ 9.99531925e-01 3.02928099e-02 -4.27515288e-03 8.76297584e+01] [-3.02917094e-02 9.99541049e-01 3.21934790e-04 1.71963308e+00] [ 4.28294311e-03 -1.92282411e-04 9.99990810e-01 -1.06402428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50589822699999 meters 0.05046776181816708 Centerline is valid? [True, True] Translation: X:87.66, Y:1.72, Z:-1.06 [[ 9.99548075e-01 2.96893822e-02 -4.71026478e-03 8.76588995e+01] [-2.96880406e-02 9.99559150e-01 3.54505523e-04 1.72080055e+00] [ 4.71871332e-03 -2.14506781e-04 9.99988844e-01 -1.06489463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53589822699999 meters 0.05346312387075373 Centerline is valid? [True, True] Translation: X:87.69, Y:1.72, Z:-1.07 [[ 9.99567668e-01 2.89780654e-02 -4.97484678e-03 8.76859500e+01] [-2.89765621e-02 9.99580021e-01 3.74002770e-04 1.71708992e+00] [ 4.98359533e-03 -2.29687120e-04 9.99987555e-01 -1.06596960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56589822699999 meters 0.04843706703267879 Centerline is valid? [True, True] Translation: X:87.72, Y:1.72, Z:-1.07 [[ 9.99584267e-01 2.83424158e-02 -5.29154922e-03 8.77153935e+01] [-2.83407069e-02 9.99598242e-01 3.97677918e-04 1.72281877e+00] [ 5.30069445e-03 -2.47546345e-04 9.99985921e-01 -1.06516019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59589822699999 meters 0.050252943727100104 Centerline is valid? [True, True] Translation: X:87.74, Y:1.72, Z:-1.07 [[ 9.99598404e-01 2.77562138e-02 -5.71165402e-03 8.77427490e+01] [-2.77542162e-02 9.99614686e-01 4.28729770e-04 1.71927324e+00] [ 5.72135315e-03 -2.70035113e-04 9.99983596e-01 -1.06603127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.625898227 meters 0.049873080313834015 Centerline is valid? [True, True] Translation: X:87.77, Y:1.72, Z:-1.07 [[ 9.99620844e-01 2.67651813e-02 -6.46470722e-03 8.77713091e+01] [-2.67626023e-02 9.99641700e-01 4.85124813e-04 1.71887463e+00] [ 6.47537536e-03 -3.11928487e-04 9.99978986e-01 -1.06720252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.655898227 meters 0.05322023713899139 Centerline is valid? [True, True] Translation: X:87.80, Y:1.72, Z:-1.07 [[ 9.99676785e-01 2.42519403e-02 -7.62680570e-03 8.78019778e+01] [-2.42482760e-02 9.99705803e-01 5.72566465e-04 1.71811909e+00] [ 7.63844776e-03 -3.87444514e-04 9.99970752e-01 -1.06883236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.685898227 meters 0.05857064597682233 Centerline is valid? [True, True] Translation: X:87.83, Y:1.71, Z:-1.07 [[ 9.99732172e-01 2.21088345e-02 -6.83985354e-03 8.78301444e+01] [-2.21058412e-02 9.99755504e-01 5.12933674e-04 1.70833510e+00] [ 6.84952159e-03 -3.61595580e-04 9.99976476e-01 -1.06850503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.715898227 meters 0.05588382883386621 Centerline is valid? [True, True] Translation: X:87.86, Y:1.71, Z:-1.07 [[ 9.99795272e-01 1.93281600e-02 -5.98629186e-03 8.78610441e+01] [-1.93258164e-02 9.99813138e-01 4.49112916e-04 1.71115049e+00] [ 5.99385378e-03 -3.33330993e-04 9.99981981e-01 -1.06607447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74589822699998 meters 0.059390610499139906 Centerline is valid? [True, True] Translation: X:87.89, Y:1.71, Z:-1.06 [[ 9.99858072e-01 1.59704414e-02 -5.36481284e-03 8.78896906e+01] [-1.59685116e-02 9.99872414e-01 4.02364091e-04 1.70516981e+00] [ 5.37055429e-03 -3.16638908e-04 9.99985528e-01 -1.06481905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77589822699998 meters 0.06482687226193445 Centerline is valid? [True, True] Translation: X:87.92, Y:1.70, Z:-1.07 [[ 9.99904078e-01 1.27959516e-02 -5.30084186e-03 8.79182017e+01] [-1.27940234e-02 9.99918074e-01 3.97504723e-04 1.69583173e+00] [ 5.30549404e-03 -3.29647499e-04 9.99985871e-01 -1.06524040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80589822699999 meters 0.06540144657222934 Centerline is valid? [True, True] Translation: X:87.95, Y:1.69, Z:-1.07 [[ 9.99932427e-01 9.86003120e-03 -6.15802062e-03 8.79487016e+01] [-9.85737316e-03 9.99951308e-01 4.61841853e-04 1.69252915e+00] [ 6.16227455e-03 -4.01108738e-04 9.99980933e-01 -1.06580968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83589822699999 meters 0.07042489208178947 Centerline is valid? [True, True] Translation: X:87.98, Y:1.68, Z:-1.07 [[ 9.99954354e-01 5.72255029e-03 -7.65125218e-03 8.79776223e+01] [-5.71832721e-03 9.99983486e-01 5.73709231e-04 1.68140096e+00] [ 7.65440890e-03 -5.29930680e-04 9.99970564e-01 -1.06879151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86589822699999 meters 0.07081966054141406 Centerline is valid? [True, True] Translation: X:88.01, Y:1.68, Z:-1.07 [[ 9.99967958e-01 4.45211064e-03 -6.65293887e-03 8.80070191e+01] [-4.44889114e-03 9.99989979e-01 4.98641921e-04 1.67745591e+00] [ 6.65509222e-03 -4.69027743e-04 9.99977745e-01 -1.06716966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89589822699999 meters 0.06364138940227712 Centerline is valid? [True, True] Translation: X:88.04, Y:1.68, Z:-1.06 [[ 9.99982651e-01 3.14801038e-03 -4.97877964e-03 8.80373825e+01] [-3.14619202e-03 9.99994981e-01 3.73012483e-04 1.68412575e+00] [ 4.97992890e-03 -3.57341814e-04 9.99987536e-01 -1.06299420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92589822699999 meters 0.07913224455178351 Centerline is valid? [True, True] Translation: X:88.06, Y:1.66, Z:-1.06 [[ 9.99992213e-01 1.58409058e-03 -3.61439365e-03 8.80646641e+01] [-1.58312297e-03 9.99998710e-01 2.70554312e-04 1.66263357e+00] [ 3.61481757e-03 -2.64830176e-04 9.99993431e-01 -1.06226773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95589822699999 meters 0.08023924592331318 Centerline is valid? [True, True] Translation: X:88.09, Y:1.66, Z:-1.06 [[ 9.99994350e-01 5.22028829e-04 -3.32075398e-03 8.80943133e+01] [-5.21206265e-04 9.99999833e-01 2.48564576e-04 1.65913800e+00] [ 3.32088319e-03 -2.46832374e-04 9.99994455e-01 -1.06175919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98589822699999 meters 0.0710783234974689 Centerline is valid? [True, True] Translation: X:88.12, Y:1.66, Z:-1.06 [[ 9.99990579e-01 3.16212056e-05 -4.34058484e-03 8.81233258e+01] [-3.02120027e-05 9.99999947e-01 3.24722567e-04 1.66461261e+00] [ 4.34059488e-03 -3.24588370e-04 9.99990527e-01 -1.06351201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.015898227 meters 0.07368377595897671 Centerline is valid? [True, True] Translation: X:88.15, Y:1.66, Z:-1.06 [[ 9.99992383e-01 4.36538250e-04 -3.87853795e-03 8.81509346e+01] [-4.35420796e-04 9.99999863e-01 2.88951840e-04 1.65559151e+00] [ 3.87866356e-03 -2.87260843e-04 9.99992437e-01 -1.06393831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.045898227 meters 0.07057306847104274 Centerline is valid? [True, True] Translation: X:88.18, Y:1.65, Z:-1.06 [[ 9.99994199e-01 8.76555326e-04 -3.29133304e-03 8.81794582e+01] [-8.75754946e-04 9.99999587e-01 2.44611379e-04 1.65402492e+00] [ 3.29154609e-03 -2.41727559e-04 9.99994554e-01 -1.06257131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.075898227 meters 0.07271614011695325 Centerline is valid? [True, True] Translation: X:88.21, Y:1.65, Z:-1.06 [[ 9.99995258e-01 6.40659339e-04 -3.01219529e-03 8.82066659e+01] [-6.39987024e-04 9.99999770e-01 2.24156142e-04 1.64611548e+00] [ 3.01233820e-03 -2.22227313e-04 9.99995438e-01 -1.06249109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.105898227 meters 0.07570264975945926 Centerline is valid? [True, True] Translation: X:88.24, Y:1.64, Z:-1.06 [[ 9.99992747e-01 -5.52309083e-04 -3.76852886e-03 8.82350010e+01] [ 5.53369761e-04 9.99999808e-01 2.80419701e-04 1.63720181e+00] [ 3.76837326e-03 -2.82503056e-04 9.99992860e-01 -1.06329485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13589822699998 meters 0.0821598466066761 Centerline is valid? [True, True] Translation: X:88.26, Y:1.62, Z:-1.07 [[ 9.99986717e-01 -1.97026101e-03 -4.76276072e-03 8.82628647e+01] [ 1.97197232e-03 9.99997993e-01 3.54641172e-04 1.62295971e+00] [ 4.76205242e-03 -3.64028494e-04 9.99988595e-01 -1.06641519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16589822699999 meters 0.07762633886321389 Centerline is valid? [True, True] Translation: X:88.29, Y:1.62, Z:-1.07 [[ 9.99964557e-01 -4.36630726e-03 -7.19861305e-03 8.82928778e+01] [ 4.37027815e-03 9.99990307e-01 5.35980533e-04 1.61894439e+00] [ 7.19620301e-03 -5.67421477e-04 9.99973946e-01 -1.06867024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19589822699999 meters 0.07750543908083768 Centerline is valid? [True, True] Translation: X:88.32, Y:1.61, Z:-1.07 [[ 9.99962832e-01 -4.17882234e-03 -7.54138657e-03 8.83213638e+01] [ 4.18316073e-03 9.99991094e-01 5.59595992e-04 1.61376000e+00] [ 7.53898096e-03 -5.91122025e-04 9.99971407e-01 -1.06916448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22589822699999 meters 0.077317831454541 Centerline is valid? [True, True] Translation: X:88.35, Y:1.61, Z:-1.07 [[ 9.99966103e-01 -2.83511525e-03 -7.73014685e-03 8.83499288e+01] [ 2.83963707e-03 9.99995803e-01 5.74045690e-04 1.60888690e+00] [ 7.72848692e-03 -5.95977043e-04 9.99969957e-01 -1.06935127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25589822699999 meters 0.07630928983686433 Centerline is valid? [True, True] Translation: X:88.38, Y:1.61, Z:-1.07 [[ 9.99960677e-01 -1.00665931e-03 -8.81085377e-03 8.83792659e+01] [ 1.01246169e-03 9.99999274e-01 6.54114366e-04 1.60572746e+00] [ 8.81018890e-03 -6.63009296e-04 9.99960970e-01 -1.06985396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28589822699999 meters 0.07630928983686433 Centerline is valid? [True, True] Translation: X:88.41, Y:1.60, Z:-1.07 [[ 9.99960477e-01 -1.18761668e-03 -8.81102355e-03 8.84067335e+01] [ 1.19340599e-03 9.99999075e-01 6.51824840e-04 1.60384084e+00] [ 8.81024129e-03 -6.62314206e-04 9.99960970e-01 -1.06997510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31589822699999 meters 0.0777385594566161 Centerline is valid? [True, True] Translation: X:88.44, Y:1.60, Z:-1.07 [[ 9.99953025e-01 1.38841771e-03 -9.59268140e-03 8.84360819e+01] [-1.38166697e-03 9.99998793e-01 7.10329843e-04 1.59772732e+00] [ 9.59365606e-03 -6.97042584e-04 9.99953737e-01 -1.07263930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34589822699999 meters 0.07181485100396107 Centerline is valid? [True, True] Translation: X:88.47, Y:1.60, Z:-1.07 [[ 9.99940987e-01 4.07042641e-03 -1.00724380e-02 8.84669126e+01] [-4.06311854e-03 9.99991467e-01 7.45889000e-04 1.60122929e+00] [ 1.00753882e-02 -7.04919473e-04 9.99948994e-01 -1.07171682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.375898227 meters 0.06717459285445344 Centerline is valid? [True, True] Translation: X:88.50, Y:1.60, Z:-1.07 [[ 9.99928584e-01 7.81387027e-03 -9.04270191e-03 8.84967693e+01] [-7.80813497e-03 9.99969292e-01 6.69378060e-04 1.60311516e+00] [ 9.04765466e-03 -5.98723619e-04 9.99958890e-01 -1.06845312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.405898227 meters 0.06940092756512299 Centerline is valid? [True, True] Translation: X:88.53, Y:1.60, Z:-1.07 [[ 9.99924195e-01 8.86039133e-03 -8.54966765e-03 8.85257875e+01] [-8.85530431e-03 9.99960591e-01 6.32670070e-04 1.59817894e+00] [ 8.55493642e-03 -5.56912202e-04 9.99963251e-01 -1.06785472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.435898227 meters 0.06889162100134452 Centerline is valid? [True, True] Translation: X:88.56, Y:1.60, Z:-1.07 [[ 9.99921455e-01 9.70316726e-03 -7.93304800e-03 8.85551771e+01] [-9.69881653e-03 9.99952793e-01 5.86720333e-04 1.59790145e+00] [ 7.93836655e-03 -5.09733072e-04 9.99968361e-01 -1.06697861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.465898227 meters 0.06356333085834454 Centerline is valid? [True, True] Translation: X:88.58, Y:1.60, Z:-1.07 [[ 9.99919214e-01 1.03761326e-02 -7.34169858e-03 8.85848649e+01] [-1.03724274e-02 9.99946058e-01 5.42579077e-04 1.60470264e+00] [ 7.34693242e-03 -4.66384010e-04 9.99972902e-01 -1.06527959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49589822699998 meters 0.06671367495975858 Centerline is valid? [True, True] Translation: X:88.61, Y:1.60, Z:-1.07 [[ 9.99917974e-01 1.09015072e-02 -6.72330217e-03 8.86127378e+01] [-1.08984148e-02 9.99940487e-01 4.96423913e-04 1.60081442e+00] [ 6.72831381e-03 -4.23109858e-04 9.99977275e-01 -1.06574778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52589822699998 meters 0.061433097652600126 Centerline is valid? [True, True] Translation: X:88.64, Y:1.61, Z:-1.06 [[ 9.99920952e-01 1.08918602e-02 -6.28155836e-03 8.86419627e+01] [-1.08891622e-02 9.99940604e-01 4.63548232e-04 1.60968681e+00] [ 6.28623416e-03 -3.95110681e-04 9.99980163e-01 -1.06269063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55589822699999 meters 0.06787637952470987 Centerline is valid? [True, True] Translation: X:88.67, Y:1.60, Z:-1.06 [[ 9.99935528e-01 9.34043034e-03 -6.45724751e-03 8.86696298e+01] [-9.33754901e-03 9.99956291e-01 4.76220843e-04 1.60094642e+00] [ 6.46141337e-03 -4.15895275e-04 9.99979038e-01 -1.06381679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58589822699999 meters 0.07211401990872945 Centerline is valid? [True, True] Translation: X:88.70, Y:1.59, Z:-1.07 [[ 9.99952251e-01 6.85537012e-03 -6.96410350e-03 8.86988413e+01] [-6.85195826e-03 9.99976393e-01 5.13661417e-04 1.59405812e+00] [ 6.96746044e-03 -4.65919143e-04 9.99975618e-01 -1.06504958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61589822699999 meters 0.07738442536403498 Centerline is valid? [True, True] Translation: X:88.73, Y:1.58, Z:-1.07 [[ 9.99959126e-01 3.52522468e-03 -8.32585933e-03 8.87280032e+01] [-3.52023359e-03 9.99993615e-01 6.14047174e-04 1.58492926e+00] [ 8.32797083e-03 -5.84713106e-04 9.99965151e-01 -1.06803629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64589822699999 meters 0.07452789321029546 Centerline is valid? [True, True] Translation: X:88.76, Y:1.59, Z:-1.07 [[ 9.99958883e-01 -4.17936450e-04 -9.05860323e-03 8.87580314e+01] [ 4.24004902e-04 9.99999687e-01 6.68000235e-04 1.58541958e+00] [ 9.05832121e-03 -6.71813661e-04 9.99958747e-01 -1.06970477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67589822699999 meters 0.08851927414088205 Centerline is valid? [True, True] Translation: X:88.79, Y:1.56, Z:-1.07 [[ 9.99949047e-01 -4.44777109e-03 -9.06202170e-03 8.87859182e+01] [ 4.45400824e-03 9.99989858e-01 6.68208657e-04 1.56437703e+00] [ 9.05895775e-03 -7.08536929e-04 9.99958716e-01 -1.07298807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70589822699999 meters 0.09257716004131608 Centerline is valid? [True, True] Translation: X:88.82, Y:1.56, Z:-1.07 [[ 9.99925089e-01 -1.06501931e-02 -6.03234678e-03 8.88157455e+01] [ 1.06530687e-02 9.99943156e-01 4.44764913e-04 1.55546127e+00] [ 6.02726704e-03 -5.08994600e-04 9.99981706e-01 -1.06728972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73589822699999 meters 0.0856905142113154 Centerline is valid? [True, True] Translation: X:88.85, Y:1.56, Z:-1.06 [[ 9.99912805e-01 -1.21032178e-02 -5.28159551e-03 8.88468144e+01] [ 1.21054425e-02 9.99926651e-01 3.89435235e-04 1.56050137e+00] [ 5.27649469e-03 -4.53337329e-04 9.99985976e-01 -1.06333273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.765898227 meters 0.08424640023634104 Centerline is valid? [True, True] Translation: X:88.88, Y:1.56, Z:-1.06 [[ 9.99909546e-01 -1.22944307e-02 -5.45398054e-03 8.88764614e+01] [ 1.22968045e-02 9.99924311e-01 4.01922924e-04 1.55847019e+00] [ 5.44862632e-03 -4.68953101e-04 9.99985046e-01 -1.06252609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.795898227 meters 0.08051931085622137 Centerline is valid? [True, True] Translation: X:88.91, Y:1.56, Z:-1.06 [[ 9.99911182e-01 -1.18750098e-02 -6.05083306e-03 8.89064459e+01] [ 1.18779232e-02 9.99929356e-01 4.45777098e-04 1.56020607e+00] [ 6.04511200e-03 -5.17608835e-04 9.99981594e-01 -1.06200253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.825898227 meters 0.08753500904367416 Centerline is valid? [True, True] Translation: X:88.93, Y:1.55, Z:-1.06 [[ 9.99920863e-01 -1.05529793e-02 -6.84846756e-03 8.89348668e+01] [ 1.05566797e-02 9.99944149e-01 5.04397699e-04 1.54899328e+00] [ 6.84276217e-03 -5.76654861e-04 9.99976422e-01 -1.06422818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.855898227 meters 0.08168959056014599 Centerline is valid? [True, True] Translation: X:88.97, Y:1.55, Z:-1.06 [[ 9.99939287e-01 -8.53030467e-03 -6.97538407e-03 8.89662064e+01] [ 8.53409515e-03 9.99963452e-01 5.13824172e-04 1.55481449e+00] [ 6.97074606e-03 -5.73321567e-04 9.99975540e-01 -1.06411203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88589822699998 meters 0.07261321749759439 Centerline is valid? [True, True] Translation: X:89.00, Y:1.57, Z:-1.06 [[ 9.99975877e-01 -2.90100521e-03 -6.31099024e-03 8.89974727e+01] [ 2.90399689e-03 9.99995675e-01 4.64931043e-04 1.56705244e+00] [ 6.30961418e-03 -4.83246924e-04 9.99979977e-01 -1.06258906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91589822699999 meters 0.0789859355290624 Centerline is valid? [True, True] Translation: X:89.03, Y:1.56, Z:-1.06 [[ 9.99986437e-01 3.70151759e-04 -5.19509301e-03 8.90257554e+01] [-3.68170020e-04 9.99999859e-01 3.82414733e-04 1.55881404e+00] [ 5.19523383e-03 -3.80496869e-04 9.99986432e-01 -1.06255287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94589822699999 meters 0.06817473535119195 Centerline is valid? [True, True] Translation: X:89.06, Y:1.57, Z:-1.06 [[ 9.99982198e-01 3.95568250e-03 -4.46730613e-03 8.90570449e+01] [-3.95425251e-03 9.99992128e-01 3.28888256e-04 1.57332146e+00] [ 4.46857194e-03 -3.11217545e-04 9.99989967e-01 -1.05984961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97589822699999 meters 0.0751730335782916 Centerline is valid? [True, True] Translation: X:89.09, Y:1.57, Z:-1.06 [[ 9.99962741e-01 7.47398795e-03 -4.31930708e-03 8.90853075e+01] [-7.47268478e-03 9.99972029e-01 3.17768305e-04 1.56572302e+00] [ 4.32156126e-03 -2.85479645e-04 9.99990621e-01 -1.06068347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00589822699999 meters 0.06782627495710125 Centerline is valid? [True, True] Translation: X:89.12, Y:1.58, Z:-1.06 [[ 9.99932483e-01 1.07665969e-02 -4.37156049e-03 8.91165265e+01] [-1.07652938e-02 9.99942001e-01 3.21520392e-04 1.57651481e+00] [ 4.37476862e-03 -2.74437551e-04 9.99990393e-01 -1.05931695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03589822699999 meters 0.0600558055417586 Centerline is valid? [True, True] Translation: X:89.15, Y:1.59, Z:-1.06 [[ 9.99901056e-01 1.33695886e-02 -4.37399161e-03 8.91475119e+01] [-1.33683084e-02 9.99910588e-01 3.21786633e-04 1.58747704e+00] [ 4.37790268e-03 -2.63281925e-04 9.99990382e-01 -1.05789195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06589822699999 meters 0.057555280033416534 Centerline is valid? [True, True] Translation: X:89.18, Y:1.59, Z:-1.06 [[ 9.99845306e-01 1.73138627e-02 -3.09757791e-03 8.91772972e+01] [-1.73132400e-02 9.99850089e-01 2.27757562e-04 1.59183049e+00] [ 3.10105691e-03 -1.74093219e-04 9.99995177e-01 -1.05694732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09589822699999 meters 0.05571381428997359 Centerline is valid? [True, True] Translation: X:89.21, Y:1.59, Z:-1.06 [[ 9.99815309e-01 1.90992476e-02 -2.13714549e-03 8.92076517e+01] [-1.90989553e-02 9.99817586e-01 1.57119143e-04 1.59283029e+00] [ 2.13975650e-03 -1.16272878e-04 9.99997704e-01 -1.05588524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.125898227 meters 0.058901138522954755 Centerline is valid? [True, True] Translation: X:89.24, Y:1.59, Z:-1.05 [[ 9.99786639e-01 2.06430404e-02 -7.36154897e-04 8.92360792e+01] [-2.06430063e-02 9.99786909e-01 5.39626649e-05 1.58760344e+00] [ 7.37111982e-04 -3.87547012e-05 9.99999728e-01 -1.05446138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.155898227 meters 0.04926937037452865 Centerline is valid? [True, True] Translation: X:89.27, Y:1.60, Z:-1.05 [[ 9.99751930e-01 2.22363969e-02 1.27331562e-03 8.92671128e+01] [-2.22362956e-02 9.99752739e-01 -9.36954999e-05 1.59889481e+00] [-1.27508423e-03 6.53584344e-05 9.99999185e-01 -1.05042487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.185898227 meters 0.054998107445619344 Centerline is valid? [True, True] Translation: X:89.29, Y:1.59, Z:-1.05 [[ 9.99707138e-01 2.40758682e-02 2.44766462e-03 8.92949961e+01] [-2.40754997e-02 9.99710127e-01 -1.79912743e-04 1.58997076e+00] [-2.45128666e-03 1.20931305e-04 9.99996988e-01 -1.04830843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.215898227 meters 0.04463671042932239 Centerline is valid? [True, True] Translation: X:89.33, Y:1.60, Z:-1.05 [[ 9.99663843e-01 2.57815082e-02 2.74145224e-03 8.93259133e+01] [-2.57810526e-02 9.99667593e-01 -2.01391942e-04 1.60202993e+00] [-2.74573315e-03 1.30646719e-04 9.99996222e-01 -1.04711901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24589822699998 meters 0.043420518518851335 Centerline is valid? [True, True] Translation: X:89.36, Y:1.60, Z:-1.05 [[ 9.99566244e-01 2.94406281e-02 7.57449110e-04 8.93554860e+01] [-2.94405943e-02 9.99566530e-01 -5.56568769e-05 1.60132729e+00] [-7.58759352e-04 3.33329834e-05 9.99999712e-01 -1.05029510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27589822699998 meters 0.04814727572046091 Centerline is valid? [True, True] Translation: X:89.38, Y:1.59, Z:-1.05 [[ 9.99533910e-01 3.05263552e-02 3.24330642e-04 8.93825870e+01] [-3.05263490e-02 9.99533962e-01 -2.40401033e-05 1.59262563e+00] [-3.24913348e-04 1.41282680e-05 9.99999947e-01 -1.05277129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30589822699999 meters 0.043836591355276025 Centerline is valid? [True, True] Translation: X:89.41, Y:1.59, Z:-1.05 [[ 9.99515191e-01 3.11346491e-02 1.27120599e-04 8.94114125e+01] [-3.11346482e-02 9.99515199e-01 -9.51719639e-06 1.59488541e+00] [-1.27355285e-04 5.55472725e-06 9.99999992e-01 -1.05350080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33589822699999 meters 0.04695399977973659 Centerline is valid? [True, True] Translation: X:89.44, Y:1.59, Z:-1.05 [[ 9.99500832e-01 3.15904497e-02 3.62342323e-04 8.94385685e+01] [-3.15904421e-02 9.99500897e-01 -2.67851039e-05 1.58736167e+00] [-3.63007630e-04 1.53251794e-05 9.99999934e-01 -1.05417060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36589822699999 meters 0.04644440109967935 Centerline is valid? [True, True] Translation: X:89.47, Y:1.58, Z:-1.05 [[ 9.99484553e-01 3.20959532e-02 6.92114808e-04 8.94677330e+01] [-3.20959257e-02 9.99484792e-01 -5.08060934e-05 1.58445702e+00] [-6.93388895e-04 2.85658401e-05 9.99999759e-01 -1.05394354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39589822699999 meters 0.0453599539690737 Centerline is valid? [True, True] Translation: X:89.50, Y:1.58, Z:-1.05 [[ 9.99447255e-01 3.32419528e-02 3.96043623e-04 8.94965488e+01] [-3.32419438e-02 9.99447333e-01 -2.91650995e-05 1.58225469e+00] [-3.96794247e-04 1.59837187e-05 9.99999921e-01 -1.05441791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42589822699999 meters 0.03801382515783051 Centerline is valid? [True, True] Translation: X:89.53, Y:1.59, Z:-1.06 [[ 9.99323639e-01 3.67320603e-02 -1.73795585e-03 8.95264886e+01] [-3.67318949e-02 9.99325148e-01 1.26996255e-04 1.58742429e+00] [ 1.74144783e-03 -6.30719482e-05 9.99998482e-01 -1.05645698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45589822699999 meters 0.0367079334876375 Centerline is valid? [True, True] Translation: X:89.55, Y:1.59, Z:-1.06 [[ 9.99232710e-01 3.90533530e-02 -2.97091144e-03 8.95540949e+01] [-3.90528807e-02 9.99237122e-01 2.16842699e-04 1.58582160e+00] [ 2.97711343e-03 -1.00653667e-04 9.99995563e-01 -1.05822318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48589822699999 meters 0.03382287618271102 Centerline is valid? [True, True] Translation: X:89.58, Y:1.59, Z:-1.06 [[ 9.99117309e-01 4.18850613e-02 -3.20061116e-03 8.95839323e+01] [-4.18845274e-02 9.99122431e-01 2.33704485e-04 1.58587352e+00] [ 3.20759113e-03 -9.94421100e-05 9.99994851e-01 -1.05885336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.515898227 meters 0.03063931866201279 Centerline is valid? [True, True] Translation: X:89.61, Y:1.59, Z:-1.06 [[ 9.98980996e-01 4.50223205e-02 -3.15600856e-03 8.96134702e+01] [-4.50218172e-02 9.98985977e-01 2.30372471e-04 1.58638562e+00] [ 3.16318020e-03 -8.80484803e-05 9.99994993e-01 -1.05897725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.545898227 meters 0.0271233805486162 Centerline is valid? [True, True] Translation: X:89.64, Y:1.59, Z:-1.06 [[ 9.98841986e-01 4.80542463e-02 -2.34019403e-03 8.96435854e+01] [-4.80539782e-02 9.98844726e-01 1.70671165e-04 1.58722267e+00] [ 2.34569193e-03 -5.80178930e-05 9.99997247e-01 -1.05852051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.575898227 meters 0.02538951935256821 Centerline is valid? [True, True] Translation: X:89.67, Y:1.59, Z:-1.06 [[ 9.98702608e-01 5.08881233e-02 -1.87077839e-03 8.96713260e+01] [-5.08879574e-02 9.98704359e-01 1.36188977e-04 1.58527811e+00] [ 1.87528494e-03 -4.08121954e-05 9.99998241e-01 -1.05888785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.605898227 meters 0.02002784078291508 Centerline is valid? [True, True] Translation: X:89.70, Y:1.59, Z:-1.06 [[ 9.98459787e-01 5.54786090e-02 -4.21526757e-04 8.97013718e+01] [-5.54786010e-02 9.98459876e-01 3.06871888e-05 1.58546106e+00] [ 4.22580036e-04 -7.25420922e-06 9.99999911e-01 -1.05672642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63589822699998 meters 0.017570047311236348 Centerline is valid? [True, True] Translation: X:89.73, Y:1.59, Z:-1.06 [[ 9.98352231e-01 5.73814370e-02 -4.41002533e-04 8.97298318e+01] [-5.73814285e-02 9.98352328e-01 3.19242813e-05 1.58522107e+00] [ 4.42107767e-04 -6.56632207e-06 9.99999902e-01 -1.05626306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66589822699999 meters 0.017318220014922732 Centerline is valid? [True, True] Translation: X:89.76, Y:1.58, Z:-1.06 [[ 9.98237093e-01 5.93422726e-02 -1.09591426e-03 8.97579547e+01] [-5.93422210e-02 9.98237694e-01 7.95978127e-05 1.58226988e+00] [ 1.09870644e-03 -1.44235028e-05 9.99999396e-01 -1.05810023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69589822699999 meters 0.015529243612424817 Centerline is valid? [True, True] Translation: X:89.79, Y:1.58, Z:-1.06 [[ 9.98116423e-01 6.13120796e-02 -2.10600503e-03 8.97864727e+01] [-6.13118931e-02 9.98118644e-01 1.53066659e-04 1.58190543e+00] [ 2.11142772e-03 -2.36551916e-05 9.99997771e-01 -1.05989380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72589822699999 meters 0.01463839719195534 Centerline is valid? [True, True] Translation: X:89.81, Y:1.58, Z:-1.06 [[ 9.98017356e-01 6.28733487e-02 -2.88075870e-03 8.98138246e+01] [-6.28730064e-02 9.98021513e-01 2.09318644e-04 1.57954868e+00] [ 2.88821972e-03 -2.77816799e-05 9.99995829e-01 -1.06286546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75589822699999 meters 0.013573076485152215 Centerline is valid? [True, True] Translation: X:89.84, Y:1.58, Z:-1.06 [[ 9.97926429e-01 6.42864139e-02 -3.17808915e-03 8.98424385e+01] [-6.42860049e-02 9.97931489e-01 2.30794793e-04 1.57676662e+00] [ 3.18635221e-03 -2.60095692e-05 9.99994923e-01 -1.06345263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78589822699999 meters 0.011434371497185876 Centerline is valid? [True, True] Translation: X:89.87, Y:1.58, Z:-1.06 [[ 9.97679905e-01 6.80430730e-02 -2.22418881e-03 8.98699896e+01] [-6.80428829e-02 9.97682384e-01 1.61099604e-04 1.57529021e+00] [ 2.22999571e-03 -9.38561816e-06 9.99997514e-01 -1.06166327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81589822699999 meters 0.010602286659931607 Centerline is valid? [True, True] Translation: X:89.90, Y:1.57, Z:-1.06 [[ 9.97531631e-01 7.02002115e-02 -1.60502549e-03 8.98985998e+01] [-7.02001154e-02 9.97532922e-01 1.16240967e-04 1.57481498e+00] [ 1.60922591e-03 -3.28106677e-06 9.99998705e-01 -1.06036598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84589822699999 meters 0.021474443585266578 Centerline is valid? [True, True] Translation: X:89.93, Y:1.57, Z:-1.06 [[ 9.97405466e-01 7.19849187e-02 -7.12447413e-04 8.99270076e+01] [-7.19849003e-02 9.97405721e-01 5.14460318e-05 1.57396684e+00] [ 7.14302464e-04 -2.70972837e-08 9.99999745e-01 -1.06025040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.875898227 meters 0.01041337916198969 Centerline is valid? [True, True] Translation: X:89.96, Y:1.57, Z:-1.06 [[ 9.97305475e-01 7.33605409e-02 -1.43095505e-04 8.99552865e+01] [-7.33605403e-02 9.97305485e-01 9.56385524e-06 1.57259767e+00] [ 1.43411541e-04 9.59478343e-07 9.99999990e-01 -1.05873597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.905898227 meters 0.010693186457211432 Centerline is valid? [True, True] Translation: X:89.98, Y:1.57, Z:-1.06 [[ 9.97184302e-01 7.49897224e-02 9.63070842e-05 8.99830383e+01] [-7.49897221e-02 9.97184307e-01 -7.22127197e-06 1.57163919e+00] [-9.65774341e-05 -2.11024296e-08 9.99999995e-01 -1.05921093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.935898227 meters 0.012561045250634976 Centerline is valid? [True, True] Translation: X:90.01, Y:1.57, Z:-1.06 [[ 9.96937983e-01 7.81749087e-02 -1.82802787e-03 9.00113150e+01] [-7.81747984e-02 9.96939659e-01 1.31811151e-04 1.57235238e+00] [ 1.83273781e-03 1.14981674e-05 9.99998320e-01 -1.06186873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.965898227 meters 0.013761431393728867 Centerline is valid? [True, True] Translation: X:90.04, Y:1.57, Z:-1.06 [[ 9.96806463e-01 7.98283628e-02 -2.07567412e-03 9.00398862e+01] [-7.98282259e-02 9.96808624e-01 1.48833993e-04 1.57227635e+00] [ 2.08093103e-03 1.73386961e-05 9.99997835e-01 -1.06204308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99589822699998 meters 0.01455064852889345 Centerline is valid? [True, True] Translation: X:90.07, Y:1.57, Z:-1.06 [[ 9.96677645e-01 8.14395986e-02 -1.12411020e-03 9.00687766e+01] [-8.14395601e-02 9.96678279e-01 8.00590066e-05 1.57183073e+00] [ 1.12689619e-03 1.17540179e-05 9.99999365e-01 -1.06044231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02589822699998 meters 0.016131099336111274 Centerline is valid? [True, True] Translation: X:90.10, Y:1.57, Z:-1.06 [[ 9.96563468e-01 8.28321516e-02 2.99193524e-04 9.00965732e+01] [-8.28321488e-02 9.96563513e-01 -2.18788223e-05 1.57241908e+00] [-2.99977619e-04 -2.97920748e-06 9.99999955e-01 -1.05894395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05589822699999 meters 0.016431401516785626 Centerline is valid? [True, True] Translation: X:90.12, Y:1.57, Z:-1.06 [[ 9.96511915e-01 8.34375525e-02 1.47586862e-03 9.01248128e+01] [-8.34374863e-02 9.96513008e-01 -1.06515034e-04 1.57066127e+00] [-1.47960963e-03 -1.69992669e-05 9.99998905e-01 -1.05653856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08589822699999 meters 0.017164975011815017 Centerline is valid? [True, True] Translation: X:90.15, Y:1.57, Z:-1.06 [[ 9.96501642e-01 8.35480537e-02 2.04954558e-03 9.01515977e+01] [-8.35479282e-02 9.96503749e-01 -1.46943289e-04 1.56898164e+00] [-2.05465668e-03 -2.48060576e-05 9.99997889e-01 -1.05589512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11589822699999 meters 0.015253863435579969 Centerline is valid? [True, True] Translation: X:90.18, Y:1.56, Z:-1.06 [[ 9.96644326e-01 8.18385651e-02 1.59259319e-03 9.01795817e+01] [-8.18384874e-02 9.96645598e-01 -1.14031079e-04 1.56037998e+00] [-1.59658313e-03 -1.66869896e-05 9.99998725e-01 -1.05668244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14589822699999 meters 0.014132181803692597 Centerline is valid? [True, True] Translation: X:90.21, Y:1.55, Z:-1.06 [[ 9.96754051e-01 8.04846425e-02 1.89342189e-03 9.02085188e+01] [-8.04845299e-02 9.96755849e-01 -1.35712573e-04 1.55455033e+00] [-1.89820212e-03 -1.71191139e-05 9.99998198e-01 -1.05624534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17589822699999 meters 0.013471742029311801 Centerline is valid? [True, True] Translation: X:90.24, Y:1.55, Z:-1.05 [[ 9.96821112e-01 7.96188679e-02 2.91670481e-03 9.02371424e+01] [-7.96185998e-02 9.96825379e-01 -2.08072695e-04 1.55032045e+00] [-2.92401189e-03 -2.48126982e-05 9.99995725e-01 -1.05416522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20589822699999 meters 0.013471742029311801 Centerline is valid? [True, True] Translation: X:90.26, Y:1.55, Z:-1.05 [[ 9.96826816e-01 7.95474211e-02 2.91671224e-03 9.02645591e+01] [-7.95471530e-02 9.96831083e-01 -2.07968548e-04 1.54849497e+00] [-2.92401278e-03 -2.47075299e-05 9.99995725e-01 -1.05428616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23589822699999 meters 0.014053967186760816 Centerline is valid? [True, True] Translation: X:90.29, Y:1.55, Z:-1.05 [[ 9.96798672e-01 7.98576417e-02 3.89405458e-03 9.02919725e+01] [-7.98571679e-02 9.96806278e-01 -2.77262857e-04 1.54642713e+00] [-3.90375961e-03 -3.45929220e-05 9.99992380e-01 -1.05222173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.265898227 meters 0.02079525987674767 Centerline is valid? [True, True] Translation: X:90.32, Y:1.54, Z:-1.05 [[ 9.96713497e-01 8.08574020e-02 4.92802125e-03 9.03206523e+01] [-8.08566571e-02 9.96725678e-01 -3.50525945e-04 1.54398298e+00] [-4.94022794e-03 -4.90893847e-05 9.99987796e-01 -1.05148055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.295898227 meters 0.01609234693565463 Centerline is valid? [True, True] Translation: X:90.35, Y:1.54, Z:-1.05 [[ 9.96584833e-01 8.24248099e-02 4.98203560e-03 9.03491357e+01] [-8.24240693e-02 9.96597284e-01 -3.54131967e-04 1.54061148e+00] [-4.99427241e-03 -5.77171002e-05 9.99987527e-01 -1.05036446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.325898227 meters 0.017764357194958003 Centerline is valid? [True, True] Translation: X:90.38, Y:1.53, Z:-1.05 [[ 9.96390375e-01 8.47083104e-02 5.54283540e-03 9.03769658e+01] [-8.47074307e-02 9.96405789e-01 -3.93696018e-04 1.53264853e+00] [-5.55626261e-03 -7.72444231e-05 9.99984561e-01 -1.05093830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.355898227 meters 0.01834005769585988 Centerline is valid? [True, True] Translation: X:90.41, Y:1.53, Z:-1.05 [[ 9.96343030e-01 8.52687778e-02 5.45920682e-03 9.04050787e+01] [-8.52679346e-02 9.96357982e-01 -3.87446388e-04 1.52757890e+00] [-5.47236137e-03 -7.94657825e-05 9.99985023e-01 -1.05102972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38589822699998 meters 0.024303571032996876 Centerline is valid? [True, True] Translation: X:90.43, Y:1.52, Z:-1.05 [[ 9.96305281e-01 8.57319087e-02 5.08210835e-03 9.04322649e+01] [-8.57311851e-02 9.96318239e-01 -3.60446678e-04 1.52315357e+00] [-5.09429902e-03 -7.65802429e-05 9.99987021e-01 -1.05274140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41589822699999 meters 0.025120414170982572 Centerline is valid? [True, True] Translation: X:90.46, Y:1.52, Z:-1.05 [[ 9.96244634e-01 8.64823204e-02 4.17585057e-03 9.04600932e+01] [-8.64818393e-02 9.96253383e-01 -2.95975445e-04 1.52029259e+00] [-4.18580190e-03 -6.62712891e-05 9.99991237e-01 -1.05400029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44589822699999 meters 0.021055966117362566 Centerline is valid? [True, True] Translation: X:90.49, Y:1.51, Z:-1.06 [[ 9.96169422e-01 8.74056447e-02 2.59522980e-03 9.04881040e+01] [-8.74054624e-02 9.96172802e-01 -1.83787919e-04 1.51103373e+00] [-2.60136144e-03 -4.37533559e-05 9.99996615e-01 -1.05661446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47589822699999 meters 0.021619335692188102 Centerline is valid? [True, True] Translation: X:90.52, Y:1.51, Z:-1.06 [[ 9.96172940e-01 8.73846774e-02 1.84156558e-03 9.05159429e+01] [-8.73845855e-02 9.96174642e-01 -1.30417771e-04 1.50538089e+00] [-1.84591745e-03 -3.10057909e-05 9.99998296e-01 -1.05867904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50589822699999 meters 0.021627171654146397 Centerline is valid? [True, True] Translation: X:90.54, Y:1.50, Z:-1.06 [[ 9.96169263e-01 8.74374546e-02 1.22128354e-03 9.05444484e+01] [-8.74374142e-02 9.96170011e-01 -8.64676334e-05 1.49908290e+00] [-1.22416655e-03 -2.06494763e-05 9.99999250e-01 -1.05996247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53589822699999 meters 0.02247211383357684 Centerline is valid? [True, True] Translation: X:90.57, Y:1.49, Z:-1.06 [[ 9.96121825e-01 8.79813653e-02 7.68181232e-04 9.05724287e+01] [-8.79813495e-02 9.96122121e-01 -5.44695875e-05 1.49418073e+00] [-7.69994627e-04 -1.33272766e-05 9.99999703e-01 -1.06092760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56589822699999 meters 0.022186888705721056 Centerline is valid? [True, True] Translation: X:90.60, Y:1.49, Z:-1.06 [[ 9.96052909e-01 8.87572946e-02 8.62754239e-04 9.06003839e+01] [-8.87572750e-02 9.96053283e-01 -6.10567720e-05 1.48719322e+00] [-8.64768426e-04 -1.57599399e-05 9.99999626e-01 -1.06104936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59589822699999 meters 0.025744166381756604 Centerline is valid? [True, True] Translation: X:90.63, Y:1.48, Z:-1.06 [[ 9.95896482e-01 9.04986476e-02 4.37952807e-04 9.06274892e+01] [-9.04986427e-02 9.95896578e-01 -3.11234508e-05 1.48114145e+00] [-4.38972332e-04 -8.63839942e-06 9.99999904e-01 -1.06205684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.625898227 meters 0.02762373715624073 Centerline is valid? [True, True] Translation: X:90.65, Y:1.48, Z:-1.06 [[ 9.95794952e-01 9.16084859e-02 -5.47184445e-04 9.06546228e+01] [-9.16084788e-02 9.95795102e-01 3.80563731e-05 1.47740147e+00] [ 5.48369877e-04 1.22303905e-05 9.99999850e-01 -1.06364381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.655898227 meters 0.027779103018308292 Centerline is valid? [True, True] Translation: X:90.68, Y:1.47, Z:-1.07 [[ 9.95734182e-01 9.22489124e-02 -1.89102733e-03 9.06834009e+01] [-9.22488278e-02 9.95735977e-01 1.32085543e-04 1.47170604e+00] [ 1.89514869e-03 4.29229644e-05 9.99998203e-01 -1.06548440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.685898227 meters 0.02965218107073363 Centerline is valid? [True, True] Translation: X:90.71, Y:1.47, Z:-1.07 [[ 9.95682736e-01 9.27776083e-02 -2.86428148e-03 9.07109189e+01] [-9.27774147e-02 9.95686854e-01 2.00663790e-04 1.46835788e+00] [ 2.87054452e-03 6.59431590e-05 9.99995878e-01 -1.06818530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.715898227 meters 0.03207451405359576 Centerline is valid? [True, True] Translation: X:90.74, Y:1.47, Z:-1.07 [[ 9.95645120e-01 9.31757062e-02 -3.01379862e-03 9.07384377e+01] [-9.31754942e-02 9.95649679e-01 2.10980802e-04 1.46559174e+00] [ 3.02034592e-03 7.07501706e-05 9.99995436e-01 -1.06935550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74589822699998 meters 0.03011778184575592 Centerline is valid? [True, True] Translation: X:90.77, Y:1.45, Z:-1.07 [[ 9.95658050e-01 9.30623624e-02 -2.10799689e-03 9.07665052e+01] [-9.30622587e-02 9.95660281e-01 1.47419956e-04 1.45196393e+00] [ 2.11256803e-03 4.93950860e-05 9.99997767e-01 -1.06648917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77589822699998 meters 0.02882266839155088 Centerline is valid? [True, True] Translation: X:90.79, Y:1.45, Z:-1.06 [[ 9.95727353e-01 9.23413260e-02 -3.42449908e-04 9.07944119e+01] [-9.23413233e-02 9.95727412e-01 2.36891078e-05 1.44807047e+00] [ 3.43174245e-04 8.03438507e-06 9.99999941e-01 -1.06290222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80589822699999 meters 0.028135798805079937 Centerline is valid? [True, True] Translation: X:90.82, Y:1.44, Z:-1.06 [[ 9.95888154e-01 9.05902705e-02 -4.34235327e-04 9.08215449e+01] [-9.05902660e-02 9.95888248e-01 3.01098636e-05 1.44250077e+00] [ 4.35177520e-04 9.35143733e-06 9.99999905e-01 -1.06439968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83589822699999 meters 0.022305324314665705 Centerline is valid? [True, True] Translation: X:90.85, Y:1.43, Z:-1.07 [[ 9.96114545e-01 8.80530695e-02 -1.57146099e-03 9.08495578e+01] [-8.80530062e-02 9.96115784e-01 1.09583565e-04 1.42946184e+00] [ 1.57500626e-03 2.92140809e-05 9.99998759e-01 -1.06555472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86589822699999 meters 0.02354050918435543 Centerline is valid? [True, True] Translation: X:90.88, Y:1.43, Z:-1.07 [[ 9.96309151e-01 8.58036114e-02 -2.41152642e-03 9.08776811e+01] [-8.58034556e-02 9.96312069e-01 1.68163363e-04 1.42571146e+00] [ 2.41706190e-03 3.93746028e-05 9.99997078e-01 -1.06904218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89589822699999 meters 0.018328738029035962 Centerline is valid? [True, True] Translation: X:90.91, Y:1.41, Z:-1.07 [[ 9.96534817e-01 8.31201315e-02 -3.06628315e-03 9.09054122e+01] [-8.31198673e-02 9.96539534e-01 2.13732362e-04 1.41344728e+00] [ 3.07343784e-03 4.18773080e-05 9.99995276e-01 -1.06818187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92589822699999 meters 0.016078385788268104 Centerline is valid? [True, True] Translation: X:90.93, Y:1.40, Z:-1.07 [[ 9.96756166e-01 8.04229577e-02 -3.04837440e-03 9.09341990e+01] [-8.04226841e-02 9.96760827e-01 2.12424191e-04 1.40478009e+00] [ 3.05558397e-03 3.34233297e-05 9.99995331e-01 -1.06818274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95589822699999 meters 0.011787460166438347 Centerline is valid? [True, True] Translation: X:90.96, Y:1.39, Z:-1.07 [[ 9.97288921e-01 7.35618937e-02 -1.85892247e-03 9.09607284e+01] [-7.35617806e-02 9.97290654e-01 1.29258881e-04 1.38852666e+00] [ 1.86339453e-03 7.83719649e-06 9.99998264e-01 -1.06655556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98589822699999 meters 0.010598301965702496 Centerline is valid? [True, True] Translation: X:90.99, Y:1.38, Z:-1.07 [[ 9.97560670e-01 6.97900989e-02 -1.43265059e-03 9.09886693e+01] [-6.97900280e-02 9.97561698e-01 9.95380711e-05 1.37973199e+00] [ 1.43610413e-03 6.89459993e-07 9.99998969e-01 -1.06525967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.015898227 meters 0.011000328744838405 Centerline is valid? [True, True] Translation: X:91.02, Y:1.37, Z:-1.07 [[ 9.97767208e-01 6.67800172e-02 -1.01429901e-03 9.10156237e+01] [-6.67799803e-02 9.97767723e-01 7.02242708e-05 1.37282424e+00] [ 1.01672439e-03 -2.33260701e-06 9.99999483e-01 -1.06632234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.045898227 meters 0.012216381329207231 Centerline is valid? [True, True] Translation: X:91.04, Y:1.37, Z:-1.07 [[ 9.97957983e-01 6.38714424e-02 -5.50518939e-04 9.10444760e+01] [-6.38714311e-02 9.97958135e-01 3.80614926e-05 1.36881042e+00] [ 5.51825896e-04 -2.82133784e-06 9.99999848e-01 -1.06577416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.075898227 meters 0.01196718489993889 Centerline is valid? [True, True] Translation: X:91.07, Y:1.37, Z:-1.07 [[ 9.97963893e-01 6.37813435e-02 -9.70913676e-05 9.10735727e+01] [-6.37813431e-02 9.97963897e-01 6.53367064e-06 1.36869441e+00] [ 9.73104059e-05 -3.27749549e-07 9.99999995e-01 -1.06500902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.105898227 meters 0.011860907472409931 Centerline is valid? [True, True] Translation: X:91.10, Y:1.37, Z:-1.06 [[ 9.97938469e-01 6.41774079e-02 2.68775622e-04 9.11011978e+01] [-6.41774051e-02 9.97938505e-01 -1.89468180e-05 1.36850598e+00] [-2.69437500e-04 1.65843655e-06 9.99999964e-01 -1.06408579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13589822699998 meters 0.011466705761843025 Centerline is valid? [True, True] Translation: X:91.13, Y:1.37, Z:-1.06 [[ 9.97880804e-01 6.50652748e-02 6.40668137e-04 9.11294762e+01] [-6.50652595e-02 9.97881010e-01 -4.46337216e-05 1.36875294e+00] [-6.42214673e-04 2.85389542e-06 9.99999794e-01 -1.06347461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16589822699999 meters 0.011110251119030835 Centerline is valid? [True, True] Translation: X:91.16, Y:1.37, Z:-1.06 [[ 9.97824446e-01 6.59216761e-02 8.41507329e-04 9.11588927e+01] [-6.59216502e-02 9.97824801e-01 -5.84810781e-05 1.36913619e+00] [-8.43532053e-04 2.88029759e-06 9.99999644e-01 -1.06299972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19589822699999 meters 0.010918996810924753 Centerline is valid? [True, True] Translation: X:91.19, Y:1.37, Z:-1.06 [[ 9.97789760e-01 6.64466843e-02 6.58104134e-04 9.11870175e+01] [-6.64466685e-02 9.97789977e-01 -4.58573142e-05 1.36886432e+00] [-6.59696775e-04 2.02713133e-06 9.99999782e-01 -1.06369288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22589822699999 meters 0.011125496352529993 Centerline is valid? [True, True] Translation: X:91.22, Y:1.37, Z:-1.07 [[ 9.97843244e-01 6.56409513e-02 -3.54329900e-04 9.12154732e+01] [-6.56409468e-02 9.97843307e-01 2.43116022e-05 1.36796395e+00] [ 3.55161556e-04 -1.00061794e-06 9.99999937e-01 -1.06514686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25589822699999 meters 0.014914448824332224 Centerline is valid? [True, True] Translation: X:91.24, Y:1.36, Z:-1.07 [[ 9.97956713e-01 6.38930420e-02 -2.79775360e-04 9.12444190e+01] [-6.38930392e-02 9.97956752e-01 1.91397554e-05 1.36400880e+00] [ 2.80426607e-04 -1.22494939e-06 9.99999961e-01 -1.06664019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28589822699999 meters 0.013509147160115037 Centerline is valid? [True, True] Translation: X:91.27, Y:1.36, Z:-1.07 [[ 9.98115293e-01 6.13663977e-02 -1.62673090e-04 9.12724985e+01] [-6.13663968e-02 9.98115307e-01 1.09508327e-05 1.35956695e+00] [ 1.63038515e-04 -9.47532218e-07 9.99999987e-01 -1.06555431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31589822699999 meters 0.015019603163141044 Centerline is valid? [True, True] Translation: X:91.30, Y:1.36, Z:-1.07 [[ 9.98248393e-01 5.91619930e-02 6.24093252e-05 9.13015660e+01] [-5.91619928e-02 9.98248395e-01 -4.51488436e-06 1.35627845e+00] [-6.25671183e-05 8.14716009e-07 9.99999998e-01 -1.06506987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34589822699999 meters 0.015686215034827283 Centerline is valid? [True, True] Translation: X:91.33, Y:1.35, Z:-1.06 [[ 9.98335046e-01 5.76809117e-02 -2.18826892e-04 9.13302606e+01] [-5.76809099e-02 9.98335070e-01 1.48875249e-05 1.35480468e+00] [ 2.19321287e-04 -2.24060366e-06 9.99999976e-01 -1.06468757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.375898227 meters 0.016267827219951052 Centerline is valid? [True, True] Translation: X:91.36, Y:1.35, Z:-1.07 [[ 9.98384188e-01 5.68208044e-02 -6.40476261e-04 9.13592151e+01] [-5.68207879e-02 9.98384393e-01 4.39460969e-05 1.35360640e+00] [ 6.41938555e-04 -7.48272247e-06 9.99999794e-01 -1.06556998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.405898227 meters 0.017492681482408942 Centerline is valid? [True, True] Translation: X:91.39, Y:1.35, Z:-1.07 [[ 9.98456034e-01 5.55369984e-02 -1.09065624e-03 9.13869773e+01] [-5.55369498e-02 9.98456630e-01 7.48663086e-05 1.35318356e+00] [ 1.09313080e-03 -1.41789969e-05 9.99999402e-01 -1.06617677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.435898227 meters 0.0190876114737931 Centerline is valid? [True, True] Translation: X:91.41, Y:1.35, Z:-1.07 [[ 9.98513717e-01 5.44996371e-02 -3.83562702e-04 9.14143738e+01] [-5.44996311e-02 9.98513790e-01 2.61407702e-05 1.35011236e+00] [ 3.84417310e-04 -5.19789184e-06 9.99999926e-01 -1.06558605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.465898227 meters 0.020401100885792365 Centerline is valid? [True, True] Translation: X:91.44, Y:1.35, Z:-1.06 [[ 9.98630213e-01 5.23135167e-02 9.96620230e-04 9.14427335e+01] [-5.23134742e-02 9.98630710e-01 -6.87499824e-05 1.34771672e+00] [-9.98852122e-04 1.65191430e-05 9.99999501e-01 -1.06331082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49589822699998 meters 0.02379847506339425 Centerline is valid? [True, True] Translation: X:91.47, Y:1.34, Z:-1.06 [[ 9.98769250e-01 4.95647916e-02 1.82132427e-03 9.14704952e+01] [-4.95646453e-02 9.98770910e-01 -1.25414720e-04 1.34185784e+00] [-1.82530186e-03 3.49870743e-05 9.99998334e-01 -1.06235051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52589822699998 meters 0.026521699259250343 Centerline is valid? [True, True] Translation: X:91.50, Y:1.34, Z:-1.06 [[ 9.98930474e-01 4.62056783e-02 1.71561233e-03 9.14996605e+01] [-4.62055439e-02 9.98931947e-01 -1.17956343e-04 1.33638413e+00] [-1.71923022e-03 3.85593842e-05 9.99998521e-01 -1.06283196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55589822699999 meters 0.031312099308188 Centerline is valid? [True, True] Translation: X:91.53, Y:1.33, Z:-1.06 [[ 9.99104962e-01 4.22789471e-02 1.32873841e-03 9.15285275e+01] [-4.22788629e-02 9.99105845e-01 -9.13913400e-05 1.33356421e+00] [-1.33141425e-03 3.51319920e-05 9.99999113e-01 -1.06396067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58589822699999 meters 0.03621854161965403 Centerline is valid? [True, True] Translation: X:91.56, Y:1.32, Z:-1.06 [[ 9.99360687e-01 3.57417359e-02 8.62965046e-04 9.15565704e+01] [-3.57416980e-02 9.99361060e-01 -5.92980361e-05 1.31745451e+00] [-8.64533077e-04 2.84162901e-05 9.99999626e-01 -1.06491672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61589822699999 meters 0.03655018224544563 Centerline is valid? [True, True] Translation: X:91.59, Y:1.31, Z:-1.06 [[ 9.99447872e-01 3.32150833e-02 8.42377724e-04 9.15859460e+01] [-3.32150462e-02 9.99448226e-01 -5.79097423e-05 1.31383639e+00] [-8.43836399e-04 2.98981536e-05 9.99999644e-01 -1.06465247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64589822699999 meters 0.039311419763999586 Centerline is valid? [True, True] Translation: X:91.61, Y:1.31, Z:-1.06 [[ 9.99509350e-01 3.13162950e-02 5.90116662e-04 9.16141686e+01] [-3.13162765e-02 9.99509524e-01 -4.06295833e-05 1.30728630e+00] [-5.91099592e-04 2.21293918e-05 9.99999825e-01 -1.06420296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67589822699999 meters 0.04124957541395877 Centerline is valid? [True, True] Translation: X:91.64, Y:1.30, Z:-1.07 [[ 9.99553819e-01 2.98685725e-02 -1.75130749e-04 9.16421033e+01] [-2.98685709e-02 9.99553835e-01 1.17973764e-05 1.30184392e+00] [ 1.75404982e-04 -6.56120747e-06 9.99999985e-01 -1.06503883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70589822699999 meters 0.044304576313301196 Centerline is valid? [True, True] Translation: X:91.67, Y:1.29, Z:-1.07 [[ 9.99581294e-01 2.89026195e-02 -1.36937145e-03 9.16700059e+01] [-2.89025182e-02 9.99582231e-01 9.36816200e-05 1.29475974e+00] [ 1.37150701e-03 -5.40641117e-05 9.99999058e-01 -1.06662583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73589822699999 meters 0.043956100510967114 Centerline is valid? [True, True] Translation: X:91.70, Y:1.29, Z:-1.07 [[ 9.99603580e-01 2.81276311e-02 -1.23282406e-03 9.16989604e+01] [-2.81275485e-02 9.99604339e-01 8.42640174e-05 1.29092284e+00] [ 1.23470643e-03 -4.95542948e-05 9.99999237e-01 -1.06627028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.765898227 meters 0.04538727974826229 Centerline is valid? [True, True] Translation: X:91.73, Y:1.29, Z:-1.07 [[ 9.99588485e-01 2.86854566e-02 -7.78287820e-05 9.17271999e+01] [-2.86854563e-02 9.99588488e-01 5.12356178e-06 1.28763733e+00] [ 7.79437262e-05 -2.88889923e-06 9.99999997e-01 -1.06504961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.795898227 meters 0.04127604699324918 Centerline is valid? [True, True] Translation: X:91.76, Y:1.29, Z:-1.06 [[ 9.99541693e-01 3.02588400e-02 8.97869051e-04 9.17567765e+01] [-3.02587969e-02 9.99542096e-01 -6.15200410e-05 1.28919934e+00] [-8.99319438e-04 3.43234087e-05 9.99999595e-01 -1.06345881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.825898227 meters 0.038456818465869 Centerline is valid? [True, True] Translation: X:91.79, Y:1.29, Z:-1.06 [[ 9.99478222e-01 3.22803483e-02 1.12418823e-03 9.17870508e+01] [-3.22802822e-02 9.99478853e-01 -7.69379647e-05 1.29111935e+00] [-1.12608595e-03 4.06087069e-05 9.99999365e-01 -1.06322626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.855898227 meters 0.03651441960409635 Centerline is valid? [True, True] Translation: X:91.82, Y:1.29, Z:-1.06 [[ 9.99402527e-01 3.45538784e-02 7.86126704e-04 9.18158504e+01] [-3.45538467e-02 9.99402836e-01 -5.38921346e-05 1.29239202e+00] [-7.87519440e-04 2.66962339e-05 9.99999690e-01 -1.06410073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88589822699998 meters 0.0353817722572909 Centerline is valid? [True, True] Translation: X:91.85, Y:1.29, Z:-1.07 [[ 9.99336952e-01 3.64091430e-02 1.74865410e-04 9.18450768e+01] [-3.64091415e-02 9.99336967e-01 -1.20515308e-05 1.29300633e+00] [-1.75188254e-04 5.67684059e-06 9.99999985e-01 -1.06568903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91589822699999 meters 0.03868939051629715 Centerline is valid? [True, True] Translation: X:91.87, Y:1.29, Z:-1.07 [[ 9.99301608e-01 3.73642074e-02 -4.60861758e-04 9.18738185e+01] [-3.73641970e-02 9.99301714e-01 3.12662461e-05 1.29423708e+00] [ 4.61708183e-04 -1.40246805e-05 9.99999893e-01 -1.06866482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94589822699999 meters 0.0345740085384508 Centerline is valid? [True, True] Translation: X:91.90, Y:1.29, Z:-1.07 [[ 9.99319222e-01 3.68891754e-02 -5.29513207e-04 9.19029550e+01] [-3.68891615e-02 9.99319363e-01 3.59293047e-05 1.29159076e+00] [ 5.30478203e-04 -1.63715466e-05 9.99999859e-01 -1.06819156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97589822699999 meters 0.03624615767224581 Centerline is valid? [True, True] Translation: X:91.93, Y:1.29, Z:-1.07 [[ 9.99360784e-01 3.57492214e-02 -1.31112470e-04 9.19316126e+01] [-3.57492205e-02 9.99360792e-01 8.79008948e-06 1.28766335e+00] [ 1.31342901e-04 -4.09730209e-06 9.99999991e-01 -1.06750074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00589822699999 meters 0.03941894167322211 Centerline is valid? [True, True] Translation: X:91.96, Y:1.28, Z:-1.07 [[ 9.99410443e-01 3.43221945e-02 8.68198630e-04 9.19596672e+01] [-3.43221558e-02 9.99410819e-01 -5.93348885e-05 1.28216033e+00] [-8.69723608e-04 2.95014586e-05 9.99999621e-01 -1.06664036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03589822699999 meters 0.04196179219621517 Centerline is valid? [True, True] Translation: X:91.99, Y:1.28, Z:-1.06 [[ 9.99533150e-01 3.04392465e-02 2.63346910e-03 9.19893612e+01] [-3.04388789e-02 9.99536614e-01 -1.79550572e-04 1.27929348e+00] [-2.63771417e-03 9.93069020e-05 9.99996516e-01 -1.06344248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06589822699999 meters 0.045046016750255956 Centerline is valid? [True, True] Translation: X:92.02, Y:1.27, Z:-1.06 [[ 9.99617429e-01 2.75715642e-02 2.19189268e-03 9.20193971e+01] [-2.75713027e-02 9.99619828e-01 -1.49426912e-04 1.27364629e+00] [-2.19517932e-03 8.89364088e-05 9.99997587e-01 -1.06469617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09589822699999 meters 0.045046016750255956 Centerline is valid? [True, True] Translation: X:92.05, Y:1.27, Z:-1.06 [[ 9.99618054e-01 2.75489109e-02 2.19189268e-03 9.20485187e+01] [-2.75486494e-02 9.99620453e-01 -1.49426910e-04 1.27170405e+00] [-2.19517730e-03 8.89861544e-05 9.99997587e-01 -1.06482458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.125898227 meters 0.045343369217319816 Centerline is valid? [True, True] Translation: X:92.08, Y:1.27, Z:-1.07 [[ 9.99705974e-01 2.42276797e-02 9.92687427e-04 9.20783515e+01] [-2.42276244e-02 9.99706466e-01 -6.76688420e-05 1.26926414e+00] [-9.94035498e-04 4.35984874e-05 9.99999505e-01 -1.06712813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.155898227 meters 0.0511052641596748 Centerline is valid? [True, True] Translation: X:92.11, Y:1.26, Z:-1.07 [[ 9.99786562e-01 2.06556473e-02 -4.16878417e-04 9.21069078e+01] [-2.06556373e-02 9.99786649e-01 2.83264951e-05 1.25935054e+00] [ 4.17374578e-04 -1.97095597e-05 9.99999913e-01 -1.07027018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.185898227 meters 0.05584868345105697 Centerline is valid? [True, True] Translation: X:92.14, Y:1.25, Z:-1.07 [[ 9.99846986e-01 1.73568890e-02 -2.17790010e-03 9.21360528e+01] [-1.73566069e-02 9.99849352e-01 1.48363421e-04 1.25049792e+00] [ 2.18014713e-03 -1.10539763e-04 9.99997617e-01 -1.07349146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.215898227 meters 0.06311629547823286 Centerline is valid? [True, True] Translation: X:92.17, Y:1.24, Z:-1.08 [[ 9.99892244e-01 1.43195135e-02 -3.23288560e-03 9.21651043e+01] [-1.43188766e-02 9.99897455e-01 2.20074024e-04 1.24105880e+00] [ 3.23570543e-03 -1.73759020e-04 9.99994750e-01 -1.07737598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24589822699998 meters 0.06539332764199708 Centerline is valid? [True, True] Translation: X:92.19, Y:1.23, Z:-1.08 [[ 9.99924037e-01 1.14196270e-02 -4.63805992e-03 9.21944140e+01] [-1.14182851e-02 9.99934759e-01 3.15704659e-04 1.23203219e+00] [ 4.64136256e-03 -2.62721987e-04 9.99989194e-01 -1.07778732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27589822699998 meters 0.05781807607463854 Centerline is valid? [True, True] Translation: X:92.22, Y:1.24, Z:-1.08 [[ 9.99920719e-01 1.15295687e-02 -5.06206260e-03 9.22242122e+01] [-1.15279735e-02 9.99933491e-01 3.44187171e-04 1.24038980e+00] [ 5.06569426e-03 -2.85804560e-04 9.99987128e-01 -1.07571585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30589822699999 meters 0.05676623875753045 Centerline is valid? [True, True] Translation: X:92.25, Y:1.24, Z:-1.08 [[ 9.99900933e-01 1.30367561e-02 -5.30733944e-03 9.22540204e+01] [-1.30350238e-02 9.99914975e-01 3.60853653e-04 1.24019153e+00] [ 5.31159254e-03 -2.91636608e-04 9.99985851e-01 -1.07595728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33589822699999 meters 0.055785833246656015 Centerline is valid? [True, True] Translation: X:92.28, Y:1.24, Z:-1.08 [[ 9.99872490e-01 1.51102408e-02 -5.16565345e-03 9.22845231e+01] [-1.51086275e-02 9.99885796e-01 3.51208794e-04 1.24031900e+00] [ 5.17037036e-03 -2.73118078e-04 9.99986596e-01 -1.07609979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36589822699999 meters 0.05304588900193135 Centerline is valid? [True, True] Translation: X:92.31, Y:1.24, Z:-1.08 [[ 9.99833519e-01 1.77482516e-02 -4.23493208e-03 9.23148100e+01] [-1.77471911e-02 9.99842465e-01 2.87873166e-04 1.24288973e+00] [ 4.23937418e-03 -2.12667091e-04 9.99990991e-01 -1.07528229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39589822699999 meters 0.050508807192184195 Centerline is valid? [True, True] Translation: X:92.34, Y:1.25, Z:-1.07 [[ 9.99775848e-01 2.10465888e-02 -2.30121502e-03 9.23449601e+01] [-2.10462845e-02 9.99778490e-01 1.56361579e-04 1.24667022e+00] [ 2.30399616e-03 -1.07894504e-04 9.99997340e-01 -1.07326226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42589822699999 meters 0.05086242360028778 Centerline is valid? [True, True] Translation: X:92.37, Y:1.24, Z:-1.07 [[ 9.99778385e-01 2.10226320e-02 -1.10865033e-03 9.23737571e+01] [-2.10225616e-02 9.99778999e-01 7.51076840e-05 1.24476187e+00] [ 1.10998428e-03 -5.17843692e-05 9.99999383e-01 -1.07231737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45589822699999 meters 0.05204805247290424 Centerline is valid? [True, True] Translation: X:92.40, Y:1.24, Z:-1.07 [[ 9.99804114e-01 1.97875432e-02 -4.32921049e-04 9.24031155e+01] [-1.97875324e-02 9.99804207e-01 2.92976065e-05 1.24128206e+00] [ 4.33416014e-04 -2.07254282e-05 9.99999906e-01 -1.07107265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48589822699999 meters 0.054580842052169794 Centerline is valid? [True, True] Translation: X:92.43, Y:1.24, Z:-1.07 [[ 9.99843488e-01 1.76824748e-02 -5.73277491e-04 9.24329496e+01] [-1.76824553e-02 9.99843652e-01 3.89088695e-05 1.23516899e+00] [ 5.73875865e-04 -2.87658262e-05 9.99999835e-01 -1.07105789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.515898227 meters 0.06493009129215012 Centerline is valid? [True, True] Translation: X:92.46, Y:1.22, Z:-1.07 [[ 9.99934373e-01 1.12366135e-02 -2.23354381e-03 9.24611658e+01] [-1.12363028e-02 9.99936859e-01 1.51594927e-04 1.21809671e+00] [ 2.23510619e-03 -1.26488204e-04 9.99997494e-01 -1.07463940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.545898227 meters 0.06528576505221195 Centerline is valid? [True, True] Translation: X:92.49, Y:1.21, Z:-1.08 [[ 9.99963853e-01 8.10194738e-03 -2.57909172e-03 9.24912703e+01] [-8.10152263e-03 9.99967167e-01 1.75092720e-04 1.21466694e+00] [ 2.58042564e-03 -1.54191821e-04 9.99996659e-01 -1.07528612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.575898227 meters 0.06378693350290056 Centerline is valid? [True, True] Translation: X:92.52, Y:1.21, Z:-1.07 [[ 9.99983247e-01 5.36841217e-03 -2.16448642e-03 9.25217971e+01] [-5.36810670e-03 9.99985581e-01 1.46915501e-04 1.21378121e+00] [ 2.16524391e-03 -1.35293846e-04 9.99997647e-01 -1.07430196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60589822699998 meters 0.0629652860193896 Centerline is valid? [True, True] Translation: X:92.55, Y:1.21, Z:-1.07 [[ 9.99990879e-01 3.98222609e-03 -1.54403792e-03 9.25506921e+01] [-3.98206929e-03 9.99992066e-01 1.04608743e-04 1.21142603e+00] [ 1.54444224e-03 -9.84593227e-05 9.99998803e-01 -1.07368139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63589822699998 meters 0.06425443917004378 Centerline is valid? [True, True] Translation: X:92.58, Y:1.21, Z:-1.07 [[ 9.99994548e-01 3.08502630e-03 -1.17760616e-03 9.25805298e+01] [-3.08493449e-03 9.99995238e-01 7.97695106e-05 1.20818662e+00] [ 1.17784665e-03 -7.61362378e-05 9.99999303e-01 -1.07360333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66589822699999 meters 0.07338296106537452 Centerline is valid? [True, True] Translation: X:92.61, Y:1.19, Z:-1.07 [[ 9.99995661e-01 2.92556663e-03 -3.43594682e-04 9.26080665e+01] [-2.92555883e-03 9.99995720e-01 2.31941089e-05 1.19105979e+00] [ 3.43661067e-04 -2.21888018e-05 9.99999941e-01 -1.07232681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69589822699999 meters 0.06983969323573551 Centerline is valid? [True, True] Translation: X:92.64, Y:1.19, Z:-1.07 [[ 9.99998226e-01 1.81139899e-03 5.17289254e-04 9.26381242e+01] [-1.81138106e-03 9.99998359e-01 -3.51180608e-05 1.19102345e+00] [-5.17352017e-04 3.41809905e-05 9.99999866e-01 -1.07032951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72589822699999 meters 0.07007575542786418 Centerline is valid? [True, True] Translation: X:92.67, Y:1.19, Z:-1.07 [[ 9.99999308e-01 1.07391059e-03 4.80716667e-04 9.26683095e+01] [-1.07389505e-03 9.99999423e-01 -3.25887084e-05 1.18728324e+00] [-4.80751387e-04 3.20724466e-05 9.99999884e-01 -1.07092573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75589822699999 meters 0.06512215674361177 Centerline is valid? [True, True] Translation: X:92.70, Y:1.19, Z:-1.07 [[ 9.99999768e-01 6.79448294e-04 -4.28655954e-05 9.26992235e+01] [-6.79448170e-04 9.99999769e-01 2.90594125e-06 1.18933791e+00] [ 4.28675600e-05 -2.87681563e-06 9.99999999e-01 -1.07221333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78589822699999 meters 0.0800354261066223 Centerline is valid? [True, True] Translation: X:92.73, Y:1.17, Z:-1.08 [[ 9.99999574e-01 1.55077583e-04 -9.10263708e-04 9.27274341e+01] [-1.55021533e-04 9.99999986e-01 6.16460891e-05 1.16870560e+00] [ 9.10273255e-04 -6.15049523e-05 9.99999584e-01 -1.07677919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81589822699999 meters 0.0685641627813182 Centerline is valid? [True, True] Translation: X:92.76, Y:1.18, Z:-1.08 [[ 9.99997684e-01 -2.40315089e-05 -2.15224520e-03 9.27583314e+01] [ 2.43455335e-05 9.99999989e-01 1.45879488e-04 1.17604951e+00] [ 2.15224167e-03 -1.45931547e-04 9.99997673e-01 -1.07652809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84589822699999 meters 0.06899509848606362 Centerline is valid? [True, True] Translation: X:92.79, Y:1.17, Z:-1.08 [[ 9.99994900e-01 -8.54775196e-04 -3.07723329e-03 9.27881453e+01] [ 8.55420522e-04 9.99999612e-01 2.08399707e-04 1.17294915e+00] [ 3.07705397e-03 -2.11030973e-04 9.99995244e-01 -1.07854812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.875898227 meters 0.06994126418240026 Centerline is valid? [True, True] Translation: X:92.82, Y:1.16, Z:-1.08 [[ 9.99996319e-01 -1.39093171e-03 -2.32976342e-03 9.28162905e+01] [ 1.39130277e-03 9.99999020e-01 1.57657919e-04 1.16457884e+00] [ 2.32954185e-03 -1.60898745e-04 9.99997274e-01 -1.07629494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.905898227 meters 0.07304433580159109 Centerline is valid? [True, True] Translation: X:92.84, Y:1.16, Z:-1.08 [[ 9.99998223e-01 -1.16661649e-03 -1.48081326e-03 9.28440913e+01] [ 1.16676598e-03 9.99999314e-01 1.00088358e-04 1.15715890e+00] [ 1.48069548e-03 -1.01815943e-04 9.99998899e-01 -1.07505494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.935898227 meters 0.06326652653025806 Centerline is valid? [True, True] Translation: X:92.87, Y:1.17, Z:-1.07 [[ 9.99999504e-01 -6.82167508e-05 -9.93270319e-04 9.28742961e+01] [ 6.82834400e-05 9.99999995e-01 6.71072773e-05 1.16635022e+00] [ 9.93265736e-04 -6.71750679e-05 9.99999504e-01 -1.07321195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.965898227 meters 0.06449809475027919 Centerline is valid? [True, True] Translation: X:92.90, Y:1.16, Z:-1.08 [[ 9.99998031e-01 1.00754731e-03 -1.70971297e-03 9.29034545e+01] [-1.00735080e-03 9.99999486e-01 1.15793298e-04 1.16274290e+00] [ 1.70982876e-03 -1.14070789e-04 9.99998532e-01 -1.07522969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99589822699998 meters 0.06902772515852791 Centerline is valid? [True, True] Translation: X:92.93, Y:1.16, Z:-1.08 [[ 9.99989397e-01 2.84834193e-03 -3.61831165e-03 9.29320750e+01] [-2.84747504e-03 9.99995916e-01 2.44714145e-04 1.15516175e+00] [ 3.61899391e-03 -2.34408499e-04 9.99993424e-01 -1.07905283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02589822699998 meters 0.062198535735455286 Centerline is valid? [True, True] Translation: X:92.96, Y:1.16, Z:-1.08 [[ 9.99957997e-01 6.61728988e-03 -6.34157660e-03 9.29632676e+01] [-6.61470144e-03 9.99978031e-01 4.29057572e-04 1.16460898e+00] [ 6.34427647e-03 -3.87091915e-04 9.99979800e-01 -1.08348827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05589822699999 meters 0.062425784260293854 Centerline is valid? [True, True] Translation: X:92.99, Y:1.16, Z:-1.08 [[ 9.99951746e-01 8.06143390e-03 -5.61421857e-03 9.29918977e+01] [-8.05942977e-03 9.99967450e-01 3.79506272e-04 1.16302549e+00] [ 5.61709519e-03 -3.34240559e-04 9.99984168e-01 -1.08281830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08589822699999 meters 0.06450408348056545 Centerline is valid? [True, True] Translation: X:93.02, Y:1.16, Z:-1.08 [[ 9.99954836e-01 8.57042445e-03 -4.10769509e-03 9.30199623e+01] [-8.56935702e-03 9.99963244e-01 2.77389924e-04 1.15888121e+00] [ 4.10992146e-03 -2.42177090e-04 9.99991525e-01 -1.08071161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11589822699999 meters 0.06524531959004454 Centerline is valid? [True, True] Translation: X:93.05, Y:1.16, Z:-1.08 [[ 9.99958806e-01 8.64738617e-03 -2.75843168e-03 9.30474928e+01] [-8.64690585e-03 9.99962598e-01 1.86007237e-04 1.15699238e+00] [ 2.75993698e-03 -1.62147675e-04 9.99996178e-01 -1.07782248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14589822699999 meters 0.06308883807757378 Centerline is valid? [True, True] Translation: X:93.08, Y:1.16, Z:-1.08 [[ 9.99965574e-01 7.98232583e-03 -2.26551693e-03 9.30768928e+01] [-7.98200018e-03 9.99968132e-01 1.52743404e-04 1.15897867e+00] [ 2.26666398e-03 -1.34654789e-04 9.99997422e-01 -1.07663817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17589822699999 meters 0.06353407040013923 Centerline is valid? [True, True] Translation: X:93.11, Y:1.16, Z:-1.08 [[ 9.99970756e-01 7.22949278e-03 -2.49432568e-03 9.31067206e+01] [-7.22909569e-03 9.99973856e-01 1.68177975e-04 1.15788505e+00] [ 2.49547631e-03 -1.50141337e-04 9.99996875e-01 -1.07708632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20589822699999 meters 0.06280378974828302 Centerline is valid? [True, True] Translation: X:93.14, Y:1.16, Z:-1.08 [[ 9.99979747e-01 5.94734856e-03 -2.26575260e-03 9.31362857e+01] [-5.94701795e-03 9.99982305e-01 1.52626537e-04 1.15978334e+00] [ 2.26662023e-03 -1.39148975e-04 9.99997422e-01 -1.07823494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23589822699999 meters 0.07024676291032467 Centerline is valid? [True, True] Translation: X:93.16, Y:1.15, Z:-1.08 [[ 9.99984351e-01 5.23419708e-03 -1.97493070e-03 9.31645519e+01] [-5.23394468e-03 9.99986294e-01 1.32949835e-04 1.14873241e+00] [ 1.97559951e-03 -1.22611076e-04 9.99998041e-01 -1.07954321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.265898227 meters 0.07372148295469276 Centerline is valid? [True, True] Translation: X:93.19, Y:1.14, Z:-1.08 [[ 9.99989823e-01 3.98377554e-03 -2.11733321e-03 9.31939233e+01] [-3.98348245e-03 9.99992056e-01 1.42627100e-04 1.14229380e+00] [ 2.11788458e-03 -1.34191288e-04 9.99997748e-01 -1.07987113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.295898227 meters 0.06736501048582917 Centerline is valid? [True, True] Translation: X:93.22, Y:1.15, Z:-1.08 [[ 9.99993789e-01 2.53137710e-03 -2.45250984e-03 9.32243699e+01] [-2.53097957e-03 9.99996783e-01 1.65182277e-04 1.14823793e+00] [ 2.45292009e-03 -1.58973998e-04 9.99996979e-01 -1.07880050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.325898227 meters 0.06778988817460992 Centerline is valid? [True, True] Translation: X:93.25, Y:1.14, Z:-1.08 [[ 9.99995756e-01 -8.41937149e-05 -2.91205738e-03 9.32544725e+01] [ 8.47653517e-05 9.99999977e-01 1.96177098e-04 1.14357403e+00] [ 2.91204080e-03 -1.96423107e-04 9.99995741e-01 -1.07950739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35589822699998 meters 0.07303434231821021 Centerline is valid? [True, True] Translation: X:93.28, Y:1.13, Z:-1.08 [[ 9.99995191e-01 -1.94333705e-03 -2.41705361e-03 9.32832654e+01] [ 1.94373615e-03 9.99998098e-01 1.62780398e-04 1.13309191e+00] [ 2.41673268e-03 -1.67477729e-04 9.99997066e-01 -1.07986492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38589822699998 meters 0.07761666046873622 Centerline is valid? [True, True] Translation: X:93.31, Y:1.13, Z:-1.08 [[ 9.99988940e-01 -4.40794791e-03 -1.63979580e-03 9.33137257e+01] [ 4.40813491e-03 9.99990278e-01 1.10441617e-04 1.12850497e+00] [ 1.63929303e-03 -1.17668836e-04 9.99998649e-01 -1.08037730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41589822699999 meters 0.07854529074236755 Centerline is valid? [True, True] Translation: X:93.34, Y:1.12, Z:-1.08 [[ 9.99973596e-01 -7.07406453e-03 -1.66294265e-03 9.33437612e+01] [ 7.07426054e-03 9.99974971e-01 1.12011221e-04 1.12276745e+00] [ 1.66210865e-03 -1.23772353e-04 9.99998611e-01 -1.08038723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44589822699999 meters 0.08892365572069623 Centerline is valid? [True, True] Translation: X:93.37, Y:1.10, Z:-1.08 [[ 9.99940466e-01 -1.04587300e-02 -3.11128091e-03 9.33721811e+01] [ 1.04594321e-02 9.99945277e-01 2.09493830e-04 1.10306224e+00] [ 3.10891962e-03 -2.42023589e-04 9.99995138e-01 -1.08166381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47589822699999 meters 0.07989432639447722 Centerline is valid? [True, True] Translation: X:93.40, Y:1.12, Z:-1.08 [[ 9.99934390e-01 -1.08862675e-02 -3.56430470e-03 9.34030277e+01] [ 1.08871912e-02 9.99940704e-01 2.39863146e-04 1.11523112e+00] [ 3.56148214e-03 -2.78652675e-04 9.99993619e-01 -1.08165109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50589822699999 meters 0.07717988755892438 Centerline is valid? [True, True] Translation: X:93.43, Y:1.11, Z:-1.08 [[ 9.99938901e-01 -1.04859358e-02 -3.49844722e-03 9.34320267e+01] [ 1.04868230e-02 9.99944984e-01 2.35347651e-04 1.11294723e+00] [ 3.49578691e-03 -2.72020868e-04 9.99993853e-01 -1.08051292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53589822699999 meters 0.07226136415447365 Centerline is valid? [True, True] Translation: X:93.46, Y:1.12, Z:-1.08 [[ 9.99946880e-01 -9.70931834e-03 -3.45911377e-03 9.34622322e+01] [ 9.71018077e-03 9.99952828e-01 2.32616031e-04 1.11806634e+00] [ 3.45669205e-03 -2.66192295e-04 9.99993990e-01 -1.07956573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56589822699999 meters 0.07903574621534788 Centerline is valid? [True, True] Translation: X:93.49, Y:1.11, Z:-1.08 [[ 9.99956844e-01 -8.76240109e-03 -3.08706024e-03 9.34904193e+01] [ 8.76308309e-03 9.99961582e-01 2.07462990e-04 1.11220656e+00] [ 3.08512377e-03 -2.34506202e-04 9.99995213e-01 -1.08192356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59589822699999 meters 0.07475864741268123 Centerline is valid? [True, True] Translation: X:93.52, Y:1.12, Z:-1.08 [[ 9.99981924e-01 -5.61596370e-03 -2.14785935e-03 9.35210946e+01] [ 5.61628656e-03 9.99984218e-01 1.44318349e-04 1.11996358e+00] [ 2.14701497e-03 -1.56378734e-04 9.99997683e-01 -1.08012483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.625898227 meters 0.07083918272574971 Centerline is valid? [True, True] Translation: X:93.55, Y:1.13, Z:-1.08 [[ 9.99991451e-01 -3.92883917e-03 -1.28900252e-03 9.35515633e+01] [ 3.92895404e-03 9.99992278e-01 8.65926806e-05 1.12522749e+00] [ 1.28865235e-03 -9.16563720e-05 9.99999165e-01 -1.07739208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.655898227 meters 0.06483013413603073 Centerline is valid? [True, True] Translation: X:93.58, Y:1.13, Z:-1.08 [[ 9.99996995e-01 -2.45099737e-03 -4.98061892e-05 9.35821823e+01] [ 2.45099753e-03 9.99996996e-01 3.29476486e-06 1.13336613e+00] [ 4.97979641e-05 -3.41682981e-06 9.99999999e-01 -1.07513451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.685898227 meters 0.06932486400716548 Centerline is valid? [True, True] Translation: X:93.61, Y:1.13, Z:-1.07 [[ 9.99998586e-01 -1.33434596e-03 1.02369128e-03 9.36116797e+01] [ 1.33441708e-03 9.99999107e-01 -6.87976390e-05 1.12777572e+00] [-1.02359857e-03 7.01635728e-05 9.99999474e-01 -1.07476586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.715898227 meters 0.07322878443486137 Centerline is valid? [True, True] Translation: X:93.64, Y:1.12, Z:-1.08 [[ 9.99998514e-01 -1.22644533e-03 1.21150002e-03 9.36423165e+01] [ 1.22654482e-03 9.99999244e-01 -8.13831756e-05 1.12448119e+00] [-1.21139929e-03 8.28690138e-05 9.99999263e-01 -1.07589712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74589822699998 meters 0.06934559512304528 Centerline is valid? [True, True] Translation: X:93.67, Y:1.13, Z:-1.08 [[ 9.99992038e-01 -3.98936290e-03 9.44414944e-05 9.36729563e+01] [ 3.98936351e-03 9.99992042e-01 -6.33852772e-06 1.12792223e+00] [-9.44154562e-05 6.71523870e-06 9.99999996e-01 -1.07711378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77589822699998 meters 0.07749604246707935 Centerline is valid? [True, True] Translation: X:93.70, Y:1.12, Z:-1.08 [[ 9.99978314e-01 -6.56657174e-03 -5.02230742e-04 9.37019811e+01] [ 6.56658954e-03 9.99978439e-01 3.38022828e-05 1.11529034e+00] [ 5.01997948e-04 -3.70994929e-05 9.99999873e-01 -1.07882040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80589822699999 meters 0.07892188160375396 Centerline is valid? [True, True] Translation: X:93.73, Y:1.11, Z:-1.08 [[ 9.99958841e-01 -9.03390917e-03 -8.39716097e-04 9.37321385e+01] [ 9.03395975e-03 9.99959191e-01 5.64520186e-05 1.11083913e+00] [ 8.39171847e-04 -6.40356565e-05 9.99999646e-01 -1.07946637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83589822699999 meters 0.08948343521739081 Centerline is valid? [True, True] Translation: X:93.76, Y:1.09, Z:-1.08 [[ 9.99938866e-01 -1.10077474e-02 -1.04613183e-03 9.37602462e+01] [ 1.10078270e-02 9.99939410e-01 7.03579252e-05 1.09465476e+00] [ 1.04529396e-03 -8.18692621e-05 9.99999450e-01 -1.07931094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86589822699999 meters 0.08342266305069944 Centerline is valid? [True, True] Translation: X:93.79, Y:1.10, Z:-1.08 [[ 9.99926368e-01 -1.21237448e-02 -5.23719971e-04 9.37905425e+01] [ 1.21237649e-02 9.99926504e-01 3.51562040e-05 1.09939339e+00] [ 5.23255255e-04 -4.15030732e-05 9.99999862e-01 -1.07804984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89589822699999 meters 0.07983655807110411 Centerline is valid? [True, True] Translation: X:93.82, Y:1.10, Z:-1.08 [[ 9.99926852e-01 -1.20894164e-02 -3.68345598e-04 9.38216981e+01] [ 1.20894263e-02 9.99926920e-01 2.47608762e-05 1.10125130e+00] [ 3.68019335e-04 -2.92121520e-05 9.99999932e-01 -1.07740374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92589822699999 meters 0.07766152979314302 Centerline is valid? [True, True] Translation: X:93.85, Y:1.10, Z:-1.08 [[ 9.99958153e-01 -8.97147296e-03 -1.79013048e-03 9.38523975e+01] [ 8.97170278e-03 9.99959746e-01 1.20394781e-04 1.09950525e+00] [ 1.78897830e-03 -1.36450261e-04 9.99998390e-01 -1.08115188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95589822699999 meters 0.0732907609171812 Centerline is valid? [True, True] Translation: X:93.88, Y:1.10, Z:-1.08 [[ 9.99970554e-01 -6.84359244e-03 -3.47224431e-03 9.38824428e+01] [ 6.84444358e-03 9.99976549e-01 2.33304099e-04 1.10148712e+00] [ 3.47056625e-03 -2.57062810e-04 9.99993945e-01 -1.08417242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98589822699999 meters 0.08106229187713279 Centerline is valid? [True, True] Translation: X:93.91, Y:1.09, Z:-1.09 [[ 9.99977530e-01 -4.42783218e-03 -5.03335765e-03 9.39108462e+01] [ 4.42959018e-03 9.99990132e-01 3.38175263e-04 1.08853179e+00] [ 5.03181060e-03 -3.60463375e-04 9.99987275e-01 -1.08809595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.015898227 meters 0.08106229187713279 Centerline is valid? [True, True] Translation: X:93.94, Y:1.09, Z:-1.09 [[ 9.99976844e-01 -4.57983333e-03 -5.03344959e-03 9.39391780e+01] [ 4.58158639e-03 9.99989448e-01 3.36805527e-04 1.08675678e+00] [ 5.03185396e-03 -3.59858912e-04 9.99987275e-01 -1.08822083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.045898227 meters 0.06831619884910721 Centerline is valid? [True, True] Translation: X:93.97, Y:1.10, Z:-1.09 [[ 9.99980444e-01 -1.97357566e-03 -5.93431092e-03 9.39704099e+01] [ 1.97597128e-03 9.99997969e-01 3.97854275e-04 1.10057802e+00] [ 5.93351367e-03 -4.09572523e-04 9.99982313e-01 -1.08741961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.075898227 meters 0.0646418492553331 Centerline is valid? [True, True] Translation: X:94.00, Y:1.10, Z:-1.09 [[ 9.99980826e-01 6.02214226e-04 -6.16327315e-03 9.40008658e+01] [-5.99679152e-04 9.99999735e-01 4.13159167e-04 1.10359646e+00] [ 6.16352033e-03 -4.09455259e-04 9.99980921e-01 -1.08662805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10589822699998 meters 0.06590646174432387 Centerline is valid? [True, True] Translation: X:94.03, Y:1.10, Z:-1.09 [[ 9.99976646e-01 3.28550105e-03 -5.99276966e-03 9.40305059e+01] [-3.28315304e-03 9.99994530e-01 4.01603580e-04 1.10155344e+00] [ 5.99405635e-03 -3.81919021e-04 9.99981963e-01 -1.08715785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13589822699998 meters 0.0586325303774334 Centerline is valid? [True, True] Translation: X:94.06, Y:1.11, Z:-1.08 [[ 9.99964014e-01 6.27709825e-03 -5.70698856e-03 9.40615001e+01] [-6.27501722e-03 9.99980239e-01 3.82480116e-04 1.10757838e+00] [ 5.70927665e-03 -3.46654900e-04 9.99983642e-01 -1.08481683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16589822699999 meters 0.058273294384876724 Centerline is valid? [True, True] Translation: X:94.09, Y:1.11, Z:-1.09 [[ 9.99917051e-01 1.16336043e-02 -5.52720321e-03 9.40907819e+01] [-1.16317339e-02 9.99932280e-01 3.70433427e-04 1.10695749e+00] [ 5.53113839e-03 -3.06111744e-04 9.99984656e-01 -1.08575161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19589822699999 meters 0.0566695888361378 Centerline is valid? [True, True] Translation: X:94.12, Y:1.11, Z:-1.09 [[ 9.99888634e-01 1.38496239e-02 -5.55947995e-03 9.41195355e+01] [-1.38477659e-02 9.99904046e-01 3.72570187e-04 1.10775136e+00] [ 5.56410645e-03 -2.95542319e-04 9.99984477e-01 -1.08626409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22589822699999 meters 0.05486352679694948 Centerline is valid? [True, True] Translation: X:94.15, Y:1.11, Z:-1.09 [[ 9.99863399e-01 1.58693162e-02 -4.62035171e-03 9.41491772e+01] [-1.58680553e-02 9.99874047e-01 3.09438494e-04 1.10819915e+00] [ 4.62468034e-03 -2.36080227e-04 9.99989278e-01 -1.08516340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25589822699999 meters 0.05104051853596515 Centerline is valid? [True, True] Translation: X:94.18, Y:1.11, Z:-1.08 [[ 9.99835649e-01 1.77624169e-02 -3.62924256e-03 9.41797834e+01] [-1.77616514e-02 9.99842220e-01 2.43046881e-04 1.11041092e+00] [ 3.63298703e-03 -1.78545595e-04 9.99993385e-01 -1.08246627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28589822699999 meters 0.05241875438323578 Centerline is valid? [True, True] Translation: X:94.21, Y:1.11, Z:-1.08 [[ 9.99797571e-01 1.99966004e-02 -2.22551103e-03 9.42089300e+01] [-1.99963182e-02 9.99800043e-01 1.48995147e-04 1.10526876e+00] [ 2.22804541e-03 -1.04462960e-04 9.99997512e-01 -1.08143277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31589822699999 meters 0.050247201450733886 Centerline is valid? [True, True] Translation: X:94.24, Y:1.11, Z:-1.08 [[ 9.99698595e-01 2.45308938e-02 9.76933259e-04 9.42397567e+01] [-2.45308416e-02 9.99699071e-01 -6.54335819e-05 1.10930802e+00] [-9.78244416e-04 4.14488648e-05 9.99999521e-01 -1.07710539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34589822699999 meters 0.0416612651401518 Centerline is valid? [True, True] Translation: X:94.27, Y:1.11, Z:-1.07 [[ 9.99644896e-01 2.64778806e-02 3.00049507e-03 9.42700640e+01] [-2.64773965e-02 9.99649392e-01 -2.00958204e-04 1.11429742e+00] [-3.00476402e-03 1.21441545e-04 9.99995478e-01 -1.07249867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.375898227 meters 0.042528987474968756 Centerline is valid? [True, True] Translation: X:94.30, Y:1.11, Z:-1.07 [[ 9.99602480e-01 2.79619748e-02 3.60690060e-03 9.42992057e+01] [-2.79612852e-02 9.99608978e-01 -2.41486065e-04 1.11199677e+00] [-3.61224265e-03 1.40536493e-04 9.99993466e-01 -1.07141744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.405898227 meters 0.038848721096991196 Centerline is valid? [True, True] Translation: X:94.33, Y:1.11, Z:-1.07 [[ 9.99545732e-01 2.99171931e-02 3.64562092e-03 9.43296479e+01] [-2.99165010e-02 9.99552371e-01 -2.44222580e-04 1.11481547e+00] [-3.65129549e-03 1.35047416e-04 9.99993325e-01 -1.07209584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.435898227 meters 0.036143255982263374 Centerline is valid? [True, True] Translation: X:94.36, Y:1.12, Z:-1.07 [[ 9.99384318e-01 3.49051996e-02 3.55130280e-03 9.43594946e+01] [-3.49045745e-02 9.99390621e-01 -2.37865763e-04 1.11563721e+00] [-3.55744147e-03 1.13762600e-04 9.99993666e-01 -1.07311691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.465898227 meters 0.03278313322794606 Centerline is valid? [True, True] Translation: X:94.39, Y:1.12, Z:-1.07 [[ 9.99277998e-01 3.78435404e-02 3.36884150e-03 9.43892483e+01] [-3.78429947e-02 9.99283672e-01 -2.25608255e-04 1.11846201e+00] [-3.37496612e-03 9.79583143e-05 9.99994300e-01 -1.07309980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49589822699998 meters 0.027281859089697717 Centerline is valid? [True, True] Translation: X:94.42, Y:1.13, Z:-1.07 [[ 9.99146395e-01 4.11495842e-02 3.63216495e-03 9.44200610e+01] [-4.11489720e-02 9.99152993e-01 -2.43142533e-04 1.12549646e+00] [-3.63909370e-03 9.34751318e-05 9.99993374e-01 -1.07296603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52589822699998 meters 0.03429788034846468 Centerline is valid? [True, True] Translation: X:94.45, Y:1.13, Z:-1.08 [[ 9.98994167e-01 4.46997204e-02 3.54812447e-03 9.44489954e+01] [-4.46991586e-02 9.99000465e-01 -2.37495320e-04 1.12833523e+00] [-3.55519397e-03 7.86582604e-05 9.99993677e-01 -1.07516928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55589822699999 meters 0.02311484847430737 Centerline is valid? [True, True] Translation: X:94.48, Y:1.13, Z:-1.07 [[ 9.98854625e-01 4.77227636e-02 3.46060374e-03 9.44775692e+01] [-4.77222478e-02 9.98860618e-01 -2.31525777e-04 1.13273238e+00] [-3.46770984e-03 6.61128039e-05 9.99993985e-01 -1.07406111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58589822699999 meters 0.020643419526245318 Centerline is valid? [True, True] Translation: X:94.51, Y:1.14, Z:-1.08 [[ 9.98738438e-01 5.00947520e-02 3.47111195e-03 9.45069690e+01] [-5.00942480e-02 9.98744468e-01 -2.32065012e-04 1.13668068e+00] [-3.47837910e-03 5.78895048e-05 9.99993949e-01 -1.07519366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61589822699999 meters 0.019967872984664136 Centerline is valid? [True, True] Translation: X:94.53, Y:1.14, Z:-1.08 [[ 9.98656068e-01 5.17679585e-02 2.47712071e-03 9.45347470e+01] [-5.17677071e-02 9.98659140e-01 -1.65553094e-04 1.13937416e+00] [-2.48236958e-03 3.70957430e-05 9.99996918e-01 -1.07715317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64589822699999 meters 0.020127126317126386 Centerline is valid? [True, True] Translation: X:94.56, Y:1.14, Z:-1.08 [[ 9.98694463e-01 5.10551698e-02 1.65492150e-03 9.45637732e+01] [-5.10550566e-02 9.98695834e-01 -1.10593846e-04 1.13831206e+00] [-1.65840960e-03 2.59573505e-05 9.99998625e-01 -1.07819329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67589822699999 meters 0.020043745118131208 Centerline is valid? [True, True] Translation: X:94.59, Y:1.14, Z:-1.08 [[ 9.98775642e-01 4.94656895e-02 6.01834372e-04 9.45925770e+01] [-4.94656742e-02 9.98775823e-01 -4.03288384e-05 1.13668380e+00] [-6.03092514e-04 1.05093185e-05 9.99999818e-01 -1.07982991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70589822699999 meters 0.023533417187350157 Centerline is valid? [True, True] Translation: X:94.62, Y:1.13, Z:-1.08 [[ 9.98878319e-01 4.73508540e-02 -2.95821886e-06 9.46203331e+01] [-4.73508540e-02 9.98878319e-01 -6.85337697e-08 1.12886759e+00] [ 2.95165555e-06 2.08531085e-07 1.00000000e+00 -1.08149503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73589822699999 meters 0.02728548797296737 Centerline is valid? [True, True] Translation: X:94.65, Y:1.12, Z:-1.08 [[ 9.99108387e-01 4.22146951e-02 -5.91916899e-04 9.46497070e+01] [-4.22146792e-02 9.99108562e-01 3.93593803e-05 1.11731431e+00] [ 5.93050786e-04 -1.43367050e-05 9.99999824e-01 -1.08226248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.765898227 meters 0.028473519129583326 Centerline is valid? [True, True] Translation: X:94.68, Y:1.11, Z:-1.08 [[ 9.99187136e-01 4.03061135e-02 -6.95518161e-04 9.46785700e+01] [-4.03060912e-02 9.99187378e-01 4.61267484e-05 1.11163778e+00] [ 6.96812158e-04 -1.80556353e-05 9.99999757e-01 -1.08189164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.795898227 meters 0.029699156828766136 Centerline is valid? [True, True] Translation: X:94.71, Y:1.11, Z:-1.08 [[ 9.99220666e-01 3.94620508e-02 -8.98145555e-04 9.47074715e+01] [-3.94620132e-02 9.99221070e-01 5.95174257e-05 1.10641412e+00] [ 8.99794642e-04 -2.40284100e-05 9.99999595e-01 -1.08122488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.825898227 meters 0.02928228658308497 Centerline is valid? [True, True] Translation: X:94.74, Y:1.10, Z:-1.08 [[ 9.99200385e-01 3.99722834e-02 -8.97905377e-04 9.47364385e+01] [-3.99722461e-02 9.99200789e-01 5.94588965e-05 1.10332990e+00] [ 8.99564469e-04 -2.35200577e-05 9.99999595e-01 -1.08083063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85589822699998 meters 0.027674399073412393 Centerline is valid? [True, True] Translation: X:94.77, Y:1.10, Z:-1.08 [[ 9.99137252e-01 4.15254956e-02 -6.20826239e-04 9.47656711e+01] [-4.15254781e-02 9.99137444e-01 4.10769631e-05 1.10173499e+00] [ 6.21996483e-04 -1.52614177e-05 9.99999806e-01 -1.08010346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88589822699998 meters 0.022089923257086804 Centerline is valid? [True, True] Translation: X:94.80, Y:1.10, Z:-1.08 [[ 9.98788531e-01 4.92084169e-02 -5.20819427e-05 9.47953614e+01] [-4.92084168e-02 9.98788532e-01 3.39235089e-06 1.10360693e+00] [ 5.21857793e-05 -8.25371221e-07 9.99999999e-01 -1.07949529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91589822699999 meters 0.016762936418412245 Centerline is valid? [True, True] Translation: X:94.83, Y:1.11, Z:-1.08 [[ 9.98524887e-01 5.42953347e-02 -2.56718023e-04 9.48251273e+01] [-5.42953322e-02 9.98524920e-01 1.68827451e-05 1.10775349e+00] [ 2.57255998e-04 -2.91925081e-06 9.99999967e-01 -1.07933628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94589822699999 meters 0.01280393660744487 Centerline is valid? [True, True] Translation: X:94.85, Y:1.11, Z:-1.08 [[ 9.98220503e-01 5.96307382e-02 -4.90013513e-05 9.48542655e+01] [-5.96307381e-02 9.98220504e-01 3.04080505e-06 1.11157703e+00] [ 4.90954791e-05 -1.13407196e-07 9.99999999e-01 -1.07943372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97589822699999 meters 0.015495220066419648 Centerline is valid? [True, True] Translation: X:94.88, Y:1.12, Z:-1.08 [[ 9.97871184e-01 6.52149304e-02 3.35797993e-04 9.48830436e+01] [-6.52149266e-02 9.97871241e-01 -2.24647875e-05 1.11571146e+00] [-3.36548199e-04 5.17922682e-07 9.99999943e-01 -1.08030837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00589822699999 meters 0.012099094294044661 Centerline is valid? [True, True] Translation: X:94.91, Y:1.12, Z:-1.08 [[ 9.97485711e-01 7.08661099e-02 5.00125618e-04 9.49112774e+01] [-7.08661020e-02 9.97485837e-01 -3.33772503e-05 1.12126675e+00] [-5.01233537e-04 -2.14862285e-06 9.99999874e-01 -1.07912552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03589822699999 meters 0.016313946307962544 Centerline is valid? [True, True] Translation: X:94.94, Y:1.13, Z:-1.08 [[ 9.97083327e-01 7.63186195e-02 5.55157480e-04 9.49395094e+01] [-7.63186107e-02 9.97083481e-01 -3.70495002e-05 1.12719467e+00] [-5.56365920e-04 -5.42740876e-06 9.99999845e-01 -1.07904796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06589822699999 meters 0.021842539856006035 Centerline is valid? [True, True] Translation: X:94.97, Y:1.13, Z:-1.08 [[ 9.96561083e-01 8.28575589e-02 7.95082477e-04 9.49697599e+01] [-8.28575433e-02 9.96561400e-01 -5.26675761e-05 1.13141532e+00] [-7.96712413e-04 -1.33921240e-05 9.99999683e-01 -1.07897735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09589822699999 meters 0.022108615436663807 Centerline is valid? [True, True] Translation: X:95.00, Y:1.13, Z:-1.08 [[ 9.96490215e-01 8.37037417e-02 9.66806270e-04 9.49984610e+01] [-8.37037189e-02 9.96490684e-01 -6.40822342e-05 1.12793604e+00] [-9.68777364e-04 -1.70679609e-05 9.99999531e-01 -1.07933595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.125898227 meters 0.02107409190878321 Centerline is valid? [True, True] Translation: X:95.03, Y:1.12, Z:-1.08 [[ 9.96509059e-01 8.34763267e-02 1.18265225e-03 9.50273913e+01] [-8.34762926e-02 9.96509760e-01 -7.82885646e-05 1.12224883e+00] [-1.18505975e-03 -2.07081616e-05 9.99999298e-01 -1.07921852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.155898227 meters 0.020351219346415553 Centerline is valid? [True, True] Translation: X:95.06, Y:1.12, Z:-1.08 [[ 9.96582761e-01 8.25720963e-02 2.15619803e-03 9.50557814e+01] [-8.25719813e-02 9.96585093e-01 -1.42445532e-04 1.11680151e+00] [-2.16059684e-03 -3.60827818e-05 9.99997665e-01 -1.07838731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.185898227 meters 0.02044709364924279 Centerline is valid? [True, True] Translation: X:95.08, Y:1.11, Z:-1.08 [[ 9.96659006e-01 8.16176828e-02 3.06270668e-03 9.50833318e+01] [-8.16174470e-02 9.96663710e-01 -2.02114870e-04 1.11246935e+00] [-3.06898475e-03 -4.85306951e-05 9.99995289e-01 -1.07692589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.215898227 meters 0.0193429039616683 Centerline is valid? [True, True] Translation: X:95.11, Y:1.11, Z:-1.08 [[ 9.96737224e-01 8.06266799e-02 3.77425704e-03 9.51116368e+01] [-8.06263160e-02 9.96744368e-01 -2.48722797e-04 1.10618403e+00] [-3.78202314e-03 -5.63931711e-05 9.99992847e-01 -1.07514566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24589822699998 meters 0.01939914484985333 Centerline is valid? [True, True] Translation: X:95.14, Y:1.10, Z:-1.07 [[ 9.96748727e-01 8.04665143e-02 4.13705547e-03 9.51391070e+01] [-8.04660766e-02 9.96757311e-01 -2.72414063e-04 1.09884550e+00] [-4.14556050e-03 -6.13642521e-05 9.99991405e-01 -1.07346542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27589822699998 meters 0.0203121738050112 Centerline is valid? [True, True] Translation: X:95.17, Y:1.10, Z:-1.07 [[ 9.96660403e-01 8.15871282e-02 3.40324322e-03 9.51682377e+01] [-8.15868392e-02 9.96666212e-01 -2.23884305e-04 1.09666768e+00] [-3.41016361e-03 -5.45232357e-05 9.99994184e-01 -1.07448403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30589822699999 meters 0.022054380355343045 Centerline is valid? [True, True] Translation: X:95.20, Y:1.10, Z:-1.08 [[ 9.96529815e-01 8.32082188e-02 2.17275048e-03 9.51972633e+01] [-8.32081050e-02 9.96532183e-01 -1.42907797e-04 1.09677425e+00] [-2.17710688e-03 -3.83785692e-05 9.99997629e-01 -1.07591841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33589822699999 meters 0.024365157868650962 Centerline is valid? [True, True] Translation: X:95.23, Y:1.10, Z:-1.08 [[ 9.96307769e-01 8.58432671e-02 1.32752574e-03 9.52263622e+01] [-8.58432269e-02 9.96308653e-01 -8.73349949e-05 1.09859692e+00] [-1.33012250e-03 -2.69465592e-05 9.99999115e-01 -1.07737233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36589822699999 meters 0.02887037754497942 Centerline is valid? [True, True] Translation: X:95.26, Y:1.10, Z:-1.08 [[ 9.96022673e-01 8.90979363e-02 6.26565610e-04 9.52556872e+01] [-8.90979279e-02 9.96022870e-01 -4.12564181e-05 1.10332577e+00] [-6.27749539e-04 -1.47333697e-05 9.99999803e-01 -1.07891131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39589822699999 meters 0.032456537696035785 Centerline is valid? [True, True] Translation: X:95.28, Y:1.11, Z:-1.08 [[ 9.95745207e-01 9.21491685e-02 1.14285737e-04 9.52846144e+01] [-9.21491683e-02 9.95745214e-01 -7.64924723e-06 1.10671786e+00] [-1.14504348e-04 -2.91463436e-06 9.99999993e-01 -1.07939421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42589822699999 meters 0.03760944385159414 Centerline is valid? [True, True] Translation: X:95.31, Y:1.11, Z:-1.08 [[ 9.95276536e-01 9.70796363e-02 4.01442634e-04 9.53148853e+01] [-9.70796335e-02 9.95276617e-01 -2.63632077e-05 1.11199809e+00] [-4.02105798e-04 -1.27332218e-05 9.99999919e-01 -1.07852994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45589822699999 meters 0.03904879933730747 Centerline is valid? [True, True] Translation: X:95.34, Y:1.11, Z:-1.08 [[ 9.95117779e-01 9.86824756e-02 1.54125418e-03 9.53432808e+01] [-9.86824371e-02 9.95118971e-01 -1.01184473e-04 1.11250248e+00] [-1.54371641e-03 -5.14042501e-05 9.99998807e-01 -1.07672688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48589822699999 meters 0.04164111266239319 Centerline is valid? [True, True] Translation: X:95.37, Y:1.12, Z:-1.08 [[ 9.95022275e-01 9.96284297e-02 2.20168141e-03 9.53709752e+01] [-9.96283540e-02 9.95024708e-01 -1.44297892e-04 1.11524761e+00] [-2.20510357e-03 -7.57702782e-05 9.99997566e-01 -1.07587788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.515898227 meters 0.04191180280355824 Centerline is valid? [True, True] Translation: X:95.40, Y:1.11, Z:-1.08 [[ 9.94871175e-01 1.01145404e-01 9.75781526e-04 9.54006794e+01] [-1.01145390e-01 9.94871653e-01 -6.39222032e-05 1.11094394e+00] [-9.77242816e-04 -3.51014454e-05 9.99999522e-01 -1.07934739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.545898227 meters 0.0439385539720761 Centerline is valid? [True, True] Translation: X:95.43, Y:1.11, Z:-1.08 [[ 9.94861396e-01 1.01244543e-01 5.87043333e-04 9.54283355e+01] [-1.01244538e-01 9.94861569e-01 -3.86249017e-05 1.11162033e+00] [-5.87937412e-04 -2.10085071e-05 9.99999827e-01 -1.08071128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.575898227 meters 0.04255982726299036 Centerline is valid? [True, True] Translation: X:95.46, Y:1.11, Z:-1.08 [[ 9.94888836e-01 1.00975438e-01 4.05897162e-04 9.54560698e+01] [-1.00975436e-01 9.94888919e-01 -2.67593562e-05 1.11346527e+00] [-4.06524627e-04 -1.43630580e-05 9.99999917e-01 -1.07885166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60589822699998 meters 0.039512082647817685 Centerline is valid? [True, True] Translation: X:95.48, Y:1.11, Z:-1.08 [[ 9.94883583e-01 1.01027275e-01 3.82070969e-04 9.54849355e+01] [-1.01027273e-01 9.94883656e-01 -2.51366520e-05 1.10860018e+00] [-3.82655650e-04 -1.35915457e-05 9.99999927e-01 -1.07804328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63589822699998 meters 0.04526230307269573 Centerline is valid? [True, True] Translation: X:95.51, Y:1.12, Z:-1.08 [[ 9.94846477e-01 1.01391894e-01 4.14002782e-04 9.55137114e+01] [-1.01391892e-01 9.94846563e-01 -2.72461228e-05 1.11591234e+00] [-4.14631781e-04 -1.48708160e-05 9.99999914e-01 -1.07841234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66589822699999 meters 0.04292581401751707 Centerline is valid? [True, True] Translation: X:95.54, Y:1.11, Z:-1.08 [[ 9.94774912e-01 1.02090289e-01 6.68198357e-04 9.55419324e+01] [-1.02090282e-01 9.94775137e-01 -4.37653429e-05 1.11267093e+00] [-6.69175129e-04 -2.46798939e-05 9.99999776e-01 -1.07775902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69589822699999 meters 0.0444338225284953 Centerline is valid? [True, True] Translation: X:95.57, Y:1.12, Z:-1.08 [[ 9.94386684e-01 1.05806941e-01 1.14077699e-04 9.55728108e+01] [-1.05806941e-01 9.94386691e-01 -7.42719213e-06 1.11561454e+00] [-1.14223194e-04 -4.68471136e-06 9.99999993e-01 -1.07868598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72589822699999 meters 0.04750390023971843 Centerline is valid? [True, True] Translation: X:95.60, Y:1.12, Z:-1.08 [[ 9.94103456e-01 1.08435775e-01 -4.04032572e-05 9.56022528e+01] [-1.08435775e-01 9.94103457e-01 2.61250478e-06 1.11951209e+00] [ 4.04483066e-05 1.78405849e-06 9.99999999e-01 -1.08005458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75589822699999 meters 0.050090856854532365 Centerline is valid? [True, True] Translation: X:95.63, Y:1.12, Z:-1.08 [[ 9.93882839e-01 1.10432737e-01 -1.22968848e-03 9.56323033e+01] [-1.10432722e-01 9.93883599e-01 7.99199035e-05 1.12252706e+00] [ 1.23099298e-03 5.63668252e-05 9.99999241e-01 -1.08198365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78589822699999 meters 0.053649178923948736 Centerline is valid? [True, True] Translation: X:95.66, Y:1.12, Z:-1.09 [[ 9.93787033e-01 1.11279412e-01 -2.05550509e-03 9.56609053e+01] [-1.11279373e-01 9.93789154e-01 1.33453868e-04 1.12257770e+00] [ 2.05758933e-03 9.61105953e-05 9.99997879e-01 -1.08530412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81589822699999 meters 0.05034984670056235 Centerline is valid? [True, True] Translation: X:95.69, Y:1.12, Z:-1.08 [[ 9.93814499e-01 1.11016644e-01 -2.83675554e-03 9.56898488e+01] [-1.11016570e-01 9.93818538e-01 1.84119259e-04 1.12193139e+00] [ 2.83966055e-03 1.31946482e-04 9.99995959e-01 -1.08482089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84589822699999 meters 0.051233570631448296 Centerline is valid? [True, True] Translation: X:95.72, Y:1.12, Z:-1.09 [[ 9.93979103e-01 1.09525242e-01 -3.12482246e-03 9.57182765e+01] [-1.09525145e-01 9.93984005e-01 2.02687202e-04 1.12227776e+00] [ 3.12822291e-03 1.40779792e-04 9.99995097e-01 -1.08577915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.875898227 meters 0.04487339982020223 Centerline is valid? [True, True] Translation: X:95.75, Y:1.11, Z:-1.08 [[ 9.94536207e-01 1.04378865e-01 -1.66917259e-03 9.57478295e+01] [-1.04378830e-01 9.94537605e-01 1.08340676e-04 1.11298005e+00] [ 1.67136339e-03 6.64775577e-05 9.99998601e-01 -1.08359185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.905898227 meters 0.04487339982020223 Centerline is valid? [True, True] Translation: X:95.78, Y:1.11, Z:-1.08 [[ 9.94543756e-01 1.04306906e-01 -1.66919908e-03 9.57752840e+01] [-1.04306871e-01 9.94545155e-01 1.07932458e-04 1.11133244e+00] [ 1.67135196e-03 6.67653816e-05 9.99998601e-01 -1.08371285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.935898227 meters 0.041701603941181574 Centerline is valid? [True, True] Translation: X:95.81, Y:1.11, Z:-1.08 [[ 9.94802867e-01 1.01819397e-01 -2.56488491e-04 9.58053587e+01] [-1.01819396e-01 9.94802900e-01 1.65772330e-05 1.10587014e+00] [ 2.56843379e-04 9.62442438e-06 9.99999967e-01 -1.08119250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.965898227 meters 0.038723145318347404 Centerline is valid? [True, True] Translation: X:95.83, Y:1.10, Z:-1.08 [[ 9.94972818e-01 1.00144683e-01 3.66771512e-04 9.58336107e+01] [-1.00144681e-01 9.94972885e-01 -2.39809920e-05 1.10101581e+00] [-3.67329279e-04 -1.28697808e-05 9.99999932e-01 -1.07977723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99589822699998 meters 0.03812848484953616 Centerline is valid? [True, True] Translation: X:95.86, Y:1.10, Z:-1.08 [[ 9.95069678e-01 9.91777895e-02 3.18001204e-04 9.58627643e+01] [-9.91777879e-02 9.95069729e-01 -2.07551681e-05 1.09863289e+00] [-3.18491823e-04 -1.08858174e-05 9.99999949e-01 -1.07997482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02589822699998 meters 0.04085015645194695 Centerline is valid? [True, True] Translation: X:95.89, Y:1.09, Z:-1.08 [[ 9.95040155e-01 9.94706048e-02 -8.30095583e-04 9.58917446e+01] [-9.94705948e-02 9.95040501e-01 5.34853372e-05 1.09470965e+00] [ 8.31298943e-04 2.93500432e-05 9.99999654e-01 -1.08291091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05589822699999 meters 0.03936469056738694 Centerline is valid? [True, True] Translation: X:95.92, Y:1.10, Z:-1.08 [[ 9.94951558e-01 1.00347987e-01 -1.29532926e-03 9.59191573e+01] [-1.00347963e-01 9.94952401e-01 8.33781698e-05 1.09618939e+00] [ 1.29715779e-03 4.70264127e-05 9.99999158e-01 -1.08224681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08589822699999 meters 0.041120382074789734 Centerline is valid? [True, True] Translation: X:95.95, Y:1.10, Z:-1.08 [[ 9.94879303e-01 1.01068936e-01 -4.92072209e-04 9.59470114e+01] [-1.01068933e-01 9.94879425e-01 3.13520813e-05 1.09600512e+00] [ 4.92721238e-04 1.85416762e-05 9.99999878e-01 -1.08152048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11589822699999 meters 0.04572563633858528 Centerline is valid? [True, True] Translation: X:95.97, Y:1.10, Z:-1.08 [[ 9.94811200e-01 1.01737391e-01 4.22817007e-04 9.59745898e+01] [-1.01737388e-01 9.94811290e-01 -2.77060449e-05 1.10016378e+00] [-4.23441872e-04 -1.54540143e-05 9.99999910e-01 -1.08064159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14589822699999 meters 0.046735232491636365 Centerline is valid? [True, True] Translation: X:96.00, Y:1.10, Z:-1.08 [[ 9.94706316e-01 1.02747999e-01 1.48134124e-03 9.60032455e+01] [-1.02747971e-01 9.94707417e-01 -9.55753773e-05 1.09950008e+00] [-1.48332129e-03 -5.71353745e-05 9.99998898e-01 -1.07906771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17589822699999 meters 0.04758102200589256 Centerline is valid? [True, True] Translation: X:96.03, Y:1.10, Z:-1.08 [[ 9.94588647e-01 1.03868845e-01 2.16487614e-03 9.60322203e+01] [-1.03868787e-01 9.94590999e-01 -1.39482780e-04 1.09915440e+00] [-2.16765424e-03 -8.61350703e-05 9.99997647e-01 -1.07816849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20589822699999 meters 0.05081570961026099 Centerline is valid? [True, True] Translation: X:96.06, Y:1.10, Z:-1.08 [[ 9.94339606e-01 1.06234460e-01 1.72862883e-03 9.60619340e+01] [-1.06234427e-01 9.94341106e-01 -1.11276289e-04 1.09804689e+00] [-1.73066808e-03 -7.29934721e-05 9.99998500e-01 -1.08116749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23589822699999 meters 0.04926659314516124 Centerline is valid? [True, True] Translation: X:96.09, Y:1.10, Z:-1.08 [[ 9.94217697e-01 1.07379235e-01 9.32763629e-04 9.60910364e+01] [-1.07379226e-01 9.94218134e-01 -6.01527628e-05 1.09854457e+00] [-9.33829672e-04 -4.03544948e-05 9.99999563e-01 -1.08104804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.265898227 meters 0.05085820213657354 Centerline is valid? [True, True] Translation: X:96.12, Y:1.10, Z:-1.08 [[ 9.94158140e-01 1.07932802e-01 3.19840114e-04 9.61186354e+01] [-1.07932801e-01 9.94158192e-01 -2.09179015e-05 1.09874077e+00] [-3.20229397e-04 -1.37255374e-05 9.99999949e-01 -1.08215306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.295898227 meters 0.04860404197933993 Centerline is valid? [True, True] Translation: X:96.15, Y:1.09, Z:-1.08 [[ 9.94139711e-01 1.08102275e-01 3.63858718e-04 9.61474795e+01] [-1.08102274e-01 9.94139778e-01 -2.35459280e-05 1.09356609e+00] [-3.64271794e-04 -1.59260127e-05 9.99999934e-01 -1.08210126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.325898227 meters 0.048720162790264664 Centerline is valid? [True, True] Translation: X:96.18, Y:1.09, Z:-1.08 [[ 9.94184785e-01 1.07686065e-01 5.70325577e-04 9.61757457e+01] [-1.07686062e-01 9.94184948e-01 -3.67576645e-05 1.09092774e+00] [-5.70967393e-04 -2.48722046e-05 9.99999837e-01 -1.08205687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35589822699998 meters 0.05080088452620188 Centerline is valid? [True, True] Translation: X:96.20, Y:1.08, Z:-1.08 [[ 9.94404739e-01 1.05617298e-01 2.04988886e-03 9.62046645e+01] [-1.05617251e-01 9.94406848e-01 -1.31409335e-04 1.08099491e+00] [-2.05230262e-03 -8.58295620e-05 9.99997890e-01 -1.08227804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38589822699998 meters 0.0446162708379807 Centerline is valid? [True, True] Translation: X:96.23, Y:1.08, Z:-1.08 [[ 9.94549972e-01 1.04242503e-01 1.96302186e-03 9.62330315e+01] [-1.04242457e-01 9.94551906e-01 -1.25856244e-04 1.07506499e+00] [-1.96544671e-03 -7.94598994e-05 9.99998065e-01 -1.08176207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41589822699999 meters 0.04198514418901125 Centerline is valid? [True, True] Translation: X:96.26, Y:1.07, Z:-1.08 [[ 9.94735326e-01 1.02473937e-01 8.50083988e-04 9.62615298e+01] [-1.02473927e-01 9.94735689e-01 -5.45836355e-05 1.06651254e+00] [-8.51202282e-04 -3.28151744e-05 9.99999637e-01 -1.08355862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44589822699999 meters 0.044601935394368776 Centerline is valid? [True, True] Translation: X:96.29, Y:1.07, Z:-1.09 [[ 9.94960605e-01 1.00263364e-01 -8.07816229e-04 9.62894929e+01] [-1.00263355e-01 9.94960932e-01 5.13465932e-05 1.06536840e+00] [ 8.08893770e-04 2.99065279e-05 9.99999672e-01 -1.08721650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47589822699999 meters 0.04021615696333711 Centerline is valid? [True, True] Translation: X:96.32, Y:1.05, Z:-1.09 [[ 9.95242041e-01 9.74014229e-02 -2.49853301e-03 9.63187613e+01] [-9.74013293e-02 9.95245174e-01 1.59413799e-04 1.05203059e+00] [ 2.50218005e-03 8.47051217e-05 9.99996866e-01 -1.08866867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50589822699999 meters 0.04092953933559206 Centerline is valid? [True, True] Translation: X:96.35, Y:1.05, Z:-1.09 [[ 9.95241878e-01 9.73847677e-02 -3.13215878e-03 9.63463121e+01] [-9.73846213e-02 9.95246801e-01 1.99579495e-04 1.04813377e+00] [ 3.13670701e-03 1.06394225e-04 9.99995075e-01 -1.08862932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53589822699999 meters 0.042464586961557554 Centerline is valid? [True, True] Translation: X:96.37, Y:1.05, Z:-1.09 [[ 9.95157547e-01 9.82258742e-02 -3.62411275e-03 9.63737405e+01] [-9.82256844e-02 9.95164138e-01 2.30758326e-04 1.04541289e+00] [ 3.62925348e-03 1.26340066e-04 9.99993406e-01 -1.08873650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56589822699999 meters 0.043681636084647056 Centerline is valid? [True, True] Translation: X:96.40, Y:1.04, Z:-1.09 [[ 9.95016824e-01 9.96454106e-02 -3.50899710e-03 9.64015606e+01] [-9.96452432e-02 9.95023003e-01 2.22948388e-04 1.03749236e+00] [ 3.51374862e-03 1.27817472e-04 9.99993819e-01 -1.08846886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59589822699999 meters 0.047408317093292185 Centerline is valid? [True, True] Translation: X:96.43, Y:1.04, Z:-1.09 [[ 9.94760056e-01 1.02193808e-01 -2.97593967e-03 9.64302126e+01] [-1.02193699e-01 9.94764501e-01 1.89063840e-04 1.04308514e+00] [ 2.97968029e-03 1.16049125e-04 9.99995554e-01 -1.08708478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.625898227 meters 0.04620846356419611 Centerline is valid? [True, True] Translation: X:96.46, Y:1.04, Z:-1.09 [[ 9.94474044e-01 1.04966529e-01 -1.84479951e-03 9.64592329e+01] [-1.04966492e-01 9.94475752e-01 1.17108151e-04 1.03777020e+00] [ 1.84690081e-03 7.71811169e-05 9.99998291e-01 -1.08522583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.655898227 meters 0.04942935419370452 Centerline is valid? [True, True] Translation: X:96.49, Y:1.04, Z:-1.08 [[ 9.93983825e-01 1.09522439e-01 9.95750248e-04 9.64892664e+01] [-1.09522430e-01 9.93984322e-01 -6.33115547e-05 1.03677059e+00] [-9.96694171e-04 -4.61263257e-05 9.99999502e-01 -1.08180453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.685898227 meters 0.05377381891445275 Centerline is valid? [True, True] Translation: X:96.52, Y:1.04, Z:-1.08 [[ 9.93837515e-01 1.10823522e-01 2.26735939e-03 9.65175022e+01] [-1.10823480e-01 9.93840095e-01 -1.44228104e-04 1.03850861e+00] [-2.26937654e-03 -1.07937358e-04 9.99997419e-01 -1.07998960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.715898227 meters 0.05265609665971097 Centerline is valid? [True, True] Translation: X:96.55, Y:1.03, Z:-1.08 [[ 9.93752076e-01 1.11582321e-01 2.48926389e-03 9.65456367e+01] [-1.11582274e-01 9.93755187e-01 -1.58208230e-04 1.03301607e+00] [-2.49137214e-03 -1.20537969e-04 9.99996889e-01 -1.07929580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74589822699998 meters 0.05616111259161274 Centerline is valid? [True, True] Translation: X:96.57, Y:1.03, Z:-1.08 [[ 9.93708892e-01 1.11970680e-01 2.28157336e-03 9.65734544e+01] [-1.11970642e-01 9.93711505e-01 -1.44952173e-04 1.03370910e+00] [-2.28345609e-03 -1.11428972e-04 9.99997387e-01 -1.07951893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77589822699998 meters 0.05677031967000424 Centerline is valid? [True, True] Translation: X:96.60, Y:1.03, Z:-1.08 [[ 9.93613234e-01 1.12819231e-01 2.13586155e-03 9.66022093e+01] [-1.12819200e-01 9.93615524e-01 -1.35436457e-04 1.03118327e+00] [-2.13750503e-03 -1.06394736e-04 9.99997710e-01 -1.07975021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80589822699999 meters 0.058139896327409506 Centerline is valid? [True, True] Translation: X:96.63, Y:1.03, Z:-1.08 [[ 9.93485814e-01 1.13942489e-01 1.74547077e-03 9.66316964e+01] [-1.13942471e-01 9.93487343e-01 -1.10575824e-04 1.02984142e+00] [-1.74670240e-03 -8.90277393e-05 9.99998471e-01 -1.08031408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83589822699999 meters 0.0604229171529604 Centerline is valid? [True, True] Translation: X:96.66, Y:1.03, Z:-1.08 [[ 9.93320697e-01 1.15384808e-01 5.82887655e-04 9.66606400e+01] [-1.15384806e-01 9.93320867e-01 -3.70244350e-05 1.02999116e+00] [-5.83266528e-04 -3.04792417e-05 9.99999829e-01 -1.08251708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86589822699999 meters 0.05689429454474086 Centerline is valid? [True, True] Translation: X:96.69, Y:1.02, Z:-1.08 [[ 9.93338172e-01 1.15235738e-01 -5.57941199e-06 9.66891191e+01] [-1.15235738e-01 9.93338172e-01 1.42675105e-07 1.02393376e+00] [ 5.55868418e-06 5.01223029e-07 1.00000000e+00 -1.08320435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89589822699999 meters 0.061451842143422204 Centerline is valid? [True, True] Translation: X:96.72, Y:1.03, Z:-1.09 [[ 9.93383400e-01 1.14843873e-01 -5.52028340e-04 9.67172608e+01] [-1.14843872e-01 9.93383553e-01 3.45986592e-05 1.02580321e+00] [ 5.52349318e-04 2.90273382e-05 9.99999847e-01 -1.08567348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92589822699999 meters 0.06182914028770624 Centerline is valid? [True, True] Translation: X:96.75, Y:1.03, Z:-1.08 [[ 9.93415859e-01 1.14563017e-01 -4.96052644e-04 9.67454198e+01] [-1.14563016e-01 9.93415983e-01 3.10420709e-05 1.02886770e+00] [ 4.96342898e-04 2.59916015e-05 9.99999876e-01 -1.08401819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95589822699999 meters 0.06449500771104197 Centerline is valid? [True, True] Translation: X:96.77, Y:1.03, Z:-1.08 [[ 9.93480945e-01 1.13997959e-01 -2.76970300e-04 9.67728528e+01] [-1.13997958e-01 9.93480984e-01 1.72098914e-05 1.02807989e+00] [ 2.77126618e-04 1.44763495e-05 9.99999961e-01 -1.08490305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98589822699999 meters 0.05712627989324467 Centerline is valid? [True, True] Translation: X:96.80, Y:1.02, Z:-1.08 [[ 9.93651509e-01 1.12499001e-01 8.08627091e-04 9.68017648e+01] [-1.12498996e-01 9.93651837e-01 -5.15154723e-05 1.02163199e+00] [-8.09289233e-04 -3.97813089e-05 9.99999672e-01 -1.08037353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.015898227 meters 0.0582400962393307 Centerline is valid? [True, True] Translation: X:96.83, Y:1.02, Z:-1.08 [[ 9.93720194e-01 1.11883172e-01 1.52691969e-03 9.68295521e+01] [-1.11883156e-01 9.93721364e-01 -9.61828190e-05 1.02308564e+00] [-1.52809395e-03 -7.52577832e-05 9.99998830e-01 -1.07960720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.045898227 meters 0.05721834199075559 Centerline is valid? [True, True] Translation: X:96.86, Y:1.02, Z:-1.08 [[ 9.93823042e-01 1.10963106e-01 1.71779706e-03 9.68587619e+01] [-1.10963085e-01 9.93824523e-01 -1.08012496e-04 1.02244886e+00] [-1.71917424e-03 -8.32667531e-05 9.99998519e-01 -1.07914190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.075898227 meters 0.05678997460168728 Centerline is valid? [True, True] Translation: X:96.89, Y:1.03, Z:-1.08 [[ 9.93977921e-01 1.09580529e-01 2.23028485e-05 9.68872306e+01] [-1.09580529e-01 9.93977921e-01 -1.60028743e-06 1.02609119e+00] [-2.23438993e-05 -8.53307564e-07 1.00000000e+00 -1.08188843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10589822699998 meters 0.057655420650051734 Centerline is valid? [True, True] Translation: X:96.92, Y:1.03, Z:-1.09 [[ 9.94050221e-01 1.08905121e-01 -1.95790451e-03 9.69155955e+01] [-1.08905091e-01 9.94052145e-01 1.22487149e-04 1.02791438e+00] [ 1.95959865e-03 9.14673901e-05 9.99998076e-01 -1.08544753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13589822699998 meters 0.053006761772861705 Centerline is valid? [True, True] Translation: X:96.94, Y:1.02, Z:-1.09 [[ 9.94155910e-01 1.07902164e-01 -3.33921832e-03 9.69443037e+01] [-1.07902069e-01 9.94161506e-01 2.08965681e-04 1.02198125e+00] [ 3.34227017e-03 1.52564100e-04 9.99994403e-01 -1.08718389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16589822699999 meters 0.052975544883540567 Centerline is valid? [True, True] Translation: X:96.97, Y:1.02, Z:-1.09 [[ 9.94354814e-01 1.06028796e-01 -4.04936351e-03 9.69723909e+01] [-1.06028643e-01 9.94363044e-01 2.53165874e-04 1.02181418e+00] [ 4.05338030e-03 1.77611812e-04 9.99991769e-01 -1.08899198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19589822699999 meters 0.04905149007276274 Centerline is valid? [True, True] Translation: X:97.00, Y:1.02, Z:-1.09 [[ 9.94629840e-01 1.03430226e-01 -3.69716109e-03 9.70017997e+01] [-1.03430080e-01 9.94636700e-01 2.31190784e-04 1.01642690e+00] [ 3.70124423e-03 1.52448415e-04 9.99993139e-01 -1.08807166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22589822699999 meters 0.04229613207178227 Centerline is valid? [True, True] Translation: X:97.03, Y:1.01, Z:-1.09 [[ 9.94942217e-01 1.00410380e-01 -2.78201549e-03 9.70309457e+01] [-1.00410285e-01 9.94946101e-01 1.73867601e-04 1.00719154e+00] [ 2.78541357e-03 1.06354753e-04 9.99996115e-01 -1.08611284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25589822699999 meters 0.04062193089737056 Centerline is valid? [True, True] Translation: X:97.06, Y:1.00, Z:-1.09 [[ 9.95472926e-01 9.50378080e-02 -1.21203007e-03 9.70595726e+01] [-9.50377862e-02 9.95473663e-01 7.57146874e-05 9.99223863e-01] [ 1.21373977e-03 3.98167328e-05 9.99999263e-01 -1.08595463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28589822699999 meters 0.039794371934720206 Centerline is valid? [True, True] Translation: X:97.09, Y:1.00, Z:-1.09 [[ 9.95643737e-01 9.32288934e-02 -1.38645301e-03 9.70871710e+01] [-9.32288635e-02 9.95644701e-01 8.63354238e-05 1.00000364e+00] [ 1.38846354e-03 4.32981141e-05 9.99999035e-01 -1.08589449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31589822699999 meters 0.03995787864898807 Centerline is valid? [True, True] Translation: X:97.11, Y:1.00, Z:-1.09 [[ 9.95787001e-01 9.16804762e-02 -1.71444112e-03 9.71148138e+01] [-9.16804282e-02 9.95788475e-01 1.06740150e-04 9.98345456e-01] [ 1.71700670e-03 5.08902422e-05 9.99998525e-01 -1.08712222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34589822699999 meters 0.03678070913665082 Centerline is valid? [True, True] Translation: X:97.14, Y:0.99, Z:-1.09 [[ 9.95926497e-01 9.01391340e-02 -2.31277051e-03 9.71437010e+01] [-9.01390424e-02 9.95929180e-01 1.44024409e-04 9.92645951e-01] [ 2.31633788e-03 6.50331944e-05 9.99997315e-01 -1.08708962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.375898227 meters 0.03191623455900063 Centerline is valid? [True, True] Translation: X:97.17, Y:0.98, Z:-1.09 [[ 9.96085471e-01 8.83544102e-02 -2.68936938e-03 9.71719905e+01] [-8.83542801e-02 9.96089099e-01 1.67369956e-04 9.84663873e-01] [ 2.69363940e-03 7.09025135e-05 9.99996370e-01 -1.08576274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.405898227 meters 0.03415561451092989 Centerline is valid? [True, True] Translation: X:97.20, Y:0.98, Z:-1.09 [[ 9.96232040e-01 8.66902981e-02 -2.55240931e-03 9.72002621e+01] [-8.66901758e-02 9.96235308e-01 1.58716119e-04 9.81528364e-01] [ 2.55655942e-03 6.31507279e-05 9.99996730e-01 -1.08719676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.435898227 meters 0.03072607743684114 Centerline is valid? [True, True] Translation: X:97.23, Y:0.98, Z:-1.09 [[ 9.96400837e-01 8.47500372e-02 -1.67404415e-03 9.72282619e+01] [-8.47499821e-02 9.96402243e-01 1.03947891e-04 9.76632912e-01] [ 1.67683093e-03 3.83014458e-05 9.99998593e-01 -1.08558012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.465898227 meters 0.026557760101291034 Centerline is valid? [True, True] Translation: X:97.26, Y:0.97, Z:-1.08 [[ 9.96464859e-01 8.40041401e-02 -1.04382479e-03 9.72565360e+01] [-8.40041185e-02 9.96465405e-01 6.46795369e-05 9.67129376e-01] [ 1.04556864e-03 2.32346960e-05 9.99999453e-01 -1.08377875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49589822699998 meters 0.02616973742912563 Centerline is valid? [True, True] Translation: X:97.28, Y:0.96, Z:-1.08 [[ 9.96482751e-01 8.37945478e-02 -7.74804760e-04 9.72846786e+01] [-8.37945359e-02 9.96483052e-01 4.79157695e-05 9.62759566e-01] [ 7.76094892e-04 1.71771675e-05 9.99999699e-01 -1.08332468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52589822699998 meters 0.03146242319634015 Centerline is valid? [True, True] Translation: X:97.31, Y:0.97, Z:-1.09 [[ 9.96473260e-01 8.39044852e-02 -1.03895753e-03 9.73132534e+01] [-8.39044639e-02 9.96473801e-01 6.42086928e-05 9.66549037e-01] [ 1.04068135e-03 2.31909287e-05 9.99999458e-01 -1.08575105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55589822699999 meters 0.027630737353168906 Centerline is valid? [True, True] Translation: X:97.34, Y:0.96, Z:-1.08 [[ 9.96383768e-01 8.49490633e-02 -1.74430398e-03 9.73415973e+01] [-8.49490044e-02 9.96385294e-01 1.07951091e-04 9.58302672e-01] [ 1.74716918e-03 4.06161712e-05 9.99998473e-01 -1.08437388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58589822699999 meters 0.02972674727880819 Centerline is valid? [True, True] Translation: X:97.37, Y:0.96, Z:-1.08 [[ 9.96233876e-01 8.66864076e-02 -1.87900207e-03 9.73704467e+01] [-8.66863425e-02 9.96235647e-01 1.16214634e-04 9.57952958e-01] [ 1.88200308e-03 4.71068621e-05 9.99998228e-01 -1.08482089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61589822699999 meters 0.03634120637914995 Centerline is valid? [True, True] Translation: X:97.40, Y:0.96, Z:-1.08 [[ 9.95694286e-01 9.26933516e-02 -9.12304697e-04 9.74003847e+01] [-9.26933388e-02 9.95694703e-01 5.64724667e-05 9.62644419e-01] [ 9.13611577e-04 2.83352560e-05 9.99999582e-01 -1.08248675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64589822699999 meters 0.044857183465980256 Centerline is valid? [True, True] Translation: X:97.43, Y:0.97, Z:-1.08 [[ 9.95302913e-01 9.68076258e-02 -6.27770834e-04 9.74310385e+01] [-9.68076206e-02 9.95303111e-01 3.88141668e-05 9.65858662e-01] [ 6.28579771e-04 2.21411474e-05 9.99999802e-01 -1.08344592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67589822699999 meters 0.045604298995762405 Centerline is valid? [True, True] Translation: X:97.46, Y:0.97, Z:-1.08 [[ 9.94882621e-01 1.01037153e-01 -2.54837910e-04 9.74611072e+01] [-1.01037152e-01 9.94882653e-01 1.57297137e-05 9.70015480e-01] [ 2.55123102e-04 1.00988780e-05 9.99999967e-01 -1.08208468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70589822699999 meters 0.04947225410911736 Centerline is valid? [True, True] Translation: X:97.49, Y:0.97, Z:-1.08 [[ 9.94452812e-01 1.05182582e-01 -4.78035088e-04 9.74913485e+01] [-1.05182580e-01 9.94452927e-01 2.95849675e-05 9.72343839e-01] [ 4.78495216e-04 2.08601099e-05 9.99999885e-01 -1.08242910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73589822699999 meters 0.054203208432291594 Centerline is valid? [True, True] Translation: X:97.52, Y:0.98, Z:-1.08 [[ 9.94097436e-01 1.08490314e-01 -3.72095498e-04 9.75203664e+01] [-1.08490313e-01 9.94097506e-01 2.29293988e-05 9.75355481e-01] [ 3.72386824e-04 1.75747005e-05 9.99999931e-01 -1.08290537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.765898227 meters 0.05718472838884256 Centerline is valid? [True, True] Translation: X:97.55, Y:0.98, Z:-1.08 [[ 9.93858869e-01 1.10654914e-01 -1.94273184e-04 9.75490561e+01] [-1.10654914e-01 9.93858888e-01 1.17928391e-05 9.75774488e-01] [ 1.94385066e-04 9.77686472e-06 9.99999981e-01 -1.08338786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.795898227 meters 0.06011066471794154 Centerline is valid? [True, True] Translation: X:97.58, Y:0.97, Z:-1.09 [[ 9.93645650e-01 1.12549626e-01 -9.51289831e-04 9.75780616e+01] [-1.12549621e-01 9.93646104e-01 5.86498636e-05 9.72443196e-01] [ 9.51846454e-04 4.87901280e-05 9.99999546e-01 -1.08572958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.825898227 meters 0.06011066471794154 Centerline is valid? [True, True] Translation: X:97.61, Y:0.97, Z:-1.09 [[ 9.93653392e-01 1.12481253e-01 -9.51303203e-04 9.76055376e+01] [-1.12481249e-01 9.93653846e-01 5.84333315e-05 9.70879545e-01] [ 9.51838740e-04 4.89412942e-05 9.99999546e-01 -1.08585067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85589822699998 meters 0.05874062952271979 Centerline is valid? [True, True] Translation: X:97.63, Y:0.96, Z:-1.09 [[ 9.93655945e-01 1.12456655e-01 -1.16740726e-03 9.76341758e+01] [-1.12456648e-01 9.93656629e-01 7.18141447e-05 9.62470086e-01] [ 1.16807794e-03 5.99241561e-05 9.99999316e-01 -1.08632020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88589822699998 meters 0.062191419396694786 Centerline is valid? [True, True] Translation: X:97.66, Y:0.96, Z:-1.09 [[ 9.93727278e-01 1.11818906e-01 -1.62150107e-03 9.76617562e+01] [-1.11818892e-01 9.93728598e-01 9.95108269e-05 9.64781912e-01] [ 1.62245917e-03 8.24278291e-05 9.99998680e-01 -1.08767291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91589822699999 meters 0.053926673894979384 Centerline is valid? [True, True] Translation: X:97.69, Y:0.96, Z:-1.09 [[ 9.93824789e-01 1.10941620e-01 -2.06045783e-03 9.76901979e+01] [-1.10941595e-01 9.93826920e-01 1.26707422e-04 9.55322484e-01] [ 2.06179559e-03 1.02665502e-04 9.99997869e-01 -1.08645218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94589822699999 meters 0.05956026502628923 Centerline is valid? [True, True] Translation: X:97.72, Y:0.96, Z:-1.09 [[ 9.93950250e-01 1.09797227e-01 -2.73298439e-03 9.77186666e+01] [-1.09797179e-01 9.93953999e-01 1.67931829e-04 9.56304274e-01] [ 2.73489921e-03 1.33158093e-04 9.99996251e-01 -1.08937361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97589822699999 meters 0.05850437135322057 Centerline is valid? [True, True] Translation: X:97.75, Y:0.96, Z:-1.09 [[ 9.94111426e-01 1.08324529e-01 -2.87551157e-03 9.77470111e+01] [-1.08324471e-01 9.94115576e-01 1.76577288e-04 9.56120732e-01] [ 2.87771849e-03 1.35950769e-04 9.99995850e-01 -1.09010046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00589822699999 meters 0.045704008556575755 Centerline is valid? [True, True] Translation: X:97.78, Y:0.93, Z:-1.09 [[ 9.94388713e-01 1.05684754e-01 -4.67122307e-03 9.77758823e+01] [-1.05684570e-01 9.94399663e-01 2.86880685e-04 9.34806668e-01] [ 4.67538156e-03 2.08405288e-04 9.99989049e-01 -1.09024164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03589822699999 meters 0.055606393760391705 Centerline is valid? [True, True] Translation: X:97.80, Y:0.94, Z:-1.09 [[ 9.94486881e-01 1.04718707e-01 -5.46214711e-03 9.78039556e+01] [-1.04718443e-01 9.94501853e-01 3.35005887e-04 9.44461820e-01] [ 5.46719681e-03 2.38828583e-04 9.99985026e-01 -1.09421678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06589822699999 meters 0.0504424632797287 Centerline is valid? [True, True] Translation: X:97.83, Y:0.94, Z:-1.09 [[ 9.94554090e-01 1.04065530e-01 -5.70333944e-03 9.78323915e+01] [-1.04065233e-01 9.94570412e-01 3.49613129e-04 9.35549934e-01] [ 5.70875533e-03 2.45810180e-04 9.99983675e-01 -1.09224070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09589822699999 meters 0.05059917375255798 Centerline is valid? [True, True] Translation: X:97.86, Y:0.93, Z:-1.09 [[ 9.94532802e-01 1.04299336e-01 -5.11406693e-03 9.78613440e+01] [-1.04299102e-01 9.94545926e-01 3.13230799e-04 9.33930945e-01] [ 5.11884420e-03 2.21874283e-04 9.99986874e-01 -1.09068847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.125898227 meters 0.05099692788473392 Centerline is valid? [True, True] Translation: X:97.89, Y:0.93, Z:-1.09 [[ 9.94453542e-01 1.05079361e-01 -4.52560396e-03 9.78901343e+01] [-1.05079187e-01 9.94463819e-01 2.76929344e-04 9.26019260e-01] [ 4.52964896e-03 2.00153418e-04 9.99989721e-01 -1.08908403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.155898227 meters 0.05858332620642697 Centerline is valid? [True, True] Translation: X:97.92, Y:0.94, Z:-1.09 [[ 9.94185590e-01 1.07636852e-01 -3.05281396e-03 9.79195205e+01] [-1.07636786e-01 9.94190267e-01 1.86514566e-04 9.41623612e-01] [ 3.05515377e-03 1.43164989e-04 9.99995323e-01 -1.08719499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.185898227 meters 0.06348377907612548 Centerline is valid? [True, True] Translation: X:97.95, Y:0.95, Z:-1.09 [[ 9.93995889e-01 1.09386731e-01 -2.59148137e-03 9.79481811e+01] [-1.09386689e-01 9.93999259e-01 1.58237828e-04 9.46198931e-01] [ 2.59323968e-03 1.26185817e-04 9.99996630e-01 -1.08694230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.215898227 meters 0.05791802312403149 Centerline is valid? [True, True] Translation: X:97.98, Y:0.94, Z:-1.08 [[ 9.93772804e-01 1.11412687e-01 -1.68128262e-03 9.79768309e+01] [-1.11412673e-01 9.93774223e-01 1.02575530e-04 9.37308478e-01] [ 1.68224354e-03 8.53794189e-05 9.99998581e-01 -1.08414030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24589822699998 meters 0.05773593560682073 Centerline is valid? [True, True] Translation: X:98.01, Y:0.93, Z:-1.08 [[ 9.93548120e-01 1.13402538e-01 -1.41329434e-03 9.80060106e+01] [-1.13402530e-01 9.93549123e-01 8.61482546e-05 9.34868366e-01] [ 1.41394678e-03 7.46787165e-05 9.99998998e-01 -1.08333548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27589822699998 meters 0.07368457737012771 Centerline is valid? [True, True] Translation: X:98.04, Y:0.95, Z:-1.09 [[ 9.93252310e-01 1.15958755e-01 -1.84794171e-03 9.80358882e+01] [-1.15958745e-01 9.93254024e-01 1.12699814e-04 9.51873117e-01] [ 1.84854407e-03 1.02345652e-04 9.99998286e-01 -1.08606371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30589822699999 meters 0.06001706908956531 Centerline is valid? [True, True] Translation: X:98.06, Y:0.93, Z:-1.08 [[ 9.93149461e-01 1.16846502e-01 -1.02108876e-03 9.80627568e+01] [-1.16846500e-01 9.93149984e-01 6.18334714e-05 9.28488836e-01] [ 1.02131931e-03 5.79007681e-05 9.99999477e-01 -1.08376323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33589822699999 meters 0.05952486444205502 Centerline is valid? [True, True] Translation: X:98.09, Y:0.93, Z:-1.08 [[ 9.93012532e-01 1.18008895e-01 -1.07302601e-04 9.80923252e+01] [-1.18008895e-01 9.93012538e-01 6.43164571e-06 9.28880979e-01] [ 1.07311820e-04 6.27595663e-06 9.99999994e-01 -1.08086100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36589822699999 meters 0.06199163717386469 Centerline is valid? [True, True] Translation: X:98.12, Y:0.93, Z:-1.08 [[ 9.92851711e-01 1.19350401e-01 9.81164567e-04 9.81208165e+01] [-1.19350400e-01 9.92852194e-01 -5.99432507e-05 9.30038491e-01] [-9.81305644e-04 -5.75876244e-05 9.99999517e-01 -1.08064969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39589822699999 meters 0.06556630798403247 Centerline is valid? [True, True] Translation: X:98.15, Y:0.93, Z:-1.08 [[ 9.92731941e-01 1.20343577e-01 8.46790893e-04 9.81493206e+01] [-1.20343577e-01 9.92732301e-01 -5.17205636e-05 9.32539528e-01] [-8.46860909e-04 -5.05611892e-05 9.99999640e-01 -1.08180288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42589822699999 meters 0.06673270797246113 Centerline is valid? [True, True] Translation: X:98.18, Y:0.93, Z:-1.08 [[ 9.92610413e-01 1.21344563e-01 2.55576769e-04 9.81791623e+01] [-1.21344563e-01 9.92610446e-01 -1.56434817e-05 9.31704840e-01] [-2.55586422e-04 -1.54849684e-05 9.99999967e-01 -1.08288051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45589822699999 meters 0.07113876705219314 Centerline is valid? [True, True] Translation: X:98.21, Y:0.93, Z:-1.08 [[ 9.92317065e-01 1.23720823e-01 -5.34860111e-06 9.82083439e+01] [-1.23720823e-01 9.92317065e-01 2.71382810e-07 9.34971811e-01] [ 5.34108386e-06 3.92435540e-07 1.00000000e+00 -1.08290370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48589822699999 meters 0.07244871607035001 Centerline is valid? [True, True] Translation: X:98.24, Y:0.94, Z:-1.08 [[ 9.92139877e-01 1.25133789e-01 -1.68958468e-05 9.82381285e+01] [-1.25133789e-01 9.92139877e-01 9.25262170e-07 9.35494663e-01] [ 1.68788249e-05 1.19625183e-06 1.00000000e+00 -1.08253296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.515898227 meters 0.06952011344645893 Centerline is valid? [True, True] Translation: X:98.27, Y:0.93, Z:-1.08 [[ 9.91889355e-01 1.27102543e-01 -6.71968114e-04 9.82684880e+01] [-1.27102544e-01 9.91889581e-01 4.08368074e-05 9.31008610e-01] [ 6.71708633e-04 4.49032621e-05 9.99999773e-01 -1.08327245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.545898227 meters 0.0783269044172745 Centerline is valid? [True, True] Translation: X:98.30, Y:0.94, Z:-1.09 [[ 9.91615990e-01 1.29211830e-01 -1.42509543e-03 9.82988164e+01] [-1.29211838e-01 9.91617009e-01 8.65368981e-05 9.42076575e-01] [ 1.42433046e-03 9.83278283e-05 9.99998981e-01 -1.08535827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.575898227 meters 0.07517653626848886 Centerline is valid? [True, True] Translation: X:98.33, Y:0.94, Z:-1.09 [[ 9.91384784e-01 1.30961339e-01 -2.31019293e-03 9.83283047e+01] [-1.30961366e-01 9.91387463e-01 1.40288585e-04 9.37333827e-01] [ 2.30866869e-03 1.63466053e-04 9.99997322e-01 -1.08675635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60589822699998 meters 0.07883983949103922 Centerline is valid? [True, True] Translation: X:98.36, Y:0.94, Z:-1.09 [[ 9.91384112e-01 1.30960551e-01 -2.62227748e-03 9.83563345e+01] [-1.30960586e-01 9.91387563e-01 1.58888469e-04 9.42042168e-01] [ 2.62050140e-03 1.85895492e-04 9.99996549e-01 -1.08845755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63589822699998 meters 0.07148755020178503 Centerline is valid? [True, True] Translation: X:98.39, Y:0.93, Z:-1.09 [[ 9.91618497e-01 1.29168420e-01 -2.87676963e-03 9.83856458e+01] [-1.29168455e-01 9.91622650e-01 1.74503707e-04 9.31270757e-01] [ 2.87521029e-03 1.98546784e-04 9.99995847e-01 -1.08768446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66589822699999 meters 0.07821224592123342 Centerline is valid? [True, True] Translation: X:98.42, Y:0.94, Z:-1.09 [[ 9.91933571e-01 1.26723669e-01 -2.98378150e-03 9.84155567e+01] [-1.26723696e-01 9.91938038e-01 1.80922014e-04 9.37959090e-01] [ 2.98265347e-03 1.98653199e-04 9.99995532e-01 -1.08940918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69589822699999 meters 0.07262672010569357 Centerline is valid? [True, True] Translation: X:98.45, Y:0.93, Z:-1.09 [[ 9.92292129e-01 1.23860573e-01 -3.85865697e-03 9.84450159e+01] [-1.23860595e-01 9.92299601e-01 2.34039850e-04 9.28181752e-01] [ 3.85793209e-03 2.45699649e-04 9.99992528e-01 -1.09052985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72589822699999 meters 0.0687465766709311 Centerline is valid? [True, True] Translation: X:98.48, Y:0.92, Z:-1.09 [[ 9.92652153e-01 1.20896646e-01 -5.06988492e-03 9.84750542e+01] [-1.20896647e-01 9.92665052e-01 3.07467520e-04 9.19810265e-01] [ 5.06986937e-03 3.07723791e-04 9.99987101e-01 -1.09308613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75589822699999 meters 0.06781091860804121 Centerline is valid? [True, True] Translation: X:98.50, Y:0.91, Z:-1.10 [[ 9.93265228e-01 1.15706591e-01 -6.01427289e-03 9.85043254e+01] [-1.15706498e-01 9.93283380e-01 3.64612388e-04 9.14568972e-01] [ 6.01606537e-03 3.33733647e-04 9.99981848e-01 -1.09610406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78589822699999 meters 0.06346196885452007 Centerline is valid? [True, True] Translation: X:98.53, Y:0.91, Z:-1.09 [[ 9.93366373e-01 1.14846533e-01 -5.78985804e-03 9.85323539e+01] [-1.14846435e-01 9.93383196e-01 3.50604213e-04 9.06791892e-01] [ 5.79181336e-03 3.16666117e-04 9.99983177e-01 -1.09407629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81589822699999 meters 0.05858092333596471 Centerline is valid? [True, True] Translation: X:98.56, Y:0.90, Z:-1.09 [[ 9.93309847e-01 1.15331836e-01 -5.84089441e-03 9.85609884e+01] [-1.15331745e-01 9.93326967e-01 3.53406042e-04 8.98231618e-01] [ 5.84267690e-03 3.22598844e-04 9.99982879e-01 -1.09212892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84589822699999 meters 0.07111357042785302 Centerline is valid? [True, True] Translation: X:98.59, Y:0.91, Z:-1.09 [[ 9.93151142e-01 1.16694826e-01 -5.75555955e-03 9.85899470e+01] [-1.16694764e-01 9.93167766e-01 3.47886544e-04 9.12661093e-01] [ 5.75683278e-03 3.26139743e-04 9.99983376e-01 -1.09459126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.875898227 meters 0.06804352075343797 Centerline is valid? [True, True] Translation: X:98.62, Y:0.91, Z:-1.09 [[ 9.92798743e-01 1.19631180e-01 -6.24789925e-03 9.86202716e+01] [-1.19631163e-01 9.92818333e-01 3.77878015e-04 9.07332690e-01] [ 6.24823491e-03 3.72286633e-04 9.99980410e-01 -1.09335122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.905898227 meters 0.07396274883509894 Centerline is valid? [True, True] Translation: X:98.65, Y:0.92, Z:-1.10 [[ 9.91907510e-01 1.26738288e-01 -7.54301832e-03 9.86507348e+01] [-1.26738468e-01 9.91936063e-01 4.56104088e-04 9.16252584e-01] [ 7.53999774e-03 5.03577515e-04 9.99971447e-01 -1.09589795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.935898227 meters 0.0752910116195453 Centerline is valid? [True, True] Translation: X:98.68, Y:0.92, Z:-1.10 [[ 9.91491538e-01 1.29962862e-01 -7.36107498e-03 9.86808309e+01] [-1.29963122e-01 9.91518728e-01 4.45005131e-04 9.17938623e-01] [ 7.35647784e-03 5.15449467e-04 9.99972808e-01 -1.09528278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.965898227 meters 0.07600527295381315 Centerline is valid? [True, True] Translation: X:98.71, Y:0.92, Z:-1.09 [[ 9.91191897e-01 1.32288065e-01 -6.20412648e-03 9.87109831e+01] [-1.32288296e-01 9.91211212e-01 3.74981334e-04 9.18817138e-01] [ 6.19920528e-03 4.49054858e-04 9.99980684e-01 -1.09371463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99589822699998 meters 0.07511899371567413 Centerline is valid? [True, True] Translation: X:98.74, Y:0.92, Z:-1.09 [[ 9.91022652e-01 1.33593511e-01 -5.18424125e-03 9.87407063e+01] [-1.33593690e-01 9.91036139e-01 3.13151903e-04 9.17910009e-01] [ 5.17960549e-03 3.82241291e-04 9.99986513e-01 -1.09157120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02589822699998 meters 0.07409116014530769 Centerline is valid? [True, True] Translation: X:98.77, Y:0.92, Z:-1.09 [[ 9.91008026e-01 1.33730841e-01 -4.37652352e-03 9.87697064e+01] [-1.33730976e-01 9.91017637e-01 2.62963578e-04 9.17324114e-01] [ 4.37237833e-03 3.24677747e-04 9.99990388e-01 -1.08921269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05589822699999 meters 0.07418513399585541 Centerline is valid? [True, True] Translation: X:98.80, Y:0.92, Z:-1.09 [[ 9.91023034e-01 1.33633838e-01 -3.91713280e-03 9.87979091e+01] [-1.33633950e-01 9.91030732e-01 2.34415966e-04 9.18304448e-01] [ 3.91332489e-03 2.91150306e-04 9.99992301e-01 -1.08871437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08589822699999 meters 0.08647520498263828 Centerline is valid? [True, True] Translation: X:98.83, Y:0.93, Z:-1.09 [[ 9.90969480e-01 1.34046784e-01 -3.30901686e-03 9.88267525e+01] [-1.34046865e-01 9.90974974e-01 1.98279771e-04 9.34719546e-01] [ 3.30573166e-03 2.47074134e-04 9.99994506e-01 -1.08944573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11589822699999 meters 0.0834574764558279 Centerline is valid? [True, True] Translation: X:98.86, Y:0.93, Z:-1.09 [[ 9.90816893e-01 1.35183202e-01 -2.71777375e-03 9.88563664e+01] [-1.35183261e-01 9.90820599e-01 1.62904979e-04 9.30997859e-01] [ 2.71484823e-03 2.05988513e-04 9.99996294e-01 -1.08809852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14589822699999 meters 0.08582215693402932 Centerline is valid? [True, True] Translation: X:98.89, Y:0.94, Z:-1.09 [[ 9.90530160e-01 1.37284870e-01 -1.69289553e-03 9.88865860e+01] [-1.37284895e-01 9.90531598e-01 1.01479219e-04 9.36460304e-01] [ 1.69079808e-03 1.31890760e-04 9.99998562e-01 -1.08679393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17589822699999 meters 0.0841354909592485 Centerline is valid? [True, True] Translation: X:98.92, Y:0.93, Z:-1.09 [[ 9.90504240e-01 1.37468542e-01 -1.93661686e-03 9.89150564e+01] [-1.37468578e-01 9.90506121e-01 1.15095012e-04 9.33095470e-01] [ 1.93405280e-03 1.52221869e-04 9.99998118e-01 -1.08759782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20589822699999 meters 0.07950257759924136 Centerline is valid? [True, True] Translation: X:98.94, Y:0.93, Z:-1.09 [[ 9.90539353e-01 1.37213618e-01 -2.05234913e-03 9.89433014e+01] [-1.37213659e-01 9.90541467e-01 1.21505003e-04 9.31254990e-01] [ 2.04960906e-03 1.61254847e-04 9.99997887e-01 -1.08673113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23589822699999 meters 0.08000450086653195 Centerline is valid? [True, True] Translation: X:98.97, Y:0.93, Z:-1.09 [[ 9.90642162e-01 1.36469405e-01 -2.05120576e-03 9.89721766e+01] [-1.36469445e-01 9.90644273e-01 1.21189685e-04 9.30778804e-01] [ 2.04855392e-03 1.59871298e-04 9.99997889e-01 -1.08817130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.265898227 meters 0.07823929789370086 Centerline is valid? [True, True] Translation: X:99.00, Y:0.93, Z:-1.09 [[ 9.90763083e-01 1.35597455e-01 -1.35751546e-03 9.89999809e+01] [-1.35597471e-01 9.90764008e-01 8.03502783e-05 9.32651431e-01] [ 1.35587275e-03 1.04467574e-04 9.99999075e-01 -1.08654054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.295898227 meters 0.08539170721925604 Centerline is valid? [True, True] Translation: X:99.03, Y:0.95, Z:-1.09 [[ 9.90978703e-01 1.34016999e-01 -8.08353637e-04 9.90300309e+01] [-1.34017004e-01 9.90979031e-01 4.78795261e-05 9.45794871e-01] [ 8.07478174e-04 6.08855419e-05 9.99999672e-01 -1.08631709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.325898227 meters 0.0755756464041214 Centerline is valid? [True, True] Translation: X:99.06, Y:0.93, Z:-1.09 [[ 9.91132785e-01 1.32864115e-01 -1.71155358e-03 9.90580124e+01] [-1.32864137e-01 9.91134255e-01 1.01307757e-04 9.33577097e-01] [ 1.70983955e-03 1.26994650e-04 9.99998530e-01 -1.08667465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35589822699998 meters 0.07969908763079585 Centerline is valid? [True, True] Translation: X:99.09, Y:0.94, Z:-1.09 [[ 9.91355127e-01 1.31173497e-01 -2.91974312e-03 9.90876870e+01] [-1.31173553e-01 9.91359405e-01 1.73001736e-04 9.38245897e-01] [ 2.91720805e-03 2.11486923e-04 9.99995723e-01 -1.08840607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38589822699998 meters 0.07240980399179375 Centerline is valid? [True, True] Translation: X:99.12, Y:0.93, Z:-1.09 [[ 9.91599279e-01 1.29301842e-01 -3.45028823e-03 9.91174444e+01] [-1.29301910e-01 9.91605251e-01 2.04467425e-04 9.27406819e-01] [ 3.44776194e-03 2.43379105e-04 9.99994027e-01 -1.08842098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41589822699999 meters 0.07991675283578985 Centerline is valid? [True, True] Translation: X:99.15, Y:0.94, Z:-1.09 [[ 9.91863737e-01 1.27265065e-01 -3.15127272e-03 9.91470662e+01] [-1.27265111e-01 9.91868719e-01 1.86614321e-04 9.35386553e-01] [ 3.14939832e-03 2.15951095e-04 9.99995017e-01 -1.08949402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44589822699999 meters 0.07275630392558761 Centerline is valid? [True, True] Translation: X:99.18, Y:0.93, Z:-1.09 [[ 9.92117552e-01 1.25278589e-01 -2.83518394e-03 9.91761448e+01] [-1.25278618e-01 9.92121585e-01 1.67820253e-04 9.25026304e-01] [ 2.83387147e-03 1.88690507e-04 9.99995967e-01 -1.08865411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47589822699999 meters 0.06900233759080833 Centerline is valid? [True, True] Translation: X:99.21, Y:0.92, Z:-1.09 [[ 9.92306730e-01 1.23775364e-01 -2.64812551e-03 9.92054228e+01] [-1.23775385e-01 9.92310249e-01 1.56676180e-04 9.18988609e-01] [ 2.64715473e-03 1.72301926e-04 9.99996481e-01 -1.08836007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50589822699999 meters 0.06785661248992274 Centerline is valid? [True, True] Translation: X:99.23, Y:0.92, Z:-1.09 [[ 9.92442069e-01 1.22667058e-01 -3.39599606e-03 9.92339130e+01] [-1.22667087e-01 9.92447855e-01 2.00685971e-04 9.15744863e-01] [ 3.39496656e-03 2.17407743e-04 9.99994213e-01 -1.09057214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53589822699999 meters 0.06763984297019295 Centerline is valid? [True, True] Translation: X:99.26, Y:0.91, Z:-1.09 [[ 9.92582723e-01 1.21497552e-01 -4.22876868e-03 9.92615760e+01] [-1.21497587e-01 9.92591696e-01 2.49436967e-04 9.13516917e-01] [ 4.22774665e-03 2.66198368e-04 9.99991028e-01 -1.09253934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56589822699999 meters 0.0684088019197792 Centerline is valid? [True, True] Translation: X:99.29, Y:0.91, Z:-1.09 [[ 9.92949800e-01 1.18446183e-01 -4.60386843e-03 9.92912117e+01] [-1.18446192e-01 9.92960435e-01 2.71823390e-04 9.10033559e-01] [ 4.60365564e-03 2.75403702e-04 9.99989365e-01 -1.09431569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59589822699999 meters 0.06459604458962477 Centerline is valid? [True, True] Translation: X:99.32, Y:0.90, Z:-1.09 [[ 9.93105548e-01 1.17143086e-01 -4.34367724e-03 9.93203655e+01] [-1.17143082e-01 9.93115015e-01 2.56318330e-04 9.01639594e-01] [ 4.34379700e-03 2.54280581e-04 9.99990533e-01 -1.09315491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.625898227 meters 0.06726646896369921 Centerline is valid? [True, True] Translation: X:99.35, Y:0.90, Z:-1.09 [[ 9.93238067e-01 1.16023076e-01 -4.09727120e-03 9.93486918e+01] [-1.16023064e-01 9.93246490e-01 2.41474487e-04 9.01449532e-01] [ 4.09761686e-03 2.35536306e-04 9.99991577e-01 -1.09332008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.655898227 meters 0.062522461497295 Centerline is valid? [True, True] Translation: X:99.38, Y:0.89, Z:-1.09 [[ 9.93318948e-01 1.15328781e-01 -4.09147604e-03 9.93770707e+01] [-1.15328764e-01 9.93327347e-01 2.40937497e-04 8.92063424e-01] [ 4.09196206e-03 2.32537093e-04 9.99991601e-01 -1.09226155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.685898227 meters 0.05847922400511337 Centerline is valid? [True, True] Translation: X:99.41, Y:0.88, Z:-1.09 [[ 9.93346522e-01 1.15087908e-01 -4.17865066e-03 9.94058882e+01] [-1.15087889e-01 9.93355283e-01 2.45863842e-04 8.84020584e-01] [ 4.17918066e-03 2.36684090e-04 9.99991239e-01 -1.09121085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.715898227 meters 0.05847922400511337 Centerline is valid? [True, True] Translation: X:99.43, Y:0.88, Z:-1.09 [[ 9.93354971e-01 1.15014958e-01 -4.17867506e-03 9.94333752e+01] [-1.15014940e-01 9.93363732e-01 2.45449074e-04 8.82531358e-01] [ 4.17917457e-03 2.36792004e-04 9.99991239e-01 -1.09133199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74589822699998 meters 0.06517241873227121 Centerline is valid? [True, True] Translation: X:99.46, Y:0.89, Z:-1.09 [[ 9.93322474e-01 1.15313524e-01 -3.64063398e-03 9.94613906e+01] [-1.15313513e-01 9.93329124e-01 2.13636649e-04 8.88621969e-01] [ 3.64098295e-03 2.07604210e-04 9.99993350e-01 -1.09231179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77589822699998 meters 0.0639057103472236 Centerline is valid? [True, True] Translation: X:99.49, Y:0.88, Z:-1.09 [[ 9.92882834e-01 1.19083413e-01 -1.67902800e-03 9.94911943e+01] [-1.19083416e-01 9.92884248e-01 9.85733785e-05 8.83621629e-01] [ 1.67881891e-03 1.02072575e-04 9.99998586e-01 -1.08846819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80589822699999 meters 0.06853647555033915 Centerline is valid? [True, True] Translation: X:99.52, Y:0.89, Z:-1.09 [[ 9.92508508e-01 1.22171833e-01 -9.51642471e-04 9.95206725e+01] [-1.22171835e-01 9.92508962e-01 5.58958170e-05 8.87734881e-01] [ 9.51342575e-04 6.07868331e-05 9.99999546e-01 -1.08699764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83589822699999 meters 0.07263844261193092 Centerline is valid? [True, True] Translation: X:99.55, Y:0.89, Z:-1.09 [[ 9.92089769e-01 1.25529799e-01 -3.99699511e-04 9.95500467e+01] [-1.25529800e-01 9.92089849e-01 2.35990465e-05 8.91995184e-01] [ 3.99500211e-04 2.67618271e-05 9.99999920e-01 -1.08610751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86589822699999 meters 0.07775352372031191 Centerline is valid? [True, True] Translation: X:99.58, Y:0.90, Z:-1.09 [[ 9.91644438e-01 1.29000409e-01 -4.51596141e-04 9.95798443e+01] [-1.29000410e-01 9.91644540e-01 2.64858085e-05 8.98350306e-01] [ 4.51239528e-04 3.19915828e-05 9.99999898e-01 -1.08697732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89589822699999 meters 0.08023819814814542 Centerline is valid? [True, True] Translation: X:99.61, Y:0.90, Z:-1.09 [[ 9.91272743e-01 1.31825051e-01 -7.10776793e-04 9.96101210e+01] [-1.31825055e-01 9.91272996e-01 4.16966026e-05 9.01692192e-01] [ 7.10070498e-04 5.23654840e-05 9.99999747e-01 -1.08751815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92589822699999 meters 0.0809129668943113 Centerline is valid? [True, True] Translation: X:99.64, Y:0.90, Z:-1.09 [[ 9.91051884e-01 1.33471406e-01 -1.24402840e-03 9.96404292e+01] [-1.33471418e-01 9.91052660e-01 7.30112339e-05 9.02707446e-01] [ 1.24264257e-03 9.36843144e-05 9.99999224e-01 -1.08890566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95589822699999 meters 0.07762644086192722 Centerline is valid? [True, True] Translation: X:99.67, Y:0.90, Z:-1.09 [[ 9.91157241e-01 1.32687339e-01 -1.18053438e-03 9.96693877e+01] [-1.32687351e-01 9.91157940e-01 6.84080815e-05 9.00824341e-01] [ 1.17917291e-03 8.88388150e-05 9.99999301e-01 -1.08901005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98589822699999 meters 0.08408945958873137 Centerline is valid? [True, True] Translation: X:99.70, Y:0.91, Z:-1.09 [[ 9.91430682e-01 1.30632146e-01 -6.66712249e-04 9.96988984e+01] [-1.30632149e-01 9.91430905e-01 3.89452342e-05 9.09623401e-01] [ 6.66086628e-04 4.84825540e-05 9.99999777e-01 -1.08892544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.015898227 meters 0.07433000444827714 Centerline is valid? [True, True] Translation: X:99.73, Y:0.90, Z:-1.09 [[ 9.91759227e-01 1.28114923e-01 -4.48421769e-04 9.97286307e+01] [-1.28114925e-01 9.91759328e-01 2.62181487e-05 8.97048104e-01] [ 4.48085408e-04 3.14474302e-05 9.99999899e-01 -1.08790235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.045898227 meters 0.07639111503634552 Centerline is valid? [True, True] Translation: X:99.76, Y:0.90, Z:-1.09 [[ 9.92116018e-01 1.25322000e-01 -4.49730001e-04 9.97578540e+01] [-1.25322001e-01 9.92116120e-01 2.62486237e-05 8.96797461e-01] [ 4.49473914e-04 3.03193834e-05 9.99999899e-01 -1.08976928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.075898227 meters 0.07443041887948164 Centerline is valid? [True, True] Translation: X:99.79, Y:0.90, Z:-1.09 [[ 9.92422297e-01 1.22872466e-01 -5.83717742e-04 9.97871297e+01] [-1.22872468e-01 9.92422468e-01 3.40760377e-05 8.95024596e-01] [ 5.83481609e-04 3.79050198e-05 9.99999829e-01 -1.09037036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10589822699998 meters 0.06332989214900825 Centerline is valid? [True, True] Translation: X:99.82, Y:0.88, Z:-1.09 [[ 9.92828721e-01 1.19540960e-01 -1.04367403e-03 9.98168136e+01] [-1.19540962e-01 9.92829268e-01 6.10372190e-05 8.80968294e-01] [ 1.04348657e-03 6.41622929e-05 9.99999454e-01 -1.09049508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13589822699998 meters 0.07010061432219453 Centerline is valid? [True, True] Translation: X:99.85, Y:0.89, Z:-1.09 [[ 9.92933452e-01 1.18669400e-01 -8.56025632e-04 9.98451096e+01] [-1.18669401e-01 9.92933820e-01 4.96116593e-05 8.89849142e-01] [ 8.55864186e-04 5.23229726e-05 9.99999632e-01 -1.09105134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16589822699999 meters 0.06730901990302018 Centerline is valid? [True, True] Translation: X:99.87, Y:0.89, Z:-1.09 [[ 9.93049152e-01 1.17692789e-01 -1.33720965e-03 9.98734233e+01] [-1.17692792e-01 9.93050049e-01 7.71731696e-05 8.85711045e-01] [ 1.33699883e-03 8.07431859e-05 9.99999103e-01 -1.09110117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19589822699999 meters 0.06558208193228299 Centerline is valid? [True, True] Translation: X:99.90, Y:0.88, Z:-1.09 [[ 9.93147099e-01 1.16853035e-01 -2.05109513e-03 9.99024016e+01] [-1.16853039e-01 9.93149210e-01 1.18405779e-04 8.81773102e-01] [ 2.05087959e-03 1.22082343e-04 9.99997889e-01 -1.09240776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22589822699999 meters 0.06239157839878145 Centerline is valid? [True, True] Translation: X:99.93, Y:0.87, Z:-1.09 [[ 9.93159281e-01 1.16741729e-01 -2.45195019e-03 9.99297221e+01] [-1.16741733e-01 9.93162297e-01 1.41917784e-04 8.74879290e-01] [ 2.45175221e-03 1.45297951e-04 9.99996984e-01 -1.09320208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25589822699999 meters 0.07086275420868596 Centerline is valid? [True, True] Translation: X:99.96, Y:0.88, Z:-1.10 [[ 9.93130858e-01 1.16978726e-01 -2.66021793e-03 9.99574954e+01] [-1.16978733e-01 9.93134408e-01 1.53809139e-04 8.82938187e-01] [ 2.65994636e-03 1.58436320e-04 9.99996450e-01 -1.09520143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28589822699999 meters 0.07093318360912866 Centerline is valid? [True, True] Translation: X:99.99, Y:0.88, Z:-1.10 [[ 9.92813121e-01 1.19642163e-01 -2.80365356e-03 9.99872180e+01] [-1.19642180e-01 9.92817064e-01 1.62369403e-04 8.79561598e-01] [ 2.80294132e-03 1.74232751e-04 9.99996057e-01 -1.09598500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31589822699999 meters 0.06979053203090849 Centerline is valid? [True, True] Translation: X:100.02, Y:0.88, Z:-1.10 [[ 9.92530933e-01 1.21948441e-01 -3.30515550e-03 1.00016943e+02] [-1.21948477e-01 9.92536414e-01 1.91370234e-04 8.75628670e-01] [ 3.30382448e-03 2.13117803e-04 9.99994520e-01 -1.09573130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34589822699999 meters 0.07173906357840902 Centerline is valid? [True, True] Translation: X:100.05, Y:0.88, Z:-1.10 [[ 9.92207213e-01 1.24527271e-01 -4.21964392e-03 1.00047728e+02] [-1.24527353e-01 9.92216145e-01 2.44322501e-04 8.75929081e-01] [ 4.21722364e-03 2.83042538e-04 9.99991067e-01 -1.09660329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.375898227 meters 0.07394306494748704 Centerline is valid? [True, True] Translation: X:100.08, Y:0.88, Z:-1.10 [[ 9.91808393e-01 1.27636430e-01 -5.00528488e-03 1.00078072e+02] [-1.27636584e-01 9.91820961e-01 2.89957275e-04 8.76320141e-01] [ 5.00135557e-03 3.51275405e-04 9.99987431e-01 -1.09781145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.405898227 meters 0.07880818318454377 Centerline is valid? [True, True] Translation: X:100.11, Y:0.88, Z:-1.10 [[ 9.91389782e-01 1.30846044e-01 -5.06098708e-03 1.00107436e+02] [-1.30846242e-01 9.91402630e-01 2.93307929e-04 8.80054617e-01] [ 5.05585408e-03 3.71428657e-04 9.99987150e-01 -1.09892073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.435898227 meters 0.08472929181012875 Centerline is valid? [True, True] Translation: X:100.14, Y:0.89, Z:-1.10 [[ 9.91044997e-01 1.33461510e-01 -4.22360078e-03 1.00137554e+02] [-1.33461673e-01 9.91053945e-01 2.44679476e-04 8.85077260e-01] [ 4.21847151e-03 3.21200454e-04 9.99991051e-01 -1.09838227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.465898227 meters 0.09100852277939342 Centerline is valid? [True, True] Translation: X:100.17, Y:0.89, Z:-1.10 [[ 9.90480960e-01 1.37632895e-01 -2.15752183e-03 1.00167310e+02] [-1.37632948e-01 9.90483294e-01 1.24912629e-04 8.87287425e-01] [ 2.15418141e-03 1.73222508e-04 9.99997665e-01 -1.09680503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49589822699998 meters 0.09282602652639713 Centerline is valid? [True, True] Translation: X:100.20, Y:0.89, Z:-1.10 [[ 9.90263714e-01 1.39181717e-01 -2.49527900e-03 1.00197095e+02] [-1.39181792e-01 9.90266837e-01 1.44454089e-04 8.87208326e-01] [ 2.49109741e-03 2.04249760e-04 9.99996876e-01 -1.09690948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52589822699998 meters 0.085159307973452 Centerline is valid? [True, True] Translation: X:100.23, Y:0.88, Z:-1.10 [[ 9.90093736e-01 1.40381516e-01 -2.72470818e-03 1.00226369e+02] [-1.40381610e-01 9.90097459e-01 1.57621557e-04 8.75648303e-01] [ 2.71985380e-03 2.26438805e-04 9.99996276e-01 -1.09550914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55589822699999 meters 0.0880664049948596 Centerline is valid? [True, True] Translation: X:100.26, Y:0.88, Z:-1.09 [[ 9.89939167e-01 1.41467878e-01 -2.69905125e-03 1.00255376e+02] [-1.41467976e-01 9.89942820e-01 1.55879583e-04 8.76546776e-01] [ 2.69395836e-03 2.27518012e-04 9.99996345e-01 -1.09481035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58589822699999 meters 0.09003650227148687 Centerline is valid? [True, True] Translation: X:100.28, Y:0.88, Z:-1.09 [[ 9.89791877e-01 1.42506474e-01 -1.98605683e-03 1.00284219e+02] [-1.42506529e-01 9.89793855e-01 1.14642413e-04 8.76727919e-01] [ 1.98212413e-03 1.69553936e-04 9.99998021e-01 -1.09364679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61589822699999 meters 0.09267526246638834 Centerline is valid? [True, True] Translation: X:100.31, Y:0.88, Z:-1.09 [[ 9.89726749e-01 1.42970985e-01 -5.09456166e-04 1.00312237e+02] [-1.42970989e-01 9.89726879e-01 2.91638767e-05 8.77627247e-01] [ 5.08392050e-04 4.39731831e-05 9.99999870e-01 -1.09061498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64589822699999 meters 0.09267526246638834 Centerline is valid? [True, True] Translation: X:100.34, Y:0.88, Z:-1.09 [[ 9.89753059e-01 1.42788734e-01 -5.09493590e-04 1.00339748e+02] [-1.42788738e-01 9.89753189e-01 2.85143321e-05 8.76217216e-01] [ 5.08344431e-04 4.45277994e-05 9.99999870e-01 -1.09073622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67589822699999 meters 0.09551288910635274 Centerline is valid? [True, True] Translation: X:100.37, Y:0.88, Z:-1.09 [[ 9.89829070e-01 1.42251009e-01 1.75029829e-03 1.00368285e+02] [-1.42251051e-01 9.89830606e-01 -1.00866047e-04 8.77523425e-01] [-1.74684711e-03 -1.49141626e-04 9.99998463e-01 -1.08853600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70589822699999 meters 0.09138982834450438 Centerline is valid? [True, True] Translation: X:100.40, Y:0.87, Z:-1.09 [[ 9.89954485e-01 1.41360849e-01 2.68839976e-03 1.00397347e+02] [-1.41360947e-01 9.89958110e-01 -1.54656537e-04 8.70523079e-01] [-2.68326552e-03 -2.26931802e-04 9.99996374e-01 -1.08783079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73589822699999 meters 0.08914029534984687 Centerline is valid? [True, True] Translation: X:100.43, Y:0.87, Z:-1.09 [[ 9.90122353e-01 1.40169354e-01 3.20603324e-03 1.00426821e+02] [-1.40169487e-01 9.90127507e-01 -1.84341774e-04 8.66023936e-01] [-3.20022077e-03 -2.66867124e-04 9.99994844e-01 -1.08751533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.765898227 meters 0.08677230689649813 Centerline is valid? [True, True] Translation: X:100.46, Y:0.86, Z:-1.09 [[ 9.90320447e-01 1.38774175e-01 2.67230575e-03 1.00456754e+02] [-1.38774263e-01 9.90324028e-01 -1.53617591e-04 8.60348129e-01] [-2.66776675e-03 -2.18716618e-04 9.99996418e-01 -1.08794603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.795898227 meters 0.09070556960663494 Centerline is valid? [True, True] Translation: X:100.49, Y:0.86, Z:-1.09 [[ 9.90684058e-01 1.36171104e-01 1.59001691e-03 1.00485856e+02] [-1.36171131e-01 9.90685326e-01 -9.13803716e-05 8.61815867e-01] [-1.58764978e-03 -1.25985324e-04 9.99998732e-01 -1.09030083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.825898227 meters 0.07878762542511422 Centerline is valid? [True, True] Translation: X:100.51, Y:0.84, Z:-1.09 [[ 9.90814380e-01 1.35221327e-01 1.43416353e-03 1.00513436e+02] [-1.35221348e-01 9.90815412e-01 -8.24912139e-05 8.43938681e-01] [-1.43214590e-03 -1.12196045e-04 9.99998968e-01 -1.08958808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85589822699998 meters 0.0861383047118396 Centerline is valid? [True, True] Translation: X:100.54, Y:0.85, Z:-1.09 [[ 9.90894323e-01 1.34632673e-01 1.57577055e-03 1.00542020e+02] [-1.34632699e-01 9.90895569e-01 -9.05722906e-05 8.51081535e-01] [-1.57361804e-03 -1.22402672e-04 9.99998754e-01 -1.09019102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88589822699998 meters 0.08319293009861328 Centerline is valid? [True, True] Translation: X:100.57, Y:0.85, Z:-1.09 [[ 9.90964258e-01 1.34118378e-01 1.44920527e-03 1.00570782e+02] [-1.34118399e-01 9.90965311e-01 -8.35343820e-05 8.45209383e-01] [-1.44731565e-03 -1.11585504e-04 9.99998946e-01 -1.09047307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91589822699999 meters 0.07999879220236147 Centerline is valid? [True, True] Translation: X:100.60, Y:0.84, Z:-1.09 [[ 9.91063613e-01 1.33386960e-01 9.13355285e-04 1.00599080e+02] [-1.33386968e-01 9.91064031e-01 -5.23611868e-05 8.39115960e-01] [-9.12177871e-04 -6.99364252e-05 9.99999582e-01 -1.09109144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94589822699999 meters 0.07782352049900698 Centerline is valid? [True, True] Translation: X:100.63, Y:0.83, Z:-1.09 [[ 9.91191693e-01 1.32434274e-01 4.37708916e-04 1.00628017e+02] [-1.32434276e-01 9.91191789e-01 -2.56053319e-05 8.34406169e-01] [-4.37244507e-04 -3.25878710e-05 9.99999904e-01 -1.09176816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97589822699999 meters 0.08331245549776066 Centerline is valid? [True, True] Translation: X:100.66, Y:0.84, Z:-1.10 [[ 9.91375748e-01 1.31038053e-01 -1.77610357e-03 1.00657352e+02] [-1.31038082e-01 9.91377330e-01 1.00943098e-04 8.37647287e-01] [ 1.77401620e-03 1.32664665e-04 9.99998418e-01 -1.09564062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00589822699999 meters 0.08269685534617303 Centerline is valid? [True, True] Translation: X:100.69, Y:0.83, Z:-1.10 [[ 9.91437763e-01 1.30547339e-01 -2.92490001e-03 1.00685645e+02] [-1.30547417e-01 9.91442053e-01 1.65287277e-04 8.34668482e-01] [ 2.92144668e-03 2.17966093e-04 9.99995709e-01 -1.09741085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03589822699999 meters 0.09227490125566118 Centerline is valid? [True, True] Translation: X:100.71, Y:0.84, Z:-1.10 [[ 9.91396804e-01 1.30828140e-01 -4.04649489e-03 1.00713561e+02] [-1.30828289e-01 9.91405016e-01 2.29070228e-04 8.44561447e-01] [ 4.04168417e-03 3.02296512e-04 9.99991787e-01 -1.09999880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06589822699999 meters 0.08461035537850613 Centerline is valid? [True, True] Translation: X:100.74, Y:0.83, Z:-1.10 [[ 9.91266997e-01 1.31781377e-01 -4.83839665e-03 1.00742218e+02] [-1.31781601e-01 9.91278737e-01 2.73942802e-04 8.32836033e-01] [ 4.83230028e-03 3.66061197e-04 9.99988257e-01 -1.10003617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09589822699999 meters 0.077367677872375 Centerline is valid? [True, True] Translation: X:100.77, Y:0.82, Z:-1.10 [[ 9.91086772e-01 1.33118028e-01 -5.15759669e-03 1.00770686e+02] [-1.33118302e-01 9.91100112e-01 2.91676064e-04 8.21568662e-01] [ 5.15052200e-03 3.97494225e-04 9.99986657e-01 -1.09904953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.125898227 meters 0.08489283259040191 Centerline is valid? [True, True] Translation: X:100.80, Y:0.83, Z:-1.10 [[ 9.90852772e-01 1.34855696e-01 -4.97242203e-03 1.00800300e+02] [-1.34855971e-01 9.90865171e-01 2.81329240e-04 8.29787269e-01] [ 4.96493866e-03 3.91804946e-04 9.99987598e-01 -1.09932769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.155898227 meters 0.0876177408721672 Centerline is valid? [True, True] Translation: X:100.83, Y:0.83, Z:-1.10 [[ 9.90317171e-01 1.38760375e-01 -4.17834842e-03 1.00831044e+02] [-1.38760605e-01 9.90325925e-01 2.36350834e-04 8.33605584e-01] [ 4.17072289e-03 3.45727865e-04 9.99991243e-01 -1.09754848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.185898227 meters 0.08635518030270918 Centerline is valid? [True, True] Translation: X:100.86, Y:0.83, Z:-1.10 [[ 9.90160894e-01 1.39891320e-01 -3.43839838e-03 1.00860563e+02] [-1.39891483e-01 9.90166822e-01 1.94348140e-04 8.31860399e-01] [ 3.43177562e-03 2.88566720e-04 9.99994070e-01 -1.09736358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.215898227 meters 0.08916834788209302 Centerline is valid? [True, True] Translation: X:100.89, Y:0.83, Z:-1.10 [[ 9.90133519e-01 1.40097946e-01 -2.86018821e-03 1.00888864e+02] [-1.40098060e-01 9.90137621e-01 1.61327977e-04 8.34685760e-01] [ 2.85458167e-03 2.40970581e-04 9.99995897e-01 -1.09773162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24589822699998 meters 0.08540414444962534 Centerline is valid? [True, True] Translation: X:100.92, Y:0.83, Z:-1.10 [[ 9.90232795e-01 1.39408528e-01 -2.06734329e-03 1.00917597e+02] [-1.39408588e-01 9.90234938e-01 1.15746481e-04 8.28691101e-01] [ 2.06329160e-03 1.73589447e-04 9.99997856e-01 -1.09657476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27589822699998 meters 0.08781808295290312 Centerline is valid? [True, True] Translation: X:100.95, Y:0.83, Z:-1.09 [[ 9.90351705e-01 1.38572149e-01 -1.12202966e-03 1.00945677e+02] [-1.38572166e-01 9.90352337e-01 6.28823402e-05 8.30402251e-01] [ 1.11991844e-03 9.32064474e-05 9.99999369e-01 -1.09495363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30589822699999 meters 0.0861327686545351 Centerline is valid? [True, True] Translation: X:100.98, Y:0.83, Z:-1.09 [[ 9.90492828e-01 1.37563467e-01 -5.00754156e-04 1.00975674e+02] [-1.37563470e-01 9.90492953e-01 2.81222289e-05 8.26607860e-01] [ 4.99862055e-04 4.10306135e-05 9.99999874e-01 -1.09287660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33589822699999 meters 0.09025649573875194 Centerline is valid? [True, True] Translation: X:101.00, Y:0.83, Z:-1.09 [[ 9.90585196e-01 1.36897341e-01 2.94640525e-04 1.01003753e+02] [-1.36897341e-01 9.90585240e-01 -1.72412942e-05 8.30535642e-01] [-2.94226843e-04 -2.32565338e-05 9.99999956e-01 -1.09150026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36589822699999 meters 0.09138851864064354 Centerline is valid? [True, True] Translation: X:101.03, Y:0.83, Z:-1.09 [[ 9.90571529e-01 1.36981995e-01 1.99474578e-03 1.01032035e+02] [-1.36982045e-01 9.90573524e-01 -1.12110744e-04 8.29414701e-01] [-1.99129951e-03 -1.62190644e-04 9.99998004e-01 -1.08961454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39589822699999 meters 0.08466532080854236 Centerline is valid? [True, True] Translation: X:101.06, Y:0.82, Z:-1.09 [[ 9.90489647e-01 1.37569139e-01 2.23409048e-03 1.01060021e+02] [-1.37569204e-01 9.90492150e-01 -1.25268146e-04 8.21637531e-01] [-2.23008212e-03 -1.83265248e-04 9.99997497e-01 -1.08846582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42589822699999 meters 0.0914839176792185 Centerline is valid? [True, True] Translation: X:101.09, Y:0.83, Z:-1.09 [[ 9.90445879e-01 1.37894514e-01 1.43640315e-03 1.01087789e+02] [-1.37894541e-01 9.90446914e-01 -8.05826104e-05 8.30136019e-01] [-1.43379297e-03 -1.18259439e-04 9.99998965e-01 -1.08982345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45589822699999 meters 0.0900617285002216 Centerline is valid? [True, True] Translation: X:101.12, Y:0.83, Z:-1.09 [[ 9.90402595e-01 1.38210393e-01 7.65768956e-04 1.01116274e+02] [-1.38210400e-01 9.90402889e-01 -4.33815168e-05 8.27758594e-01] [-7.64415563e-04 -6.28720671e-05 9.99999706e-01 -1.09120693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48589822699999 meters 0.09356695234455267 Centerline is valid? [True, True] Translation: X:101.15, Y:0.83, Z:-1.09 [[ 9.90302013e-01 1.38930601e-01 4.60055641e-04 1.01145175e+02] [-1.38930604e-01 9.90302119e-01 -2.57709665e-05 8.30795357e-01] [-4.59174452e-04 -3.83947681e-05 9.99999894e-01 -1.09193912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.515898227 meters 0.09188516120678865 Centerline is valid? [True, True] Translation: X:101.17, Y:0.82, Z:-1.09 [[ 9.90252150e-01 1.39286095e-01 2.53149849e-04 1.01173324e+02] [-1.39286096e-01 9.90252182e-01 -1.47644699e-05 8.24917423e-01] [-2.52738676e-04 -2.06397061e-05 9.99999968e-01 -1.09227422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.545898227 meters 0.09188516120678865 Centerline is valid? [True, True] Translation: X:101.20, Y:0.82, Z:-1.09 [[ 9.90277794e-01 1.39103657e-01 2.53146762e-04 1.01200835e+02] [-1.39103657e-01 9.90277826e-01 -1.48213339e-05 8.23570633e-01] [-2.52747327e-04 -2.05364027e-05 9.99999968e-01 -1.09239554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.575898227 meters 0.0863370870678489 Centerline is valid? [True, True] Translation: X:101.23, Y:0.81, Z:-1.09 [[ 9.90440431e-01 1.37939784e-01 -6.06800292e-04 1.01229775e+02] [-1.37939789e-01 9.90440616e-01 3.34629503e-05 8.12333785e-01] [ 6.05615527e-04 5.05588456e-05 9.99999815e-01 -1.09246128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60589822699998 meters 0.09176505629247446 Centerline is valid? [True, True] Translation: X:101.26, Y:0.82, Z:-1.09 [[ 9.90473367e-01 1.37703518e-01 -5.01394123e-04 1.01258066e+02] [-1.37703521e-01 9.90473493e-01 2.74470133e-05 8.16729288e-01] [ 5.00397139e-04 4.18582006e-05 9.99999874e-01 -1.09289290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63589822699998 meters 0.09176505629247446 Centerline is valid? [True, True] Translation: X:101.29, Y:0.82, Z:-1.09 [[ 9.90498355e-01 1.37523659e-01 -5.01428853e-04 1.01285576e+02] [-1.37523663e-01 9.90498481e-01 2.68170555e-05 8.15389893e-01] [ 5.00352497e-04 4.23960834e-05 9.99999874e-01 -1.09301412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66589822699999 meters 0.08340079460297654 Centerline is valid? [True, True] Translation: X:101.31, Y:0.80, Z:-1.09 [[ 9.90482534e-01 1.37637330e-01 5.62182570e-04 1.01313487e+02] [-1.37637335e-01 9.90482692e-01 -3.16047424e-05 8.02221266e-01] [-5.61182098e-04 -4.60733652e-05 9.99999841e-01 -1.09173698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69589822699999 meters 0.08571446508346434 Centerline is valid? [True, True] Translation: X:101.34, Y:0.80, Z:-1.09 [[ 9.90329920e-01 1.38721739e-01 1.71118746e-03 1.01341680e+02] [-1.38721782e-01 9.90331388e-01 -9.40881375e-05 8.02843087e-01] [-1.70769472e-03 -1.44200676e-04 9.99998531e-01 -1.09068325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72589822699999 meters 0.10242216992148159 Centerline is valid? [True, False] Translation: X:101.37, Y:0.80, Z:-1.10 [[ 9.91940330e-01 1.26067507e-01 1.27029895e-02 1.01366685e+02] [-1.26191571e-01 9.91960522e-01 9.48738208e-03 8.01969456e-01] [-1.14048134e-02 -1.10139271e-02 9.99874304e-01 -1.09691837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75589822699999 meters 0.10533745350320929 Centerline is valid? [False, False] Translation: X:101.37, Y:0.80, Z:-1.10 [[ 9.93577948e-01 1.12328716e-01 1.36058822e-02 1.01365429e+02] [-1.12519134e-01 9.93548866e-01 1.41455019e-02 8.04240483e-01] [-1.19291628e-02 -1.55855808e-02 9.99807374e-01 -1.09769212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78589822699999 meters 0.09866820505585377 Centerline is valid? [False, True] Translation: X:101.37, Y:0.81, Z:-1.10 [[ 9.95063480e-01 9.82166219e-02 1.42184962e-02 1.01366251e+02] [-9.84701129e-02 9.94970168e-01 1.83848169e-02 8.06541189e-01] [-1.23412849e-02 -1.96941568e-02 9.99729880e-01 -1.09999422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81589822699999 meters 0.10506485381093428 Centerline is valid? [True, False] Translation: X:101.37, Y:0.81, Z:-1.10 [[ 9.96465041e-01 8.28022966e-02 1.41845342e-02 1.01367218e+02] [-8.30938972e-02 9.96312441e-01 2.13757844e-02 8.08832282e-01] [-1.23622639e-02 -2.24788701e-02 9.99670883e-01 -1.10242089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84589822699999 meters 0.11053130633633217 Centerline is valid? [False, False] Translation: X:101.41, Y:0.81, Z:-1.11 [[ 9.97475629e-01 6.83335341e-02 1.93105539e-02 1.01409901e+02] [-6.87922656e-02 9.97337859e-01 2.41830342e-02 8.11139036e-01] [-1.76066343e-02 -2.54504040e-02 9.99521027e-01 -1.10780818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.875898227 meters 0.10322832676150182 Centerline is valid? [False, False] Translation: X:101.41, Y:0.81, Z:-1.11 [[ 9.98428035e-01 5.30959786e-02 1.79520231e-02 1.01409705e+02] [-5.35763186e-02 9.98187006e-01 2.74276932e-02 8.13351733e-01] [-1.64631760e-02 -2.83463811e-02 9.99462579e-01 -1.10843689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.905898227 meters 0.09314030630926697 Centerline is valid? [False, True] Translation: X:101.41, Y:0.82, Z:-1.11 [[ 9.99171500e-01 3.79082410e-02 1.48080339e-02 1.01406907e+02] [-3.83424239e-02 9.98807329e-01 3.02287475e-02 8.16277836e-01] [-1.36444542e-02 -3.07714789e-02 9.99433312e-01 -1.10548197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.935898227 meters 0.1022221280795429 Centerline is valid? [True, False] Translation: X:101.41, Y:0.82, Z:-1.11 [[ 9.99580471e-01 2.49052842e-02 1.47854399e-02 1.01405717e+02] [-2.51351884e-02 9.99562761e-01 1.55726748e-02 8.23985868e-01] [-1.43911333e-02 -1.59377764e-02 9.99769415e-01 -1.10500859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.965898227 meters 0.09677656983095145 Centerline is valid? [False, True] Translation: X:101.41, Y:0.83, Z:-1.11 [[ 9.99761223e-01 1.60142750e-02 1.48673925e-02 1.01405003e+02] [-1.61005994e-02 9.99854102e-01 5.70486170e-03 8.29024653e-01] [-1.47738642e-02 -5.94287345e-03 9.99873200e-01 -1.10500770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99589822699998 meters 0.09119162049544617 Centerline is valid? [True, True] Translation: X:101.44, Y:0.83, Z:-1.11 [[ 9.99778280e-01 1.54452496e-02 1.43120549e-02 1.01437090e+02] [-1.54620745e-02 9.99879887e-01 1.06566513e-03 8.26225646e-01] [-1.42938763e-02 -1.28672291e-03 9.99897009e-01 -1.10628585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02589822699998 meters 0.0877906370130074 Centerline is valid? [True, True] Translation: X:101.47, Y:0.82, Z:-1.11 [[ 9.99807519e-01 1.48802103e-02 1.27869071e-02 1.01469905e+02] [-1.48935921e-02 9.99888631e-01 9.51928474e-04 8.24596821e-01] [-1.27713181e-02 -1.14218822e-03 9.99917791e-01 -1.10963473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05589822699999 meters 0.08959688000348143 Centerline is valid? [True, True] Translation: X:101.50, Y:0.83, Z:-1.11 [[ 9.99850698e-01 1.32854230e-02 1.10489574e-02 1.01499166e+02] [-1.32953055e-02 9.99911276e-01 8.21455974e-04 8.31779650e-01] [-1.10370637e-02 -9.68232593e-04 9.99938621e-01 -1.11286193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08589822699999 meters 0.0909424743588911 Centerline is valid? [True, True] Translation: X:101.53, Y:0.84, Z:-1.11 [[ 9.99855154e-01 1.24400863e-02 1.16153353e-02 1.01529129e+02] [-1.24509527e-02 9.99922111e-01 8.63675580e-04 8.36685309e-01] [-1.16036864e-02 -1.00817247e-03 9.99932167e-01 -1.11195095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11589822699999 meters 0.08940574959796499 Centerline is valid? [True, True] Translation: X:101.56, Y:0.83, Z:-1.11 [[ 9.99850491e-01 1.12587616e-02 1.31238587e-02 1.01559708e+02] [-1.12725294e-02 9.99935987e-01 9.75562126e-04 8.34937741e-01] [-1.31120349e-02 -1.12335535e-03 9.99913403e-01 -1.11141878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14589822699999 meters 0.08946411162384707 Centerline is valid? [True, True] Translation: X:101.59, Y:0.84, Z:-1.11 [[ 9.99837204e-01 1.00450560e-02 1.49887727e-02 1.01588931e+02] [-1.00628839e-02 9.99948747e-01 1.11447062e-03 8.39388558e-01] [-1.49768096e-02 -1.26511947e-03 9.99887041e-01 -1.10807765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17589822699999 meters 0.08501881905402497 Centerline is valid? [True, True] Translation: X:101.62, Y:0.84, Z:-1.11 [[ 9.99827752e-01 8.21428706e-03 1.66430863e-02 1.01620587e+02] [-8.23599867e-03 9.99965319e-01 1.23642028e-03 8.35361301e-01] [-1.66323527e-02 -1.37327974e-03 9.99860730e-01 -1.10624731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20589822699999 meters 0.08772344619574846 Centerline is valid? [True, True] Translation: X:101.65, Y:0.84, Z:-1.11 [[ 9.99829527e-01 5.55397941e-03 1.76087893e-02 1.01650132e+02] [-5.57787004e-03 9.99983588e-01 1.30792084e-03 8.40513476e-01] [-1.76012361e-02 -1.40591742e-03 9.99844098e-01 -1.10609102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23589822699999 meters 0.08166842777550995 Centerline is valid? [True, True] Translation: X:101.68, Y:0.83, Z:-1.11 [[ 9.99849330e-01 -1.02984036e-03 1.73279094e-02 1.01681602e+02] [ 1.00768402e-03 9.99998664e-01 1.28733319e-03 8.28814626e-01] [-1.73292119e-02 -1.26967817e-03 9.99849032e-01 -1.10838356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.265898227 meters 0.07684955586894139 Centerline is valid? [True, True] Translation: X:101.71, Y:0.83, Z:-1.11 [[ 9.99836458e-01 -4.45268981e-03 1.75280093e-02 1.01711968e+02] [ 4.43054414e-03 9.99989337e-01 1.30207458e-03 8.25173689e-01] [-1.75336201e-02 -1.22420302e-03 9.99845525e-01 -1.10728325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.295898227 meters 0.06898724778822625 Centerline is valid? [True, True] Translation: X:101.74, Y:0.81, Z:-1.11 [[ 9.99800524e-01 -8.78546610e-03 1.79367500e-02 1.01743382e+02] [ 8.76297147e-03 9.99960717e-01 1.33232112e-03 8.12613478e-01] [-1.79477505e-02 -1.17487613e-03 9.99838236e-01 -1.10799607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.325898227 meters 0.06949477977778588 Centerline is valid? [True, True] Translation: X:101.77, Y:0.81, Z:-1.11 [[ 9.99754845e-01 -1.31791256e-02 1.77921224e-02 1.01773295e+02] [ 1.31576842e-02 9.99912560e-01 1.32163801e-03 8.12382635e-01] [-1.78079847e-02 -1.08721088e-03 9.99840834e-01 -1.10805881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35589822699998 meters 0.06689987450884285 Centerline is valid? [True, True] Translation: X:101.80, Y:0.81, Z:-1.11 [[ 9.99692363e-01 -1.73087503e-02 1.77647745e-02 1.01803703e+02] [ 1.72880285e-02 9.99849680e-01 1.31937550e-03 8.06794676e-01] [-1.77849409e-02 -1.01185168e-03 9.99841323e-01 -1.10941047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38589822699998 meters 0.057400847007159916 Centerline is valid? [True, True] Translation: X:101.84, Y:0.79, Z:-1.11 [[ 9.99635889e-01 -2.08976401e-02 1.70698154e-02 1.01835376e+02] [ 2.08790292e-02 9.99781205e-01 1.26779111e-03 7.92251774e-01] [-1.70925745e-02 -9.10928317e-04 9.99853496e-01 -1.11086638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41589822699999 meters 0.05423790041096986 Centerline is valid? [True, True] Translation: X:101.87, Y:0.78, Z:-1.11 [[ 9.99521419e-01 -2.57633083e-02 1.71226167e-02 1.01866143e+02] [ 2.57452947e-02 9.99667726e-01 1.27166998e-03 7.80006092e-01] [-1.71496898e-02 -8.30234573e-04 9.99852589e-01 -1.11123858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44589822699999 meters 0.04986687809014187 Centerline is valid? [True, True] Translation: X:101.90, Y:0.77, Z:-1.11 [[ 9.99478847e-01 -2.67494201e-02 1.80693709e-02 1.01899358e+02] [ 2.67295194e-02 9.99641802e-01 1.34201293e-03 7.71759142e-01] [-1.80987966e-02 -8.58327937e-04 9.99835835e-01 -1.10974764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47589822699999 meters 0.048573731434963935 Centerline is valid? [True, True] Translation: X:101.93, Y:0.77, Z:-1.11 [[ 9.99460406e-01 -2.65124276e-02 1.93904262e-02 1.01932264e+02] [ 2.64894853e-02 9.99648056e-01 1.43911008e-03 7.67696645e-01] [-1.94217562e-02 -9.24691130e-04 9.99810952e-01 -1.10788229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50589822699999 meters 0.05534733957981954 Centerline is valid? [True, True] Translation: X:101.96, Y:0.77, Z:-1.11 [[ 9.99448090e-01 -2.61703644e-02 2.04603958e-02 1.01963410e+02] [ 2.61447704e-02 9.99657015e-01 1.51744572e-03 7.73238129e-01] [-2.04930903e-02 -9.81675881e-04 9.99789513e-01 -1.10696407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53589822699999 meters 0.04813382428680647 Centerline is valid? [True, True] Translation: X:102.00, Y:0.76, Z:-1.11 [[ 9.99460530e-01 -2.58179471e-02 2.02998179e-02 1.01996065e+02] [ 2.57926958e-02 9.99666180e-01 1.50479932e-03 7.62652609e-01] [-2.03318922e-02 -9.80400501e-04 9.99792805e-01 -1.10587013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56589822699999 meters 0.05058540830230254 Centerline is valid? [True, True] Translation: X:102.03, Y:0.75, Z:-1.11 [[ 9.99470133e-01 -2.76364554e-02 1.71953085e-02 1.02027318e+02] [ 2.76186201e-02 9.99617721e-01 1.27387593e-03 7.53523591e-01] [-1.72239405e-02 -7.98290252e-04 9.99851338e-01 -1.11228241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59589822699999 meters 0.046872726594729186 Centerline is valid? [True, True] Translation: X:102.06, Y:0.75, Z:-1.11 [[ 9.99446530e-01 -2.93025169e-02 1.57479104e-02 1.02057887e+02] [ 2.92877709e-02 9.99570341e-01 1.16623682e-03 7.51004509e-01] [-1.57753179e-02 -7.04370150e-04 9.99875314e-01 -1.11425371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.625898227 meters 0.048908937926589624 Centerline is valid? [True, True] Translation: X:102.09, Y:0.75, Z:-1.12 [[ 9.99390109e-01 -3.11769487e-02 1.57292090e-02 1.02088201e+02] [ 3.11624725e-02 9.99513654e-01 1.16465917e-03 7.52329785e-01] [-1.57578697e-02 -6.73787811e-04 9.99875610e-01 -1.11660120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.655898227 meters 0.047275016583921976 Centerline is valid? [True, True] Translation: X:102.12, Y:0.75, Z:-1.12 [[ 9.99311278e-01 -3.31448030e-02 1.66850538e-02 1.02118612e+02] [ 3.31287911e-02 9.99450328e-01 1.23521207e-03 7.49440711e-01] [-1.67168233e-02 -6.81605688e-04 9.99860032e-01 -1.11599755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.685898227 meters 0.03992598409419497 Centerline is valid? [True, True] Translation: X:102.15, Y:0.74, Z:-1.11 [[ 9.99216905e-01 -3.53558691e-02 1.77634143e-02 1.02151560e+02] [ 3.53380717e-02 9.99374550e-01 1.31490102e-03 7.38830615e-01] [-1.77987937e-02 -6.86146516e-04 9.99841353e-01 -1.11402411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.715898227 meters 0.03860906230353079 Centerline is valid? [True, True] Translation: X:102.18, Y:0.74, Z:-1.11 [[ 9.99078832e-01 -3.82798893e-02 1.93942577e-02 1.02181580e+02] [ 3.82592404e-02 9.99266817e-01 1.43475349e-03 7.35270180e-01] [-1.94349604e-02 -6.91422274e-04 9.99810884e-01 -1.11202415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74589822699998 meters 0.035217801845384714 Centerline is valid? [True, True] Translation: X:102.21, Y:0.73, Z:-1.11 [[ 9.98943592e-01 -4.13186636e-02 2.01113792e-02 1.02214030e+02] [ 4.12970681e-02 9.99145804e-01 1.48810212e-03 7.28204186e-01] [-2.01556865e-02 -6.55989082e-04 9.99796638e-01 -1.11031829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77589822699998 meters 0.03224745216429907 Centerline is valid? [True, True] Translation: X:102.25, Y:0.72, Z:-1.11 [[ 9.98744440e-01 -4.56384858e-02 2.06560273e-02 1.02245020e+02] [ 4.56166436e-02 9.98957851e-01 1.52761479e-03 7.16598632e-01] [-2.07042187e-02 -5.83438140e-04 9.99785474e-01 -1.10807738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80589822699999 meters 0.03706464111360824 Centerline is valid? [True, True] Translation: X:102.28, Y:0.71, Z:-1.11 [[ 9.98668128e-01 -4.72880227e-02 2.06352168e-02 1.02277002e+02] [ 4.72665761e-02 9.98881145e-01 1.52609046e-03 7.14176140e-01] [-2.06842947e-02 -5.48701858e-04 9.99785907e-01 -1.10861288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83589822699999 meters 0.030022617035205142 Centerline is valid? [True, True] Translation: X:102.31, Y:0.71, Z:-1.11 [[ 9.98624614e-01 -4.81816515e-02 2.06738858e-02 1.02309996e+02] [ 4.81603361e-02 9.98838449e-01 1.52796785e-03 7.09157641e-01] [-2.07234920e-02 -5.30205018e-04 9.99785105e-01 -1.10779483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86589822699999 meters 0.03178072951392441 Centerline is valid? [True, True] Translation: X:102.34, Y:0.71, Z:-1.11 [[ 9.98578638e-01 -4.92767461e-02 2.03102539e-02 1.02341248e+02] [ 4.92564198e-02 9.98785039e-01 1.50014086e-03 7.08483801e-01] [-2.03594998e-02 -4.97598221e-04 9.99792600e-01 -1.11013140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89589822699999 meters 0.027659188090116485 Centerline is valid? [True, True] Translation: X:102.37, Y:0.70, Z:-1.11 [[ 9.98521874e-01 -5.09665219e-02 1.88807249e-02 1.02373207e+02] [ 5.09492705e-02 9.98700270e-01 1.39391439e-03 7.00062365e-01] [-1.89272281e-02 -4.29894845e-04 9.99820772e-01 -1.11333078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92589822699999 meters 0.025595267363700457 Centerline is valid? [True, True] Translation: X:102.40, Y:0.69, Z:-1.12 [[ 9.98461298e-01 -5.26562861e-02 1.73882670e-02 1.02404577e+02] [ 5.26419170e-02 9.98612628e-01 1.28336375e-03 6.94131555e-01] [-1.74317201e-02 -3.66037331e-04 9.99847989e-01 -1.11813425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95589822699999 meters 0.022631311022829607 Centerline is valid? [True, True] Translation: X:102.44, Y:0.68, Z:-1.12 [[ 9.98297189e-01 -5.58484392e-02 1.68426071e-02 1.02436031e+02] [ 5.58354162e-02 9.98439213e-01 1.24283829e-03 6.80861572e-01] [-1.68857300e-02 -3.00307990e-04 9.99857381e-01 -1.12156104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98589822699999 meters 0.021308552238671088 Centerline is valid? [True, True] Translation: X:102.47, Y:0.68, Z:-1.12 [[ 9.98214434e-01 -5.71196530e-02 1.74724970e-02 1.02466675e+02] [ 5.71058533e-02 9.98367298e-01 1.28811888e-03 6.75076468e-01] [-1.75175465e-02 -2.88037015e-04 9.99846515e-01 -1.12044508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.015898227 meters 0.02033749973431565 Centerline is valid? [True, True] Translation: X:102.50, Y:0.67, Z:-1.12 [[ 9.98144393e-01 -5.82199841e-02 1.78382506e-02 1.02496886e+02] [ 5.82057757e-02 9.98303740e-01 1.31510180e-03 6.69745476e-01] [-1.78845575e-02 -2.74372275e-04 9.99840021e-01 -1.11855288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.045898227 meters 0.019606979187222515 Centerline is valid? [True, True] Translation: X:102.53, Y:0.67, Z:-1.12 [[ 9.98092410e-01 -5.91216888e-02 1.77810972e-02 1.02527247e+02] [ 5.91077180e-02 9.98250750e-01 1.31068913e-03 6.65238372e-01] [-1.78274838e-02 -2.57188794e-04 9.99841045e-01 -1.11779380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.075898227 meters 0.01927305581041448 Centerline is valid? [True, True] Translation: X:102.56, Y:0.66, Z:-1.12 [[ 9.98078757e-01 -5.96403823e-02 1.67874759e-02 1.02556025e+02] [ 5.96279981e-02 9.98219901e-01 1.23772193e-03 6.61823957e-01] [-1.68314107e-02 -2.34340385e-04 9.99858314e-01 -1.11870133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10589822699998 meters 0.020873370013011594 Centerline is valid? [True, True] Translation: X:102.59, Y:0.66, Z:-1.12 [[ 9.98097999e-01 -5.95904839e-02 1.57911101e-02 1.02585022e+02] [ 5.95795087e-02 9.98222883e-01 1.16497586e-03 6.61794482e-01] [-1.58324690e-02 -2.21933493e-04 9.99874634e-01 -1.12186825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13589822699998 meters 0.02014022159976726 Centerline is valid? [True, True] Translation: X:102.61, Y:0.66, Z:-1.13 [[ 9.98114653e-01 -5.94928337e-02 1.50911521e-02 1.02613923e+02] [ 5.94828026e-02 9.98228710e-01 1.11309073e-03 6.55406008e-01] [-1.51306423e-02 -2.13328144e-04 9.99885503e-01 -1.12525497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16589822699999 meters 0.018565774891128827 Centerline is valid? [True, True] Translation: X:102.64, Y:0.65, Z:-1.13 [[ 9.98076941e-01 -6.00798198e-02 1.52589230e-02 1.02642808e+02] [ 6.00695954e-02 9.98193554e-01 1.12791705e-03 6.52521856e-01] [-1.52991236e-02 -2.09150667e-04 9.99882940e-01 -1.12631296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19589822699999 meters 0.01741262502630988 Centerline is valid? [True, True] Translation: X:102.67, Y:0.65, Z:-1.12 [[ 9.97901218e-01 -6.23516579e-02 1.74765769e-02 1.02670707e+02] [ 6.23385265e-02 9.98054222e-01 1.29567384e-03 6.48458467e-01] [-1.75233588e-02 -2.03490443e-04 9.99846433e-01 -1.12432889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22589822699999 meters 0.01535849264012036 Centerline is valid? [True, True] Translation: X:102.70, Y:0.65, Z:-1.12 [[ 9.97753661e-01 -6.44059254e-02 1.84257612e-02 1.02699708e+02] [ 6.43916622e-02 9.97923767e-01 1.36694752e-03 6.45533646e-01] [-1.84755446e-02 -1.77411505e-04 9.99829297e-01 -1.12245744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25589822699999 meters 0.01330693478852798 Centerline is valid? [True, True] Translation: X:102.73, Y:0.64, Z:-1.12 [[ 9.97585053e-01 -6.68362074e-02 1.88939899e-02 1.02728762e+02] [ 6.68215854e-02 9.97763951e-01 1.40486345e-03 6.41853548e-01] [-1.89456378e-02 -1.38944417e-04 9.99820506e-01 -1.12181368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28589822699999 meters 0.012112605888433632 Centerline is valid? [True, True] Translation: X:102.76, Y:0.64, Z:-1.12 [[ 9.97410876e-01 -6.94334666e-02 1.87226629e-02 1.02756532e+02] [ 6.94195028e-02 9.97586580e-01 1.39549871e-03 6.39027148e-01] [-1.87743715e-02 -9.21676465e-05 9.99823742e-01 -1.12282521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31589822699999 meters 0.010973315817793858 Centerline is valid? [True, True] Translation: X:102.78, Y:0.64, Z:-1.13 [[ 9.97228020e-01 -7.23619492e-02 1.73212194e-02 1.02784954e+02] [ 7.23504309e-02 9.97378437e-01 1.29152495e-03 6.35657601e-01] [-1.73692680e-02 -3.47471815e-05 9.99849142e-01 -1.12521008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34589822699999 meters 0.011015855493500957 Centerline is valid? [True, True] Translation: X:102.81, Y:0.63, Z:-1.13 [[ 9.97033792e-01 -7.54257110e-02 1.53159652e-02 1.02813876e+02] [ 7.54170278e-02 9.97151424e-01 1.14455099e-03 6.32564037e-01] [-1.53586650e-02 1.39285573e-05 9.99882049e-01 -1.12897807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.375898227 meters 0.013092922862903388 Centerline is valid? [True, True] Translation: X:102.84, Y:0.63, Z:-1.13 [[ 9.96677240e-01 -8.00738694e-02 1.49216061e-02 1.02843270e+02] [ 8.00993197e-02 9.96786264e-01 -1.11487765e-03 6.26611337e-01] [-1.47843794e-02 2.30638368e-03 9.99888045e-01 -1.13460508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.405898227 meters 0.01646241248126739 Centerline is valid? [True, True] Translation: X:102.87, Y:0.62, Z:-1.14 [[ 9.96367178e-01 -8.40630656e-02 1.36325572e-02 1.02871264e+02] [ 8.40262467e-02 9.96458234e-01 3.25247285e-03 6.20920758e-01] [-1.38576867e-02 -2.09516458e-03 9.99901783e-01 -1.13550311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.435898227 meters 0.017456667961112834 Centerline is valid? [True, True] Translation: X:102.90, Y:0.62, Z:-1.13 [[ 9.96155871e-01 -8.61003056e-02 1.61312924e-02 1.02900384e+02] [ 8.60919827e-02 9.96286457e-01 1.21096648e-03 6.21547538e-01] [-1.61756527e-02 1.82463580e-04 9.99869149e-01 -1.13252877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.465898227 meters 0.01689250602682104 Centerline is valid? [True, True] Translation: X:102.93, Y:0.62, Z:-1.13 [[ 9.95948187e-01 -8.80534216e-02 1.82702855e-02 1.02929226e+02] [ 8.80430124e-02 9.96115725e-01 1.37487412e-03 6.24444824e-01] [-1.83203810e-02 2.39267582e-04 9.99832139e-01 -1.12816689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49589822699998 meters 0.019995886373002196 Centerline is valid? [True, True] Translation: X:102.96, Y:0.62, Z:-1.13 [[ 9.95788533e-01 -8.95113253e-02 1.98221898e-02 1.02957274e+02] [ 8.94992828e-02 9.95985764e-01 1.49560451e-03 6.21983879e-01] [-1.98764924e-02 2.84765944e-04 9.99802402e-01 -1.12668535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52589822699998 meters 0.019995886373002196 Centerline is valid? [True, True] Translation: X:102.98, Y:0.62, Z:-1.13 [[ 9.95771943e-01 -8.96957150e-02 1.98221065e-02 1.02984684e+02] [ 8.96836871e-02 9.95969174e-01 1.49670740e-03 6.24257491e-01] [-1.98764553e-02 2.87340363e-04 9.99802402e-01 -1.12726289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55589822699999 meters 0.021359709036669627 Centerline is valid? [True, True] Translation: X:103.01, Y:0.62, Z:-1.13 [[ 9.95629664e-01 -9.12342423e-02 1.99470524e-02 1.03013898e+02] [ 9.12222956e-02 9.95829410e-01 1.50990501e-03 6.24459024e-01] [-2.00016165e-02 3.16309691e-04 9.99799898e-01 -1.12716300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58589822699999 meters 0.02711746650114412 Centerline is valid? [True, True] Translation: X:103.04, Y:0.62, Z:-1.13 [[ 9.95391818e-01 -9.39574980e-02 1.91602948e-02 1.03041773e+02] [ 9.39469188e-02 9.95576147e-01 1.45349622e-03 6.18154819e-01] [-1.92120993e-02 3.53252416e-04 9.99815368e-01 -1.12854792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61589822699999 meters 0.02278431995293812 Centerline is valid? [True, True] Translation: X:103.07, Y:0.63, Z:-1.13 [[ 9.95281440e-01 -9.50746492e-02 1.93821131e-02 1.03069826e+02] [ 9.50640122e-02 9.95470074e-01 1.47151713e-03 6.27123625e-01] [-1.94342176e-02 3.77967753e-04 9.99811066e-01 -1.12782495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64589822699999 meters 0.028565552549979674 Centerline is valid? [True, True] Translation: X:103.10, Y:0.62, Z:-1.13 [[ 9.95271841e-01 -9.52021012e-02 1.92489628e-02 1.03096859e+02] [ 9.51915689e-02 9.95457894e-01 1.46476310e-03 6.22722317e-01] [-1.93009805e-02 3.74501498e-04 9.99813649e-01 -1.12826371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67589822699999 meters 0.025142135910077322 Centerline is valid? [True, True] Translation: X:103.13, Y:0.63, Z:-1.13 [[ 9.95356799e-01 -9.43556625e-02 1.90224242e-02 1.03125242e+02] [ 9.43451752e-02 9.95538490e-01 1.44998327e-03 6.32152993e-01] [-1.90743696e-02 3.51423238e-04 9.99818006e-01 -1.12797533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70589822699999 meters 0.020698359396654327 Centerline is valid? [True, True] Translation: X:103.15, Y:0.64, Z:-1.13 [[ 9.95537283e-01 -9.23670663e-02 1.93350483e-02 1.03153661e+02] [ 9.23557967e-02 9.95724975e-01 1.47689832e-03 6.43078430e-01] [-1.93888072e-02 3.15396447e-04 9.99811970e-01 -1.12726514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73589822699999 meters 0.018437907241392278 Centerline is valid? [True, True] Translation: X:103.18, Y:0.65, Z:-1.13 [[ 9.95754187e-01 -9.00453658e-02 1.91162660e-02 1.03181878e+02] [ 9.00338611e-02 9.95937630e-01 1.46336478e-03 6.51285135e-01] [-1.91703778e-02 2.63959626e-04 9.99816197e-01 -1.12710761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.765898227 meters 0.016586569702740188 Centerline is valid? [True, True] Translation: X:103.21, Y:0.66, Z:-1.13 [[ 9.96089322e-01 -8.64055298e-02 1.84430870e-02 1.03208913e+02] [ 8.63941379e-02 9.96260032e-01 1.41503439e-03 6.61073451e-01] [-1.84963772e-02 1.83873956e-04 9.99828910e-01 -1.13002408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.795898227 meters 0.017911503214445953 Centerline is valid? [True, True] Translation: X:103.24, Y:0.66, Z:-1.14 [[ 9.96115947e-01 -8.64494070e-02 1.67188306e-02 1.03236726e+02] [ 8.64400310e-02 9.96256228e-01 1.28398781e-03 6.64194299e-01] [-1.67672391e-02 1.66175503e-04 9.99859406e-01 -1.13548784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.825898227 meters 0.02495685695859496 Centerline is valid? [True, True] Translation: X:103.27, Y:0.67, Z:-1.14 [[ 9.96033198e-01 -8.76547390e-02 1.53138909e-02 1.03265171e+02] [ 8.76470046e-02 9.96150901e-01 1.17677133e-03 6.71206295e-01] [-1.53580958e-02 1.70113354e-04 9.99882043e-01 -1.13872013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85589822699998 meters 0.017483553618973944 Centerline is valid? [True, True] Translation: X:103.29, Y:0.67, Z:-1.14 [[ 9.95939878e-01 -8.87575425e-02 1.50285654e-02 1.03293986e+02] [ 8.87501825e-02 9.96053244e-01 1.15728483e-03 6.73512535e-01] [-1.50719691e-02 1.81201803e-04 9.99886395e-01 -1.13919321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88589822699998 meters 0.020033564537367297 Centerline is valid? [True, True] Translation: X:103.32, Y:0.67, Z:-1.13 [[ 9.95498610e-01 -9.29735897e-02 1.83964601e-02 1.03322804e+02] [ 9.29632095e-02 9.95668531e-01 1.42047227e-03 6.73402567e-01] [-1.84488428e-02 2.96115804e-04 9.99829762e-01 -1.13277371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91589822699999 meters 0.02189233583682382 Centerline is valid? [True, True] Translation: X:103.35, Y:0.67, Z:-1.13 [[ 9.95267203e-01 -9.51672845e-02 1.96566152e-02 1.03351631e+02] [ 9.51557894e-02 9.95461230e-01 1.52141064e-03 6.74274663e-01] [-1.97121868e-02 3.56230623e-04 9.99805633e-01 -1.13091094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94589822699999 meters 0.02254554463123613 Centerline is valid? [True, True] Translation: X:103.38, Y:0.68, Z:-1.13 [[ 9.95167043e-01 -9.62943438e-02 1.92342518e-02 1.03380368e+02] [ 9.62834859e-02 9.95352834e-01 1.49192782e-03 6.77747262e-01] [-1.92885312e-02 3.67223411e-04 9.99813892e-01 -1.13173535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97589822699999 meters 0.03760067677976871 Centerline is valid? [True, True] Translation: X:103.41, Y:0.68, Z:-1.14 [[ 9.95175370e-01 -9.65160550e-02 1.76248142e-02 1.03407950e+02] [ 9.65069202e-02 9.95331371e-01 1.37007549e-03 6.80425258e-01] [-1.76747647e-02 3.37451156e-04 9.99843732e-01 -1.13788550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00589822699999 meters 0.02342084283867436 Centerline is valid? [True, True] Translation: X:103.43, Y:0.69, Z:-1.14 [[ 9.95342046e-01 -9.52472917e-02 1.49052298e-02 1.03434917e+02] [ 9.52405999e-02 9.95453607e-01 1.15976074e-03 6.86245957e-01] [-1.49479288e-02 2.65224393e-04 9.99888238e-01 -1.14173720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03589822699999 meters 0.02104791124028104 Centerline is valid? [True, True] Translation: X:103.46, Y:0.69, Z:-1.15 [[ 9.95545787e-01 -9.33316802e-02 1.33335269e-02 1.03463211e+02] [ 9.33261483e-02 9.95635050e-01 1.03785785e-03 6.94980078e-01] [-1.33721917e-02 2.11131700e-04 9.99910566e-01 -1.14512924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06589822699999 meters 0.01702237023012252 Centerline is valid? [True, True] Translation: X:103.49, Y:0.71, Z:-1.14 [[ 9.95829019e-01 -8.99530317e-02 1.52649007e-02 1.03490709e+02] [ 8.99453275e-02 9.95945991e-01 1.19189130e-03 7.09385820e-01] [-1.53102309e-02 1.86086544e-04 9.99882774e-01 -1.14276723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09589822699999 meters 0.016394203229920492 Centerline is valid? [True, True] Translation: X:103.52, Y:0.72, Z:-1.14 [[ 9.95826048e-01 -8.95979336e-02 1.73980789e-02 1.03519265e+02] [ 8.95878615e-02 9.95977996e-01 1.35901404e-03 7.16281740e-01] [-1.74498686e-02 2.05315099e-04 9.99847718e-01 -1.14040946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.125898227 meters 0.017559413706695073 Centerline is valid? [True, True] Translation: X:103.55, Y:0.72, Z:-1.14 [[ 9.95762921e-01 -9.00412076e-02 1.86758184e-02 1.03546400e+02] [ 9.00296113e-02 9.95938015e-01 1.46247256e-03 7.20717353e-01] [-1.87316403e-02 2.25100726e-04 9.99824522e-01 -1.13891114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.155898227 meters 0.017468209687956822 Centerline is valid? [True, True] Translation: X:103.57, Y:0.73, Z:-1.14 [[ 9.95673834e-01 -9.10702963e-02 1.84341314e-02 1.03574738e+02] [ 9.10591500e-02 9.95844437e-01 1.44487121e-03 7.27902534e-01] [-1.84891120e-02 2.39975871e-04 9.99829033e-01 -1.13922644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.185898227 meters 0.018339353444192012 Centerline is valid? [True, True] Translation: X:103.60, Y:0.73, Z:-1.14 [[ 9.95572044e-01 -9.22570122e-02 1.80263403e-02 1.03603679e+02] [ 9.22464941e-02 9.95735196e-01 1.41589396e-03 7.32896467e-01] [-1.80800877e-02 2.53242255e-04 9.99836510e-01 -1.14131699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.215898227 meters 0.020503814606529926 Centerline is valid? [True, True] Translation: X:103.63, Y:0.74, Z:-1.14 [[ 9.95453709e-01 -9.37583596e-02 1.67715021e-02 1.03631335e+02] [ 9.37494191e-02 9.95594949e-01 1.32023495e-03 7.36508824e-01] [-1.68214058e-02 2.58085796e-04 9.99858477e-01 -1.14381351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24589822699998 meters 0.024489727868797093 Centerline is valid? [True, True] Translation: X:103.66, Y:0.74, Z:-1.14 [[ 9.95009168e-01 -9.83163046e-02 1.70487580e-02 1.03660784e+02] [ 9.83077017e-02 9.95155159e-01 1.34398285e-03 7.44510399e-01] [-1.70982949e-02 3.38748956e-04 9.99853756e-01 -1.14231008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27589822699998 meters 0.0265517848802399 Centerline is valid? [True, True] Translation: X:103.69, Y:0.75, Z:-1.14 [[ 9.94745808e-01 -1.00728528e-01 1.82904469e-02 1.03688994e+02] [ 1.00719032e-01 9.94913864e-01 1.44196174e-03 7.49980048e-01] [-1.83426659e-02 4.07810694e-04 9.99831676e-01 -1.13921810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30589822699999 meters 0.027116271872764688 Centerline is valid? [True, True] Translation: X:103.72, Y:0.76, Z:-1.14 [[ 9.94501339e-01 -1.02742132e-01 2.02765885e-02 1.03717252e+02] [ 1.02730804e-01 9.94707904e-01 1.60227076e-03 7.56786654e-01] [-2.03339036e-02 4.89569836e-04 9.99793125e-01 -1.13593996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33589822699999 meters 0.028438547640871788 Centerline is valid? [True, True] Translation: X:103.75, Y:0.76, Z:-1.13 [[ 9.94279211e-01 -1.04670783e-01 2.12809097e-02 1.03745477e+02] [ 1.04658666e-01 9.94506774e-01 1.68541322e-03 7.62043758e-01] [-2.13404224e-02 5.51460296e-04 9.99772115e-01 -1.13424893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36589822699999 meters 0.03388563458622831 Centerline is valid? [True, True] Translation: X:103.77, Y:0.76, Z:-1.14 [[ 9.94082694e-01 -1.06479531e-01 2.14873568e-02 1.03772823e+02] [ 1.06467521e-01 9.94314718e-01 1.70541920e-03 7.64369001e-01] [-2.15467874e-02 5.92377902e-04 9.99767666e-01 -1.13539448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39589822699999 meters 0.03409473286243222 Centerline is valid? [True, True] Translation: X:103.80, Y:0.77, Z:-1.14 [[ 9.93732090e-01 -1.10239683e-01 1.85403897e-02 1.03802134e+02] [ 1.10231371e-01 9.93904863e-01 1.47281438e-03 7.72640355e-01] [-1.85897460e-02 5.80149655e-04 9.99827027e-01 -1.13916432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42589822699999 meters 0.036979784031066665 Centerline is valid? [True, True] Translation: X:103.83, Y:0.78, Z:-1.14 [[ 9.93617200e-01 -1.11471639e-01 1.72897075e-02 1.03829474e+02] [ 1.11464599e-01 9.93767456e-01 1.37336335e-03 7.76462665e-01] [-1.73350397e-02 5.62592868e-04 9.99849579e-01 -1.14190522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45589822699999 meters 0.03568720943588502 Centerline is valid? [True, True] Translation: X:103.86, Y:0.79, Z:-1.14 [[ 9.93527824e-01 -1.12353361e-01 1.67088206e-02 1.03858002e+02] [ 1.12346891e-01 9.93668160e-01 1.32836584e-03 7.86460786e-01] [-1.67522694e-02 5.57415626e-04 9.99859516e-01 -1.14294569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48589822699999 meters 0.042934269256479876 Centerline is valid? [True, True] Translation: X:103.88, Y:0.79, Z:-1.14 [[ 9.93485710e-01 -1.12575418e-01 1.76895257e-02 1.03884575e+02] [ 1.12568139e-01 9.93643008e-01 1.40980759e-03 7.91905835e-01] [-1.77357832e-02 5.90653303e-04 9.99842534e-01 -1.14444613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.515898227 meters 0.035010362954199126 Centerline is valid? [True, True] Translation: X:103.91, Y:0.81, Z:-1.14 [[ 9.93587621e-01 -1.11530917e-01 1.85605667e-02 1.03912831e+02] [ 1.11522695e-01 9.93760784e-01 1.48070744e-03 8.06657357e-01] [-1.86099079e-02 5.98711836e-04 9.99826641e-01 -1.14087872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.545898227 meters 0.035023014811577505 Centerline is valid? [True, True] Translation: X:103.94, Y:0.81, Z:-1.14 [[ 9.93589162e-01 -1.11579500e-01 1.81821919e-02 1.03940421e+02] [ 1.11571569e-01 9.93755339e-01 1.45318296e-03 8.12723764e-01] [-1.82307957e-02 5.84748847e-04 9.99833634e-01 -1.14155509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.575898227 meters 0.038240692959059686 Centerline is valid? [True, True] Translation: X:103.97, Y:0.81, Z:-1.14 [[ 9.93539438e-01 -1.12129529e-01 1.75029681e-02 1.03968576e+02] [ 1.12122207e-01 9.93693436e-01 1.40216919e-03 8.13904358e-01] [-1.75498091e-02 5.69361023e-04 9.99845828e-01 -1.14380567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60589822699998 meters 0.0385635345468668 Centerline is valid? [True, True] Translation: X:104.00, Y:0.82, Z:-1.15 [[ 9.93417915e-01 -1.13310569e-01 1.67797946e-02 1.03997183e+02] [ 1.13303963e-01 9.93559459e-01 1.34688680e-03 8.18390144e-01] [-1.68243402e-02 5.63195754e-04 9.99858302e-01 -1.14590539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63589822699998 meters 0.04020228970366191 Centerline is valid? [True, True] Translation: X:104.03, Y:0.82, Z:-1.15 [[ 9.93227487e-01 -1.14995240e-01 1.65908024e-02 1.04025888e+02] [ 1.14988973e-01 9.93365872e-01 1.33437613e-03 8.20795039e-01] [-1.66341838e-02 5.82420276e-04 9.99861473e-01 -1.14829647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66589822699999 meters 0.03914064178887693 Centerline is valid? [True, True] Translation: X:104.05, Y:0.83, Z:-1.15 [[ 9.92964899e-01 -1.17244847e-01 1.65636642e-02 1.04054875e+02] [ 1.17238861e-01 9.93102848e-01 1.33534587e-03 8.26071397e-01] [-1.66059845e-02 6.15953540e-04 9.99861921e-01 -1.14952017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69589822699999 meters 0.043308359994235296 Centerline is valid? [True, True] Translation: X:104.08, Y:0.83, Z:-1.15 [[ 9.92472860e-01 -1.21461359e-01 1.56447949e-02 1.04084762e+02] [ 1.21456525e-01 9.92595950e-01 1.26226870e-03 8.25771491e-01] [-1.56822769e-02 6.47394994e-04 9.99876816e-01 -1.15307761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72589822699999 meters 0.04781552757559333 Centerline is valid? [True, True] Translation: X:104.11, Y:0.82, Z:-1.16 [[ 9.92344076e-01 -1.22575115e-01 1.51187285e-02 1.04112978e+02] [ 1.22570733e-01 9.92459031e-01 1.21963944e-03 8.23679305e-01] [-1.51542161e-02 6.42811660e-04 9.99884962e-01 -1.15590011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75589822699999 meters 0.049683188405302434 Centerline is valid? [True, True] Translation: X:104.14, Y:0.83, Z:-1.16 [[ 9.92285269e-01 -1.23165763e-01 1.41470509e-02 1.04141583e+02] [ 1.23161984e-01 9.92385924e-01 1.14132141e-03 8.27041769e-01] [-1.41799059e-02 6.09862434e-04 9.99899274e-01 -1.15893602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78589822699999 meters 0.04499451534491473 Centerline is valid? [True, True] Translation: X:104.17, Y:0.83, Z:-1.16 [[ 9.92241057e-01 -1.23703214e-01 1.24579025e-02 1.04169962e+02] [ 1.23700307e-01 9.92319112e-01 1.00662720e-03 8.32473620e-01] [-1.24867377e-02 5.42229520e-04 9.99921891e-01 -1.15972139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81589822699999 meters 0.045155641124179274 Centerline is valid? [True, True] Translation: X:104.20, Y:0.83, Z:-1.16 [[ 9.92148454e-01 -1.24468970e-01 1.22033165e-02 1.04198779e+02] [ 1.24466214e-01 9.92223355e-01 9.88033239e-04 8.34141901e-01] [-1.22313951e-02 5.38624947e-04 9.99925049e-01 -1.16078444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84589822699999 meters 0.045488439784529336 Centerline is valid? [True, True] Translation: X:104.23, Y:0.84, Z:-1.16 [[ 9.92036156e-01 -1.25323637e-01 1.25797740e-02 1.04227999e+02] [ 1.25320748e-01 9.92115753e-01 1.02075441e-03 8.35270263e-01] [-1.26085166e-02 5.63881410e-04 9.99920351e-01 -1.16027403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.875898227 meters 0.05057514404115308 Centerline is valid? [True, True] Translation: X:104.26, Y:0.83, Z:-1.16 [[ 9.91939507e-01 -1.25972275e-01 1.36747782e-02 1.04255979e+02] [ 1.25968876e-01 9.92033570e-01 1.11304327e-03 8.30781926e-01] [-1.37060516e-02 6.18524842e-04 9.99905876e-01 -1.15997454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.905898227 meters 0.04780891790409639 Centerline is valid? [True, True] Translation: X:104.28, Y:0.84, Z:-1.16 [[ 9.91822652e-01 -1.26801095e-01 1.44675226e-02 1.04284643e+02] [ 1.26797375e-01 9.91927940e-01 1.17782113e-03 8.36831012e-01] [-1.45000889e-02 6.66254213e-04 9.99894646e-01 -1.15739440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.935898227 meters 0.048168326677809216 Centerline is valid? [True, True] Translation: X:104.31, Y:0.84, Z:-1.16 [[ 9.91727497e-01 -1.27447211e-01 1.52898709e-02 1.04313431e+02] [ 1.27443091e-01 9.91845100e-01 1.24752720e-03 8.38623288e-01] [-1.53241774e-02 7.11381381e-04 9.99882325e-01 -1.15557707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.965898227 meters 0.05156977121252875 Centerline is valid? [True, True] Translation: X:104.34, Y:0.84, Z:-1.16 [[ 9.91632418e-01 -1.28307478e-01 1.42245825e-02 1.04341374e+02] [ 1.28303960e-01 9.91734209e-01 1.16346659e-03 8.36787649e-01] [-1.42562866e-02 6.71339078e-04 9.99898149e-01 -1.15644302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99589822699998 meters 0.050124731594950254 Centerline is valid? [True, True] Translation: X:104.37, Y:0.84, Z:-1.16 [[ 9.91569217e-01 -1.28883793e-01 1.33961303e-02 1.04370065e+02] [ 1.28880726e-01 9.91659497e-01 1.09562344e-03 8.41616606e-01] [-1.34256080e-02 6.40116523e-04 9.99909668e-01 -1.15840462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02589822699998 meters 0.050767578429478356 Centerline is valid? [True, True] Translation: X:104.40, Y:0.84, Z:-1.16 [[ 9.91479133e-01 -1.29655713e-01 1.25906440e-02 1.04398917e+02] [ 1.29653042e-01 9.91558886e-01 1.03162565e-03 8.43631917e-01] [-1.26181211e-02 6.09579989e-04 9.99920203e-01 -1.16109352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05589822699999 meters 0.06047219970082862 Centerline is valid? [True, True] Translation: X:104.43, Y:0.83, Z:-1.17 [[ 9.91343897e-01 -1.30752040e-01 1.18819597e-02 1.04427907e+02] [ 1.30749705e-01 9.91414929e-01 9.76412742e-04 8.33998772e-01] [-1.19076202e-02 5.85601922e-04 9.99928930e-01 -1.16564386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08589822699999 meters 0.05497706668283341 Centerline is valid? [True, True] Translation: X:104.46, Y:0.84, Z:-1.17 [[ 9.91165369e-01 -1.32082161e-01 1.20628962e-02 1.04455888e+02] [ 1.32079859e-01 9.91238583e-01 9.90843035e-04 8.43538010e-01] [-1.20880809e-02 6.11176328e-04 9.99926750e-01 -1.16589701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11589822699999 meters 0.05984879014688154 Centerline is valid? [True, True] Translation: X:104.49, Y:0.84, Z:-1.17 [[ 9.90695494e-01 -1.35513025e-01 1.25959466e-02 1.04485487e+02] [ 1.35510747e-01 9.90775333e-01 1.03806208e-03 8.37706123e-01] [-1.26204241e-02 6.78482714e-04 9.99920129e-01 -1.16688416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14589822699999 meters 0.06150804302642316 Centerline is valid? [True, True] Translation: X:104.52, Y:0.84, Z:-1.17 [[ 9.90450190e-01 -1.37382756e-01 1.15930865e-02 1.04516107e+02] [ 1.37380951e-01 9.90517825e-01 9.55693723e-04 8.36727189e-01] [-1.16144547e-02 6.46102221e-04 9.99932341e-01 -1.16859600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17589822699999 meters 0.06349007610188102 Centerline is valid? [True, True] Translation: X:104.55, Y:0.84, Z:-1.17 [[ 9.90263549e-01 -1.38802684e-01 1.05791239e-02 1.04545263e+02] [ 1.38801266e-01 9.90319872e-01 8.71750640e-04 8.35716329e-01] [-1.05977179e-02 6.05132897e-04 9.99943660e-01 -1.17097239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20589822699999 meters 0.06454304080076208 Centerline is valid? [True, True] Translation: X:104.57, Y:0.84, Z:-1.17 [[ 9.90206030e-01 -1.39287804e-01 9.53544443e-03 1.04572564e+02] [ 1.39286679e-01 9.90251788e-01 7.85257208e-04 8.35920046e-01] [-9.55186765e-03 5.50593967e-04 9.99954228e-01 -1.17332250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23589822699999 meters 0.062365360204260104 Centerline is valid? [True, True] Translation: X:104.60, Y:0.84, Z:-1.17 [[ 9.90515711e-01 -1.36975422e-01 1.07869905e-02 1.04602630e+02] [ 1.36973821e-01 9.90574267e-01 8.90580725e-04 8.40888928e-01] [-1.08073029e-02 5.95401096e-04 9.99941422e-01 -1.17116335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.265898227 meters 0.061873608088424695 Centerline is valid? [True, True] Translation: X:104.63, Y:0.85, Z:-1.17 [[ 9.90751214e-01 -1.35039997e-01 1.32752451e-02 1.04632675e+02] [ 1.35037396e-01 9.90839896e-01 1.09620588e-03 8.47458943e-01] [-1.33016741e-02 7.06587215e-04 9.99911279e-01 -1.16972713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.295898227 meters 0.05255204974763546 Centerline is valid? [True, True] Translation: X:104.66, Y:0.86, Z:-1.16 [[ 9.91042285e-01 -1.32662978e-01 1.53532980e-02 1.04661801e+02] [ 1.32659211e-01 9.91160898e-01 1.26801175e-03 8.60418260e-01] [-1.53858069e-02 7.80103143e-04 9.99881327e-01 -1.16367071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.325898227 meters 0.05537901885000151 Centerline is valid? [True, True] Translation: X:104.69, Y:0.86, Z:-1.16 [[ 9.91271061e-01 -1.30678356e-01 1.74599701e-02 1.04690642e+02] [ 1.30673175e-01 9.91424451e-01 1.44220220e-03 8.61060530e-01] [-1.74987058e-02 8.51936416e-04 9.99846523e-01 -1.16115871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35589822699998 meters 0.05163077283472497 Centerline is valid? [True, True] Translation: X:104.72, Y:0.87, Z:-1.16 [[ 9.91521903e-01 -1.28545139e-01 1.89858858e-02 1.04720017e+02] [ 1.28538613e-01 9.91703264e-01 1.56875024e-03 8.70649065e-01] [-1.90300202e-02 8.84969197e-04 9.99818521e-01 -1.15946830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38589822699998 meters 0.04983464407325805 Centerline is valid? [True, True] Translation: X:104.75, Y:0.88, Z:-1.16 [[ 9.91746531e-01 -1.26862137e-01 1.85692305e-02 1.04749335e+02] [ 1.26855596e-01 9.91920008e-01 1.53450536e-03 8.78491011e-01] [-1.86138619e-02 8.33770442e-04 9.99826399e-01 -1.15939417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41589822699999 meters 0.04900384202673115 Centerline is valid? [True, True] Translation: X:104.78, Y:0.89, Z:-1.16 [[ 9.91974638e-01 -1.25227943e-01 1.74435921e-02 1.04776463e+02] [ 1.25221915e-01 9.92127710e-01 1.44173989e-03 8.88067916e-01] [-1.74868172e-02 7.54150586e-04 9.99846810e-01 -1.16150020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44589822699999 meters 0.04900384202673115 Centerline is valid? [True, True] Translation: X:104.80, Y:0.89, Z:-1.16 [[ 9.91951723e-01 -1.25409341e-01 1.74435463e-02 1.04803859e+02] [ 1.25403331e-01 9.92104795e-01 1.44229411e-03 8.90516662e-01] [-1.74867031e-02 7.56792681e-04 9.99846810e-01 -1.16207792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47589822699999 meters 0.04986247889343343 Centerline is valid? [True, True] Translation: X:104.83, Y:0.89, Z:-1.16 [[ 9.91895161e-01 -1.25863818e-01 1.73864720e-02 1.04831809e+02] [ 1.25857854e-01 9.92047239e-01 1.44121386e-03 8.94822892e-01] [-1.74295982e-02 7.58691001e-04 9.99847805e-01 -1.16262507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50589822699999 meters 0.05111339969576276 Centerline is valid? [True, True] Translation: X:104.86, Y:0.90, Z:-1.16 [[ 9.91789507e-01 -1.26750133e-01 1.69698779e-02 1.04860720e+02] [ 1.26744570e-01 9.91934390e-01 1.40722145e-03 8.99191830e-01] [-1.70113710e-02 7.55172414e-04 9.99855011e-01 -1.16336524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53589822699999 meters 0.05728137659844471 Centerline is valid? [True, True] Translation: X:104.89, Y:0.90, Z:-1.17 [[ 9.91705688e-01 -1.27480367e-01 1.63885341e-02 1.04888490e+02] [ 1.27475230e-01 9.91840819e-01 1.36196225e-03 9.03221843e-01] [-1.64284406e-02 7.38466458e-04 9.99864771e-01 -1.16781538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56589822699999 meters 0.054098435089376465 Centerline is valid? [True, True] Translation: X:104.92, Y:0.91, Z:-1.17 [[ 9.91592646e-01 -1.28475242e-01 1.54316987e-02 1.04916784e+02] [ 1.28470804e-01 9.91712462e-01 1.28269495e-03 9.08562431e-01] [-1.54686025e-02 7.10611863e-04 9.99880101e-01 -1.16736071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59589822699999 meters 0.055435180399575894 Centerline is valid? [True, True] Translation: X:104.95, Y:0.91, Z:-1.17 [[ 9.91441864e-01 -1.29742855e-01 1.44852431e-02 1.04946199e+02] [ 1.29739037e-01 9.91547440e-01 1.20697033e-03 9.13919617e-01] [-1.45194015e-02 6.82660576e-04 9.99894355e-01 -1.16970410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.625898227 meters 0.06097403867393848 Centerline is valid? [True, True] Translation: X:104.98, Y:0.92, Z:-1.17 [[ 9.90928914e-01 -1.33789513e-01 1.26591350e-02 1.04975626e+02] [ 1.33786921e-01 9.91009559e-01 1.05519669e-03 9.17411598e-01] [-1.26864980e-02 6.48001784e-04 9.99919313e-01 -1.17399994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.655898227 meters 0.06383222290597158 Centerline is valid? [True, True] Translation: X:105.01, Y:0.92, Z:-1.18 [[ 9.90606350e-01 -1.36239257e-01 1.17440868e-02 1.05005787e+02] [ 1.36237198e-01 9.90675763e-01 9.78879066e-04 9.19752221e-01] [-1.17679439e-02 6.30297665e-04 9.99930557e-01 -1.17653011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.685898227 meters 0.06693189970514318 Centerline is valid? [True, True] Translation: X:105.04, Y:0.92, Z:-1.18 [[ 9.90292193e-01 -1.38544484e-01 1.12605075e-02 1.05035911e+02] [ 1.38542739e-01 9.90356011e-01 9.38653004e-04 9.21218447e-01] [-1.12819565e-02 6.30520806e-04 9.99936158e-01 -1.17824208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.715898227 meters 0.05694754534849222 Centerline is valid? [True, True] Translation: X:105.06, Y:0.94, Z:-1.18 [[ 9.90033304e-01 -1.40360266e-01 1.15348108e-02 1.05063690e+02] [ 1.40358558e-01 9.90100273e-01 9.61491652e-04 9.39483637e-01] [-1.15555746e-02 6.67100656e-04 9.99933010e-01 -1.17606453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74589822699998 meters 0.06441975336023216 Centerline is valid? [True, True] Translation: X:105.09, Y:0.94, Z:-1.18 [[ 9.89889291e-01 -1.41281033e-01 1.26039921e-02 1.05091457e+02] [ 1.41279064e-01 9.89969253e-01 1.05093960e-03 9.38818677e-01] [-1.26260424e-02 7.40366352e-04 9.99920014e-01 -1.17787377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77589822699998 meters 0.06381982148264129 Centerline is valid? [True, True] Translation: X:105.12, Y:0.94, Z:-1.17 [[ 9.89806423e-01 -1.41595171e-01 1.52987913e-02 1.05119574e+02] [ 1.41592289e-01 9.89924236e-01 1.27682869e-03 9.43352182e-01] [-1.53254370e-02 9.02377640e-04 9.99882151e-01 -1.17357330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80589822699999 meters 0.05813851975901084 Centerline is valid? [True, True] Translation: X:105.15, Y:0.96, Z:-1.17 [[ 9.89857763e-01 -1.41182836e-01 1.57802358e-02 1.05147975e+02] [ 1.41179705e-01 9.89983108e-01 1.31781251e-03 9.56682482e-01] [-1.58082194e-02 9.23402092e-04 9.99874616e-01 -1.17221657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83589822699999 meters 0.05955799080133553 Centerline is valid? [True, True] Translation: X:105.18, Y:0.96, Z:-1.17 [[ 9.89992746e-01 -1.40276281e-01 1.53924845e-02 1.05175603e+02] [ 1.40273173e-01 9.90112004e-01 1.28674556e-03 9.60952217e-01] [-1.54207836e-02 8.85283864e-04 9.99880701e-01 -1.17297440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86589822699999 meters 0.06193398101132452 Centerline is valid? [True, True] Translation: X:105.20, Y:0.97, Z:-1.18 [[ 9.90091532e-01 -1.39714000e-01 1.40980844e-02 1.05203419e+02] [ 1.39711318e-01 9.90191575e-01 1.17979179e-03 9.66214876e-01] [-1.41246379e-02 8.01560098e-04 9.99899921e-01 -1.17618759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89589822699999 meters 0.057799998657124596 Centerline is valid? [True, True] Translation: X:105.23, Y:0.98, Z:-1.18 [[ 9.90148391e-01 -1.39436479e-01 1.27919037e-02 1.05231664e+02] [ 1.39434251e-01 9.90230753e-01 1.07025539e-03 9.78102717e-01] [-1.28161690e-02 7.23917848e-04 9.99917607e-01 -1.17671815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92589822699999 meters 0.06011191893370796 Centerline is valid? [True, True] Translation: X:105.26, Y:0.98, Z:-1.18 [[ 9.89998447e-01 -1.40388154e-01 1.39370335e-02 1.05259734e+02] [ 1.40385556e-01 9.90096222e-01 1.16940403e-03 9.79426876e-01] [-1.39631746e-02 7.98850017e-04 9.99902191e-01 -1.17576550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95589822699999 meters 0.0661507255952178 Centerline is valid? [True, True] Translation: X:105.29, Y:0.98, Z:-1.17 [[ 9.89669249e-01 -1.42521506e-01 1.55691328e-02 1.05289517e+02] [ 1.42518506e-01 9.89791274e-01 1.30767612e-03 9.75835800e-01] [-1.55965638e-02 9.24722715e-04 9.99877939e-01 -1.17436182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98589822699999 meters 0.06689815917614189 Centerline is valid? [True, True] Translation: X:105.32, Y:0.98, Z:-1.17 [[ 9.89145529e-01 -1.46068333e-01 1.59738767e-02 1.05320189e+02] [ 1.46065634e-01 9.89273991e-01 1.34181217e-03 9.78929565e-01] [-1.59985370e-02 1.00598692e-03 9.99871509e-01 -1.17384598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.015898227 meters 0.07269779574461978 Centerline is valid? [True, True] Translation: X:105.35, Y:0.97, Z:-1.18 [[ 9.88511460e-01 -1.50396079e-01 1.50370154e-02 1.05349651e+02] [ 1.50394186e-01 9.88625305e-01 1.26309298e-03 9.74112165e-01] [-1.50559381e-02 1.01289780e-03 9.99886140e-01 -1.17631232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.045898227 meters 0.08052734587495458 Centerline is valid? [True, True] Translation: X:105.38, Y:0.96, Z:-1.18 [[ 9.86950849e-01 -1.60659041e-01 1.08025124e-02 1.05380450e+02] [ 1.60658675e-01 9.87009608e-01 9.07383736e-04 9.63468496e-01] [-1.08079630e-02 8.39974180e-04 9.99941239e-01 -1.18344749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.075898227 meters 0.08598738278385812 Centerline is valid? [True, True] Translation: X:105.41, Y:0.96, Z:-1.19 [[ 9.86165798e-01 -1.65467544e-01 9.87470946e-03 1.05410752e+02] [ 1.65467477e-01 9.86214899e-01 8.29534274e-04 9.56427286e-01] [-9.87584659e-03 8.15884927e-04 9.99950900e-01 -1.18547886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10589822699998 meters 0.08159603533043544 Centerline is valid? [True, True] Translation: X:105.44, Y:0.96, Z:-1.18 [[ 9.85493294e-01 -1.69392192e-01 1.04523971e-02 1.05441006e+02] [ 1.69392334e-01 9.85548307e-01 8.78155942e-04 9.62939480e-01] [-1.04500950e-02 9.05139155e-04 9.99944987e-01 -1.18394411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13589822699998 meters 0.08950269908153702 Centerline is valid? [True, True] Translation: X:105.47, Y:0.95, Z:-1.18 [[ 9.85008097e-01 -1.72042820e-01 1.26615952e-02 1.05471249e+02] [ 1.72043248e-01 9.85088823e-01 1.06358452e-03 9.51809287e-01] [-1.26557780e-02 1.13070260e-03 9.99919273e-01 -1.18162302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16589822699999 meters 0.0864289333457778 Centerline is valid? [True, True] Translation: X:105.50, Y:0.96, Z:-1.18 [[ 9.84665725e-01 -1.73881645e-01 1.40919907e-02 1.05501647e+02] [ 1.73882358e-01 9.84765720e-01 1.18402010e-03 9.55695803e-01] [-1.40831888e-02 1.28448456e-03 9.99900002e-01 -1.17916007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19589822699999 meters 0.09054039301649346 Centerline is valid? [True, True] Translation: X:105.53, Y:0.95, Z:-1.18 [[ 9.84509359e-01 -1.74737148e-01 1.44309100e-02 1.05531245e+02] [ 1.74737991e-01 9.84614221e-01 1.21225941e-03 9.46182152e-01] [-1.44207060e-02 1.32814749e-03 9.99895134e-01 -1.18075517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22589822699999 meters 0.09431716676156911 Centerline is valid? [True, True] Translation: X:105.56, Y:0.94, Z:-1.18 [[ 9.84608006e-01 -1.74150320e-01 1.47898684e-02 1.05559702e+02] [ 1.74151134e-01 9.84718152e-01 1.24280920e-03 9.39526081e-01] [-1.47802875e-02 1.35199246e-03 9.99889852e-01 -1.18236091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25589822699999 meters 0.08985635430504305 Centerline is valid? [True, True] Translation: X:105.59, Y:0.94, Z:-1.18 [[ 9.84739485e-01 -1.73358032e-01 1.53342641e-02 1.05589146e+02] [ 1.73358794e-01 9.84857891e-01 1.28967975e-03 9.43424550e-01] [-1.53256473e-02 1.38833096e-03 9.99881592e-01 -1.18188806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28589822699999 meters 0.0936610163405738 Centerline is valid? [True, True] Translation: X:105.62, Y:0.94, Z:-1.18 [[ 9.84855905e-01 -1.72680959e-01 1.54962364e-02 1.05617899e+02] [ 1.72681650e-01 9.84976826e-01 1.30354075e-03 9.36932835e-01] [-1.54885304e-02 1.39211587e-03 9.99879076e-01 -1.18239484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31589822699999 meters 0.08883153689214522 Centerline is valid? [True, True] Translation: X:105.65, Y:0.94, Z:-1.18 [[ 9.84933019e-01 -1.72295239e-01 1.48760849e-02 1.05646863e+02] [ 1.72295832e-01 9.85044456e-01 1.25139126e-03 9.41734850e-01] [-1.48692138e-02 1.33055086e-03 9.99888562e-01 -1.18313978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34589822699999 meters 0.09329174652846695 Centerline is valid? [True, True] Translation: X:105.68, Y:0.93, Z:-1.19 [[ 9.84922887e-01 -1.72459716e-01 1.35850671e-02 1.05675360e+02] [ 1.72460192e-01 9.85015822e-01 1.14523069e-03 9.34306452e-01] [-1.35790122e-02 1.21491937e-03 9.99907063e-01 -1.18592579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.375898227 meters 0.0963997137481742 Centerline is valid? [True, True] Translation: X:105.70, Y:0.92, Z:-1.19 [[ 9.84764944e-01 -1.73482515e-01 1.19089383e-02 1.05704255e+02] [ 1.73482948e-01 9.84836361e-01 1.00457986e-03 9.23642108e-01] [-1.19026325e-02 1.07672270e-03 9.99928581e-01 -1.18939199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.405898227 meters 0.09487302946044594 Centerline is valid? [True, True] Translation: X:105.73, Y:0.92, Z:-1.19 [[ 9.84689813e-01 -1.73886511e-01 1.22251481e-02 1.05732865e+02] [ 1.73887003e-01 9.84765072e-01 1.03084315e-03 9.23831008e-01] [-1.22181486e-02 1.11073362e-03 9.99924739e-01 -1.18818071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.435898227 meters 0.09562727164042717 Centerline is valid? [True, True] Translation: X:105.76, Y:0.92, Z:-1.19 [[ 9.84623775e-01 -1.74176938e-01 1.33572093e-02 1.05761344e+02] [ 1.74177521e-01 9.84713622e-01 1.12863369e-03 9.20802513e-01] [-1.33496079e-02 1.21524604e-03 9.99910152e-01 -1.18670047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.465898227 meters 0.09346075441037616 Centerline is valid? [True, True] Translation: X:105.79, Y:0.92, Z:-1.18 [[ 9.84557023e-01 -1.74458492e-01 1.45499957e-02 1.05789108e+02] [ 1.74459175e-01 9.84663637e-01 1.23212704e-03 9.21346742e-01] [-1.45418067e-02 1.32528092e-03 9.99893384e-01 -1.18496753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49589822699998 meters 0.10032844002134553 Centerline is valid? [True, False] Translation: X:105.78, Y:0.91, Z:-1.19 [[ 9.86825264e-01 -1.60451883e-01 2.07627420e-02 1.05777084e+02] [ 1.60591842e-01 9.87006950e-01 -5.24801176e-03 9.12758359e-01] [-1.96509173e-02 8.51319759e-03 9.99770657e-01 -1.18574393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52589822699998 meters 0.0974981811140248 Centerline is valid? [False, True] Translation: X:105.76, Y:0.90, Z:-1.19 [[ 9.89131565e-01 -1.44341137e-01 2.80068353e-02 1.05760857e+02] [ 1.44695415e-01 9.89414496e-01 -1.10540666e-02 8.98947442e-01] [-2.61148123e-02 1.49863869e-02 9.99546610e-01 -1.18845604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55589822699999 meters 0.09603547124183258 Centerline is valid? [True, True] Translation: X:105.79, Y:0.89, Z:-1.19 [[ 9.89049570e-01 -1.45119403e-01 2.68571547e-02 1.05789986e+02] [ 1.45133882e-01 9.89411007e-01 1.41975576e-03 8.93220225e-01] [-2.67787986e-02 2.49367431e-03 9.99638273e-01 -1.18931662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58589822699999 meters 0.09492087539161086 Centerline is valid? [True, True] Translation: X:105.82, Y:0.89, Z:-1.19 [[ 9.89078855e-01 -1.44997687e-01 2.64327363e-02 1.05819119e+02] [ 1.45011560e-01 9.89428968e-01 1.40143423e-03 8.92795928e-01] [-2.63565198e-02 2.44692338e-03 9.99649612e-01 -1.19146937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61589822699999 meters 0.08784114807673109 Centerline is valid? [True, True] Translation: X:105.85, Y:0.90, Z:-1.19 [[ 9.89117499e-01 -1.44789589e-01 2.61256372e-02 1.05847829e+02] [ 1.44802963e-01 9.89459535e-01 1.38923287e-03 9.00486990e-01] [-2.60514073e-02 2.40895515e-03 9.99657702e-01 -1.19238819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64589822699999 meters 0.09710796279331586 Centerline is valid? [True, True] Translation: X:105.88, Y:0.88, Z:-1.19 [[ 9.89277541e-01 -1.43710588e-01 2.60233197e-02 1.05877817e+02] [ 1.43723355e-01 9.89616930e-01 1.38889882e-03 8.84274932e-01] [-2.59527172e-02 2.36615240e-03 9.99660371e-01 -1.19458231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67589822699999 meters 0.09543977260954623 Centerline is valid? [True, True] Translation: X:105.91, Y:0.89, Z:-1.20 [[ 9.89363865e-01 -1.43244093e-01 2.53035961e-02 1.05907093e+02] [ 1.43256018e-01 9.89684743e-01 1.35024700e-03 8.85583036e-01] [-2.52359979e-02 2.28900683e-03 9.99678901e-01 -1.19545228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70589822699999 meters 0.10102055938322929 Centerline is valid? [True, False] Translation: X:105.91, Y:0.88, Z:-1.20 [[ 9.91937015e-01 -1.23790484e-01 2.71454487e-02 1.05905824e+02] [ 1.24184819e-01 9.92169289e-01 -1.33503884e-02 8.83485713e-01] [-2.52802295e-02 1.66137971e-02 9.99542341e-01 -1.19630234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73589822699999 meters 0.09415711280873414 Centerline is valid? [False, True] Translation: X:105.91, Y:0.88, Z:-1.20 [[ 9.93760041e-01 -1.08301516e-01 2.66788774e-02 1.05905833e+02] [ 1.08751118e-01 9.93939966e-01 -1.60168043e-02 8.78355492e-01] [-2.47825583e-02 1.88182179e-02 9.99515732e-01 -1.19647879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.765898227 meters 0.08944403578935294 Centerline is valid? [True, True] Translation: X:105.94, Y:0.88, Z:-1.20 [[ 9.93917002e-01 -1.07099977e-01 2.56629666e-02 1.05936557e+02] [ 1.07121086e-01 9.94245827e-01 5.54739695e-04 8.75855638e-01] [-2.55747100e-02 2.19767964e-03 9.99670498e-01 -1.19579235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.795898227 meters 0.08766857744987971 Centerline is valid? [True, True] Translation: X:105.97, Y:0.88, Z:-1.20 [[ 9.94157366e-01 -1.04746448e-01 2.60636378e-02 1.05967293e+02] [ 1.04767414e-01 9.94496592e-01 5.63580290e-04 8.76874010e-01] [-2.59792320e-02 2.17033244e-03 9.99660127e-01 -1.19661295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.825898227 meters 0.07353253530329068 Centerline is valid? [True, True] Translation: X:106.00, Y:0.89, Z:-1.19 [[ 9.94774500e-01 -9.79236520e-02 2.88903570e-02 1.05997786e+02] [ 9.79465540e-02 9.95191480e-01 6.24771194e-04 8.93057084e-01] [-2.88126170e-02 2.20820446e-03 9.99582391e-01 -1.19245158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85589822699998 meters 0.08406229456549784 Centerline is valid? [True, True] Translation: X:106.03, Y:0.88, Z:-1.19 [[ 9.95161141e-01 -9.38189068e-02 2.91944643e-02 1.06027340e+02] [ 9.38405362e-02 9.95587040e-01 6.31374438e-04 8.80314967e-01] [-2.91248652e-02 2.11130488e-03 9.99573551e-01 -1.19431038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88589822699998 meters 0.07276851308141705 Centerline is valid? [True, True] Translation: X:106.06, Y:0.90, Z:-1.20 [[ 9.95606555e-01 -8.92561944e-02 2.83005251e-02 1.06057248e+02] [ 8.92746726e-02 9.96006856e-01 6.12440103e-04 8.97112800e-01] [-2.82421811e-02 1.91677074e-03 9.99599272e-01 -1.19553591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91589822699999 meters 0.06417695329304783 Centerline is valid? [True, True] Translation: X:106.09, Y:0.91, Z:-1.20 [[ 9.96039336e-01 -8.45347385e-02 2.75593681e-02 1.06087042e+02] [ 8.45504622e-02 9.96419020e-01 5.96351306e-04 9.11553197e-01] [-2.75110910e-02 1.73616795e-03 9.99619991e-01 -1.19710130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94589822699999 meters 0.06044786332213756 Centerline is valid? [True, True] Translation: X:106.12, Y:0.92, Z:-1.20 [[ 9.96403534e-01 -8.02062258e-02 2.73305609e-02 1.06116632e+02] [ 8.02200617e-02 9.96777002e-01 5.91584446e-04 9.20263270e-01] [-2.72899233e-02 1.60300245e-03 9.99626275e-01 -1.19896376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97589822699999 meters 0.05381921881710056 Centerline is valid? [True, True] Translation: X:106.15, Y:0.93, Z:-1.20 [[ 9.96942320e-01 -7.32935604e-02 2.70936158e-02 1.06146793e+02] [ 7.33045940e-02 9.97309426e-01 5.87099489e-04 9.34721325e-01] [-2.70637490e-02 1.40078218e-03 9.99632728e-01 -1.20183637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00589822699999 meters 0.05364921127061744 Centerline is valid? [True, True] Translation: X:106.18, Y:0.94, Z:-1.20 [[ 9.97032402e-01 -7.20738890e-02 2.70507701e-02 1.06177405e+02] [ 7.20844377e-02 9.97398361e-01 5.86255662e-04 9.37939033e-01] [-2.70226475e-02 1.36542366e-03 9.99633889e-01 -1.20335896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03589822699999 meters 0.05844278712174801 Centerline is valid? [True, True] Translation: X:106.21, Y:0.93, Z:-1.21 [[ 9.96998276e-01 -7.24983570e-02 2.71739928e-02 1.06207771e+02] [ 7.25091571e-02 9.97367573e-01 5.89009756e-04 9.34477759e-01] [-2.71451615e-02 1.38312160e-03 9.99630545e-01 -1.20538932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06589822699999 meters 0.05915813553593825 Centerline is valid? [True, True] Translation: X:106.24, Y:0.94, Z:-1.20 [[ 9.96878150e-01 -7.39651291e-02 2.76245140e-02 1.06238558e+02] [ 7.39768634e-02 9.97259778e-01 5.98366568e-04 9.35874652e-01] [-2.75930750e-02 1.44707634e-03 9.99618191e-01 -1.20491841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09589822699999 meters 0.0621619131674365 Centerline is valid? [True, True] Translation: X:106.27, Y:0.93, Z:-1.21 [[ 9.96713967e-01 -7.60973445e-02 2.77571924e-02 1.06268002e+02] [ 7.61100187e-02 9.97099245e-01 6.01142386e-04 9.34311963e-01] [-2.77224209e-02 1.51343342e-03 9.99614514e-01 -1.20556153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.125898227 meters 0.06605661148916812 Centerline is valid? [True, True] Translation: X:106.30, Y:0.94, Z:-1.20 [[ 9.96214762e-01 -8.20259109e-02 2.87731995e-02 1.06298426e+02] [ 8.20419790e-02 9.96628679e-01 6.23655710e-04 9.35033042e-01] [-2.87273518e-02 1.73931521e-03 9.99585771e-01 -1.20498814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.155898227 meters 0.06856232870508816 Centerline is valid? [True, True] Translation: X:106.33, Y:0.94, Z:-1.21 [[ 9.95965946e-01 -8.50528676e-02 2.85979781e-02 1.06329137e+02] [ 8.50699791e-02 9.96374786e-01 6.19995109e-04 9.35937745e-01] [-2.85470367e-02 1.81533538e-03 9.99590802e-01 -1.20648411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.185898227 meters 0.06250000775567628 Centerline is valid? [True, True] Translation: X:106.36, Y:0.95, Z:-1.21 [[ 9.95773336e-01 -8.74590843e-02 2.80423406e-02 1.06359163e+02] [ 8.74764862e-02 9.96166399e-01 6.07959078e-04 9.47491101e-01] [-2.79880090e-02 1.84765598e-03 9.99606551e-01 -1.20779619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21589822699998 meters 0.06830012710684519 Centerline is valid? [True, True] Translation: X:106.39, Y:0.94, Z:-1.21 [[ 9.95642855e-01 -8.92829446e-02 2.69046728e-02 1.06387923e+02] [ 8.92996277e-02 9.96004637e-01 5.83192869e-04 9.42929446e-01] [-2.68492480e-02 1.82192545e-03 9.99637834e-01 -1.21095585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24589822699998 meters 0.06981621436943944 Centerline is valid? [True, True] Translation: X:106.42, Y:0.94, Z:-1.21 [[ 9.95543538e-01 -9.06177963e-02 2.61051378e-02 1.06417456e+02] [ 9.06339426e-02 9.95884114e-01 5.66471850e-04 9.43037411e-01] [-2.60490244e-02 1.80206417e-03 9.99659042e-01 -1.21338448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27589822699998 meters 0.07952558638448362 Centerline is valid? [True, True] Translation: X:106.45, Y:0.93, Z:-1.21 [[ 9.95298844e-01 -9.31622584e-02 2.64764848e-02 1.06447254e+02] [ 9.31797411e-02 9.95649137e-01 5.75361794e-04 9.33873054e-01] [-2.64148912e-02 1.89441507e-03 9.99649271e-01 -1.21378078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30589822699999 meters 0.07927300729022987 Centerline is valid? [True, True] Translation: X:106.48, Y:0.94, Z:-1.21 [[ 9.95151842e-01 -9.46230206e-02 2.68196950e-02 1.06476677e+02] [ 9.46414957e-02 9.95511250e-01 5.82509720e-04 9.36620761e-01] [-2.67544269e-02 1.95857043e-03 9.99640118e-01 -1.21400777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33589822699999 meters 0.07927300729022987 Centerline is valid? [True, True] Translation: X:106.50, Y:0.94, Z:-1.21 [[ 9.95134762e-01 -9.48024782e-02 2.68196997e-02 1.06504217e+02] [ 9.48210238e-02 9.95494166e-01 5.82298034e-04 9.37390543e-01] [-2.67540579e-02 1.96360637e-03 9.99640118e-01 -1.21495375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36589822699999 meters 0.08041263481858948 Centerline is valid? [True, True] Translation: X:106.53, Y:0.94, Z:-1.22 [[ 9.94935570e-01 -9.68197955e-02 2.70025803e-02 1.06534262e+02] [ 9.68391656e-02 9.95299867e-01 5.92504599e-04 9.38355795e-01] [-2.69330308e-02 2.02540345e-03 9.99635188e-01 -1.21563727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39589822699999 meters 0.0929133160609112 Centerline is valid? [True, True] Translation: X:106.56, Y:0.92, Z:-1.22 [[ 9.94476656e-01 -1.01558321e-01 2.64969508e-02 1.06564309e+02] [ 1.01578645e-01 9.94827342e-01 5.81316383e-04 9.23103806e-01] [-2.64189287e-02 2.11341879e-03 9.99648725e-01 -1.21958850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42589822699999 meters 0.08610088342294647 Centerline is valid? [True, True] Translation: X:106.59, Y:0.93, Z:-1.22 [[ 9.94241949e-01 -1.03947767e-01 2.60347435e-02 1.06594716e+02] [ 1.03968191e-01 9.94580459e-01 5.71577692e-04 9.31567914e-01] [-2.59530614e-02 2.13849866e-03 9.99660875e-01 -1.22036598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45589822699999 meters 0.08837412139008531 Centerline is valid? [True, True] Translation: X:106.63, Y:0.93, Z:-1.22 [[ 9.94022281e-01 -1.06077151e-01 2.58329882e-02 1.06625383e+02] [ 1.06097973e-01 9.94355519e-01 5.67141525e-04 9.28532337e-01] [-2.57473351e-02 2.17707638e-03 9.99666112e-01 -1.22190432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48589822699999 meters 0.09169381860134139 Centerline is valid? [True, True] Translation: X:106.65, Y:0.92, Z:-1.22 [[ 9.93879708e-01 -1.07293014e-01 2.62932416e-02 1.06654305e+02] [ 1.07315013e-01 9.94224902e-01 5.77027341e-04 9.24290859e-01] [-2.62033066e-02 2.24816381e-03 9.99654106e-01 -1.22266842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.515898227 meters 0.08407333090249118 Centerline is valid? [True, True] Translation: X:106.68, Y:0.94, Z:-1.22 [[ 9.93783167e-01 -1.07979399e-01 2.71194901e-02 1.06682844e+02] [ 1.08003057e-01 9.94150384e-01 5.95177906e-04 9.35056069e-01] [-2.70251185e-02 2.33751006e-03 9.99632022e-01 -1.22141786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.545898227 meters 0.10324765454843862 Centerline is valid? [True, False] Translation: X:106.69, Y:0.94, Z:-1.22 [[ 9.94823949e-01 -9.79229790e-02 2.71367198e-02 1.06686792e+02] [ 9.82194735e-02 9.95116384e-01 -9.81414378e-03 9.36012396e-01] [-2.60431643e-02 1.24286996e-02 9.99583554e-01 -1.22293152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.575898227 meters 0.08124822200335749 Centerline is valid? [False, True] Translation: X:106.67, Y:0.93, Z:-1.22 [[ 9.96200330e-01 -8.04635942e-02 3.33243393e-02 1.06667444e+02] [ 8.10824457e-02 9.96551054e-01 -1.76531511e-02 9.34166957e-01] [-3.17889695e-02 2.02880938e-02 9.99288674e-01 -1.22497475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60589822699998 meters 0.0774801639881679 Centerline is valid? [True, True] Translation: X:106.70, Y:0.93, Z:-1.23 [[ 9.96521728e-01 -7.68754719e-02 3.21653173e-02 1.06698511e+02] [ 7.69188374e-02 9.97037351e-01 -1.11173007e-04 9.31852222e-01] [-3.20614763e-02 2.58490513e-03 9.99482556e-01 -1.22556221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63589822699998 meters 0.08137770646091716 Centerline is valid? [True, True] Translation: X:106.73, Y:0.93, Z:-1.23 [[ 9.96698896e-01 -7.43834981e-02 3.25331644e-02 1.06727552e+02] [ 7.44265511e-02 9.97226492e-01 -1.12698510e-04 9.26862287e-01] [-3.24345505e-02 2.53365770e-03 9.99470650e-01 -1.22763011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66589822699999 meters 0.08044044509466607 Centerline is valid? [True, True] Translation: X:106.76, Y:0.93, Z:-1.23 [[ 9.96814914e-01 -7.22195529e-02 3.38284512e-02 1.06757175e+02] [ 7.22648526e-02 9.97385471e-01 -1.16768264e-04 9.29523960e-01] [-3.37315728e-02 2.56100439e-03 9.99427647e-01 -1.22755742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69589822699999 meters 0.08123928762553285 Centerline is valid? [True, True] Translation: X:106.79, Y:0.93, Z:-1.23 [[ 9.97027445e-01 -6.80389517e-02 3.61521087e-02 1.06787160e+02] [ 6.80879473e-02 9.97679315e-01 -1.24400151e-04 9.32732357e-01] [-3.60597470e-02 2.58555324e-03 9.99346291e-01 -1.22653988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72589822699999 meters 0.06911562524189366 Centerline is valid? [True, True] Translation: X:106.82, Y:0.95, Z:-1.23 [[ 9.97181830e-01 -6.61774548e-02 3.53403676e-02 1.06817544e+02] [ 6.62231033e-02 9.97804834e-01 -1.21422265e-04 9.50711837e-01] [-3.52547542e-02 2.46142889e-03 9.99375327e-01 -1.22817242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75589822699999 meters 0.07938007921530169 Centerline is valid? [True, True] Translation: X:106.85, Y:0.94, Z:-1.23 [[ 9.97334204e-01 -6.48802560e-02 3.33921733e-02 1.06847761e+02] [ 6.49202683e-02 9.97890448e-01 -1.14289795e-04 9.40142602e-01] [-3.33143156e-02 2.28181397e-03 9.99442319e-01 -1.23256966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78589822699999 meters 0.07349872052911155 Centerline is valid? [True, True] Translation: X:106.88, Y:0.95, Z:-1.24 [[ 9.97431530e-01 -6.42418174e-02 3.16754029e-02 1.06880255e+02] [ 6.42775644e-02 9.97932053e-01 -1.10517407e-04 9.50115731e-01] [-3.16028000e-02 2.14625130e-03 9.99498202e-01 -1.23546293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81589822699999 meters 0.07567370327871474 Centerline is valid? [True, True] Translation: X:106.91, Y:0.95, Z:-1.24 [[ 9.97447766e-01 -6.43720153e-02 3.08900993e-02 1.06911461e+02] [ 6.44061315e-02 9.97923764e-01 -1.09686361e-04 9.49831349e-01] [-3.08189034e-02 2.09891822e-03 9.99522781e-01 -1.23735426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84589822699999 meters 0.06915572730589026 Centerline is valid? [True, True] Translation: X:106.94, Y:0.96, Z:-1.23 [[ 9.97216537e-01 -6.60670180e-02 3.45590294e-02 1.06943256e+02] [ 6.61107882e-02 9.97812281e-01 -1.24117575e-04 9.62664983e-01] [-3.44752239e-02 2.40849677e-03 9.99402651e-01 -1.23131711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.875898227 meters 0.06985991250735545 Centerline is valid? [True, True] Translation: X:106.98, Y:0.96, Z:-1.23 [[ 9.97139067e-01 -6.63125558e-02 3.62812046e-02 1.06975940e+02] [ 6.63609927e-02 9.97795671e-01 -1.31121305e-04 9.63713731e-01] [-3.61925339e-02 2.53840293e-03 9.99341612e-01 -1.23009587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.905898227 meters 0.07084011947076425 Centerline is valid? [True, True] Translation: X:107.01, Y:0.96, Z:-1.23 [[ 9.97131082e-01 -6.60985852e-02 3.68860618e-02 1.07007203e+02] [ 6.61485728e-02 9.97809775e-01 -1.35106717e-04 9.64986340e-01] [-3.67963426e-02 2.57467945e-03 9.99319469e-01 -1.23053034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.935898227 meters 0.07071679811695332 Centerline is valid? [True, True] Translation: X:107.04, Y:0.97, Z:-1.23 [[ 9.97223096e-01 -6.51133598e-02 3.61434310e-02 1.07038600e+02] [ 6.51607555e-02 9.97874771e-01 -1.33671218e-04 9.67596579e-01] [-3.60579142e-02 2.48843330e-03 9.99346604e-01 -1.23276702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96589822699998 meters 0.07109253245086349 Centerline is valid? [True, True] Translation: X:107.07, Y:0.97, Z:-1.24 [[ 9.97367769e-01 -6.35467431e-02 3.49191213e-02 1.07069302e+02] [ 6.35900510e-02 9.97976096e-01 -1.29919930e-04 9.69684382e-01] [-3.48401923e-02 2.35008665e-03 9.99390133e-01 -1.23572357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99589822699998 meters 0.06692319569867193 Centerline is valid? [True, True] Translation: X:107.10, Y:0.98, Z:-1.24 [[ 9.97543235e-01 -6.15471564e-02 3.34580719e-02 1.07099735e+02] [ 6.15858229e-02 9.98101784e-01 -1.25362776e-04 9.77633947e-01] [-3.33868455e-02 2.18559768e-03 9.99440114e-01 -1.23779624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02589822699998 meters 0.06696280248715622 Centerline is valid? [True, True] Translation: X:107.13, Y:0.98, Z:-1.24 [[ 9.97799804e-01 -5.68338579e-02 3.41388897e-02 1.07129296e+02] [ 5.68713660e-02 9.98381506e-01 -1.27865475e-04 9.83410926e-01] [-3.40763690e-02 2.06910944e-03 9.99417090e-01 -1.23937179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05589822699999 meters 0.06744894400862914 Centerline is valid? [True, True] Translation: X:107.16, Y:0.99, Z:-1.24 [[ 9.97868698e-01 -5.48137061e-02 3.54050853e-02 1.07160214e+02] [ 5.48527945e-02 9.98494443e-01 -1.32907017e-04 9.89523112e-01] [-3.53444958e-02 2.07469162e-03 9.99373035e-01 -1.24114677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08589822699999 meters 0.06341753940322882 Centerline is valid? [True, True] Translation: X:107.19, Y:0.99, Z:-1.24 [[ 9.97910036e-01 -5.33371055e-02 3.64789368e-02 1.07192030e+02] [ 5.33776330e-02 9.98574389e-01 -1.37286737e-04 9.93898893e-01] [-3.64196095e-02 2.08415911e-03 9.99334413e-01 -1.23903777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11589822699999 meters 0.06069672840165134 Centerline is valid? [True, True] Translation: X:107.22, Y:1.00, Z:-1.24 [[ 9.97936494e-01 -5.23576156e-02 3.71676492e-02 1.07223641e+02] [ 5.23990609e-02 9.98626216e-01 -1.41187079e-04 1.00107666e+00] [-3.71091967e-02 2.08844565e-03 9.99309034e-01 -1.23924903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14589822699999 meters 0.060994513091992754 Centerline is valid? [True, True] Translation: X:107.25, Y:1.01, Z:-1.24 [[ 9.98095777e-01 -5.02778200e-02 3.57345920e-02 1.07253092e+02] [ 5.03148324e-02 9.98733397e-01 -1.36668135e-04 1.00812361e+00] [-3.56824591e-02 1.93438789e-03 9.99361306e-01 -1.24272898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17589822699999 meters 0.05890418857004123 Centerline is valid? [True, True] Translation: X:107.28, Y:1.01, Z:-1.25 [[ 9.98186182e-01 -4.91750206e-02 3.47298518e-02 1.07284800e+02] [ 4.92092906e-02 9.98788480e-01 -1.32157871e-04 1.01336804e+00] [-3.46812771e-02 1.84094953e-03 9.99396728e-01 -1.24595739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20589822699999 meters 0.05076763806261949 Centerline is valid? [True, True] Translation: X:107.32, Y:1.03, Z:-1.25 [[ 9.98242689e-01 -4.81099738e-02 3.45971753e-02 1.07317328e+02] [ 4.81433969e-02 9.98840425e-01 -1.33169305e-04 1.02653621e+00] [-3.45506505e-02 1.79856083e-03 9.99401330e-01 -1.24637810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23589822699999 meters 0.059181691546664715 Centerline is valid? [True, True] Translation: X:107.35, Y:1.02, Z:-1.25 [[ 9.98284470e-01 -4.68288121e-02 3.51451260e-02 1.07347434e+02] [ 4.68625777e-02 9.98901336e-01 -1.37163151e-04 1.01811015e+00] [-3.51000901e-02 1.78391904e-03 9.99382210e-01 -1.24775426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.265898227 meters 0.05459370283349945 Centerline is valid? [True, True] Translation: X:107.38, Y:1.03, Z:-1.25 [[ 9.98297600e-01 -4.60766629e-02 3.57609074e-02 1.07380189e+02] [ 4.61111510e-02 9.98936305e-01 -1.39816400e-04 1.02736729e+00] [-3.57164264e-02 1.78855498e-03 9.99360364e-01 -1.24727146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.295898227 meters 0.05601079664524576 Centerline is valid? [True, True] Translation: X:107.41, Y:1.03, Z:-1.25 [[ 9.98312260e-01 -4.54118639e-02 3.61993612e-02 1.07411784e+02] [ 4.54468448e-02 9.98966748e-01 -1.43658777e-04 1.02799906e+00] [-3.61554343e-02 1.78856307e-03 9.99344578e-01 -1.24845125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.325898227 meters 0.05435460819044537 Centerline is valid? [True, True] Translation: X:107.44, Y:1.03, Z:-1.25 [[ 9.98366360e-01 -4.49490492e-02 3.52731231e-02 1.07444440e+02] [ 4.49820258e-02 9.98987786e-01 -1.41475159e-04 1.03212956e+00] [-3.52310599e-02 1.72790057e-03 9.99377700e-01 -1.25076089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35589822699998 meters 0.05360854531568127 Centerline is valid? [True, True] Translation: X:107.48, Y:1.03, Z:-1.25 [[ 9.98426353e-01 -4.43539029e-02 3.43154379e-02 1.07476899e+02] [ 4.43848281e-02 9.99014498e-01 -1.39587162e-04 1.03357930e+00] [-3.42754287e-02 1.66245231e-03 9.99411042e-01 -1.25350019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38589822699998 meters 0.05258715971850963 Centerline is valid? [True, True] Translation: X:107.51, Y:1.04, Z:-1.26 [[ 9.98515722e-01 -4.31175359e-02 3.32750901e-02 1.07508993e+02] [ 4.31459769e-02 9.99068769e-01 -1.36819437e-04 1.03569942e+00] [-3.32382040e-02 1.57230263e-03 9.99446221e-01 -1.25656692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41589822699999 meters 0.04532751952196798 Centerline is valid? [True, True] Translation: X:107.54, Y:1.05, Z:-1.26 [[ 9.98701184e-01 -3.88798923e-02 3.29286890e-02 1.07539694e+02] [ 3.89055039e-02 9.99242885e-01 -1.37176600e-04 1.04627799e+00] [-3.28984248e-02 1.41810567e-03 9.99457694e-01 -1.25819947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44589822699999 meters 0.044501859844834527 Centerline is valid? [True, True] Translation: X:107.57, Y:1.05, Z:-1.26 [[ 9.98766594e-01 -3.63888230e-02 3.37808253e-02 1.07569413e+02] [ 3.64143577e-02 9.99336767e-01 -1.40768946e-04 1.04665372e+00] [-3.37532984e-02 1.37070238e-03 9.99429255e-01 -1.25855992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47589822699999 meters 0.04167565831893225 Centerline is valid? [True, True] Translation: X:107.60, Y:1.05, Z:-1.26 [[ 9.98839378e-01 -3.37321331e-02 3.43808156e-02 1.07600228e+02] [ 3.37570104e-02 9.99430059e-01 -1.43202710e-04 1.04953784e+00] [-3.43563900e-02 1.30363005e-03 9.99408795e-01 -1.25842433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50589822699999 meters 0.03986464786406742 Centerline is valid? [True, True] Translation: X:107.63, Y:1.05, Z:-1.26 [[ 9.98934383e-01 -3.05588845e-02 3.45868935e-02 1.07629756e+02] [ 3.05821809e-02 9.99532245e-01 -1.44608905e-04 1.05113524e+00] [-3.45662963e-02 1.20219744e-03 9.99401684e-01 -1.25897260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53589822699999 meters 0.040893391323410626 Centerline is valid? [True, True] Translation: X:107.66, Y:1.06, Z:-1.26 [[ 9.99030429e-01 -2.78160132e-02 3.41243421e-02 1.07660917e+02] [ 2.78370721e-02 9.99612464e-01 -1.42085819e-04 1.05780140e+00] [-3.41071654e-02 1.09186983e-03 9.99417585e-01 -1.26194753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56589822699999 meters 0.0324832301005691 Centerline is valid? [True, True] Translation: X:107.69, Y:1.06, Z:-1.26 [[ 9.99127197e-01 -2.46520387e-02 3.37212281e-02 1.07691039e+02] [ 2.46708319e-02 9.99695619e-01 -1.41277331e-04 1.05983669e+00] [-3.37074812e-02 9.73084774e-04 9.99431268e-01 -1.26186827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59589822699999 meters 0.026113107963592876 Centerline is valid? [True, True] Translation: X:107.72, Y:1.07, Z:-1.26 [[ 9.99226063e-01 -1.89697542e-02 3.44590221e-02 1.07722248e+02] [ 1.89860181e-02 9.99819739e-01 -1.44791940e-04 1.06609796e+00] [-3.44500638e-02 7.98919496e-04 9.99406101e-01 -1.26172860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.625898227 meters 0.02387300221182047 Centerline is valid? [True, True] Translation: X:107.75, Y:1.07, Z:-1.26 [[ 9.99228625e-01 -1.60821141e-02 3.58262525e-02 1.07752937e+02] [ 1.60978482e-02 9.99870410e-01 -1.50745037e-04 1.06788341e+00] [-3.58191855e-02 7.27354329e-04 9.99358022e-01 -1.26084801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.655898227 meters 0.020548516730603757 Centerline is valid? [True, True] Translation: X:107.78, Y:1.07, Z:-1.26 [[ 9.99229348e-01 -1.31646145e-02 3.69784043e-02 1.07784551e+02] [ 1.31794871e-02 9.99913134e-01 -1.58452416e-04 1.07131835e+00] [-3.69731062e-02 6.45686706e-04 9.99316052e-01 -1.26100654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.685898227 meters 0.01907781443121225 Centerline is valid? [True, True] Translation: X:107.82, Y:1.07, Z:-1.26 [[ 9.99256058e-01 -1.01797290e-02 3.71981725e-02 1.07815312e+02] [ 1.01927388e-02 9.99948040e-01 -1.60114096e-04 1.07157024e+00] [-3.71946097e-02 5.39146235e-04 9.99307896e-01 -1.26244454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71589822699998 meters 0.016932020208667437 Centerline is valid? [True, True] Translation: X:107.85, Y:1.07, Z:-1.27 [[ 9.99305043e-01 -7.76876319e-03 3.64565111e-02 1.07847796e+02] [ 7.77978733e-03 9.99969724e-01 -1.60540091e-04 1.07254936e+00] [-3.64541602e-02 4.44052426e-04 9.99335228e-01 -1.26543020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74589822699998 meters 0.016525543245494247 Centerline is valid? [True, True] Translation: X:107.88, Y:1.07, Z:-1.27 [[ 9.99345392e-01 -5.43298025e-03 3.57668752e-02 1.07878532e+02] [ 5.44213969e-03 9.99985179e-01 -1.58736139e-04 1.07012837e+00] [-3.57654827e-02 3.53280560e-04 9.99360148e-01 -1.26905443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77589822699998 meters 0.013475395414285246 Centerline is valid? [True, True] Translation: X:107.91, Y:1.07, Z:-1.27 [[ 9.99393265e-01 -2.68153664e-03 3.47262376e-02 1.07910805e+02] [ 2.68870791e-03 9.99996373e-01 -1.59811831e-04 1.07018746e+00] [-3.47256831e-02 2.53083577e-04 9.99396850e-01 -1.27038462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80589822699999 meters 0.013140230577467927 Centerline is valid? [True, True] Translation: X:107.94, Y:1.07, Z:-1.27 [[ 9.99394195e-01 -1.41731716e-03 3.47740355e-02 1.07941937e+02] [ 1.42378322e-03 9.99998973e-01 -1.61182920e-04 1.06871780e+00] [-3.47737714e-02 2.10595963e-04 9.99395187e-01 -1.27204129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83589822699999 meters 0.012599316719640024 Centerline is valid? [True, True] Translation: X:107.97, Y:1.07, Z:-1.27 [[ 9.99398576e-01 2.49785595e-04 3.46759966e-02 1.07972734e+02] [-2.44167991e-04 9.99999956e-01 -1.66237248e-04 1.06835283e+00] [-3.46760366e-02 1.57670500e-04 9.99398593e-01 -1.27312529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86589822699999 meters 0.01774630466625733 Centerline is valid? [True, True] Translation: X:108.01, Y:1.07, Z:-1.27 [[ 9.99376688e-01 2.45317653e-03 3.52167312e-02 1.08005041e+02] [-2.44855925e-03 9.99996987e-01 -1.74238197e-04 1.06882158e+00] [-3.52170526e-02 8.78993386e-05 9.99379683e-01 -1.27489181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89589822699999 meters 0.012077046077456563 Centerline is valid? [True, True] Translation: X:108.04, Y:1.07, Z:-1.27 [[ 9.99266489e-01 9.21542481e-03 3.71693474e-02 1.08037164e+02] [-9.21470224e-03 9.99957526e-01 -1.90754710e-04 1.07325325e+00] [-3.71695266e-02 -1.51889680e-04 9.99308963e-01 -1.27164146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92589822699999 meters 0.013356240620415172 Centerline is valid? [True, True] Translation: X:108.07, Y:1.07, Z:-1.27 [[ 9.99194498e-01 1.23967218e-02 3.81664210e-02 1.08069227e+02] [-1.23982151e-02 9.99923120e-01 -1.97567880e-04 1.07453689e+00] [-3.81659360e-02 -2.75786758e-04 9.99271377e-01 -1.27181761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95589822699999 meters 0.015620178566779748 Centerline is valid? [True, True] Translation: X:108.10, Y:1.08, Z:-1.27 [[ 9.99128925e-01 1.48422496e-02 3.90012747e-02 1.08100062e+02] [-1.48454001e-02 9.99889779e-01 -2.08841421e-04 1.07720520e+00] [-3.90000757e-02 -3.70330023e-04 9.99239139e-01 -1.27282393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98589822699999 meters 0.017074945677690506 Centerline is valid? [True, True] Translation: X:108.13, Y:1.08, Z:-1.27 [[ 9.99093801e-01 1.65942941e-02 3.91944755e-02 1.08131143e+02] [-1.65985750e-02 9.99862211e-01 -2.16208234e-04 1.07790735e+00] [-3.91926627e-02 -4.34560135e-04 9.99231578e-01 -1.27402279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.015898227 meters 0.017228544901361116 Centerline is valid? [True, True] Translation: X:108.16, Y:1.08, Z:-1.28 [[ 9.99073820e-01 1.78380453e-02 3.91574450e-02 1.08162914e+02] [-1.78430412e-02 9.99840776e-01 -2.21916510e-04 1.07653164e+00] [-3.91551687e-02 -4.76976930e-04 9.99233029e-01 -1.27578151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.045898227 meters 0.019612045546073324 Centerline is valid? [True, True] Translation: X:108.19, Y:1.08, Z:-1.28 [[ 9.99149817e-01 1.97419217e-02 3.61925459e-02 1.08193953e+02] [-1.97472347e-02 9.99804982e-01 -2.10698755e-04 1.07638634e+00] [-3.61896473e-02 -5.04183078e-04 9.99344813e-01 -1.28106855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.075898227 meters 0.0199305652439568 Centerline is valid? [True, True] Translation: X:108.23, Y:1.07, Z:-1.28 [[ 9.99183431e-01 2.07413682e-02 3.46737125e-02 1.08225618e+02] [-2.07466539e-02 9.99784744e-01 -2.07379176e-04 1.07454835e+00] [-3.46705501e-02 -5.12153678e-04 9.99398665e-01 -1.28483696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10589822699998 meters 0.02046880168570542 Centerline is valid? [True, True] Translation: X:108.26, Y:1.07, Z:-1.29 [[ 9.99186457e-01 2.19114033e-02 3.38572574e-02 1.08257765e+02] [-2.19169269e-02 9.99759774e-01 -2.08023140e-04 1.07343288e+00] [-3.38536821e-02 -5.34193130e-04 9.99426657e-01 -1.28698335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13589822699998 meters 0.023815643992057347 Centerline is valid? [True, True] Translation: X:108.29, Y:1.08, Z:-1.29 [[ 9.99137950e-01 2.37349140e-02 3.40589199e-02 1.08289184e+02] [-2.37413605e-02 9.99718111e-01 -2.15188766e-04 1.07652189e+00] [-3.40544265e-02 -5.93601832e-04 9.99419804e-01 -1.28904914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16589822699999 meters 0.02360281109399201 Centerline is valid? [True, True] Translation: X:108.32, Y:1.07, Z:-1.29 [[ 9.99064129e-01 2.55919064e-02 3.48700432e-02 1.08320854e+02] [-2.55995858e-02 9.99672251e-01 -2.26289228e-04 1.07490329e+00] [-3.48644058e-02 -6.66581215e-04 9.99391830e-01 -1.28923419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19589822699999 meters 0.026832342977399865 Centerline is valid? [True, True] Translation: X:108.35, Y:1.08, Z:-1.29 [[ 9.98984177e-01 2.73885816e-02 3.57837973e-02 1.08351690e+02] [-2.73977004e-02 9.99624585e-01 -2.35588666e-04 1.07890749e+00] [-3.57768159e-02 -7.45044409e-04 9.99359527e-01 -1.28995698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22589822699999 meters 0.028667960630258643 Centerline is valid? [True, True] Translation: X:108.38, Y:1.08, Z:-1.29 [[ 9.98844328e-01 3.08881604e-02 3.68229518e-02 1.08383839e+02] [-3.09000617e-02 9.99522449e-01 -2.45998195e-04 1.08064846e+00] [-3.68129654e-02 -8.92117580e-04 9.99321775e-01 -1.28997802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25589822699999 meters 0.028667960630258643 Centerline is valid? [True, True] Translation: X:108.42, Y:1.08, Z:-1.29 [[ 9.98838326e-01 3.10816429e-02 3.68229428e-02 1.08416360e+02] [-3.10936257e-02 9.99516446e-01 -2.47350065e-04 1.08024031e+00] [-3.68128249e-02 -8.97896076e-04 9.99321775e-01 -1.29127487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28589822699999 meters 0.03182052987471709 Centerline is valid? [True, True] Translation: X:108.45, Y:1.08, Z:-1.29 [[ 9.98809614e-01 3.22092077e-02 3.66322536e-02 1.08447144e+02] [-3.22215611e-02 9.99480719e-01 -2.53249085e-04 1.08358970e+00] [-3.66213881e-02 -9.27400775e-04 9.99328782e-01 -1.29270568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31589822699999 meters 0.028801583289340727 Centerline is valid? [True, True] Translation: X:108.48, Y:1.08, Z:-1.29 [[ 9.98808762e-01 3.23607752e-02 3.65217253e-02 1.08479748e+02] [-3.23729522e-02 9.99475825e-01 -2.58044107e-04 1.07766113e+00] [-3.65109321e-02 -9.24579352e-04 9.99332826e-01 -1.29404565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34589822699999 meters 0.02830545480190673 Centerline is valid? [True, True] Translation: X:108.51, Y:1.08, Z:-1.30 [[ 9.98846147e-01 3.09383335e-02 3.67313858e-02 1.08511099e+02] [-3.09494169e-02 9.99520916e-01 -2.66955807e-04 1.07529819e+00] [-3.67220475e-02 -8.70167193e-04 9.99325139e-01 -1.29573438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.375898227 meters 0.024275494339898222 Centerline is valid? [True, True] Translation: X:108.54, Y:1.06, Z:-1.30 [[ 9.98949235e-01 2.60761139e-02 3.76890078e-02 1.08541346e+02] [-2.60840804e-02 9.99659713e-01 -2.80410945e-04 1.06483750e+00] [-3.76834948e-02 -7.02966811e-04 9.99289478e-01 -1.29553097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.405898227 meters 0.023381837530785758 Centerline is valid? [True, True] Translation: X:108.57, Y:1.06, Z:-1.30 [[ 9.98970272e-01 2.42672789e-02 3.83339777e-02 1.08573121e+02] [-2.42741806e-02 9.99705298e-01 -2.85453159e-04 1.06009293e+00] [-3.83296078e-02 -6.45366677e-04 9.99264942e-01 -1.29535856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.435898227 meters 0.024586458179596975 Centerline is valid? [True, True] Translation: X:108.61, Y:1.05, Z:-1.30 [[ 9.98972445e-01 2.29592014e-02 3.90759458e-02 1.08605248e+02] [-2.29651170e-02 9.99736223e-01 -2.97527283e-04 1.05088701e+00] [-3.90724694e-02 -6.00162110e-04 9.99236199e-01 -1.29726501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46589822699998 meters 0.02098052599849829 Centerline is valid? [True, True] Translation: X:108.64, Y:1.05, Z:-1.30 [[ 9.98972706e-01 2.23733636e-02 3.94076678e-02 1.08636891e+02] [-2.23786573e-02 9.99749519e-01 -3.06835182e-04 1.04967765e+00] [-3.94046619e-02 -5.75370719e-04 9.99223169e-01 -1.29506072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49589822699998 meters 0.020207569278571185 Centerline is valid? [True, True] Translation: X:108.67, Y:1.04, Z:-1.30 [[ 9.98981558e-01 2.24546545e-02 3.91361065e-02 1.08670227e+02] [-2.24597000e-02 9.99747701e-01 -3.10790212e-04 1.04499078e+00] [-3.91332112e-02 -5.68511522e-04 9.99233841e-01 -1.29673436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52589822699998 meters 0.020151479169532045 Centerline is valid? [True, True] Translation: X:108.70, Y:1.04, Z:-1.30 [[ 9.99024034e-01 2.35918151e-02 3.73417531e-02 1.08702622e+02] [-2.35969517e-02 9.99721507e-01 -3.03228424e-04 1.03842251e+00] [-3.73385074e-02 -5.78219062e-04 9.99302508e-01 -1.30035712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55589822699999 meters 0.02123687120309472 Centerline is valid? [True, True] Translation: X:108.73, Y:1.04, Z:-1.30 [[ 9.99013178e-01 2.46596590e-02 3.69401079e-02 1.08733388e+02] [-2.46651842e-02 9.99695721e-01 -3.06213664e-04 1.03561276e+00] [-3.69364189e-02 -6.05223080e-04 9.99317434e-01 -1.30243974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58589822699999 meters 0.023790358161520236 Centerline is valid? [True, True] Translation: X:108.76, Y:1.03, Z:-1.30 [[ 9.98949394e-01 2.60406757e-02 3.77093041e-02 1.08764233e+02] [-2.60471883e-02 9.99660664e-01 -3.18651121e-04 1.03454828e+00] [-3.77048059e-02 -6.63905003e-04 9.99288700e-01 -1.30284349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61589822699999 meters 0.02339585925132038 Centerline is valid? [True, True] Translation: X:108.80, Y:1.03, Z:-1.30 [[ 9.98866962e-01 2.79406350e-02 3.85241857e-02 1.08796010e+02] [-2.79486084e-02 9.99609306e-01 -3.31666787e-04 1.02901362e+00] [-3.85184015e-02 -7.45406382e-04 9.99257613e-01 -1.30158973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64589822699999 meters 0.02605190767923541 Centerline is valid? [True, True] Translation: X:108.83, Y:1.03, Z:-1.30 [[ 9.98775280e-01 3.06585833e-02 3.88328654e-02 1.08827788e+02] [-3.06684952e-02 9.99529553e-01 -3.40566498e-04 1.02828230e+00] [-3.88250379e-02 -8.50796147e-04 9.99245662e-01 -1.30137227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67589822699999 meters 0.03353402398465933 Centerline is valid? [True, True] Translation: X:108.86, Y:1.03, Z:-1.30 [[ 9.98561975e-01 3.79472229e-02 3.78680781e-02 1.08857187e+02] [-3.79616483e-02 9.99279140e-01 -3.38273280e-04 1.03270880e+00] [-3.78536170e-02 -1.09974783e-03 9.99282690e-01 -1.30454829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70589822699999 meters 0.042031877564024704 Centerline is valid? [True, True] Translation: X:108.89, Y:1.04, Z:-1.31 [[ 9.98428655e-01 4.22845561e-02 3.67727662e-02 1.08887360e+02] [-4.23011111e-02 9.99104854e-01 -3.28061850e-04 1.03742030e+00] [-3.67537211e-02 -1.22798252e-03 9.99323599e-01 -1.31054635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73589822699999 meters 0.04413247216769788 Centerline is valid? [True, True] Translation: X:108.92, Y:1.04, Z:-1.31 [[ 9.98274524e-01 4.66901892e-02 3.56090032e-02 1.08918120e+02] [-4.67084943e-02 9.98908512e-01 -3.18105538e-04 1.04337608e+00] [-3.55849888e-02 -1.34568627e-03 9.99365748e-01 -1.31187209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.765898227 meters 0.05506505404402657 Centerline is valid? [True, True] Translation: X:108.95, Y:1.06, Z:-1.32 [[ 9.98058836e-01 5.14775663e-02 3.50516840e-02 1.08947576e+02] [-5.14982396e-02 9.98673036e-01 -3.13376615e-04 1.05651406e+00] [-3.50213035e-02 -1.49233172e-03 9.99385452e-01 -1.31528293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.795898227 meters 0.05487191422164323 Centerline is valid? [True, True] Translation: X:108.98, Y:1.05, Z:-1.32 [[ 9.97849669e-01 5.58506347e-02 3.43037238e-02 1.08978011e+02] [-5.58730017e-02 9.98437837e-01 -3.06983237e-04 1.05355638e+00] [-3.42672810e-02 -1.61032889e-03 9.99411407e-01 -1.31867155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.825898227 meters 0.06127656608068035 Centerline is valid? [True, True] Translation: X:109.01, Y:1.06, Z:-1.32 [[ 9.97487527e-01 6.20217756e-02 3.42335044e-02 1.09007449e+02] [-6.20476695e-02 9.98073140e-01 -3.06479760e-04 1.06495775e+00] [-3.41865497e-02 -1.81839943e-03 9.99413815e-01 -1.31845464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85589822699998 meters 0.06102716015758709 Centerline is valid? [True, True] Translation: X:109.04, Y:1.07, Z:-1.32 [[ 9.97398690e-01 6.33941946e-02 3.43078546e-02 1.09039298e+02] [-6.34210433e-02 9.97986812e-01 -3.06186846e-04 1.06542664e+00] [-3.42581969e-02 -1.87044957e-03 9.99411265e-01 -1.31935665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88589822699998 meters 0.06148566596868887 Centerline is valid? [True, True] Translation: X:109.07, Y:1.07, Z:-1.32 [[ 9.97417486e-01 6.31996739e-02 3.41197949e-02 1.09070279e+02] [-6.32260218e-02 9.97999186e-01 -3.07253877e-04 1.06679474e+00] [-3.40709459e-02 -1.85079851e-03 9.99417703e-01 -1.32058415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91589822699999 meters 0.05711462611596853 Centerline is valid? [True, True] Translation: X:109.10, Y:1.06, Z:-1.32 [[ 9.97661345e-01 5.96667155e-02 3.33425149e-02 1.09100583e+02] [-5.96897879e-02 9.98216929e-01 -3.03861275e-04 1.06160135e+00] [-3.33011932e-02 -1.68705699e-03 9.99443938e-01 -1.32437524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94589822699999 meters 0.051037418905664024 Centerline is valid? [True, True] Translation: X:109.13, Y:1.05, Z:-1.33 [[ 9.97812301e-01 5.71772466e-02 3.31869542e-02 1.09131327e+02] [-5.71987287e-02 9.98362767e-01 -3.02499944e-04 1.05291793e+00] [-3.31499156e-02 -1.59641343e-03 9.99449116e-01 -1.32509820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97589822699999 meters 0.04851474964462973 Centerline is valid? [True, True] Translation: X:109.16, Y:1.05, Z:-1.33 [[ 9.97933998e-01 5.45563430e-02 3.39314248e-02 1.09162577e+02] [-5.45772723e-02 9.98509502e-01 -3.09781994e-04 1.04879624e+00] [-3.38977506e-02 -1.54274262e-03 9.99424115e-01 -1.32588997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00589822699999 meters 0.04940461203362795 Centerline is valid? [True, True] Translation: X:109.19, Y:1.05, Z:-1.33 [[ 9.98035455e-01 5.21828712e-02 3.46724408e-02 1.09191997e+02] [-5.22032771e-02 9.98636429e-01 -3.17100976e-04 1.04832553e+00] [-3.46417097e-02 -1.49353702e-03 9.99398680e-01 -1.32658727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03589822699999 meters 0.04832530039919363 Centerline is valid? [True, True] Translation: X:109.22, Y:1.05, Z:-1.33 [[ 9.98058407e-01 5.11703922e-02 3.55106622e-02 1.09223788e+02] [-5.11912010e-02 9.98688819e-01 -3.23564785e-04 1.04612251e+00] [-3.54806582e-02 -1.49489689e-03 9.99369245e-01 -1.32557576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06589822699999 meters 0.05020626339313651 Centerline is valid? [True, True] Translation: X:109.26, Y:1.04, Z:-1.33 [[ 9.98075369e-01 5.08657125e-02 3.54716513e-02 1.09255717e+02] [-5.08860774e-02 9.98704410e-01 -3.29019675e-04 1.04363268e+00] [-3.54424304e-02 -1.47662676e-03 9.99370629e-01 -1.32824859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09589822699999 meters 0.04856427737677042 Centerline is valid? [True, True] Translation: X:109.29, Y:1.05, Z:-1.33 [[ 9.97878652e-01 5.41683936e-02 3.61106684e-02 1.09286991e+02] [-5.41914219e-02 9.98530507e-01 -3.41464531e-04 1.04517643e+00] [-3.60761006e-02 -1.61614830e-03 9.99347739e-01 -1.32565301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.125898227 meters 0.057504213234605195 Centerline is valid? [True, True] Translation: X:109.32, Y:1.06, Z:-1.33 [[ 9.97693652e-01 5.69838020e-02 3.68812018e-02 1.09317107e+02] [-5.70097062e-02 9.98373563e-01 -3.49754131e-04 1.05716720e+00] [-3.68411471e-02 -1.75363900e-03 9.99319596e-01 -1.32672557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.155898227 meters 0.0560046216438458 Centerline is valid? [True, True] Translation: X:109.35, Y:1.06, Z:-1.33 [[ 9.97486485e-01 6.00615466e-02 3.75941871e-02 1.09348020e+02] [-6.00906438e-02 9.98192861e-01 -3.56489685e-04 1.05531416e+00] [-3.75476604e-02 -1.90346526e-03 9.99293025e-01 -1.32682187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.185898227 meters 0.057264563810295994 Centerline is valid? [True, True] Translation: X:109.38, Y:1.06, Z:-1.33 [[ 9.97292890e-01 6.27632476e-02 3.83101261e-02 1.09379175e+02] [-6.27954348e-02 9.98026353e-01 -3.63726597e-04 1.05649402e+00] [-3.82573440e-02 -2.04295907e-03 9.99265831e-01 -1.32644722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21589822699998 meters 0.06523510272848385 Centerline is valid? [True, True] Translation: X:109.41, Y:1.07, Z:-1.33 [[ 9.97028567e-01 6.62369229e-02 3.93281821e-02 1.09408712e+02] [-6.62735194e-02 9.97801424e-01 -3.73874014e-04 1.06582525e+00] [-3.92664804e-02 -2.23365397e-03 9.99226278e-01 -1.32585487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24589822699998 meters 0.059189115712930014 Centerline is valid? [True, True] Translation: X:109.44, Y:1.06, Z:-1.33 [[ 9.97006308e-01 6.68349309e-02 3.88781939e-02 1.09440633e+02] [-6.68711385e-02 9.97761552e-01 -3.69806479e-04 1.05747587e+00] [-3.88158831e-02 -2.23112970e-03 9.99243889e-01 -1.32756961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27589822699998 meters 0.058795191195566004 Centerline is valid? [True, True] Translation: X:109.47, Y:1.06, Z:-1.33 [[ 9.96999091e-01 6.70992649e-02 3.86070088e-02 1.09473674e+02] [-6.71349189e-02 9.97743836e-01 -3.73632572e-04 1.05655033e+00] [-3.85449755e-02 -2.21936707e-03 9.99254402e-01 -1.32904891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30589822699999 meters 0.06210927498141646 Centerline is valid? [True, True] Translation: X:109.51, Y:1.06, Z:-1.33 [[ 9.96969122e-01 6.73614318e-02 3.89231065e-02 1.09505869e+02] [-6.73975764e-02 9.97726124e-01 -3.84289965e-04 1.05744739e+00] [-3.88604865e-02 -2.24019782e-03 9.99242135e-01 -1.33136791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33589822699999 meters 0.06677934039498426 Centerline is valid? [True, True] Translation: X:109.54, Y:1.07, Z:-1.33 [[ 9.96853388e-01 6.86153547e-02 3.96895019e-02 1.09536676e+02] [-6.86536379e-02 9.97640476e-01 -3.99188273e-04 1.06736004e+00] [-3.96232440e-02 -2.32689651e-03 9.99211982e-01 -1.32925566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36589822699999 meters 0.06552068699491401 Centerline is valid? [True, True] Translation: X:109.57, Y:1.07, Z:-1.33 [[ 9.96576828e-01 7.23064484e-02 4.00799611e-02 1.09567423e+02] [-7.23484230e-02 9.97379337e-01 -4.04083487e-04 1.06691082e+00] [-4.00041429e-02 -2.49702174e-03 9.99196394e-01 -1.32907867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39589822699999 meters 0.0742574905764967 Centerline is valid? [True, True] Translation: X:109.60, Y:1.08, Z:-1.33 [[ 9.96431596e-01 7.45233814e-02 3.96275068e-02 1.09597403e+02] [-7.45661546e-02 9.97215989e-01 -3.99596078e-04 1.07748905e+00] [-3.95469626e-02 -2.55670064e-03 9.99214442e-01 -1.33272431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42589822699999 meters 0.06860654014250485 Centerline is valid? [True, True] Translation: X:109.63, Y:1.07, Z:-1.33 [[ 9.96225184e-01 7.75031144e-02 3.90979484e-02 1.09627641e+02] [-7.75470340e-02 9.96988617e-01 -3.94254505e-04 1.07389252e+00] [-3.90107655e-02 -2.63916367e-03 9.99235305e-01 -1.33234074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45589822699999 meters 0.07744170065352197 Centerline is valid? [True, True] Translation: X:109.66, Y:1.09, Z:-1.34 [[ 9.96073717e-01 8.01134082e-02 3.76695209e-02 1.09657616e+02] [-8.01560264e-02 9.96782257e-01 -3.79954484e-04 1.08711758e+00] [-3.75787495e-02 -2.64097644e-03 9.99290179e-01 -1.33593373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48589822699999 meters 0.08019338068264548 Centerline is valid? [True, True] Translation: X:109.69, Y:1.09, Z:-1.34 [[ 9.95982334e-01 8.20606081e-02 3.58503544e-02 1.09687657e+02] [-8.21004727e-02 9.96623992e-01 -3.61234355e-04 1.09257713e+00] [-3.57589664e-02 -2.58354801e-03 9.99357104e-01 -1.34040943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.515898227 meters 0.07520120531559737 Centerline is valid? [True, True] Translation: X:109.72, Y:1.09, Z:-1.34 [[ 9.95878788e-01 8.38507706e-02 3.45613689e-02 1.09718880e+02] [-8.38888944e-02 9.96475053e-01 -3.48095958e-04 1.08970804e+00] [-3.44687300e-02 -2.55265364e-03 9.99402517e-01 -1.34338414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.545898227 meters 0.08068945288514007 Centerline is valid? [True, True] Translation: X:109.75, Y:1.10, Z:-1.34 [[ 9.95880650e-01 8.36289166e-02 3.50419207e-02 1.09748402e+02] [-8.36679369e-02 9.96493628e-01 -3.53953283e-04 1.09842785e+00] [-3.49486514e-02 -2.57938998e-03 9.99385781e-01 -1.34465161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.575898227 meters 0.07656431171641437 Centerline is valid? [True, True] Translation: X:109.78, Y:1.09, Z:-1.35 [[ 9.95941347e-01 8.28003865e-02 3.52835463e-02 1.09778620e+02] [-8.28394471e-02 9.96562843e-01 -3.55917840e-04 1.09391418e+00] [-3.51917413e-02 -2.56839617e-03 9.99377278e-01 -1.34703161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60589822699998 meters 0.07471155334693225 Centerline is valid? [True, True] Translation: X:109.81, Y:1.09, Z:-1.35 [[ 9.96013718e-01 8.18476374e-02 3.54632022e-02 1.09809373e+02] [-8.18864965e-02 9.96641597e-01 -3.57730094e-04 1.09394910e+00] [-3.53733819e-02 -2.54765331e-03 9.99370919e-01 -1.34707416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63589822699998 meters 0.07732475756079756 Centerline is valid? [True, True] Translation: X:109.84, Y:1.10, Z:-1.35 [[ 9.96114663e-01 8.07934596e-02 3.50427587e-02 1.09839191e+02] [-8.08307529e-02 9.96727778e-01 -3.53488929e-04 1.09845985e+00] [-3.49566506e-02 -2.48041706e-03 9.99385751e-01 -1.34979138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66589822699999 meters 0.07310667139903707 Centerline is valid? [True, True] Translation: X:109.87, Y:1.09, Z:-1.35 [[ 9.96208111e-01 7.93577162e-02 3.56616355e-02 1.09870310e+02] [-7.93954265e-02 9.96843136e-01 -3.59682308e-04 1.09493723e+00] [-3.55776001e-02 -2.47305233e-03 9.99363857e-01 -1.35036246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69589822699999 meters 0.06371298265478867 Centerline is valid? [True, True] Translation: X:109.90, Y:1.08, Z:-1.35 [[ 9.95967042e-01 8.11503210e-02 3.82658601e-02 1.09897821e+02] [-8.13993102e-02 9.96669070e-01 4.99179427e-03 1.07953256e+00] [-3.77333135e-02 -8.08647718e-03 9.99255126e-01 -1.35080837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72589822699999 meters 0.07436259257906919 Centerline is valid? [True, True] Translation: X:109.93, Y:1.10, Z:-1.35 [[ 9.96215049e-01 7.89677876e-02 3.63271858e-02 1.09931065e+02] [-7.88209264e-02 9.96873841e-01 -5.45951099e-03 1.09981662e+00] [-3.66447467e-02 2.57550458e-03 9.99325037e-01 -1.35076299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75589822699999 meters 0.07559005440877904 Centerline is valid? [True, True] Translation: X:109.96, Y:1.10, Z:-1.35 [[ 9.96268057e-01 7.86598074e-02 3.55329890e-02 1.09960205e+02] [-7.86966101e-02 9.96898546e-01 -3.63853096e-04 1.09947630e+00] [-3.54514057e-02 -2.43383057e-03 9.99368438e-01 -1.35452699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78589822699999 meters 0.0761939542419183 Centerline is valid? [True, True] Translation: X:109.99, Y:1.10, Z:-1.36 [[ 9.96277299e-01 7.93211568e-02 3.37594041e-02 1.09990866e+02] [-7.93547687e-02 9.96846378e-01 -3.45184812e-04 1.09955092e+00] [-3.36803202e-02 -2.33506992e-03 9.99429929e-01 -1.35827220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81589822699999 meters 0.0782345745092384 Centerline is valid? [True, True] Translation: X:110.02, Y:1.10, Z:-1.36 [[ 9.96210197e-01 8.00968287e-02 3.39078241e-02 1.10019944e+02] [-8.01311745e-02 9.96784267e-01 -3.46982385e-04 1.10180775e+00] [-3.38265778e-02 -2.37140638e-03 9.99424904e-01 -1.35955430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84589822699999 meters 0.07993590193436213 Centerline is valid? [True, True] Translation: X:110.05, Y:1.10, Z:-1.36 [[ 9.96118523e-01 8.07855057e-02 3.49512465e-02 1.10050021e+02] [-8.08223758e-02 9.96728456e-01 -3.58979018e-04 1.10426815e+00] [-3.48659023e-02 -2.46725713e-03 9.99388954e-01 -1.35872204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.875898227 meters 0.08032498019222363 Centerline is valid? [True, True] Translation: X:110.08, Y:1.10, Z:-1.36 [[ 9.96011351e-01 8.15044642e-02 3.63099345e-02 1.10079646e+02] [-8.15447491e-02 9.96669612e-01 -3.72543024e-04 1.10496624e+00] [-3.62193723e-02 -2.58982742e-03 9.99340507e-01 -1.35732779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.905898227 meters 0.07890410295401293 Centerline is valid? [True, True] Translation: X:110.11, Y:1.10, Z:-1.36 [[ 9.95925241e-01 8.23535898e-02 3.67532256e-02 1.10109715e+02] [-8.23954729e-02 9.96599641e-01 -3.76207006e-04 1.10287347e+00] [-3.66592334e-02 -2.65362535e-03 9.99324301e-01 -1.35732837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.935898227 meters 0.08386614465022732 Centerline is valid? [True, True] Translation: X:110.14, Y:1.11, Z:-1.36 [[ 9.95917609e-01 8.36466841e-02 3.39315208e-02 1.10138333e+02] [-8.36831330e-02 9.96492355e-01 -3.47035319e-04 1.10735183e+00] [-3.38415294e-02 -2.49387738e-03 9.99424100e-01 -1.36417440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96589822699998 meters 0.07473200274734959 Centerline is valid? [True, True] Translation: X:110.17, Y:1.09, Z:-1.36 [[ 9.95938736e-01 8.34539265e-02 3.37857262e-02 1.10167731e+02] [-8.34899783e-02 9.96508557e-01 -3.44775222e-04 1.09464168e+00] [-3.36965381e-02 -2.47739454e-03 9.99429040e-01 -1.36494891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99589822699998 meters 0.07678256092924506 Centerline is valid? [True, True] Translation: X:110.20, Y:1.10, Z:-1.36 [[ 9.95955539e-01 8.26845296e-02 3.51544180e-02 1.10196310e+02] [-8.27231169e-02 9.96572505e-01 -3.57916973e-04 1.09605864e+00] [-3.50635206e-02 -2.55161363e-03 9.99381828e-01 -1.36472576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02589822699998 meters 0.07762527456472278 Centerline is valid? [True, True] Translation: X:110.23, Y:1.09, Z:-1.36 [[ 9.96191792e-01 7.82737919e-02 3.84073833e-02 1.10226105e+02] [-7.83166578e-02 9.96928458e-01 -3.89479019e-04 1.09460634e+00] [-3.83198994e-02 -2.61994210e-03 9.99262088e-01 -1.36086444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05589822699999 meters 0.07267823215964789 Centerline is valid? [True, True] Translation: X:110.26, Y:1.09, Z:-1.36 [[ 9.96403313e-01 7.54177620e-02 3.86341597e-02 1.10256133e+02] [-7.54590019e-02 9.97148828e-01 -3.91712744e-04 1.08593795e+00] [-3.85535492e-02 -2.52499125e-03 9.99253345e-01 -1.36185229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08589822699999 meters 0.07537682029928755 Centerline is valid? [True, True] Translation: X:110.29, Y:1.09, Z:-1.36 [[ 9.96662544e-01 7.21620414e-02 3.81629715e-02 1.10285686e+02] [-7.21999018e-02 9.97390106e-01 -3.86982782e-04 1.08719854e+00] [-3.80912957e-02 -2.36967155e-03 9.99271454e-01 -1.36363715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11589822699999 meters 0.0657030692660336 Centerline is valid? [True, True] Translation: X:110.32, Y:1.07, Z:-1.37 [[ 9.96896271e-01 6.92576926e-02 3.74325734e-02 1.10316040e+02] [-6.92920934e-02 9.97596342e-01 -3.79115482e-04 1.07187489e+00] [-3.73688550e-02 -2.21584256e-03 9.99299084e-01 -1.36557340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14589822699999 meters 0.0657030692660336 Centerline is valid? [True, True] Translation: X:110.35, Y:1.07, Z:-1.37 [[ 9.96883382e-01 6.94429564e-02 3.74325771e-02 1.10348609e+02] [-6.94775007e-02 9.97583447e-01 -3.78759207e-04 1.07136205e+00] [-3.73684214e-02 -2.22314314e-03 9.99299084e-01 -1.36687248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17589822699999 meters 0.05864819317657259 Centerline is valid? [True, True] Translation: X:110.38, Y:1.06, Z:-1.37 [[ 9.97054022e-01 6.68372050e-02 3.76306401e-02 1.10378851e+02] [-6.68699868e-02 9.97761622e-01 -3.88215406e-04 1.05899945e+00] [-3.75723557e-02 -2.12928868e-03 9.99291641e-01 -1.36836046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20589822699999 meters 0.05614688220669734 Centerline is valid? [True, True] Translation: X:110.41, Y:1.05, Z:-1.37 [[ 9.97180299e-01 6.47519391e-02 3.79293880e-02 1.10409431e+02] [-6.47837415e-02 9.97899250e-01 -3.91272871e-04 1.05222552e+00] [-3.78750435e-02 -2.06703807e-03 9.99280345e-01 -1.36878694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23589822699999 meters 0.061022149920140566 Centerline is valid? [True, True] Translation: X:110.44, Y:1.05, Z:-1.37 [[ 9.97281511e-01 6.30566381e-02 3.81241287e-02 1.10439500e+02] [-6.30875148e-02 9.98007921e-01 -3.93773201e-04 1.05496542e+00] [-3.80730125e-02 -2.01245380e-03 9.99272934e-01 -1.37003124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.265898227 meters 0.05511484553477585 Centerline is valid? [True, True] Translation: X:110.47, Y:1.04, Z:-1.37 [[ 9.97454800e-01 6.06692719e-02 3.74587991e-02 1.10470521e+02] [-6.06973836e-02 9.98156139e-01 -3.87347999e-04 1.04134584e+00] [-3.74132304e-02 -1.88728898e-03 9.99298098e-01 -1.37268818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.295898227 meters 0.050565319958825336 Centerline is valid? [True, True] Translation: X:110.50, Y:1.03, Z:-1.38 [[ 9.97475815e-01 6.07739138e-02 3.67223247e-02 1.10503586e+02] [-6.08010061e-02 9.98149835e-01 -3.79577318e-04 1.03146957e+00] [-3.66774508e-02 -1.85413509e-03 9.99325436e-01 -1.37507704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.325898227 meters 0.05800612450103092 Centerline is valid? [True, True] Translation: X:110.53, Y:1.04, Z:-1.38 [[ 9.97450521e-01 6.16394768e-02 3.59587795e-02 1.10534360e+02] [-6.16657595e-02 9.98096784e-01 -3.78757124e-04 1.03717034e+00] [-3.59136886e-02 -1.83963396e-03 9.99353202e-01 -1.37837651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35589822699998 meters 0.057128500656041296 Centerline is valid? [True, True] Translation: X:110.57, Y:1.03, Z:-1.38 [[ 9.97400974e-01 6.27710671e-02 3.53707639e-02 1.10565959e+02] [-6.27969989e-02 9.98026249e-01 -3.78414466e-04 1.03162107e+00] [-3.53247043e-02 -1.84374687e-03 9.99374187e-01 -1.38040428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38589822699998 meters 0.06204079182294047 Centerline is valid? [True, True] Translation: X:110.60, Y:1.03, Z:-1.38 [[ 9.97165051e-01 6.58796269e-02 3.63556840e-02 1.10595156e+02] [-6.59089582e-02 9.97825564e-01 -3.92406683e-04 1.03087643e+00] [-3.63024824e-02 -2.00487102e-03 9.99338837e-01 -1.37949633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41589822699999 meters 0.06242522616155057 Centerline is valid? [True, True] Translation: X:110.63, Y:1.03, Z:-1.38 [[ 9.97053030e-01 6.70159649e-02 3.73378524e-02 1.10626996e+02] [-6.70477267e-02 9.97749688e-01 -4.02246541e-04 1.02804031e+00] [-3.72807875e-02 -2.10235699e-03 9.99302618e-01 -1.37937146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44589822699999 meters 0.06394483040846902 Centerline is valid? [True, True] Translation: X:110.66, Y:1.03, Z:-1.38 [[ 9.96962815e-01 6.80321092e-02 3.79048378e-02 1.10657620e+02] [-6.80653522e-02 9.97680779e-01 -4.14260460e-04 1.02658968e+00] [-3.78451111e-02 -2.16700386e-03 9.99281268e-01 -1.37941433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47589822699999 meters 0.06477885567451375 Centerline is valid? [True, True] Translation: X:110.69, Y:1.02, Z:-1.38 [[ 9.96943393e-01 6.82271864e-02 3.80647047e-02 1.10690502e+02] [-6.82607424e-02 9.97667427e-01 -4.18902206e-04 1.02381732e+00] [-3.80044965e-02 -2.18070321e-03 9.99275189e-01 -1.38064253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50589822699999 meters 0.06348611739576647 Centerline is valid? [True, True] Translation: X:110.72, Y:1.02, Z:-1.38 [[ 9.96989031e-01 6.77363774e-02 3.77446053e-02 1.10723098e+02] [-6.77687537e-02 9.97700966e-01 -4.22444998e-04 1.01797733e+00] [-3.76864441e-02 -2.13673183e-03 9.99287329e-01 -1.38256741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53589822699999 meters 0.06365745374790614 Centerline is valid? [True, True] Translation: X:110.75, Y:1.01, Z:-1.38 [[ 9.97047368e-01 6.70034700e-02 3.75110810e-02 1.10753912e+02] [-6.70348526e-02 9.97750545e-01 -4.21885510e-04 1.01350355e+00] [-3.74549693e-02 -2.09390995e-03 9.99296123e-01 -1.38433888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56589822699999 meters 0.06165278521982727 Centerline is valid? [True, True] Translation: X:110.79, Y:1.00, Z:-1.39 [[ 9.97205084e-01 6.52621396e-02 3.63713244e-02 1.10785298e+02] [-6.52903634e-02 9.97866223e-01 -4.12478827e-04 1.00232790e+00] [-3.63206354e-02 -1.96337100e-03 9.99338259e-01 -1.38682639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59589822699999 meters 0.0566572062206355 Centerline is valid? [True, True] Translation: X:110.82, Y:0.99, Z:-1.39 [[ 9.97267325e-01 6.47222527e-02 3.56217864e-02 1.10817019e+02] [-6.47489580e-02 9.97901503e-01 -4.04613904e-04 9.91584553e-01] [-3.55732217e-02 -1.90296532e-03 9.99365261e-01 -1.38873004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.625898227 meters 0.05668617384117272 Centerline is valid? [True, True] Translation: X:110.85, Y:0.99, Z:-1.39 [[ 9.97281265e-01 6.44844699e-02 3.56627572e-02 1.10847752e+02] [-6.45108635e-02 9.97916920e-01 -4.11298901e-04 9.87944846e-01] [-3.56149912e-02 -1.89045457e-03 9.99363797e-01 -1.39045398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.655898227 meters 0.05432949331887372 Centerline is valid? [True, True] Translation: X:110.88, Y:0.98, Z:-1.39 [[ 9.97215346e-01 6.51933086e-02 3.62130794e-02 1.10879556e+02] [-6.52208733e-02 9.97870763e-01 -4.20866964e-04 9.81868800e-01] [-3.61634109e-02 -1.94215367e-03 9.99344003e-01 -1.39017834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.685898227 meters 0.05500296647632666 Centerline is valid? [True, True] Translation: X:110.91, Y:0.98, Z:-1.39 [[ 9.97079430e-01 6.67979584e-02 3.70221879e-02 1.10910262e+02] [-6.68276218e-02 9.97764440e-01 -4.37047961e-04 9.80352336e-01] [-3.69686165e-02 -2.03833324e-03 9.99314348e-01 -1.39013351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71589822699998 meters 0.073449122984438 Centerline is valid? [True, True] Translation: X:110.94, Y:1.00, Z:-1.39 [[ 9.96763065e-01 7.11339461e-02 3.74613732e-02 1.10940999e+02] [-7.11673145e-02 9.97464293e-01 -4.43675947e-04 1.00191626e+00] [-3.73979426e-02 -2.22378553e-03 9.99297978e-01 -1.39081849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74589822699998 meters 0.073449122984438 Centerline is valid? [True, True] Translation: X:110.97, Y:1.00, Z:-1.39 [[ 9.96750659e-01 7.13075673e-02 3.74613751e-02 1.10973555e+02] [-7.13410638e-02 9.97451881e-01 -4.43518103e-04 1.00133580e+00] [-3.73975453e-02 -2.23045739e-03 9.99297978e-01 -1.39211709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77589822699998 meters 0.06484710703640165 Centerline is valid? [True, True] Translation: X:111.00, Y:0.99, Z:-1.39 [[ 9.96424619e-01 7.58497448e-02 3.72128213e-02 1.11004603e+02] [-7.58856967e-02 9.97116423e-01 -4.47420247e-04 9.90554597e-01] [-3.71394519e-02 -2.37810032e-03 9.99307263e-01 -1.39245901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80589822699999 meters 0.08193392527178896 Centerline is valid? [True, True] Translation: X:111.04, Y:1.01, Z:-1.39 [[ 9.96240003e-01 7.78579950e-02 3.79998598e-02 1.11035352e+02] [-7.78969072e-02 9.96961314e-01 -4.57738948e-04 1.01295004e+00] [-3.79200288e-02 -2.50405370e-03 9.99277640e-01 -1.39345221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83589822699999 meters 0.07080924134176816 Centerline is valid? [True, True] Translation: X:111.07, Y:1.00, Z:-1.40 [[ 9.96127131e-01 7.89461228e-02 3.87072124e-02 1.11066749e+02] [-7.89873016e-02 9.96875513e-01 -4.66644367e-04 9.95289376e-01] [-3.86231119e-02 -2.59254114e-03 9.99250486e-01 -1.39580213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86589822699999 meters 0.07404230551879863 Centerline is valid? [True, True] Translation: X:111.10, Y:1.00, Z:-1.40 [[ 9.96019013e-01 8.00542908e-02 3.92101594e-02 1.11097656e+02] [-8.00972720e-02 9.96786938e-01 -4.76042969e-04 1.00380857e+00] [-3.91222840e-02 -2.66647896e-03 9.99230873e-01 -1.39505629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89589822699999 meters 0.08086417005074306 Centerline is valid? [True, True] Translation: X:111.13, Y:1.01, Z:-1.40 [[ 9.95998490e-01 8.03547172e-02 3.91168412e-02 1.11128694e+02] [-8.03975997e-02 9.96762759e-01 -4.78098130e-04 1.01318551e+00] [-3.90286280e-02 -2.66871513e-03 9.99234529e-01 -1.39649733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92589822699999 meters 0.06829497844658187 Centerline is valid? [True, True] Translation: X:111.16, Y:1.00, Z:-1.40 [[ 9.96061554e-01 7.99548515e-02 3.83223608e-02 1.11160512e+02] [-7.99955021e-02 9.96795112e-01 -4.73901986e-04 9.95150653e-01] [-3.82374327e-02 -2.59358095e-03 9.99265316e-01 -1.40022034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95589822699999 meters 0.07379362892587683 Centerline is valid? [True, True] Translation: X:111.19, Y:1.01, Z:-1.40 [[ 9.96084169e-01 8.05508730e-02 3.64401453e-02 1.11191441e+02] [-8.05878086e-02 9.96747409e-01 -4.56460678e-04 1.00765220e+00] [-3.63583887e-02 -2.48195820e-03 9.99335733e-01 -1.40288066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98589822699999 meters 0.08960143086658036 Centerline is valid? [True, True] Translation: X:111.22, Y:1.03, Z:-1.41 [[ 9.96070045e-01 8.09690501e-02 3.58953928e-02 1.11222319e+02] [-8.10049430e-02 9.96713596e-01 -4.55654158e-04 1.02919337e+00] [-3.58143199e-02 -2.45384079e-03 9.99355449e-01 -1.40548863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.015898227 meters 0.0699710143677498 Centerline is valid? [True, True] Translation: X:111.25, Y:1.00, Z:-1.40 [[ 9.96014738e-01 8.17870784e-02 3.55740733e-02 1.11254352e+02] [-8.18228431e-02 9.96646787e-01 -4.51769438e-04 1.00494547e+00] [-3.54917347e-02 -2.46080280e-03 9.99366940e-01 -1.40496576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.045898227 meters 0.09426635090349478 Centerline is valid? [True, True] Translation: X:111.29, Y:1.04, Z:-1.41 [[ 9.95914078e-01 8.32409235e-02 3.50156748e-02 1.11285214e+02] [-8.32762403e-02 9.96526399e-01 -4.51160341e-04 1.03753346e+00] [-3.49315993e-02 -2.46665681e-03 9.99386661e-01 -1.40836904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.075898227 meters 0.07904599524882838 Centerline is valid? [True, True] Translation: X:111.32, Y:1.02, Z:-1.41 [[ 9.95839220e-01 8.45281545e-02 3.40475945e-02 1.11316508e+02] [-8.45622807e-02 9.96418099e-01 -4.39014841e-04 1.01960235e+00] [-3.39627485e-02 -2.44195405e-03 9.99420116e-01 -1.40978023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10589822699998 meters 0.07516438642974335 Centerline is valid? [True, True] Translation: X:111.35, Y:1.02, Z:-1.41 [[ 9.95729737e-01 8.61882953e-02 3.30736809e-02 1.11347153e+02] [-8.62213827e-02 9.96275911e-01 -4.27158159e-04 1.01937619e+00] [-3.29873276e-02 -2.42632442e-03 9.99452825e-01 -1.41221327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13589822699998 meters 0.07552978992832136 Centerline is valid? [True, True] Translation: X:111.38, Y:1.02, Z:-1.41 [[ 9.95721549e-01 8.61945508e-02 3.33030865e-02 1.11379227e+02] [-8.62281026e-02 9.96275328e-01 -4.30125114e-04 1.02095675e+00] [-3.32161179e-02 -2.44337711e-03 9.99445206e-01 -1.41330658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16589822699999 meters 0.08082682248741387 Centerline is valid? [True, True] Translation: X:111.41, Y:1.03, Z:-1.42 [[ 9.95807178e-01 8.50663038e-02 3.36420636e-02 1.11409544e+02] [-8.50996945e-02 9.96372344e-01 -4.40694532e-04 1.02797352e+00] [-3.35575100e-02 -2.42408255e-03 9.99433848e-01 -1.41507902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19589822699999 meters 0.08037579539865439 Centerline is valid? [True, True] Translation: X:111.44, Y:1.03, Z:-1.42 [[ 9.95955868e-01 8.30912285e-02 3.41724516e-02 1.11439746e+02] [-8.31244277e-02 9.96539074e-01 -4.50491178e-04 1.02659730e+00] [-3.40916152e-02 -2.39189615e-03 9.99415850e-01 -1.41603182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22589822699999 meters 0.0648829873420734 Centerline is valid? [True, True] Translation: X:111.47, Y:1.00, Z:-1.41 [[ 9.96266379e-01 7.83189082e-02 3.63242481e-02 1.11470611e+02] [-7.83532689e-02 9.96925542e-01 -4.78812204e-04 1.00373976e+00] [-3.62500707e-02 -2.36909907e-03 9.99339942e-01 -1.41343069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25589822699999 meters 0.06938732291875174 Centerline is valid? [True, True] Translation: X:111.50, Y:1.01, Z:-1.41 [[ 9.96349746e-01 7.65675365e-02 3.77438182e-02 1.11500801e+02] [-7.66033674e-02 9.97061521e-01 -4.98063081e-04 1.00814638e+00] [-3.76710443e-02 -2.39505855e-03 9.99287324e-01 -1.41237043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28589822699999 meters 0.07116261256847899 Centerline is valid? [True, True] Translation: X:111.53, Y:1.01, Z:-1.41 [[ 9.96366982e-01 7.58922472e-02 3.86419991e-02 1.11532612e+02] [-7.59293077e-02 9.97113073e-01 -5.09721458e-04 1.00959828e+00] [-3.85691264e-02 -2.42619061e-03 9.99252989e-01 -1.41224189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31589822699999 meters 0.06504933578860114 Centerline is valid? [True, True] Translation: X:111.56, Y:1.00, Z:-1.41 [[ 9.96317077e-01 7.62954453e-02 3.91316581e-02 1.11564391e+02] [-7.63335129e-02 9.97082204e-01 -5.22550358e-04 1.00082459e+00] [-3.90573482e-02 -2.46643109e-03 9.99233927e-01 -1.41244719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34589822699999 meters 0.07662968844600862 Centerline is valid? [True, True] Translation: X:111.60, Y:1.02, Z:-1.41 [[ 9.96190924e-01 7.75620304e-02 3.98468777e-02 1.11595912e+02] [-7.76022458e-02 9.96984253e-01 -5.38811553e-04 1.01511273e+00] [-3.97685010e-02 -2.55544802e-03 9.99205653e-01 -1.41356578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.375898227 meters 0.06955567058419891 Centerline is valid? [True, True] Translation: X:111.63, Y:1.01, Z:-1.41 [[ 9.96075736e-01 7.92575321e-02 3.93874531e-02 1.11627020e+02] [-7.92979078e-02 9.96850817e-01 -5.38592433e-04 1.00573665e+00] [-3.93061023e-02 -2.58686377e-03 9.99223868e-01 -1.41497972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.405898227 meters 0.07287348193869893 Centerline is valid? [True, True] Translation: X:111.66, Y:1.01, Z:-1.42 [[ 9.95718082e-01 8.48861835e-02 3.66037940e-02 1.11657490e+02] [-8.49247983e-02 9.96387238e-01 -5.01385609e-04 1.01035682e+00] [-3.65141139e-02 -2.60933111e-03 9.99329731e-01 -1.41910657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.435898227 meters 0.07683546997354587 Centerline is valid? [True, True] Translation: X:111.69, Y:1.02, Z:-1.42 [[ 9.95442147e-01 8.83567872e-02 3.58888580e-02 1.11688503e+02] [-8.83961494e-02 9.96085277e-01 -4.91576426e-04 1.01547815e+00] [-3.57917972e-02 -2.68310096e-03 9.99355667e-01 -1.42136635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46589822699998 meters 0.08003769847347258 Centerline is valid? [True, True] Translation: X:111.72, Y:1.02, Z:-1.42 [[ 9.95199062e-01 9.11492013e-02 3.56461723e-02 1.11718677e+02] [-9.11897812e-02 9.95833412e-01 -4.89121927e-04 1.01946270e+00] [-3.55422325e-02 -2.76379297e-03 9.99364354e-01 -1.42257889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49589822699998 meters 0.08850605521451062 Centerline is valid? [True, True] Translation: X:111.75, Y:1.03, Z:-1.42 [[ 9.95033471e-01 9.28409309e-02 3.59020013e-02 1.11749111e+02] [-9.28832081e-02 9.95676889e-01 -4.92126445e-04 1.03043904e+00] [-3.57924824e-02 -2.84501077e-03 9.99355194e-01 -1.42399146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52589822699998 meters 0.08595112146160351 Centerline is valid? [True, True] Translation: X:111.78, Y:1.02, Z:-1.43 [[ 9.94994450e-01 9.31250766e-02 3.62458990e-02 1.11780509e+02] [-9.31683195e-02 9.95650248e-01 -4.97844538e-04 1.02456305e+00] [-3.61346002e-02 -2.88161695e-03 9.99342778e-01 -1.42601858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55589822699999 meters 0.09249176885085071 Centerline is valid? [True, True] Translation: X:111.81, Y:1.04, Z:-1.43 [[ 9.94942660e-01 9.33802888e-02 3.70030342e-02 1.11810773e+02] [-9.34255011e-02 9.95626143e-01 -5.09151516e-04 1.03592952e+00] [-3.68887329e-02 -2.95045045e-03 9.99315024e-01 -1.42540145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58589822699999 meters 0.08598984928344379 Centerline is valid? [True, True] Translation: X:111.84, Y:1.03, Z:-1.43 [[ 9.95133640e-01 9.14910716e-02 3.65844674e-02 1.11841699e+02] [-9.15339819e-02 9.95801826e-01 -5.03808932e-04 1.02700675e+00] [-3.64769735e-02 -2.84736477e-03 9.99330437e-01 -1.42822309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61589822699999 meters 0.08416268039210992 Centerline is valid? [True, True] Translation: X:111.87, Y:1.02, Z:-1.43 [[ 9.95266513e-01 9.01404351e-02 3.63217625e-02 1.11872505e+02] [-9.01818223e-02 9.95925192e-01 -5.00591334e-04 1.02380476e+00] [-3.62188818e-02 -2.77734094e-03 9.99340022e-01 -1.42987543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64589822699999 meters 0.08626884175425963 Centerline is valid? [True, True] Translation: X:111.90, Y:1.02, Z:-1.43 [[ 9.95399782e-01 8.87598171e-02 3.60689542e-02 1.11901743e+02] [-8.87997108e-02 9.96049378e-01 -4.97600264e-04 1.02188101e+00] [-3.59706263e-02 -2.70760151e-03 9.99349180e-01 -1.43301057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67589822699999 meters 0.08211556218690107 Centerline is valid? [True, True] Translation: X:111.93, Y:1.02, Z:-1.43 [[ 9.95434487e-01 8.85239579e-02 3.56887987e-02 1.11933004e+02] [-8.85628828e-02 9.96070466e-01 -4.91813327e-04 1.02051379e+00] [-3.55920956e-02 -2.67113495e-03 9.99362831e-01 -1.43275378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70589822699999 meters 0.08328297512410614 Centerline is valid? [True, True] Translation: X:111.96, Y:1.02, Z:-1.44 [[ 9.95452298e-01 8.86353774e-02 3.49069152e-02 1.11964542e+02] [-8.86726761e-02 9.96060703e-01 -4.81198779e-04 1.02210731e+00] [-3.48120577e-02 -2.61627915e-03 9.99390452e-01 -1.43539057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73589822699999 meters 0.08206532408120218 Centerline is valid? [True, True] Translation: X:112.00, Y:1.02, Z:-1.44 [[ 9.95496456e-01 8.86850930e-02 3.34926838e-02 1.11996158e+02] [-8.87192724e-02 9.96056561e-01 -4.67189432e-04 1.01863979e+00] [-3.34020401e-02 -2.50636111e-03 9.99438853e-01 -1.43940653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.765898227 meters 0.07609074574684555 Centerline is valid? [True, True] Translation: X:112.03, Y:1.01, Z:-1.44 [[ 9.95401703e-01 9.01923166e-02 3.22613603e-02 1.12026705e+02] [-9.02247930e-02 9.95921324e-01 -4.50654753e-04 1.01123265e+00] [-3.21704222e-02 -2.46219204e-03 9.99479365e-01 -1.44005924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.795898227 meters 0.08627654936161885 Centerline is valid? [True, True] Translation: X:112.06, Y:1.02, Z:-1.44 [[ 9.95324208e-01 9.08886013e-02 3.26953070e-02 1.12057205e+02] [-9.09222924e-02 9.95857885e-01 -4.57912572e-04 1.02374042e+00] [-3.26014983e-02 -2.51696080e-03 9.99465261e-01 -1.44188869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.825898227 meters 0.0862887143549936 Centerline is valid? [True, True] Translation: X:112.09, Y:1.02, Z:-1.44 [[ 9.95220869e-01 9.16679004e-02 3.36514326e-02 1.12088729e+02] [-9.17040237e-02 9.95786197e-01 -4.71651052e-04 1.02311848e+00] [-3.35528673e-02 -2.61657480e-03 9.99433519e-01 -1.44096729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85589822699998 meters 0.07551513162663172 Centerline is valid? [True, True] Translation: X:112.12, Y:1.01, Z:-1.44 [[ 9.95119834e-01 9.23831731e-02 3.46679275e-02 1.12119755e+02] [-9.24219176e-02 9.95719816e-01 -4.86700419e-04 1.00840168e+00] [-3.45645053e-02 -2.71975110e-03 9.99398768e-01 -1.43923846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88589822699998 meters 0.08007763414396586 Centerline is valid? [True, True] Translation: X:112.15, Y:1.01, Z:-1.44 [[ 9.95036993e-01 9.31464905e-02 3.50016323e-02 1.12150606e+02] [-9.31864346e-02 9.95648556e-01 -4.91949688e-04 1.01302380e+00] [-3.48951480e-02 -2.77216918e-03 9.99387134e-01 -1.43991856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91589822699999 meters 0.08112734230348985 Centerline is valid? [True, True] Translation: X:112.18, Y:1.01, Z:-1.44 [[ 9.94972695e-01 9.38482673e-02 3.49548137e-02 1.12182136e+02] [-9.38884219e-02 9.95582603e-01 -4.94527953e-04 1.01311224e+00] [-3.48468150e-02 -2.78981048e-03 9.99388771e-01 -1.44113239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94589822699999 meters 0.08844911324826298 Centerline is valid? [True, True] Translation: X:112.21, Y:1.02, Z:-1.44 [[ 9.94741363e-01 9.59040859e-02 3.59447831e-02 1.12211532e+02] [-9.59478503e-02 9.95386232e-01 -5.09428125e-04 1.02184429e+00] [-3.58277985e-02 -2.94207545e-03 9.99353648e-01 -1.44128313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97589822699999 meters 0.09100052218970286 Centerline is valid? [True, True] Translation: X:112.24, Y:1.03, Z:-1.44 [[ 9.94555917e-01 9.75342779e-02 3.66823102e-02 1.12242307e+02] [-9.75809364e-02 9.95227456e-01 -5.20512346e-04 1.02574977e+00] [-3.65580101e-02 -3.06181555e-03 9.99326842e-01 -1.44110584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00589822699999 meters 0.08377520075788954 Centerline is valid? [True, True] Translation: X:112.27, Y:1.02, Z:-1.44 [[ 9.94371211e-01 9.91843410e-02 3.72607104e-02 1.12273313e+02] [-9.92335959e-02 9.95064024e-01 -5.29741101e-04 1.01756611e+00] [-3.71293345e-02 -3.17075498e-03 9.99305438e-01 -1.44115696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03589822699999 meters 0.08689198832990956 Centerline is valid? [True, True] Translation: X:112.30, Y:1.02, Z:-1.44 [[ 9.94328430e-01 9.97299364e-02 3.69447312e-02 1.12304066e+02] [-9.97787150e-02 9.95009513e-01 -5.25717737e-04 1.02120727e+00] [-3.68127888e-02 -3.16356172e-03 9.99317172e-01 -1.44472674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06589822699999 meters 0.08689198832990956 Centerline is valid? [True, True] Translation: X:112.33, Y:1.02, Z:-1.45 [[ 9.94328430e-01 9.97299364e-02 3.69447312e-02 1.12334150e+02] [-9.97787150e-02 9.95009513e-01 -5.25717737e-04 1.02077918e+00] [-3.68127888e-02 -3.16356172e-03 9.99317172e-01 -1.44592669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09589822699999 meters 0.10202132805786164 Centerline is valid? [True, False] Translation: X:112.33, Y:1.02, Z:-1.45 [[ 9.95169520e-01 8.95871776e-02 4.01467699e-02 1.12332040e+02] [-8.99907808e-02 9.95907529e-01 8.35776946e-03 1.02356080e+00] [-3.92337215e-02 -1.19302366e-02 9.99158839e-01 -1.44695293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.125898227 meters 0.08692772742808241 Centerline is valid? [False, True] Translation: X:112.29, Y:1.03, Z:-1.45 [[ 9.96196869e-01 7.70707541e-02 4.06435474e-02 1.12289964e+02] [-7.76894075e-02 9.96881183e-01 1.38659154e-02 1.03268250e+00] [-3.94481310e-02 -1.69707546e-02 9.99077494e-01 -1.44610599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.155898227 meters 0.08572365271984585 Centerline is valid? [True, True] Translation: X:112.32, Y:1.04, Z:-1.44 [[ 9.96134409e-01 7.73480649e-02 4.16355076e-02 1.12322700e+02] [-7.74282193e-02 9.96997880e-01 3.13596990e-04 1.03951923e+00] [-4.14862567e-02 -3.53614797e-03 9.99132817e-01 -1.44391626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.185898227 meters 0.09170528664277955 Centerline is valid? [True, True] Translation: X:112.35, Y:1.05, Z:-1.44 [[ 9.96143611e-01 7.65917378e-02 4.27973347e-02 1.12352699e+02] [-7.66756259e-02 9.97056040e-01 3.19647481e-04 1.04982998e+00] [-4.26468587e-02 -3.59992722e-03 9.99083723e-01 -1.44387807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21589822699998 meters 0.08744108590468062 Centerline is valid? [True, True] Translation: X:112.38, Y:1.05, Z:-1.45 [[ 9.96214863e-01 7.54723536e-02 4.31262124e-02 1.12384765e+02] [-7.55564763e-02 9.97141472e-01 3.21637526e-04 1.04749712e+00] [-4.29786602e-02 -3.57888473e-03 9.99069580e-01 -1.44502214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24589822699998 meters 0.0851392792234349 Centerline is valid? [True, True] Translation: X:112.42, Y:1.05, Z:-1.45 [[ 9.96359843e-01 7.37786901e-02 4.27055967e-02 1.12415007e+02] [-7.38595672e-02 9.97268602e-01 3.16952363e-04 1.04792354e+00] [-4.25655663e-02 -3.47001549e-03 9.99087650e-01 -1.44818094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27589822699998 meters 0.08573246077785086 Centerline is valid? [True, True] Translation: X:112.44, Y:1.05, Z:-1.45 [[ 9.96598040e-01 7.11943998e-02 4.15175200e-02 1.12444251e+02] [-7.12686047e-02 9.97457112e-01 3.08094221e-04 1.05026451e+00] [-4.13900110e-02 -3.26594182e-03 9.99137729e-01 -1.45298587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30589822699999 meters 0.08215906254926499 Centerline is valid? [True, True] Translation: X:112.47, Y:1.05, Z:-1.45 [[ 9.96811738e-01 6.85992772e-02 4.07492212e-02 1.12474406e+02] [-6.86686241e-02 9.97639478e-01 3.02910357e-04 1.04952264e+00] [-4.06322523e-02 -3.10013755e-03 9.99169360e-01 -1.45417449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33589822699999 meters 0.08059320741769015 Centerline is valid? [True, True] Translation: X:112.50, Y:1.05, Z:-1.46 [[ 9.97262700e-01 6.23140350e-02 3.98003575e-02 1.12504047e+02] [-6.23752018e-02 9.98052727e-01 2.95714509e-04 1.04587935e+00] [-3.97044282e-02 -2.77746038e-03 9.99207608e-01 -1.45782371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36589822699999 meters 0.0752952765858291 Centerline is valid? [True, True] Translation: X:112.54, Y:1.04, Z:-1.46 [[ 9.97378410e-01 5.99275824e-02 4.05585148e-02 1.12535206e+02] [-5.99891451e-02 9.98198984e-01 3.01448330e-04 1.04339442e+00] [-4.04674032e-02 -2.73372868e-03 9.99177119e-01 -1.45558979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39589822699999 meters 0.06823693253102418 Centerline is valid? [True, True] Translation: X:112.57, Y:1.03, Z:-1.46 [[ 9.97515203e-01 5.73200165e-02 4.09613930e-02 1.12566217e+02] [-5.73806179e-02 9.98352329e-01 3.04352470e-04 1.03431165e+00] [-4.08764566e-02 -2.65398625e-03 9.99160684e-01 -1.45628009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42589822699999 meters 0.0717284896347821 Centerline is valid? [True, True] Translation: X:112.60, Y:1.04, Z:-1.46 [[ 9.97622149e-01 5.53579226e-02 4.10554367e-02 1.12595856e+02] [-5.54171212e-02 9.98463244e-01 3.04381914e-04 1.03816683e+00] [-4.09754946e-02 -2.57883225e-03 9.99156824e-01 -1.45876440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45589822699999 meters 0.06766112906283392 Centerline is valid? [True, True] Translation: X:112.63, Y:1.03, Z:-1.46 [[ 9.97742507e-01 5.36113601e-02 4.04439379e-02 1.12626650e+02] [-5.36673795e-02 9.98558823e-01 2.99901598e-04 1.03243215e+00] [-4.03695729e-02 -2.46974474e-03 9.99181764e-01 -1.46102957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48589822699999 meters 0.060110913578134424 Centerline is valid? [True, True] Translation: X:112.66, Y:1.02, Z:-1.46 [[ 9.97823268e-01 5.24198119e-02 4.00111080e-02 1.12658064e+02] [-5.24736677e-02 9.98622264e-01 2.96301387e-04 1.02252712e+00] [-3.99404512e-02 -2.39518600e-03 9.99199191e-01 -1.46290786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.515898227 meters 0.0665681852312619 Centerline is valid? [True, True] Translation: X:112.69, Y:1.03, Z:-1.47 [[ 9.97842238e-01 5.24021202e-02 3.95586443e-02 1.12688844e+02] [-5.24547275e-02 9.98623260e-01 2.92388848e-04 1.02852185e+00] [-3.94888606e-02 -2.36679585e-03 9.99217208e-01 -1.46563287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.545898227 meters 0.06205664694655853 Centerline is valid? [True, True] Translation: X:112.72, Y:1.02, Z:-1.47 [[ 9.97804852e-01 5.32639563e-02 3.93500862e-02 1.12720536e+02] [-5.33165441e-02 9.98577620e-01 2.87461729e-04 1.02059919e+00] [-3.92788040e-02 -2.38484131e-03 9.99225444e-01 -1.46587840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.575898227 meters 0.06928101844502506 Centerline is valid? [True, True] Translation: X:112.75, Y:1.03, Z:-1.47 [[ 9.97739081e-01 5.45601066e-02 3.92418359e-02 1.12751776e+02] [-5.46131633e-02 9.98507548e-01 2.80544579e-04 1.02757281e+00] [-3.91679628e-02 -2.42303108e-03 9.99229703e-01 -1.46812747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60589822699998 meters 0.06443566917366741 Centerline is valid? [True, True] Translation: X:112.78, Y:1.02, Z:-1.47 [[ 9.97606541e-01 5.68526649e-02 3.93568655e-02 1.12782427e+02] [-5.69075352e-02 9.98379415e-01 2.74387059e-04 1.01810320e+00] [-3.92774847e-02 -2.51343253e-03 9.99225181e-01 -1.46902989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63589822699998 meters 0.07220582107897171 Centerline is valid? [True, True] Translation: X:112.81, Y:1.03, Z:-1.47 [[ 9.97513788e-01 5.77945865e-02 4.03240405e-02 1.12813944e+02] [-5.78529632e-02 9.98325075e-01 2.81311150e-04 1.02597361e+00] [-4.02402425e-02 -2.61347699e-03 9.99186616e-01 -1.47025290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66589822699999 meters 0.06641058088282295 Centerline is valid? [True, True] Translation: X:112.85, Y:1.02, Z:-1.47 [[ 9.97449869e-01 5.81301273e-02 4.14082877e-02 1.12847140e+02] [-5.81917080e-02 9.98305387e-01 2.82368551e-04 1.01598684e+00] [-4.13217026e-02 -2.69126746e-03 9.99142269e-01 -1.46971832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69589822699999 meters 0.07176246142005277 Centerline is valid? [True, True] Translation: X:112.88, Y:1.02, Z:-1.47 [[ 9.97405376e-01 5.83578990e-02 4.21529576e-02 1.12879093e+02] [-5.84215661e-02 9.98291963e-01 2.79046894e-04 1.02016695e+00] [-4.20646742e-02 -2.74096467e-03 9.99111130e-01 -1.47018275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72589822699999 meters 0.06647458442677759 Centerline is valid? [True, True] Translation: X:112.91, Y:1.01, Z:-1.47 [[ 9.97416550e-01 5.82689286e-02 4.20113948e-02 1.12910938e+02] [-5.83318868e-02 9.98297208e-01 2.73271937e-04 1.01093220e+00] [-4.19239349e-02 -2.72316988e-03 9.99117094e-01 -1.47122827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75589822699999 meters 0.06975615770797826 Centerline is valid? [True, True] Translation: X:112.94, Y:1.01, Z:-1.47 [[ 9.97461883e-01 5.81264773e-02 4.11230319e-02 1.12942518e+02] [-5.81864025e-02 9.98305702e-01 2.60799394e-04 1.01329180e+00] [-4.10381978e-02 -2.65293874e-03 9.99154056e-01 -1.47397793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78589822699999 meters 0.070414188778855 Centerline is valid? [True, True] Translation: X:112.97, Y:1.01, Z:-1.48 [[ 9.97539697e-01 5.87398750e-02 3.82646105e-02 1.12974410e+02] [-5.87919457e-02 9.98270230e-01 2.36020419e-04 1.01265223e+00] [-3.81845577e-02 -2.48509064e-03 9.99267614e-01 -1.48020805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81589822699999 meters 0.07507297664726667 Centerline is valid? [True, True] Translation: X:113.01, Y:1.02, Z:-1.48 [[ 9.97497404e-01 5.97625842e-02 3.77804573e-02 1.13005273e+02] [-5.98140378e-02 9.98209511e-01 2.32063813e-04 1.01905102e+00] [-3.76989430e-02 -2.49128475e-03 9.99286037e-01 -1.48310289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84589822699999 meters 0.0746527704464035 Centerline is valid? [True, True] Translation: X:113.04, Y:1.02, Z:-1.48 [[ 9.97410905e-01 6.06723004e-02 3.86051562e-02 1.13037115e+02] [-6.07264496e-02 9.98154420e-01 2.30495102e-04 1.01778643e+00] [-3.85199226e-02 -2.57425240e-03 9.99254517e-01 -1.48469686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.875898227 meters 0.07511208517878595 Centerline is valid? [True, True] Translation: X:113.07, Y:1.02, Z:-1.48 [[ 9.97271519e-01 6.16497436e-02 4.06057517e-02 1.13068841e+02] [-6.17104016e-02 9.98094068e-01 2.40915733e-04 1.01964385e+00] [-4.05135075e-02 -2.74605565e-03 9.99175217e-01 -1.48316279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.905898227 meters 0.07204752871355705 Centerline is valid? [True, True] Translation: X:113.10, Y:1.02, Z:-1.48 [[ 9.97151839e-01 6.26112870e-02 4.20480295e-02 1.13100868e+02] [-6.26769131e-02 9.98033840e-01 2.42959983e-04 1.01779431e+00] [-4.19501444e-02 -2.87770869e-03 9.99115561e-01 -1.47940881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.935898227 meters 0.06851989998979734 Centerline is valid? [True, True] Translation: X:113.13, Y:1.01, Z:-1.48 [[ 9.97084312e-01 6.33105196e-02 4.25987396e-02 1.13132799e+02] [-6.33782356e-02 9.97989550e-01 2.39619896e-04 1.01343441e+00] [-4.24979265e-02 -2.93875419e-03 9.99092233e-01 -1.47934020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96589822699998 meters 0.08203056569496692 Centerline is valid? [True, True] Translation: X:113.16, Y:1.03, Z:-1.48 [[ 9.97098220e-01 6.43923485e-02 4.06049963e-02 1.13163491e+02] [-6.44544951e-02 9.97920623e-01 2.21890419e-04 1.02926628e+00] [-4.05062751e-02 -2.83842108e-03 9.99175252e-01 -1.48434722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99589822699998 meters 0.07025329699399704 Centerline is valid? [True, True] Translation: X:113.20, Y:1.01, Z:-1.49 [[ 9.97130578e-01 6.45889952e-02 3.94825538e-02 1.13196989e+02] [-6.46476782e-02 9.97908129e-01 2.10051940e-04 1.01311639e+00] [-3.93863944e-02 -2.76190465e-03 9.99220238e-01 -1.48755639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02589822699998 meters 0.078719281205756 Centerline is valid? [True, True] Translation: X:113.23, Y:1.02, Z:-1.49 [[ 9.97121048e-01 6.45256457e-02 3.98253304e-02 1.13227850e+02] [-6.45849761e-02 9.97912190e-01 2.03654471e-04 1.02204997e+00] [-3.97290418e-02 -2.77518617e-03 9.99206636e-01 -1.49012025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05589822699999 meters 0.07510993133049225 Centerline is valid? [True, True] Translation: X:113.26, Y:1.02, Z:-1.49 [[ 9.97082109e-01 6.48356370e-02 4.02940188e-02 1.13259712e+02] [-6.48964813e-02 9.97891981e-01 2.02468098e-04 1.02089284e+00] [-4.01959511e-02 -2.81681736e-03 9.99187846e-01 -1.48909627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08589822699999 meters 0.07058862350168171 Centerline is valid? [True, True] Translation: X:113.29, Y:1.02, Z:-1.49 [[ 9.97014883e-01 6.54444371e-02 4.09676621e-02 1.13292169e+02] [-6.55075707e-02 9.97852052e-01 1.99108768e-04 1.01517093e+00] [-4.08666352e-02 -2.88220643e-03 9.99160453e-01 -1.48960677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11589822699999 meters 0.07508423796811396 Centerline is valid? [True, True] Translation: X:113.32, Y:1.02, Z:-1.49 [[ 9.96954687e-01 6.63840509e-02 4.09207779e-02 1.13324322e+02] [-6.64475261e-02 9.97789903e-01 1.91515037e-04 1.01602657e+00] [-4.08176254e-02 -2.91001627e-03 9.99162376e-01 -1.49322677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14589822699999 meters 0.0815678877430737 Centerline is valid? [True, True] Translation: X:113.35, Y:1.03, Z:-1.49 [[ 9.96847515e-01 6.83551617e-02 4.02815459e-02 1.13354331e+02] [-6.84181898e-02 9.97656713e-01 1.86601401e-04 1.02947753e+00] [-4.01743995e-02 -2.94200359e-03 9.99188352e-01 -1.49360752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17589822699999 meters 0.07770363749941295 Centerline is valid? [True, True] Translation: X:113.38, Y:1.03, Z:-1.50 [[ 9.96630010e-01 7.25838374e-02 3.82126871e-02 1.13384592e+02] [-7.26435719e-02 9.97357950e-01 1.75241423e-04 1.02770473e+00] [-3.80990076e-02 -2.95055694e-03 9.99269613e-01 -1.49788144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20589822699999 meters 0.08934640567594229 Centerline is valid? [True, True] Translation: X:113.41, Y:1.05, Z:-1.50 [[ 9.96494321e-01 7.47006006e-02 3.76681334e-02 1.13414263e+02] [-7.47601404e-02 9.97201530e-01 1.72617794e-04 1.04536632e+00] [-3.75498256e-02 -2.98808759e-03 9.99290289e-01 -1.50112172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23589822699999 meters 0.08829348221048369 Centerline is valid? [True, True] Translation: X:113.45, Y:1.05, Z:-1.50 [[ 9.96391721e-01 7.61752399e-02 3.74282205e-02 1.13445124e+02] [-7.62350376e-02 9.97089860e-01 1.71019727e-04 1.04667750e+00] [-3.73062717e-02 -3.02374444e-03 9.99299304e-01 -1.50196781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.265898227 meters 0.07952809178447376 Centerline is valid? [True, True] Translation: X:113.48, Y:1.04, Z:-1.50 [[ 9.96365106e-01 7.68035747e-02 3.68481456e-02 1.13477757e+02] [-7.68619656e-02 9.97041729e-01 1.68573232e-04 1.03766535e+00] [-3.67261918e-02 -3.00018139e-03 9.99320862e-01 -1.50268459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.295898227 meters 0.08093464357868188 Centerline is valid? [True, True] Translation: X:113.51, Y:1.04, Z:-1.50 [[ 9.96365426e-01 7.66902390e-02 3.70748472e-02 1.13509208e+02] [-7.67490374e-02 9.97050429e-01 1.63228358e-04 1.04122248e+00] [-3.69529743e-02 -3.00809393e-03 9.99312478e-01 -1.50432825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.325898227 meters 0.0902597948753843 Centerline is valid? [True, True] Translation: X:113.54, Y:1.06, Z:-1.51 [[ 9.96410091e-01 7.57396514e-02 3.78210919e-02 1.13539196e+02] [-7.57998964e-02 9.97123037e-01 1.59447389e-04 1.05509087e+00] [-3.77002055e-02 -3.02570984e-03 9.99284514e-01 -1.50633095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35589822699998 meters 0.08214213051936949 Centerline is valid? [True, True] Translation: X:113.57, Y:1.05, Z:-1.50 [[ 9.96480332e-01 7.38458684e-02 3.96703448e-02 1.13569813e+02] [-7.39106438e-02 9.97264854e-01 1.66716554e-04 1.04836337e+00] [-3.95495293e-02 -3.09819050e-03 9.99212808e-01 -1.50470393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38589822699998 meters 0.08373861648619227 Centerline is valid? [True, True] Translation: X:113.60, Y:1.05, Z:-1.51 [[ 9.96519824e-01 7.30306435e-02 4.01841559e-02 1.13599934e+02] [-7.30964401e-02 9.97324863e-01 1.68599533e-04 1.05274547e+00] [-4.00643449e-02 -3.10533152e-03 9.99192276e-01 -1.50552362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41589822699999 meters 0.08501016116721734 Centerline is valid? [True, True] Translation: X:113.63, Y:1.06, Z:-1.51 [[ 9.96588665e-01 7.22035787e-02 3.99709480e-02 1.13630323e+02] [-7.22679985e-02 9.97385236e-01 1.67240711e-04 1.05634966e+00] [-3.98543580e-02 -3.05529060e-03 9.99200828e-01 -1.50694870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44589822699999 meters 0.07970665983694661 Centerline is valid? [True, True] Translation: X:113.66, Y:1.05, Z:-1.51 [[ 9.96710807e-01 7.09031677e-02 3.92467545e-02 1.13661896e+02] [-7.09642617e-02 9.97478845e-01 1.64006968e-04 1.05082145e+00] [-3.91361788e-02 -2.94858448e-03 9.99229536e-01 -1.50992441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47589822699999 meters 0.08135748547449849 Centerline is valid? [True, True] Translation: X:113.69, Y:1.05, Z:-1.51 [[ 9.96810694e-01 6.98442138e-02 3.86034407e-02 1.13692334e+02] [-6.99024441e-02 9.97553820e-01 1.59094521e-04 1.05391238e+00] [-3.84978979e-02 -2.85706198e-03 9.99254597e-01 -1.51203037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50589822699999 meters 0.07626158772257244 Centerline is valid? [True, True] Translation: X:113.72, Y:1.05, Z:-1.51 [[ 9.96919645e-01 6.82870570e-02 3.85758957e-02 1.13722756e+02] [-6.83440248e-02 9.97661801e-01 1.58456475e-04 1.04693572e+00] [-3.84748771e-02 -2.79440035e-03 9.99255661e-01 -1.51311038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53589822699999 meters 0.07598055230435058 Centerline is valid? [True, True] Translation: X:113.75, Y:1.04, Z:-1.51 [[ 9.97095716e-01 6.53605852e-02 3.90912704e-02 1.13752394e+02] [-6.54168469e-02 9.97858011e-01 1.60503214e-04 1.04386560e+00] [-3.89970467e-02 -2.71726472e-03 9.99235631e-01 -1.51303080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56589822699999 meters 0.07593092932897252 Centerline is valid? [True, True] Translation: X:113.78, Y:1.04, Z:-1.52 [[ 9.97208738e-01 6.32852541e-02 3.96195598e-02 1.13782352e+02] [-6.33414400e-02 9.97991901e-01 1.63209258e-04 1.04108966e+00] [-3.95296711e-02 -2.67231367e-03 9.99214824e-01 -1.51527094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59589822699999 meters 0.07333456847375215 Centerline is valid? [True, True] Translation: X:113.81, Y:1.04, Z:-1.52 [[ 9.97268807e-01 6.18862229e-02 4.03115636e-02 1.13813895e+02] [-6.19432578e-02 9.98079659e-01 1.66169029e-04 1.03708896e+00] [-4.02238680e-02 -2.66274476e-03 9.99187145e-01 -1.51503480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.625898227 meters 0.06711329792920862 Centerline is valid? [True, True] Translation: X:113.85, Y:1.03, Z:-1.52 [[ 9.97302382e-01 6.09033748e-02 4.09723944e-02 1.13845369e+02] [-6.09614347e-02 9.98140108e-01 1.67988718e-04 1.02753180e+00] [-4.08859591e-02 -2.66527149e-03 9.99160265e-01 -1.51515105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.655898227 meters 0.06562244030139416 Centerline is valid? [True, True] Translation: X:113.88, Y:1.02, Z:-1.52 [[ 9.97264321e-01 6.12789526e-02 4.13371966e-02 1.13877848e+02] [-6.13383320e-02 9.98117018e-01 1.68484168e-04 1.02447745e+00] [-4.12490348e-02 -2.70357794e-03 9.99145239e-01 -1.51664905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.685898227 meters 0.07815917583749199 Centerline is valid? [True, True] Translation: X:113.91, Y:1.04, Z:-1.52 [[ 9.97178817e-01 6.28479824e-02 4.10431317e-02 1.13908299e+02] [-6.29075333e-02 9.98019347e-01 1.59765961e-04 1.03962271e+00] [-4.09517985e-02 -2.74123741e-03 9.99157363e-01 -1.51929713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71589822699998 meters 0.07973260656425996 Centerline is valid? [True, True] Translation: X:113.94, Y:1.04, Z:-1.52 [[ 9.97100044e-01 6.46136573e-02 4.02066948e-02 1.13939399e+02] [-6.46722121e-02 9.97906549e-01 1.56037562e-04 1.03685272e+00] [-4.01124419e-02 -2.75584095e-03 9.99191372e-01 -1.52335670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74589822699998 meters 0.07441509782604763 Centerline is valid? [True, True] Translation: X:113.97, Y:1.03, Z:-1.52 [[ 9.96960673e-01 6.67875991e-02 4.01102629e-02 1.13970485e+02] [-6.68476068e-02 9.97763185e-01 1.55259346e-04 1.03285385e+00] [-4.00101743e-02 -2.83606255e-03 9.99195248e-01 -1.52231072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77589822699998 meters 0.07025828734827003 Centerline is valid? [True, True] Translation: X:114.00, Y:1.03, Z:-1.52 [[ 9.96833631e-01 6.79832157e-02 4.12431082e-02 1.14002913e+02] [-6.80476485e-02 9.97682060e-01 1.58813220e-04 1.02581512e+00] [-4.11367125e-02 -2.96480689e-03 9.99149128e-01 -1.52123443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80589822699999 meters 0.07584182110091789 Centerline is valid? [True, True] Translation: X:114.03, Y:1.03, Z:-1.52 [[ 9.96866861e-01 6.75291044e-02 4.11859357e-02 1.14033739e+02] [-6.75929088e-02 9.97712972e-01 1.57029574e-04 1.03141485e+00] [-4.10811383e-02 -2.94041478e-03 9.99151487e-01 -1.52340781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83589822699999 meters 0.07756531250163282 Centerline is valid? [True, True] Translation: X:114.06, Y:1.03, Z:-1.53 [[ 9.97015049e-01 6.56983306e-02 4.05551646e-02 1.14063798e+02] [-6.57584065e-02 9.97835563e-01 1.47704188e-04 1.02809953e+00] [-4.04576815e-02 -2.81410630e-03 9.99177290e-01 -1.52786783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86589822699999 meters 0.0797931517038269 Centerline is valid? [True, True] Translation: X:114.09, Y:1.03, Z:-1.53 [[ 9.97133608e-01 6.43117808e-02 3.98567753e-02 1.14094030e+02] [-6.43687153e-02 9.97926173e-01 1.45520234e-04 1.03172488e+00] [-3.97647606e-02 -2.71063254e-03 9.99205392e-01 -1.52880508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89589822699999 meters 0.07895988072214064 Centerline is valid? [True, True] Translation: X:114.12, Y:1.03, Z:-1.53 [[ 9.97255761e-01 6.24639090e-02 3.97392355e-02 1.14124253e+02] [-6.25189245e-02 9.98043769e-01 1.41989390e-04 1.02877619e+00] [-3.96526271e-02 -2.62605400e-03 9.99210075e-01 -1.53021426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92589822699999 meters 0.07486578445294415 Centerline is valid? [True, True] Translation: X:114.16, Y:1.02, Z:-1.53 [[ 9.97375134e-01 6.02455714e-02 4.01660778e-02 1.14155159e+02] [-6.02999880e-02 9.98180290e-01 1.43570450e-04 1.01765775e+00] [-4.00843377e-02 -2.56520760e-03 9.99193007e-01 -1.53213563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95589822699999 meters 0.07486578445294415 Centerline is valid? [True, True] Translation: X:114.19, Y:1.02, Z:-1.53 [[ 9.97364089e-01 6.04281387e-02 4.01660765e-02 1.14187728e+02] [-6.04827181e-02 9.98169234e-01 1.43954023e-04 1.01759186e+00] [-4.00838429e-02 -2.57292805e-03 9.99193007e-01 -1.53360483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98589822699999 meters 0.07246526646716184 Centerline is valid? [True, True] Translation: X:114.22, Y:1.01, Z:-1.53 [[ 9.97532479e-01 5.71814813e-02 4.07336778e-02 1.14217674e+02] [-5.72345775e-02 9.98360749e-01 1.37563887e-04 1.01433182e+00] [-4.06590389e-02 -2.46859928e-03 9.99170030e-01 -1.53198745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.015898227 meters 0.06208025268389873 Centerline is valid? [True, True] Translation: X:114.25, Y:1.00, Z:-1.53 [[ 9.97609084e-01 5.60295451e-02 4.04574601e-02 1.14249084e+02] [-5.60810042e-02 9.98426213e-01 1.37248292e-04 9.98999620e-01] [-4.03860987e-02 -2.40581513e-03 9.99181252e-01 -1.53245687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.045898227 meters 0.067698787629846 Centerline is valid? [True, True] Translation: X:114.28, Y:1.00, Z:-1.54 [[ 9.97631570e-01 5.59072607e-02 4.00702865e-02 1.14279928e+02] [-5.59576165e-02 9.98433136e-01 1.35342364e-04 1.00401676e+00] [-3.99999352e-02 -2.37725954e-03 9.99196854e-01 -1.53503069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.075898227 meters 0.06439188982477555 Centerline is valid? [True, True] Translation: X:114.31, Y:1.00, Z:-1.54 [[ 9.97636366e-01 5.64673655e-02 3.91550548e-02 1.14312313e+02] [-5.65157506e-02 9.98401699e-01 1.29086437e-04 9.97959462e-01] [-3.90851841e-02 -2.34165864e-03 9.99233138e-01 -1.53733737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10589822699998 meters 0.0711054674607261 Centerline is valid? [True, True] Translation: X:114.34, Y:1.00, Z:-1.54 [[ 9.97585778e-01 5.73733551e-02 3.91269020e-02 1.14343661e+02] [-5.74221118e-02 9.98349982e-01 1.22526614e-04 1.00249350e+00] [-3.90553122e-02 -2.36898015e-03 9.99234242e-01 -1.54033320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13589822699998 meters 0.0711054674607261 Centerline is valid? [True, True] Translation: X:114.38, Y:1.00, Z:-1.54 [[ 9.97575515e-01 5.75515022e-02 3.91269191e-02 1.14376219e+02] [-5.76001715e-02 9.98339725e-01 1.16797023e-04 1.00240439e+00] [-3.90552358e-02 -2.37023110e-03 9.99234242e-01 -1.54180149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16589822699999 meters 0.06624336585400149 Centerline is valid? [True, True] Translation: X:114.41, Y:0.99, Z:-1.54 [[ 9.97472556e-01 5.76451473e-02 4.15395801e-02 1.14408514e+02] [-5.76997616e-02 9.98333974e-01 1.16026957e-04 9.92674199e-01] [-4.14636857e-02 -2.51255757e-03 9.99136852e-01 -1.53860226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19589822699999 meters 0.06482704691835069 Centerline is valid? [True, True] Translation: X:114.44, Y:0.99, Z:-1.54 [[ 9.97433498e-01 5.77424621e-02 4.23346684e-02 1.14441014e+02] [-5.77989829e-02 9.98328235e-01 1.11291428e-04 9.88651303e-01] [-4.22574686e-02 -2.55790658e-03 9.99103480e-01 -1.53847095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22589822699999 meters 0.06482626172432612 Centerline is valid? [True, True] Translation: X:114.47, Y:0.99, Z:-1.54 [[ 9.97389994e-01 5.85211112e-02 4.22904146e-02 1.14472950e+02] [-5.85779208e-02 9.98282834e-01 1.04311787e-04 9.86026331e-01] [-4.22116905e-02 -2.58132409e-03 9.99105355e-01 -1.53937244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25589822699999 meters 0.06899539966963607 Centerline is valid? [True, True] Translation: X:114.50, Y:0.99, Z:-1.54 [[ 9.97344002e-01 5.98845139e-02 4.14582431e-02 1.14503426e+02] [-5.99399819e-02 9.98201978e-01 9.50629025e-05 9.88908199e-01] [-4.13780075e-02 -2.57981676e-03 9.99140233e-01 -1.54197614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28589822699999 meters 0.0653897583839513 Centerline is valid? [True, True] Translation: X:114.53, Y:0.98, Z:-1.54 [[ 9.97255987e-01 6.17476398e-02 4.08377856e-02 1.14534677e+02] [-6.18029959e-02 9.98088363e-01 9.32232682e-05 9.82380168e-01] [-4.07539623e-02 -2.61686496e-03 9.99165785e-01 -1.54487227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31589822699999 meters 0.07331708549672433 Centerline is valid? [True, True] Translation: X:114.56, Y:0.99, Z:-1.55 [[ 9.97082872e-01 6.48033113e-02 4.03271156e-02 1.14564469e+02] [-6.48597355e-02 9.97894386e-01 9.10260821e-05 9.92035651e-01] [-4.02363035e-02 -2.70636660e-03 9.99186527e-01 -1.54681324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34589822699999 meters 0.07857999806613476 Centerline is valid? [True, True] Translation: X:114.59, Y:1.00, Z:-1.55 [[ 9.96767402e-01 6.97765133e-02 3.98244178e-02 1.14594407e+02] [-6.98354755e-02 9.97558519e-01 8.96500125e-05 9.98613733e-01] [-3.97209318e-02 -2.87051736e-03 9.99206689e-01 -1.54929850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.375898227 meters 0.07688881840153862 Centerline is valid? [True, True] Translation: X:114.63, Y:1.00, Z:-1.55 [[ 9.96682092e-01 7.09990489e-02 3.97987703e-02 1.14625930e+02] [-7.10588882e-02 9.97472118e-01 8.91901997e-05 9.95784966e-01] [-3.96918313e-02 -2.91695065e-03 9.99207711e-01 -1.55047882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.405898227 meters 0.07541709382800282 Centerline is valid? [True, True] Translation: X:114.66, Y:0.99, Z:-1.55 [[ 9.96736438e-01 7.00920249e-02 4.00447404e-02 1.14657256e+02] [-7.01518420e-02 9.97536321e-01 8.88122910e-05 9.90850121e-01] [-3.99398580e-02 -2.89773475e-03 9.99197884e-01 -1.55318794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.435898227 meters 0.08229105506453281 Centerline is valid? [True, True] Translation: X:114.69, Y:1.00, Z:-1.55 [[ 9.96818054e-01 6.87202676e-02 4.03892658e-02 1.14688288e+02] [-6.87799609e-02 9.97631850e-01 8.86122885e-05 1.00060715e+00] [-4.02875286e-02 -2.86630245e-03 9.99184017e-01 -1.55369954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46589822699998 meters 0.0715903418126086 Centerline is valid? [True, True] Translation: X:114.72, Y:0.99, Z:-1.55 [[ 9.96971996e-01 6.63874256e-02 4.04913403e-02 1.14719358e+02] [-6.64454656e-02 9.97790054e-01 8.78105419e-05 9.85136207e-01] [-4.03960271e-02 -2.77801061e-03 9.99179886e-01 -1.55411756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49589822699998 meters 0.07009023750263552 Centerline is valid? [True, True] Translation: X:114.75, Y:0.98, Z:-1.55 [[ 9.97266409e-01 6.13260739e-02 4.12167798e-02 1.14749345e+02] [-6.13818948e-02 9.98114350e-01 8.89780296e-05 9.81029291e-01] [-4.11336027e-02 -2.61869884e-03 9.99150224e-01 -1.55373934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52589822699998 meters 0.07460178928087949 Centerline is valid? [True, True] Translation: X:114.78, Y:0.99, Z:-1.55 [[ 9.97333195e-01 5.99968610e-02 4.15556794e-02 1.14779570e+02] [-6.00524799e-02 9.98195217e-01 9.02877103e-05 9.86574193e-01] [-4.14752634e-02 -2.58556853e-03 9.99136186e-01 -1.55431657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55589822699999 meters 0.06881280127077735 Centerline is valid? [True, True] Translation: X:114.81, Y:0.98, Z:-1.55 [[ 9.97331855e-01 5.98672449e-02 4.17742033e-02 1.14811882e+02] [-5.99232314e-02 9.98202985e-01 8.82110737e-05 9.79442176e-01] [-4.16938534e-02 -2.59122096e-03 9.99127073e-01 -1.55411359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58589822699999 meters 0.06875726548355209 Centerline is valid? [True, True] Translation: X:114.84, Y:0.98, Z:-1.55 [[ 9.97313533e-01 5.99249657e-02 4.21273738e-02 1.14844061e+02] [-5.99816703e-02 9.98199475e-01 8.21859045e-05 9.80638805e-01] [-4.20465975e-02 -2.60883536e-03 9.99112245e-01 -1.55464573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61589822699999 meters 0.0689644870066223 Centerline is valid? [True, True] Translation: X:114.88, Y:0.98, Z:-1.56 [[ 9.97274326e-01 6.01761137e-02 4.26937328e-02 1.14876959e+02] [-6.02342927e-02 9.98184264e-01 7.64482306e-05 9.81741583e-01] [-4.26116119e-02 -2.64786666e-03 9.99088204e-01 -1.55540365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64589822699999 meters 0.07370833571926987 Centerline is valid? [True, True] Translation: X:114.91, Y:0.99, Z:-1.56 [[ 9.97289188e-01 5.98466782e-02 4.28094775e-02 1.14908152e+02] [-5.99045279e-02 9.98204109e-01 6.86271705e-05 9.88513279e-01] [-4.27284892e-02 -2.63292267e-03 9.99083252e-01 -1.55755093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67589822699999 meters 0.06517820676492697 Centerline is valid? [True, True] Translation: X:114.94, Y:0.98, Z:-1.56 [[ 9.97509221e-01 5.63597411e-02 4.24138309e-02 1.14938823e+02] [-5.64132133e-02 9.98407505e-01 6.39400958e-05 9.77406403e-01] [-4.23426834e-02 -2.45648132e-03 9.99100127e-01 -1.56115066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70589822699999 meters 0.06159118990372606 Centerline is valid? [True, True] Translation: X:114.97, Y:0.97, Z:-1.56 [[ 9.97702059e-01 5.31487703e-02 4.20215268e-02 1.14969120e+02] [-5.31984185e-02 9.98583960e-01 6.33532913e-05 9.72284726e-01] [-4.19586555e-02 -2.29868648e-03 9.99116704e-01 -1.56316503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73589822699999 meters 0.05367285718479253 Centerline is valid? [True, True] Translation: X:115.00, Y:0.96, Z:-1.56 [[ 9.97879906e-01 4.94093789e-02 4.23604296e-02 1.14999380e+02] [-4.94564705e-02 9.98776278e-01 6.38003126e-05 9.59716451e-01] [-4.23054399e-02 -2.15866239e-03 9.99102392e-01 -1.56469472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.765898227 meters 0.05220234969906672 Centerline is valid? [True, True] Translation: X:115.03, Y:0.96, Z:-1.56 [[ 9.97998157e-01 4.64151221e-02 4.29571395e-02 1.15029628e+02] [-4.64607840e-02 9.98920113e-01 6.46627079e-05 9.57920689e-01] [-4.29077493e-02 -2.06035564e-03 9.99076914e-01 -1.56376863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.795898227 meters 0.04941328216085106 Centerline is valid? [True, True] Translation: X:115.06, Y:0.95, Z:-1.56 [[ 9.98152020e-01 4.09423483e-02 4.49028754e-02 1.15059763e+02] [-4.09867217e-02 9.99159689e-01 6.75914397e-05 9.50540219e-01] [-4.48623757e-02 -1.90788819e-03 9.98991355e-01 -1.56113302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.825898227 meters 0.04591437794096711 Centerline is valid? [True, True] Translation: X:115.09, Y:0.94, Z:-1.56 [[ 9.98206452e-01 3.92084280e-02 4.52391295e-02 1.15091673e+02] [-3.92516943e-02 9.99229353e-01 6.81340925e-05 9.43460371e-01] [-4.52015947e-02 -1.84372437e-03 9.98976184e-01 -1.56156758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85589822699998 meters 0.050094814970894165 Centerline is valid? [True, True] Translation: X:115.12, Y:0.95, Z:-1.56 [[ 9.98251985e-01 3.86905068e-02 4.46768217e-02 1.15122456e+02] [-3.87321171e-02 9.99249628e-01 6.57681675e-05 9.46393576e-01] [-4.46407529e-02 -1.79608110e-03 9.99001490e-01 -1.56406565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88589822699998 meters 0.04252063652182965 Centerline is valid? [True, True] Translation: X:115.15, Y:0.93, Z:-1.57 [[ 9.98266381e-01 3.91847142e-02 4.39180054e-02 1.15154209e+02] [-3.92252258e-02 9.99230393e-01 6.07235735e-05 9.33458631e-01] [-4.38818263e-02 -1.78331198e-03 9.99035137e-01 -1.56673252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91589822699999 meters 0.04667951015900696 Centerline is valid? [True, True] Translation: X:115.19, Y:0.94, Z:-1.57 [[ 9.98230779e-01 4.03155371e-02 4.37032025e-02 1.15185527e+02] [-4.03564135e-02 9.99185347e-01 5.30880175e-05 9.35411426e-01] [-4.36654593e-02 -1.81669860e-03 9.99044557e-01 -1.56936513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94589822699999 meters 0.04876518326267765 Centerline is valid? [True, True] Translation: X:115.22, Y:0.93, Z:-1.57 [[ 9.98107604e-01 4.38446612e-02 4.31144649e-02 1.15216217e+02] [-4.38874285e-02 9.99036482e-01 4.54614577e-05 9.31055995e-01] [-4.30709301e-02 -1.93755842e-03 9.99070138e-01 -1.57154598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97589822699999 meters 0.054623673003553336 Centerline is valid? [True, True] Translation: X:115.25, Y:0.94, Z:-1.57 [[ 9.97999913e-01 4.67852731e-02 4.25124809e-02 1.15246404e+02] [-4.68295015e-02 9.98902896e-01 4.45446912e-05 9.36243798e-01] [-4.24637563e-02 -2.03529389e-03 9.99095935e-01 -1.57466506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00589822699999 meters 0.06355738610707459 Centerline is valid? [True, True] Translation: X:115.28, Y:0.95, Z:-1.58 [[ 9.97874787e-01 5.00340464e-02 4.17433128e-02 1.15275656e+02] [-5.00795013e-02 9.98745234e-01 4.32699036e-05 9.46104323e-01] [-4.16887697e-02 -2.13366223e-03 9.99128367e-01 -1.57786854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03589822699999 meters 0.05682944125917122 Centerline is valid? [True, True] Translation: X:115.31, Y:0.94, Z:-1.58 [[ 9.97742300e-01 5.31098782e-02 4.11052779e-02 1.15306684e+02] [-5.31565297e-02 9.98586191e-01 4.20189336e-05 9.35747039e-01] [-4.10449312e-02 -2.22693799e-03 9.99154820e-01 -1.57992839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06589822699999 meters 0.06494650783755453 Centerline is valid? [True, True] Translation: X:115.34, Y:0.94, Z:-1.58 [[ 9.97596794e-01 5.58375328e-02 4.10220244e-02 1.15336248e+02] [-5.58862636e-02 9.98437141e-01 4.12171682e-05 9.43916972e-01] [-4.09556113e-02 -2.33368579e-03 9.99158242e-01 -1.58204196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09589822699999 meters 0.061722609514935765 Centerline is valid? [True, True] Translation: X:115.37, Y:0.94, Z:-1.58 [[ 9.97455703e-01 5.78057208e-02 4.17207195e-02 1.15366995e+02] [-5.78578561e-02 9.98324830e-01 4.22358869e-05 9.37042785e-01] [-4.16483887e-02 -2.45599981e-03 9.99129311e-01 -1.58226445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.125898227 meters 0.06727463731504107 Centerline is valid? [True, True] Translation: X:115.40, Y:0.94, Z:-1.58 [[ 9.97289775e-01 5.99474307e-02 4.26545401e-02 1.15397477e+02] [-6.00038580e-02 9.98198144e-01 4.26666972e-05 9.37692979e-01] [-4.25751250e-02 -2.60198802e-03 9.99089880e-01 -1.58259372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.155898227 meters 0.06553534632536726 Centerline is valid? [True, True] Translation: X:115.43, Y:0.93, Z:-1.58 [[ 9.97264561e-01 6.01202871e-02 4.29993673e-02 1.15430321e+02] [-6.01777853e-02 9.98187674e-01 4.28632879e-05 9.32410771e-01] [-4.29188614e-02 -2.63035273e-03 9.99075099e-01 -1.58336464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.185898227 meters 0.06609183341396589 Centerline is valid? [True, True] Translation: X:115.46, Y:0.93, Z:-1.58 [[ 9.97257968e-01 5.99034297e-02 4.34525487e-02 1.15461335e+02] [-5.99615867e-02 9.98200685e-01 3.51093960e-05 9.30260952e-01] [-4.33722607e-02 -2.64049689e-03 9.99055491e-01 -1.58455068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21589822699998 meters 0.06287108022777582 Centerline is valid? [True, True] Translation: X:115.49, Y:0.92, Z:-1.59 [[ 9.97270264e-01 5.95762444e-02 4.36198572e-02 1.15493793e+02] [-5.96342547e-02 9.98220294e-01 2.87183639e-05 9.23217952e-01] [-4.35405157e-02 -2.62987764e-03 9.99048201e-01 -1.58582996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24589822699998 meters 0.06534704431369724 Centerline is valid? [True, True] Translation: X:115.52, Y:0.92, Z:-1.59 [[ 9.97255259e-01 6.00963956e-02 4.32477982e-02 1.15524857e+02] [-6.01536020e-02 9.98189132e-01 2.14348271e-05 9.23657892e-01] [-4.31681940e-02 -2.62288684e-03 9.99064376e-01 -1.58762856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27589822699998 meters 0.06735754713584291 Centerline is valid? [True, True] Translation: X:115.56, Y:0.92, Z:-1.59 [[ 9.97204174e-01 6.14817671e-02 4.24714882e-02 1.15555342e+02] [-6.15379035e-02 9.98104747e-01 1.43763461e-05 9.24304326e-01] [-4.23901101e-02 -2.62794249e-03 9.99097679e-01 -1.58979691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30589822699999 meters 0.07283207245634273 Centerline is valid? [True, True] Translation: X:115.59, Y:0.93, Z:-1.60 [[ 9.97052771e-01 6.54482733e-02 4.00286751e-02 1.15586411e+02] [-6.55012960e-02 9.97852484e-01 1.31561720e-05 9.28720884e-01] [-3.99418518e-02 -2.63504749e-03 9.99198531e-01 -1.59583044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33589822699999 meters 0.07380390997828488 Centerline is valid? [True, True] Translation: X:115.62, Y:0.93, Z:-1.60 [[ 9.96931785e-01 6.75503538e-02 3.95470078e-02 1.15616969e+02] [-6.76037213e-02 9.97712251e-01 1.22121237e-05 9.32345464e-01] [-3.94557093e-02 -2.68569955e-03 9.99217711e-01 -1.59689714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36589822699999 meters 0.07839406512330091 Centerline is valid? [True, True] Translation: X:115.65, Y:0.94, Z:-1.60 [[ 9.96795842e-01 6.90897832e-02 4.03069525e-02 1.15646880e+02] [-6.91464654e-02 9.97606519e-01 1.21850118e-05 9.39074480e-01] [-4.02096367e-02 -2.79922927e-03 9.99187345e-01 -1.59778849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39589822699999 meters 0.07913781627208938 Centerline is valid? [True, True] Translation: X:115.68, Y:0.94, Z:-1.60 [[ 9.96647410e-01 7.05410407e-02 4.14475741e-02 1.15678519e+02] [-7.06021292e-02 9.97504556e-01 1.01257405e-05 9.40887119e-01] [-4.13434297e-02 -2.93637877e-03 9.99140680e-01 -1.59707579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42589822699999 meters 0.0747859219763821 Centerline is valid? [True, True] Translation: X:115.71, Y:0.94, Z:-1.60 [[ 9.96495968e-01 7.18392588e-02 4.28358002e-02 1.15709813e+02] [-7.19056638e-02 9.97411437e-01 9.47162194e-06 9.36348177e-01] [-4.27242367e-02 -3.08957508e-03 9.99082126e-01 -1.59596223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45589822699999 meters 0.07178093465652036 Centerline is valid? [True, True] Translation: X:115.74, Y:0.93, Z:-1.60 [[ 9.96350485e-01 7.34556481e-02 4.34738909e-02 1.15741269e+02] [-7.35255343e-02 9.97293335e-01 8.59163647e-06 9.34054507e-01] [-4.33555905e-02 -3.20500134e-03 9.99054563e-01 -1.59623040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48589822699999 meters 0.07934710243896671 Centerline is valid? [True, True] Translation: X:115.77, Y:0.95, Z:-1.60 [[ 9.96229308e-01 7.52356148e-02 4.32061156e-02 1.15771562e+02] [-7.53062612e-02 9.97160452e-01 7.51810624e-06 9.46119009e-01] [-4.30828642e-02 -3.26118079e-03 9.99066180e-01 -1.59797991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.515898227 meters 0.07737795207545349 Centerline is valid? [True, True] Translation: X:115.80, Y:0.95, Z:-1.60 [[ 9.96143022e-01 7.67261786e-02 4.25696329e-02 1.15802637e+02] [-7.67960621e-02 9.97046822e-01 6.31625494e-06 9.46256697e-01] [-4.24434326e-02 -3.27547207e-03 9.99093502e-01 -1.60022941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.545898227 meters 0.08473210934789514 Centerline is valid? [True, True] Translation: X:115.83, Y:0.96, Z:-1.60 [[ 9.96078701e-01 7.83457055e-02 4.10995366e-02 1.15832713e+02] [-7.84121884e-02 9.96921024e-01 5.59189704e-06 9.62921036e-01] [-4.09725540e-02 -3.22827458e-03 9.99155057e-01 -1.60489000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.575898227 meters 0.08356096300497314 Centerline is valid? [True, True] Translation: X:115.86, Y:0.96, Z:-1.61 [[ 9.96127511e-01 7.81899512e-02 4.02033960e-02 1.15864872e+02] [-7.82534680e-02 9.96933496e-01 6.24397218e-06 9.64614104e-01] [-4.00796238e-02 -3.15227495e-03 9.99191517e-01 -1.60784706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60589822699998 meters 0.08455849145711321 Centerline is valid? [True, True] Translation: X:115.89, Y:0.97, Z:-1.61 [[ 9.96271007e-01 7.67338533e-02 3.94461146e-02 1.15894084e+02] [-7.67935835e-02 9.97047013e-01 -9.74452738e-07 9.68782121e-01] [-3.93297055e-02 -3.02823767e-03 9.99221699e-01 -1.61096132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63589822699998 meters 0.08192147979981347 Centerline is valid? [True, True] Translation: X:115.92, Y:0.97, Z:-1.61 [[ 9.96453489e-01 7.41766830e-02 3.97273598e-02 1.15924793e+02] [-7.42352691e-02 9.97240756e-01 -4.65642569e-07 9.67507471e-01] [-3.96177768e-02 -2.94870725e-03 9.99210557e-01 -1.61225318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66589822699999 meters 0.07426193484084118 Centerline is valid? [True, True] Translation: X:115.96, Y:0.96, Z:-1.61 [[ 9.96696319e-01 7.03279081e-02 4.06255336e-02 1.15955253e+02] [-7.03859958e-02 9.97519830e-01 -4.93366001e-07 9.58863667e-01] [-4.05248101e-02 -2.85897690e-03 9.99174442e-01 -1.61178523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69589822699999 meters 0.0699507580269072 Centerline is valid? [True, True] Translation: X:115.99, Y:0.95, Z:-1.61 [[ 9.96987597e-01 6.56910423e-02 4.12361333e-02 1.15986122e+02] [-6.57469480e-02 9.97836329e-01 -4.06354512e-07 9.53854595e-01] [-4.11469386e-02 -2.71074478e-03 9.99149429e-01 -1.61207230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72589822699999 meters 0.0639127375810991 Centerline is valid? [True, True] Translation: X:116.02, Y:0.95, Z:-1.61 [[ 9.97535794e-01 5.70006375e-02 4.09055911e-02 1.16015235e+02] [-5.70483495e-02 9.98371417e-01 -8.93848335e-07 9.46377760e-01] [-4.08390239e-02 -2.33270481e-03 9.99163016e-01 -1.61377216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75589822699999 meters 0.06624160197926689 Centerline is valid? [True, True] Translation: X:116.04, Y:0.95, Z:-1.62 [[ 9.97718704e-01 5.42352058e-02 4.01986333e-02 1.16044798e+02] [-5.42790638e-02 9.98525805e-01 -3.81056765e-07 9.48813403e-01] [-4.01393933e-02 -2.18156399e-03 9.99191708e-01 -1.61741098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78589822699999 meters 0.05761501825564798 Centerline is valid? [True, True] Translation: X:116.08, Y:0.94, Z:-1.62 [[ 9.97775177e-01 5.35150653e-02 3.97597101e-02 1.16076764e+02] [-5.35574150e-02 9.98564772e-01 5.68788433e-09 9.39013990e-01] [-3.97026456e-02 -2.12943297e-03 9.99209270e-01 -1.61842307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81589822699999 meters 0.05750456684078869 Centerline is valid? [True, True] Translation: X:116.11, Y:0.94, Z:-1.62 [[ 9.97775210e-01 5.34293742e-02 3.98739639e-02 1.16108996e+02] [-5.34716380e-02 9.98569369e-01 -6.56271681e-06 9.39282956e-01] [-3.98172696e-02 -2.12557804e-03 9.99204717e-01 -1.62019985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84589822699999 meters 0.05497819044449086 Centerline is valid? [True, True] Translation: X:116.14, Y:0.94, Z:-1.62 [[ 9.97732670e-01 5.36625865e-02 4.06183049e-02 1.16141957e+02] [-5.37063671e-02 9.98556772e-01 -1.33455463e-05 9.36337973e-01] [-4.05603995e-02 -2.16814631e-03 9.99174736e-01 -1.61954975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.875898227 meters 0.05497819044449086 Centerline is valid? [True, True] Translation: X:116.17, Y:0.94, Z:-1.62 [[ 9.97722374e-01 5.38536809e-02 4.06183008e-02 1.16174490e+02] [-5.38973040e-02 9.98546484e-01 -2.11158529e-05 9.36154082e-01] [-4.05603986e-02 -2.16814914e-03 9.99174736e-01 -1.62101735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.905898227 meters 0.060053025976217894 Centerline is valid? [True, True] Translation: X:116.21, Y:0.94, Z:-1.62 [[ 9.97653752e-01 5.44789700e-02 4.14612292e-02 1.16205863e+02] [-5.45246212e-02 9.98512426e-01 -2.98003612e-05 9.42523857e-01] [-4.14011760e-02 -2.23092737e-03 9.99140113e-01 -1.62127168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.935898227 meters 0.058908343013114414 Centerline is valid? [True, True] Translation: X:116.24, Y:0.94, Z:-1.62 [[ 9.97602834e-01 5.51970819e-02 4.17357005e-02 1.16238413e+02] [-5.52436969e-02 9.98472900e-01 -3.64645588e-05 9.39740601e-01] [-4.16739786e-02 -2.26925724e-03 9.99128685e-01 -1.62138992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96589822699998 meters 0.061297267502831175 Centerline is valid? [True, True] Translation: X:116.27, Y:0.94, Z:-1.62 [[ 9.97544797e-01 5.63047063e-02 4.16432151e-02 1.16269549e+02] [-5.63517824e-02 9.98410975e-01 -4.34500171e-05 9.41177315e-01] [-4.15794894e-02 -2.30332605e-03 9.99132544e-01 -1.62184320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99589822699998 meters 0.05829770125775555 Centerline is valid? [True, True] Translation: X:116.30, Y:0.93, Z:-1.62 [[ 9.97351621e-01 5.93650022e-02 4.20183351e-02 1.16299965e+02] [-5.94154869e-02 9.98233338e-01 -4.74100174e-05 9.34672692e-01] [-4.19469174e-02 -2.44925538e-03 9.99116839e-01 -1.62194638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02589822699998 meters 0.06553003458170284 Centerline is valid? [True, True] Translation: X:116.33, Y:0.94, Z:-1.62 [[ 9.97213639e-01 6.11084277e-02 4.27868828e-02 1.16330497e+02] [-6.11623726e-02 9.98127828e-01 -4.83822324e-05 9.43165916e-01] [-4.27097350e-02 -2.56869984e-03 9.99084221e-01 -1.62259180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05589822699999 meters 0.06777902661840184 Centerline is valid? [True, True] Translation: X:116.36, Y:0.95, Z:-1.62 [[ 9.97041617e-01 6.30443176e-02 4.39707651e-02 1.16361426e+02] [-6.31031439e-02 9.98007009e-01 -5.02640519e-05 9.45135088e-01] [-4.38863006e-02 -2.72457817e-03 9.99032817e-01 -1.62247092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08589822699999 meters 0.06408233897502648 Centerline is valid? [True, True] Translation: X:116.39, Y:0.94, Z:-1.62 [[ 9.96908292e-01 6.48220958e-02 4.44066876e-02 1.16392723e+02] [-6.48838295e-02 9.97892823e-01 -5.12657796e-05 9.39611813e-01] [-4.43164380e-02 -2.83016866e-03 9.99013535e-01 -1.62341925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11589822699999 meters 0.06447431174041864 Centerline is valid? [True, True] Translation: X:116.42, Y:0.94, Z:-1.62 [[ 9.96809704e-01 6.66585841e-02 4.38981430e-02 1.16423847e+02] [-6.67206365e-02 9.97771694e-01 -5.17211613e-05 9.39604651e-01] [-4.38037721e-02 -2.87735588e-03 9.99036011e-01 -1.62496446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14589822699999 meters 0.08020628611593975 Centerline is valid? [True, True] Translation: X:116.45, Y:0.96, Z:-1.63 [[ 9.96719127e-01 6.87265653e-02 4.27509232e-02 1.16453250e+02] [-6.87872870e-02 9.97631348e-01 -5.07921427e-05 9.58956675e-01] [-4.26531520e-02 -2.89009453e-03 9.99085760e-01 -1.62892337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17589822699999 meters 0.0702015899865536 Centerline is valid? [True, True] Translation: X:116.48, Y:0.94, Z:-1.63 [[ 9.96625319e-01 7.15202841e-02 4.02842831e-02 1.16484069e+02] [-7.15763868e-02 9.97435120e-01 -4.97416632e-05 9.43930792e-01] [-4.01845163e-02 -2.83382963e-03 9.99188258e-01 -1.63317144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20589822699999 meters 0.07246716149485065 Centerline is valid? [True, True] Translation: X:116.52, Y:0.95, Z:-1.63 [[ 9.96510398e-01 7.26200677e-02 4.11503669e-02 1.16515387e+02] [-7.26795532e-02 9.97355343e-01 -5.05968324e-05 9.46069882e-01] [-4.10452126e-02 -2.94037001e-03 9.99152964e-01 -1.63358771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23589822699999 meters 0.07890653908378513 Centerline is valid? [True, True] Translation: X:116.55, Y:0.95, Z:-1.63 [[ 9.96341474e-01 7.39557663e-02 4.28276951e-02 1.16545425e+02] [-7.40212820e-02 9.97256660e-01 -5.62090715e-05 9.53593448e-01] [-4.27143612e-02 -3.11415747e-03 9.99082472e-01 -1.63260501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.265898227 meters 0.0762233352142322 Centerline is valid? [True, True] Translation: X:116.58, Y:0.95, Z:-1.63 [[ 9.96204864e-01 7.49298824e-02 4.42874969e-02 1.16577742e+02] [-7.50007866e-02 9.97183473e-01 -6.07824012e-05 9.49580079e-01] [-4.41673143e-02 -3.26104538e-03 9.99018826e-01 -1.63148723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.295898227 meters 0.07372622268251214 Centerline is valid? [True, True] Translation: X:116.61, Y:0.95, Z:-1.63 [[ 9.96104208e-01 7.57674546e-02 4.51187367e-02 1.16609620e+02] [-7.58418076e-02 9.97119860e-01 -6.40551948e-05 9.45686195e-01] [-4.49936417e-02 -3.35808090e-03 9.98981629e-01 -1.63196629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.325898227 meters 0.07147973516668324 Centerline is valid? [True, True] Translation: X:116.64, Y:0.94, Z:-1.63 [[ 9.96062115e-01 7.64542989e-02 4.48887975e-02 1.16641731e+02] [-7.65284944e-02 9.97067393e-01 -6.58193008e-05 9.41918029e-01] [-4.47621884e-02 -3.36971197e-03 9.98991988e-01 -1.63453668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35589822699998 meters 0.08033896116453036 Centerline is valid? [True, True] Translation: X:116.67, Y:0.95, Z:-1.64 [[ 9.96146592e-01 7.72107948e-02 4.15988080e-02 1.16672841e+02] [-7.72748862e-02 9.97009823e-01 -6.74640324e-05 9.52243970e-01] [-4.14796291e-02 -3.14733908e-03 9.99134393e-01 -1.64178866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38589822699998 meters 0.08033896116453036 Centerline is valid? [True, True] Translation: X:116.71, Y:0.95, Z:-1.64 [[ 9.96132484e-01 7.73926017e-02 4.15987967e-02 1.16705423e+02] [-7.74565880e-02 9.96995723e-01 -7.37883683e-05 9.52020193e-01] [-4.14795331e-02 -3.14859787e-03 9.99134393e-01 -1.64325839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41589822699999 meters 0.07855103297874788 Centerline is valid? [True, True] Translation: X:116.74, Y:0.95, Z:-1.65 [[ 9.96251238e-01 7.65544861e-02 4.02850097e-02 1.16736692e+02] [-7.66134929e-02 9.97060864e-01 -7.93088741e-05 9.48218478e-01] [-4.01726780e-02 -3.00736374e-03 9.99188226e-01 -1.64607218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44589822699999 meters 0.07332906526047622 Centerline is valid? [True, True] Translation: X:116.77, Y:0.94, Z:-1.65 [[ 9.96349850e-01 7.49597361e-02 4.08413197e-02 1.16767751e+02] [-7.50190132e-02 9.97182100e-01 -8.13994185e-05 9.39192610e-01] [-4.07323347e-02 -2.98277321e-03 9.99165642e-01 -1.64651229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47589822699999 meters 0.07656798136167157 Centerline is valid? [True, True] Translation: X:116.80, Y:0.94, Z:-1.65 [[ 9.96441609e-01 7.35039506e-02 4.12466805e-02 1.16797659e+02] [-7.35631460e-02 9.97290558e-01 -8.28259844e-05 9.42315454e-01] [-4.11410130e-02 -2.95170432e-03 9.99148990e-01 -1.64664769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50589822699999 meters 0.07535789951652301 Centerline is valid? [True, True] Translation: X:116.83, Y:0.94, Z:-1.65 [[ 9.96561971e-01 7.20644767e-02 4.08772471e-02 1.16828823e+02] [-7.21214144e-02 9.97395857e-01 -8.19910984e-05 9.38400418e-01] [-4.07767056e-02 -2.86641567e-03 9.99164173e-01 -1.64874658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53589822699999 meters 0.07653740030507697 Centerline is valid? [True, True] Translation: X:116.86, Y:0.93, Z:-1.65 [[ 9.96711541e-01 7.06080478e-02 3.97568665e-02 1.16860597e+02] [-7.06607193e-02 9.97500404e-01 -8.05346389e-05 9.34353453e-01] [-3.96631768e-02 -2.72897898e-03 9.99209380e-01 -1.65275267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56589822699999 meters 0.07450186523202391 Centerline is valid? [True, True] Translation: X:116.89, Y:0.93, Z:-1.66 [[ 9.96719841e-01 7.08408652e-02 3.91296495e-02 1.16891382e+02] [-7.08920393e-02 9.97483991e-01 -7.99072526e-05 9.32158109e-01] [-3.90368596e-02 -2.69433551e-03 9.99234139e-01 -1.65501020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59589822699999 meters 0.07378278280738883 Centerline is valid? [True, True] Translation: X:116.92, Y:0.93, Z:-1.66 [[ 9.96727693e-01 7.12352348e-02 3.82027119e-02 1.16923919e+02] [-7.12840914e-02 9.97456050e-01 -8.34487100e-05 9.25604803e-01] [-3.81114706e-02 -2.64006996e-03 9.99270006e-01 -1.65694557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.625898227 meters 0.07757771283899596 Centerline is valid? [True, True] Translation: X:116.96, Y:0.92, Z:-1.66 [[ 9.96725059e-01 7.10822086e-02 3.85548467e-02 1.16955666e+02] [-7.11316161e-02 9.97466934e-01 -9.04806979e-05 9.22273673e-01] [-3.84636163e-02 -2.65228417e-03 9.99256481e-01 -1.65783895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.655898227 meters 0.07305680996632312 Centerline is valid? [True, True] Translation: X:116.99, Y:0.92, Z:-1.66 [[ 9.96649343e-01 7.15174274e-02 3.96906058e-02 1.16987445e+02] [-7.15698720e-02 9.97435584e-01 -9.97978303e-05 9.18446359e-01] [-3.95959599e-02 -2.74118814e-03 9.99212012e-01 -1.65562909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.685898227 meters 0.07627592973564214 Centerline is valid? [True, True] Translation: X:117.02, Y:0.92, Z:-1.66 [[ 9.96604358e-01 7.15030197e-02 4.08297850e-02 1.17018530e+02] [-7.15582434e-02 9.97436417e-01 -1.09198095e-04 9.17150411e-01] [-4.07329224e-02 -2.81288040e-03 9.99166111e-01 -1.65662948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71589822699998 meters 0.07709710058222694 Centerline is valid? [True, True] Translation: X:117.05, Y:0.92, Z:-1.66 [[ 9.96508102e-01 7.24625918e-02 4.14822263e-02 1.17049463e+02] [-7.25202723e-02 9.97366932e-01 -1.14602404e-04 9.18329360e-01] [-4.13813052e-02 -2.89410012e-03 9.99139235e-01 -1.65685160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74589822699998 meters 0.06754974097511815 Centerline is valid? [True, True] Translation: X:117.08, Y:0.90, Z:-1.66 [[ 9.96474492e-01 7.32570107e-02 4.08900619e-02 1.17081685e+02] [-7.33134599e-02 9.97308940e-01 -1.19321008e-04 9.03338805e-01] [-4.07887654e-02 -2.87889158e-03 9.99163645e-01 -1.65834068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77589822699998 meters 0.08180913854925197 Centerline is valid? [True, True] Translation: X:117.11, Y:0.92, Z:-1.66 [[ 9.96486141e-01 7.35705184e-02 4.00343518e-02 1.17112338e+02] [-7.36248249e-02 9.97286003e-01 -1.18161652e-04 9.15836220e-01] [-3.99343919e-02 -2.82977570e-03 9.99198297e-01 -1.66367797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80589822699999 meters 0.06974487249536879 Centerline is valid? [True, True] Translation: X:117.14, Y:0.90, Z:-1.66 [[ 9.96481506e-01 7.40167697e-02 3.93208164e-02 1.17144709e+02] [-7.40692701e-02 9.97253091e-01 -1.21935457e-04 9.02364706e-01] [-3.92218309e-02 -2.79095774e-03 9.99226630e-01 -1.66415975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83589822699999 meters 0.06721564861894876 Centerline is valid? [True, True] Translation: X:117.18, Y:0.90, Z:-1.67 [[ 9.96585211e-01 7.29425106e-02 3.86950462e-02 1.17176244e+02] [-7.29922672e-02 9.97332499e-01 -1.27206504e-04 8.96429207e-01] [-3.86011058e-02 -2.69766703e-03 9.99251058e-01 -1.66564450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86589822699999 meters 0.08064821203872402 Centerline is valid? [True, True] Translation: X:117.21, Y:0.91, Z:-1.67 [[ 9.96604837e-01 7.23424843e-02 3.93111156e-02 1.17207380e+02] [-7.23933537e-02 9.97376150e-01 -1.29784590e-04 9.11074649e-01] [-3.92173581e-02 -2.71651955e-03 9.99227011e-01 -1.66806508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89589822699999 meters 0.06927228890167493 Centerline is valid? [True, True] Translation: X:117.24, Y:0.89, Z:-1.67 [[ 9.96683664e-01 7.13025416e-02 3.92125165e-02 1.17238592e+02] [-7.13521929e-02 9.97451175e-01 -1.33601735e-04 8.93369876e-01] [-3.91220968e-02 -2.66474037e-03 9.99230885e-01 -1.66780865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92589822699999 meters 0.06515043078085178 Centerline is valid? [True, True] Translation: X:117.27, Y:0.89, Z:-1.67 [[ 9.96737581e-01 7.01243703e-02 3.99595781e-02 1.17270494e+02] [-7.01749590e-02 9.97534689e-01 -1.36964440e-04 8.85131401e-01] [-3.98706699e-02 -2.66764415e-03 9.99201288e-01 -1.66834794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95589822699999 meters 0.06539138469240671 Centerline is valid? [True, True] Translation: X:117.30, Y:0.88, Z:-1.67 [[ 9.96815778e-01 6.85968880e-02 4.06543050e-02 1.17301200e+02] [-6.86478970e-02 9.97640941e-01 -1.41608699e-04 8.82749188e-01] [-4.05681129e-02 -2.64967475e-03 9.99173262e-01 -1.66819064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98589822699999 meters 0.06100289227398089 Centerline is valid? [True, True] Translation: X:117.33, Y:0.87, Z:-1.67 [[ 9.96881661e-01 6.68012407e-02 4.20065238e-02 1.17332273e+02] [-6.68540722e-02 9.97762753e-01 -1.47387555e-04 8.74975721e-01] [-4.19223905e-02 -2.66137922e-03 9.99117326e-01 -1.66753241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.015898227 meters 0.0624426784571334 Centerline is valid? [True, True] Translation: X:117.36, Y:0.87, Z:-1.67 [[ 9.96915688e-01 6.51300914e-02 4.37856302e-02 1.17362061e+02] [-6.51858701e-02 9.97873127e-01 -1.54192948e-04 8.74613778e-01] [-4.37025463e-02 -2.70048703e-03 9.99040938e-01 -1.66616982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.045898227 meters 0.058273200277805484 Centerline is valid? [True, True] Translation: X:117.39, Y:0.87, Z:-1.67 [[ 9.96937351e-01 6.38043171e-02 4.52208684e-02 1.17393913e+02] [-6.38624599e-02 9.97958697e-01 -1.59252786e-04 8.66746460e-01] [-4.51387199e-02 -2.72915084e-03 9.98977001e-01 -1.66511082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.075898227 meters 0.06382365777699976 Centerline is valid? [True, True] Translation: X:117.43, Y:0.87, Z:-1.67 [[ 9.96958641e-01 6.30796874e-02 4.57648415e-02 1.17425505e+02] [-6.31383982e-02 9.98004768e-01 -1.62942888e-04 8.71505371e-01] [-4.56838084e-02 -2.72707147e-03 9.98952227e-01 -1.66613582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10589822699998 meters 0.05912035523004478 Centerline is valid? [True, True] Translation: X:117.46, Y:0.86, Z:-1.67 [[ 9.97095925e-01 6.33796663e-02 4.22224448e-02 1.17456912e+02] [-6.34296199e-02 9.97986302e-01 -1.56866120e-04 8.62759367e-01] [-4.21473637e-02 -2.52174306e-03 9.99108223e-01 -1.67351143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13589822699998 meters 0.06348454576057612 Centerline is valid? [True, True] Translation: X:117.49, Y:0.87, Z:-1.68 [[ 9.97123513e-01 6.47492782e-02 3.93983730e-02 1.17486783e+02] [-6.47935541e-02 9.97898678e-01 -1.53377530e-04 8.67360620e-01] [-3.93255154e-02 -2.39982427e-03 9.99223571e-01 -1.67952964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16589822699999 meters 0.07352260679237715 Centerline is valid? [True, True] Translation: X:117.52, Y:0.88, Z:-1.69 [[ 9.97077554e-01 6.66216559e-02 3.73885792e-02 1.17516737e+02] [-6.66628358e-02 9.97775548e-01 -1.45553420e-04 8.79045373e-01] [-3.73151071e-02 -2.34730066e-03 9.99300792e-01 -1.68549654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19589822699999 meters 0.06310688996142531 Centerline is valid? [True, True] Translation: X:117.55, Y:0.86, Z:-1.69 [[ 9.96949988e-01 6.90430884e-02 3.63836853e-02 1.17547316e+02] [-6.90836902e-02 9.97610858e-01 -1.41558752e-04 8.64541090e-01] [-3.63065331e-02 -2.37239225e-03 9.99337885e-01 -1.68531241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22589822699999 meters 0.0744750873666811 Centerline is valid? [True, True] Translation: X:117.58, Y:0.88, Z:-1.69 [[ 9.96742341e-01 7.17585283e-02 3.68160207e-02 1.17576891e+02] [-7.18019261e-02 9.97418900e-01 -1.43753030e-04 8.79285819e-01] [-3.67313104e-02 -2.50017647e-03 9.99322050e-01 -1.68701541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25589822699999 meters 0.07811473400705322 Centerline is valid? [True, True] Translation: X:117.61, Y:0.88, Z:-1.69 [[ 9.96521476e-01 7.44689645e-02 3.74074998e-02 1.17607083e+02] [-7.45156858e-02 9.97219831e-01 -1.45612497e-04 8.78773718e-01] [-3.73143442e-02 -2.64233952e-03 9.99300084e-01 -1.68659001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28589822699999 meters 0.07708500771512102 Centerline is valid? [True, True] Translation: X:117.64, Y:0.89, Z:-1.69 [[ 9.96245014e-01 7.72714349e-02 3.90512221e-02 1.17636384e+02] [-7.73244919e-02 9.97005968e-01 -1.52167064e-04 8.85703362e-01] [-3.89460596e-02 -2.86802022e-03 9.99237199e-01 -1.68587267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31589822699999 meters 0.08324697920503178 Centerline is valid? [True, True] Translation: X:117.67, Y:0.90, Z:-1.69 [[ 9.95867576e-01 8.16771079e-02 3.97067007e-02 1.17665555e+02] [-8.17354628e-02 9.96654047e-01 -1.54204472e-04 8.98447762e-01] [-3.95864390e-02 -3.09187833e-03 9.99211366e-01 -1.68684591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34589822699999 meters 0.09255998687099223 Centerline is valid? [True, True] Translation: X:117.70, Y:0.91, Z:-1.69 [[ 9.95763934e-01 8.31987034e-02 3.91428657e-02 1.17695792e+02] [-8.32565592e-02 9.96528134e-01 -1.52510102e-04 9.13580148e-01] [-3.90196556e-02 -3.10703626e-03 9.99233613e-01 -1.69082346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.375898227 meters 0.09195861951050498 Centerline is valid? [True, True] Translation: X:117.73, Y:0.92, Z:-1.69 [[ 9.95739422e-01 8.37108447e-02 3.86716603e-02 1.17727371e+02] [-8.37676915e-02 9.96485299e-01 -1.50844718e-04 9.16863716e-01] [-3.85483683e-02 -3.08923367e-03 9.99251960e-01 -1.69368857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.405898227 meters 0.08792323627294733 Centerline is valid? [True, True] Translation: X:117.76, Y:0.92, Z:-1.70 [[ 9.95799566e-01 8.34104300e-02 3.77614077e-02 1.17759316e+02] [-8.34642222e-02 9.96510763e-01 -1.52404862e-04 9.15620975e-01] [-3.76423613e-02 -2.99996183e-03 9.99286772e-01 -1.69582863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.435898227 meters 0.09452010909670644 Centerline is valid? [True, True] Translation: X:117.79, Y:0.93, Z:-1.70 [[ 9.95936994e-01 8.18593401e-02 3.75306971e-02 1.17788603e+02] [-8.19111163e-02 9.96639626e-01 -1.58567291e-04 9.28364144e-01] [-3.74175602e-02 -2.91625827e-03 9.99295463e-01 -1.69867397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46589822699998 meters 0.08824890276229007 Centerline is valid? [True, True] Translation: X:117.82, Y:0.92, Z:-1.70 [[ 9.96161517e-01 7.94435617e-02 3.67553013e-02 1.17819069e+02] [-7.94916021e-02 9.96835524e-01 -1.54793696e-04 9.23651178e-01] [-3.66512874e-02 -2.76753827e-03 9.99324284e-01 -1.69987734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49589822699998 meters 0.07430192371280009 Centerline is valid? [True, True] Translation: X:117.85, Y:0.91, Z:-1.70 [[ 9.96450723e-01 7.59748533e-02 3.62460701e-02 1.17850118e+02] [-7.60192903e-02 9.97106335e-01 -1.52589165e-04 9.08523727e-01] [-3.61527791e-02 -2.60335295e-03 9.99342884e-01 -1.70002217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52589822699998 meters 0.07488936492282368 Centerline is valid? [True, True] Translation: X:117.88, Y:0.91, Z:-1.70 [[ 9.96778572e-01 7.15124917e-02 3.63103634e-02 1.17880214e+02] [-7.15541222e-02 9.97436707e-01 -1.53358855e-04 9.11430008e-01] [-3.62282563e-02 -2.44529136e-03 9.99340550e-01 -1.70184098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55589822699999 meters 0.06731128710133852 Centerline is valid? [True, True] Translation: X:117.91, Y:0.90, Z:-1.70 [[ 9.97085681e-01 6.67471216e-02 3.69454458e-02 1.17911197e+02] [-6.67869702e-02 9.97767246e-01 -1.55904656e-04 9.02974591e-01] [-3.68733619e-02 -2.31202409e-03 9.99317272e-01 -1.70133164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58589822699999 meters 0.06224617334289054 Centerline is valid? [True, True] Translation: X:117.94, Y:0.90, Z:-1.70 [[ 9.97598360e-01 5.67567408e-02 3.97011832e-02 1.17941225e+02] [-5.67948578e-02 9.98385855e-01 -1.68010414e-04 8.97350224e-01] [-3.96466354e-02 -2.08721614e-03 9.99211583e-01 -1.69870198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61589822699999 meters 0.049310820108985395 Centerline is valid? [True, True] Translation: X:117.97, Y:0.88, Z:-1.70 [[ 9.97816065e-01 5.23498984e-02 4.02813666e-02 1.17971799e+02] [-5.23855521e-02 9.98626920e-01 -1.70606893e-04 8.79730453e-01] [-4.02349883e-02 -1.93992733e-03 9.99188362e-01 -1.69742435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64589822699999 meters 0.04834779927064583 Centerline is valid? [True, True] Translation: X:118.00, Y:0.88, Z:-1.70 [[ 9.97947712e-01 4.93379419e-02 4.08182741e-02 1.18002061e+02] [-4.93720187e-02 9.98780443e-01 -1.73412281e-04 8.77766036e-01] [-4.07770497e-02 -1.84222420e-03 9.99166572e-01 -1.69882296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67589822699999 meters 0.04971642404621697 Centerline is valid? [True, True] Translation: X:118.03, Y:0.88, Z:-1.70 [[ 9.98001291e-01 4.82014192e-02 4.08661911e-02 1.18033713e+02] [-4.82346536e-02 9.98836017e-01 -1.72930661e-04 8.78988278e-01] [-4.08269591e-02 -1.79858155e-03 9.99164613e-01 -1.70020524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70589822699999 meters 0.05020342853893411 Centerline is valid? [True, True] Translation: X:118.07, Y:0.88, Z:-1.70 [[ 9.97952551e-01 4.85875296e-02 4.15927633e-02 1.18066753e+02] [-4.86220076e-02 9.98817234e-01 -1.82854166e-04 8.79372394e-01] [-4.15524532e-02 -1.83984387e-03 9.99134630e-01 -1.70071660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73589822699999 meters 0.046523130007389175 Centerline is valid? [True, True] Translation: X:118.10, Y:0.87, Z:-1.70 [[ 9.97850787e-01 5.00031578e-02 4.23496257e-02 1.18099161e+02] [-5.00398269e-02 9.98747204e-01 -1.94415715e-04 8.74127128e-01] [-4.23062917e-02 -1.92517007e-03 9.99102833e-01 -1.70095591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.765898227 meters 0.046523130007389175 Centerline is valid? [True, True] Translation: X:118.13, Y:0.87, Z:-1.70 [[ 9.97841164e-01 5.01948407e-02 4.23496181e-02 1.18131669e+02] [-5.02316121e-02 9.98737576e-01 -1.96064394e-04 8.73809807e-01] [-4.23059964e-02 -1.93164847e-03 9.99102833e-01 -1.70242263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.795898227 meters 0.05631262141660747 Centerline is valid? [True, True] Translation: X:118.16, Y:0.88, Z:-1.70 [[ 9.97558916e-01 5.48162334e-02 4.32595566e-02 1.18161731e+02] [-5.48585534e-02 9.98494114e-01 -2.09141594e-04 8.84418979e-01] [-4.32058770e-02 -2.16452563e-03 9.99063845e-01 -1.70312839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.825898227 meters 0.05893005035449058 Centerline is valid? [True, True] Translation: X:118.19, Y:0.89, Z:-1.70 [[ 9.97368780e-01 5.79835782e-02 4.35134531e-02 1.18192816e+02] [-5.80294195e-02 9.98314851e-01 -2.09955288e-04 8.86128764e-01] [-4.34523004e-02 -2.31565757e-03 9.99052819e-01 -1.70415982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85589822699998 meters 0.05417663396901215 Centerline is valid? [True, True] Translation: X:118.22, Y:0.88, Z:-1.70 [[ 9.97132637e-01 6.16674428e-02 4.38592136e-02 1.18222901e+02] [-6.17175380e-02 9.98093633e-01 -2.12284072e-04 8.78613887e-01] [-4.37886928e-02 -2.49520730e-03 9.99037699e-01 -1.70498468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88589822699998 meters 0.06869084534734558 Centerline is valid? [True, True] Translation: X:118.25, Y:0.90, Z:-1.71 [[ 9.96854990e-01 6.58797935e-02 4.40452328e-02 1.18253388e+02] [-6.59343910e-02 9.97823938e-01 -2.13606464e-04 8.96070717e-01] [-4.39634600e-02 -2.69116093e-03 9.99029515e-01 -1.70637076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91589822699999 meters 0.07295046816018753 Centerline is valid? [True, True] Translation: X:118.28, Y:0.90, Z:-1.71 [[ 9.96594753e-01 6.99511775e-02 4.36546760e-02 1.18284638e+02] [-7.00086861e-02 9.97546359e-01 -2.11963940e-04 9.00253080e-01] [-4.35623902e-02 -2.84496436e-03 9.99046658e-01 -1.70786366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94589822699999 meters 0.07527960863744407 Centerline is valid? [True, True] Translation: X:118.32, Y:0.90, Z:-1.71 [[ 9.96100648e-01 7.70537516e-02 4.29676393e-02 1.18315040e+02] [-7.71159962e-02 9.97022106e-01 -2.09458325e-04 9.01175562e-01] [-4.28558257e-02 -3.10485073e-03 9.99076443e-01 -1.71078757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97589822699999 meters 0.07774555266030769 Centerline is valid? [True, True] Translation: X:118.35, Y:0.90, Z:-1.71 [[ 9.95946413e-01 7.91856309e-02 4.26658871e-02 1.18345419e+02] [-7.92489463e-02 9.96854835e-01 -2.08014905e-04 9.03782748e-01] [-4.25481676e-02 -3.17405490e-03 9.99089375e-01 -1.71231582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00589822699999 meters 0.07720284939384076 Centerline is valid? [True, True] Translation: X:118.38, Y:0.90, Z:-1.71 [[ 9.95835992e-01 8.02505007e-02 4.32496757e-02 1.18376863e+02] [-8.03165554e-02 9.96769385e-01 -2.10997258e-04 9.02518719e-01] [-4.31268853e-02 -3.26354631e-03 9.99064273e-01 -1.71380965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03589822699999 meters 0.07968799639164435 Centerline is valid? [True, True] Translation: X:118.41, Y:0.90, Z:-1.72 [[ 9.95849212e-01 8.01885161e-02 4.30598199e-02 1.18408061e+02] [-8.02539020e-02 9.96774431e-01 -2.10810365e-04 9.04745389e-01] [-4.29378320e-02 -3.24578323e-03 9.99072474e-01 -1.71610104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06589822699999 meters 0.07807836250350839 Centerline is valid? [True, True] Translation: X:118.44, Y:0.90, Z:-1.72 [[ 9.95963316e-01 7.90960562e-02 4.24368586e-02 1.18439021e+02] [-7.91582962e-02 9.96862036e-01 -2.14352671e-04 9.01774925e-01] [-4.23206477e-02 -3.14574202e-03 9.99099128e-01 -1.71884264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09589822699999 meters 0.08311688569604951 Centerline is valid? [True, True] Translation: X:118.47, Y:0.91, Z:-1.72 [[ 9.96198708e-01 7.67323459e-02 4.12344743e-02 1.18468310e+02] [-7.67890481e-02 9.97047340e-01 -2.09314479e-04 9.07383543e-01] [-4.11287841e-02 -2.95783722e-03 9.99149475e-01 -1.72259141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.125898227 meters 0.06818177027818247 Centerline is valid? [True, True] Translation: X:118.50, Y:0.88, Z:-1.73 [[ 9.96716029e-01 7.03518626e-02 4.00970427e-02 1.18498865e+02] [-7.04003494e-02 9.97518797e-01 -2.03224651e-04 8.84798053e-01] [-4.00118510e-02 -2.62028854e-03 9.99195770e-01 -1.72529676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.155898227 meters 0.06041873890172341 Centerline is valid? [True, True] Translation: X:118.53, Y:0.87, Z:-1.72 [[ 9.96908621e-01 6.72574475e-02 4.06157331e-02 1.18529593e+02] [-6.73046610e-02 9.97732449e-01 -2.05366221e-04 8.72645475e-01] [-4.05374473e-02 -2.52889679e-03 9.99174820e-01 -1.72494287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.185898227 meters 0.058924147314484907 Centerline is valid? [True, True] Translation: X:118.56, Y:0.87, Z:-1.72 [[ 9.97023444e-01 6.50160435e-02 4.14387058e-02 1.18559477e+02] [-6.50632627e-02 9.97881119e-01 -2.09563201e-04 8.67849965e-01] [-4.13645271e-02 -2.48719798e-03 9.99141026e-01 -1.72494140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21589822699998 meters 0.0630243096085231 Centerline is valid? [True, True] Translation: X:118.59, Y:0.87, Z:-1.72 [[ 9.97066679e-01 6.35016418e-02 4.27267880e-02 1.18590220e+02] [-6.35504638e-02 9.97978603e-01 -2.16021490e-04 8.69681668e-01] [-4.26541379e-02 -2.49991936e-03 9.99086770e-01 -1.72485128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24589822699998 meters 0.056783877249884374 Centerline is valid? [True, True] Translation: X:118.62, Y:0.86, Z:-1.72 [[ 9.97133233e-01 6.21756372e-02 4.31219805e-02 1.18622179e+02] [-6.22240888e-02 9.98062180e-01 -2.19033809e-04 8.58095515e-01] [-4.30520365e-02 -2.46482006e-03 9.99069791e-01 -1.72480229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27589822699998 meters 0.05874608507377481 Centerline is valid? [True, True] Translation: X:118.65, Y:0.86, Z:-1.73 [[ 9.97166704e-01 6.17196674e-02 4.30028681e-02 1.18653778e+02] [-6.17673742e-02 9.98090549e-01 -2.19702109e-04 8.57299262e-01] [-4.29343162e-02 -2.43709462e-03 9.99074925e-01 -1.72582561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30589822699999 meters 0.06445906856806402 Centerline is valid? [True, True] Translation: X:118.68, Y:0.86, Z:-1.73 [[ 9.97196969e-01 6.22543186e-02 4.15042832e-02 1.18684419e+02] [-6.22989363e-02 9.98057511e-01 -2.18770271e-04 8.58965788e-01] [-4.14372810e-02 -2.36751564e-03 9.99138302e-01 -1.73010715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33589822699999 meters 0.062082855851273995 Centerline is valid? [True, True] Translation: X:118.72, Y:0.85, Z:-1.73 [[ 9.97122196e-01 6.39461280e-02 4.07212330e-02 1.18715089e+02] [-6.39902096e-02 9.97950502e-01 -2.21314545e-04 8.52105305e-01] [-4.06519271e-02 -2.38508259e-03 9.99170522e-01 -1.73218372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36589822699999 meters 0.06325338554913267 Centerline is valid? [True, True] Translation: X:118.75, Y:0.85, Z:-1.73 [[ 9.96964342e-01 6.63349007e-02 4.07649478e-02 1.18746421e+02] [-6.63810485e-02 9.97794321e-01 -2.21976084e-04 8.50278220e-01] [-4.06897581e-02 -2.48471773e-03 9.99168739e-01 -1.73362212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39589822699999 meters 0.06729089995337453 Centerline is valid? [True, True] Translation: X:118.78, Y:0.85, Z:-1.73 [[ 9.96736894e-01 6.95126395e-02 4.10311625e-02 1.18776240e+02] [-6.95620281e-02 9.97577603e-01 -2.24522218e-04 8.52416648e-01] [-4.09473759e-02 -2.63042130e-03 9.99157842e-01 -1.73396518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42589822699999 meters 0.06817690489367782 Centerline is valid? [True, True] Translation: X:118.81, Y:0.85, Z:-1.73 [[ 9.96505576e-01 7.26175796e-02 4.12713512e-02 1.18806325e+02] [-7.26702143e-02 9.97355999e-01 -2.25456617e-04 8.51444718e-01] [-4.11786018e-02 -2.77452916e-03 9.99147949e-01 -1.73441762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45589822699999 meters 0.07750578532294142 Centerline is valid? [True, True] Translation: X:118.84, Y:0.86, Z:-1.74 [[ 9.96090053e-01 7.78731434e-02 4.17178642e-02 1.18835761e+02] [-7.79315260e-02 9.96958688e-01 -2.27456802e-04 8.58513699e-01] [-4.16086999e-02 -3.02456936e-03 9.99129405e-01 -1.73553387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48589822699999 meters 0.07750578532294142 Centerline is valid? [True, True] Translation: X:118.87, Y:0.86, Z:-1.74 [[ 9.96075855e-01 7.80545328e-02 4.17178651e-02 1.18868320e+02] [-7.81130801e-02 9.96944479e-01 -2.27299690e-04 8.58167680e-01] [-4.16081371e-02 -3.03230321e-03 9.99129405e-01 -1.73700281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.515898227 meters 0.07452201918600516 Centerline is valid? [True, True] Translation: X:118.90, Y:0.85, Z:-1.74 [[ 9.95968141e-01 7.92433190e-02 4.20471075e-02 1.18899935e+02] [-7.93035202e-02 9.96850488e-01 -2.36917535e-04 8.50823524e-01] [-4.19334538e-02 -3.09852132e-03 9.99115601e-01 -1.73821070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.545898227 meters 0.08545666806421202 Centerline is valid? [True, True] Translation: X:118.93, Y:0.86, Z:-1.74 [[ 9.95955526e-01 7.90041221e-02 4.27894707e-02 1.18931665e+02] [-7.90659710e-02 9.96869355e-01 -2.47666846e-04 8.62015689e-01] [-4.26750788e-02 -3.13652589e-03 9.99084080e-01 -1.73931092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.575898227 meters 0.07330502348410625 Centerline is valid? [True, True] Translation: X:118.96, Y:0.84, Z:-1.74 [[ 9.96205941e-01 7.48653104e-02 4.43723841e-02 1.18962490e+02] [-7.49274097e-02 9.97188956e-01 -2.64355246e-04 8.40711054e-01] [-4.42674424e-02 -3.06135554e-03 9.99015026e-01 -1.73960495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60589822699998 meters 0.06950729267031183 Centerline is valid? [True, True] Translation: X:118.99, Y:0.83, Z:-1.74 [[ 9.96473749e-01 7.12879731e-02 4.42503284e-02 1.18993481e+02] [-7.13461999e-02 9.97451578e-01 -2.64087264e-04 8.32281744e-01] [-4.41563861e-02 -2.89393675e-03 9.99020440e-01 -1.74205219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63589822699998 meters 0.06273720059668887 Centerline is valid? [True, True] Translation: X:119.02, Y:0.82, Z:-1.74 [[ 9.96763235e-01 6.74313109e-02 4.37729645e-02 1.19024054e+02] [-6.74845731e-02 9.97720283e-01 -2.61469042e-04 8.19202387e-01] [-4.36908058e-02 -2.69337710e-03 9.99041470e-01 -1.74444590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66589822699999 meters 0.0735707471988843 Centerline is valid? [True, True] Translation: X:119.05, Y:0.83, Z:-1.75 [[ 9.97023567e-01 6.36771438e-02 4.34652433e-02 1.19053504e+02] [-6.37261055e-02 9.97967392e-01 -2.59611994e-04 8.28732203e-01] [-4.33934268e-02 -2.51103140e-03 9.99054906e-01 -1.74731597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69589822699999 meters 0.06074030279684798 Centerline is valid? [True, True] Translation: X:119.08, Y:0.80, Z:-1.75 [[ 9.97311903e-01 5.97613540e-02 4.23975034e-02 1.19083441e+02] [-5.98044336e-02 9.98210081e-01 -2.52669745e-04 8.03152592e-01] [-4.23367152e-02 -2.28356813e-03 9.99100790e-01 -1.75093110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72589822699999 meters 0.05217313996449765 Centerline is valid? [True, True] Translation: X:119.11, Y:0.79, Z:-1.75 [[ 9.97635969e-01 5.56913241e-02 4.02610158e-02 1.19113878e+02] [-5.57268423e-02 9.98446023e-01 -2.40399709e-04 7.89290722e-01] [-4.02118393e-02 -2.00378788e-03 9.99189168e-01 -1.75389326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75589822699999 meters 0.0525080835984642 Centerline is valid? [True, True] Translation: X:119.15, Y:0.78, Z:-1.76 [[ 9.97679091e-01 5.51567315e-02 3.99270095e-02 1.19145747e+02] [-5.51912617e-02 9.98475772e-01 -2.37741989e-04 7.84903306e-01] [-3.98792647e-02 -1.96643182e-03 9.99202571e-01 -1.75520558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78589822699999 meters 0.05314503933049037 Centerline is valid? [True, True] Translation: X:119.18, Y:0.78, Z:-1.76 [[ 9.97670064e-01 5.55040929e-02 3.96703700e-02 1.19177105e+02] [-5.55381852e-02 9.98456534e-01 -2.42988470e-04 7.81058174e-01] [-3.96226270e-02 -1.96079803e-03 9.99212792e-01 -1.75578573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81589822699999 meters 0.05817171453422875 Centerline is valid? [True, True] Translation: X:119.21, Y:0.78, Z:-1.76 [[ 9.97579522e-01 5.67834676e-02 4.01339737e-02 1.19208258e+02] [-5.68192419e-02 9.98384451e-01 -2.49636782e-04 7.83614838e-01] [-4.00833105e-02 -2.03134942e-03 9.99194276e-01 -1.75637190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84589822699999 meters 0.052239827443150644 Centerline is valid? [True, True] Translation: X:119.24, Y:0.77, Z:-1.76 [[ 9.97432308e-01 5.89583234e-02 4.06534909e-02 1.19239237e+02] [-5.89967524e-02 9.98258142e-01 -2.54823968e-04 7.73210649e-01] [-4.05977023e-02 -2.14425428e-03 9.99173273e-01 -1.75564258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.875898227 meters 0.05739036940483812 Centerline is valid? [True, True] Translation: X:119.27, Y:0.78, Z:-1.76 [[ 9.97215328e-01 6.22866796e-02 4.10117020e-02 1.19268422e+02] [-6.23285361e-02 9.98055653e-01 -2.58490906e-04 7.77813014e-01] [-4.09480616e-02 -2.29842826e-03 9.99158633e-01 -1.75689556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.905898227 meters 0.06408476866085736 Centerline is valid? [True, True] Translation: X:119.30, Y:0.78, Z:-1.76 [[ 9.96719506e-01 7.03980899e-02 3.99291372e-02 1.19298936e+02] [-7.04442575e-02 9.97515686e-01 -2.51279632e-04 7.83568548e-01] [-3.98476303e-02 -2.56232311e-03 9.99202482e-01 -1.76053005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.935898227 meters 0.07648049834642508 Centerline is valid? [True, True] Translation: X:119.33, Y:0.80, Z:-1.76 [[ 9.96480885e-01 7.41790522e-02 3.90296628e-02 1.19328413e+02] [-7.42260556e-02 9.97241411e-01 -2.45380839e-04 7.98848318e-01] [-3.89401981e-02 -2.65250061e-03 9.99238022e-01 -1.76452285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96589822699998 meters 0.07994259230128634 Centerline is valid? [True, True] Translation: X:119.36, Y:0.80, Z:-1.77 [[ 9.96321007e-01 7.65139698e-02 3.86013422e-02 1.19358597e+02] [-7.65615981e-02 9.97064823e-01 -2.45050542e-04 8.03424122e-01] [-3.85067902e-02 -2.71123145e-03 9.99254660e-01 -1.76687014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99589822699998 meters 0.07752329789690275 Centerline is valid? [True, True] Translation: X:119.39, Y:0.80, Z:-1.77 [[ 9.96234675e-01 7.75985211e-02 3.86644765e-02 1.19390435e+02] [-7.76471484e-02 9.96980873e-01 -2.44660056e-04 8.00625210e-01] [-3.85667288e-02 -2.75844751e-03 9.99252220e-01 -1.76797924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.025898227 meters 0.07324343415421904 Centerline is valid? [True, True] Translation: X:119.42, Y:0.80, Z:-1.77 [[ 9.96275116e-01 7.67201341e-02 3.93689533e-02 1.19422396e+02] [-7.67696150e-02 9.97048826e-01 -2.55594643e-04 7.95238290e-01] [-3.92723779e-02 -2.76769681e-03 9.99224710e-01 -1.76774666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.055898227 meters 0.06589894688936805 Centerline is valid? [True, True] Translation: X:119.45, Y:0.78, Z:-1.76 [[ 9.96587840e-01 7.09940956e-02 4.21012479e-02 1.19452737e+02] [-7.10455376e-02 9.97473035e-01 -2.74983488e-04 7.84878637e-01] [-4.20143818e-02 -2.71706059e-03 9.99113312e-01 -1.76457377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.085898227 meters 0.06692263532024643 Centerline is valid? [True, True] Translation: X:119.48, Y:0.79, Z:-1.76 [[ 9.96780495e-01 6.71827730e-02 4.37620917e-02 1.19482368e+02] [-6.72347024e-02 9.97737146e-01 -2.85825631e-04 7.85147159e-01] [-4.36822671e-02 -2.65742580e-03 9.99041940e-01 -1.76380673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.115898227 meters 0.06241758009632334 Centerline is valid? [True, True] Translation: X:119.51, Y:0.77, Z:-1.76 [[ 9.96959582e-01 6.32896700e-02 4.54533881e-02 1.19513121e+02] [-6.33416925e-02 9.97991855e-01 -2.96301334e-04 7.73652571e-01] [-4.53808639e-02 -2.58369408e-03 9.98966417e-01 -1.76444329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.145898227 meters 0.054973726774857117 Centerline is valid? [True, True] Translation: X:119.54, Y:0.77, Z:-1.76 [[ 9.97159504e-01 5.99207929e-02 4.56335629e-02 1.19544200e+02] [-5.99696909e-02 9.98200154e-01 -2.97970629e-04 7.65297196e-01] [-4.55692842e-02 -2.43950642e-03 9.98958202e-01 -1.76421253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.175898227 meters 0.05289050290927465 Centerline is valid? [True, True] Translation: X:119.58, Y:0.76, Z:-1.77 [[ 9.97331846e-01 5.74982224e-02 4.49793585e-02 1.19575138e+02] [-5.75432427e-02 9.98342971e-01 -2.94306987e-04 7.59725907e-01] [-4.49217486e-02 -2.29473641e-03 9.98987873e-01 -1.76675509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.205898227 meters 0.05170768728530065 Centerline is valid? [True, True] Translation: X:119.61, Y:0.75, Z:-1.77 [[ 9.97476053e-01 5.61708583e-02 4.34322381e-02 1.19606844e+02] [-5.62115561e-02 9.98418840e-01 -2.84629609e-04 7.54947220e-01] [-4.33795527e-02 -2.15748247e-03 9.99056335e-01 -1.77031402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.235898227 meters 0.05150701024233126 Centerline is valid? [True, True] Translation: X:119.64, Y:0.75, Z:-1.77 [[ 9.97583769e-01 5.61362689e-02 4.09309598e-02 1.19639435e+02] [-5.61723496e-02 9.98421051e-01 -2.68949477e-04 7.48599851e-01] [-4.08814297e-02 -2.03088855e-03 9.99161941e-01 -1.77484834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.265898227 meters 0.05296171131127301 Centerline is valid? [True, True] Translation: X:119.67, Y:0.75, Z:-1.78 [[ 9.97538267e-01 5.72091598e-02 4.05526610e-02 1.19670901e+02] [-5.72451507e-02 9.98360114e-01 -2.74086474e-04 7.47079008e-01] [-4.05018395e-02 -2.04803144e-03 9.99177365e-01 -1.77692577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.295898227 meters 0.05933882571784342 Centerline is valid? [True, True] Translation: X:119.70, Y:0.75, Z:-1.78 [[ 9.97451326e-01 5.85306094e-02 4.08046551e-02 1.19702425e+02] [-5.85679008e-02 9.98283387e-01 -2.81944799e-04 7.52124431e-01] [-4.07511117e-02 -2.10861678e-03 9.99167103e-01 -1.77819009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.325898227 meters 0.05842345582705349 Centerline is valid? [True, True] Translation: X:119.73, Y:0.74, Z:-1.78 [[ 9.97317872e-01 5.99088913e-02 4.20474441e-02 1.19734239e+02] [-5.99494420e-02 9.98201371e-01 -2.96986708e-04 7.42760726e-01] [-4.19896084e-02 -2.22453066e-03 9.99115571e-01 -1.77820553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.355898227 meters 0.060772825944037115 Centerline is valid? [True, True] Translation: X:119.76, Y:0.75, Z:-1.78 [[ 9.97129003e-01 6.23092929e-02 4.30267842e-02 1.19764713e+02] [-6.23536860e-02 9.98054067e-01 -3.10840960e-04 7.47195163e-01] [-4.29624253e-02 -2.37293006e-03 9.99073871e-01 -1.77676111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.385898227 meters 0.05986610188509006 Centerline is valid? [True, True] Translation: X:119.80, Y:0.74, Z:-1.78 [[ 9.96957698e-01 6.45989618e-02 4.36156117e-02 1.19795227e+02] [-6.46467408e-02 9.97908162e-01 -3.15604189e-04 7.39489846e-01] [-4.35447626e-02 -2.50496312e-03 9.99048337e-01 -1.77850545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.415898227 meters 0.06770452124462639 Centerline is valid? [True, True] Translation: X:119.82, Y:0.75, Z:-1.78 [[ 9.96575430e-01 7.03291815e-02 4.34881456e-02 1.19824581e+02] [-7.03820907e-02 9.97520056e-01 -3.15183039e-04 7.50353065e-01] [-4.34024640e-02 -2.74668294e-03 9.99053893e-01 -1.77976703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44589822700001 meters 0.07262082143668437 Centerline is valid? [True, True] Translation: X:119.85, Y:0.76, Z:-1.78 [[ 9.96391849e-01 7.30099385e-02 4.32762234e-02 1.19854139e+02] [-7.30648160e-02 9.97327145e-01 -3.14407834e-04 7.55937819e-01] [-4.31835072e-02 -2.84869589e-03 9.99063096e-01 -1.78171266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47589822700002 meters 0.07762588295272725 Centerline is valid? [True, True] Translation: X:119.88, Y:0.76, Z:-1.78 [[ 9.96242817e-01 7.52878645e-02 4.28017064e-02 1.19883909e+02] [-7.53436518e-02 9.97157579e-01 -3.10565727e-04 7.61708581e-01] [-4.27034277e-02 -2.91543798e-03 9.99083539e-01 -1.78346827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50589822700002 meters 0.07098630269818709 Centerline is valid? [True, True] Translation: X:119.91, Y:0.75, Z:-1.79 [[ 9.96126994e-01 7.70202073e-02 4.24134449e-02 1.19914798e+02] [-7.70765114e-02 9.97025133e-01 -3.08601841e-04 7.52888817e-01] [-4.23110391e-02 -2.96167374e-03 9.99100097e-01 -1.78591491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.535898227 meters 0.07986085468746422 Centerline is valid? [True, True] Translation: X:119.94, Y:0.76, Z:-1.79 [[ 9.96080074e-01 7.81491746e-02 4.14390177e-02 1.19944600e+02] [-7.82038771e-02 9.96937341e-01 -3.01809004e-04 7.63970199e-01] [-4.13356903e-02 -2.94006592e-03 9.99140989e-01 -1.78947739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.565898227 meters 0.07382988933302441 Centerline is valid? [True, True] Translation: X:119.98, Y:0.76, Z:-1.79 [[ 9.96073225e-01 7.88096846e-02 4.03381142e-02 1.19976729e+02] [-7.88619837e-02 9.96885500e-01 -2.95536389e-04 7.55546644e-01] [-4.02357722e-02 -2.88676782e-03 9.99186043e-01 -1.79251607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.595898227 meters 0.07581717486761368 Centerline is valid? [True, True] Translation: X:120.01, Y:0.76, Z:-1.80 [[ 9.96236443e-01 7.80081559e-02 3.77846079e-02 1.20008025e+02] [-7.80532533e-02 9.96949151e-01 -2.82372091e-04 7.56793178e-01] [-3.76913601e-02 -2.66790221e-03 9.99285867e-01 -1.79845473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.625898227 meters 0.07523793732239463 Centerline is valid? [True, True] Translation: X:120.04, Y:0.76, Z:-1.80 [[ 9.96265503e-01 7.78622362e-02 3.73164722e-02 1.20039663e+02] [-7.79059053e-02 9.96960676e-01 -2.84636030e-04 7.55058595e-01] [-3.72252177e-02 -2.62360049e-03 9.99303457e-01 -1.80060724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.655898227 meters 0.08363670639148009 Centerline is valid? [True, True] Translation: X:120.07, Y:0.77, Z:-1.80 [[ 9.96232585e-01 7.83444872e-02 3.71857281e-02 1.20070269e+02] [-7.83879308e-02 9.96922890e-01 -2.90479190e-04 7.65196823e-01] [-3.70940609e-02 -2.62552745e-03 9.99308329e-01 -1.80268620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.685898227 meters 0.08363670639148009 Centerline is valid? [True, True] Translation: X:120.10, Y:0.76, Z:-1.80 [[ 9.96219118e-01 7.85155404e-02 3.71857309e-02 1.20102810e+02] [-7.85591154e-02 9.96909415e-01 -2.90130807e-04 7.64763489e-01] [-3.70935850e-02 -2.63224427e-03 9.99308329e-01 -1.80415447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.715898227 meters 0.0773028728347613 Centerline is valid? [True, True] Translation: X:120.13, Y:0.76, Z:-1.80 [[ 9.96111516e-01 7.96617189e-02 3.76278804e-02 1.20134358e+02] [-7.97068627e-02 9.96818301e-01 -3.01252599e-04 7.57051306e-01] [-3.75321581e-02 -2.69911911e-03 9.99291775e-01 -1.80386692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.745898227 meters 0.07036299635430132 Centerline is valid? [True, True] Translation: X:120.17, Y:0.75, Z:-1.80 [[ 9.95987182e-01 8.09726678e-02 3.81177127e-02 1.20165386e+02] [-8.10199147e-02 9.96712436e-01 -3.06114985e-04 7.48858241e-01] [-3.80171853e-02 -2.78340723e-03 9.99273209e-01 -1.80318783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.775898227 meters 0.07651921450647478 Centerline is valid? [True, True] Translation: X:120.19, Y:0.76, Z:-1.80 [[ 9.95759273e-01 8.34181544e-02 3.87927949e-02 1.20194958e+02] [-8.34689133e-02 9.96510333e-01 -3.12126075e-04 7.58079998e-01] [-3.86834580e-02 -2.92719000e-03 9.99247227e-01 -1.80445500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.805898227 meters 0.07655937135303069 Centerline is valid? [True, True] Translation: X:120.23, Y:0.76, Z:-1.81 [[ 9.95686946e-01 8.41257113e-02 3.91199431e-02 1.20226546e+02] [-8.41779228e-02 9.96450691e-01 -3.13503238e-04 7.58339283e-01] [-3.90074680e-02 -2.98088447e-03 9.99234473e-01 -1.80522360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.835898227 meters 0.0780435741448608 Centerline is valid? [True, True] Translation: X:120.26, Y:0.76, Z:-1.81 [[ 9.95667346e-01 8.40528059e-02 3.97701041e-02 1.20258910e+02] [-8.41064762e-02 9.96456720e-01 -3.24648597e-04 7.58870091e-01] [-3.96564751e-02 -3.02168130e-03 9.99208804e-01 -1.80711993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.865898227 meters 0.07658843592225015 Centerline is valid? [True, True] Translation: X:120.29, Y:0.76, Z:-1.81 [[ 9.95755076e-01 8.28202104e-02 4.01577162e-02 1.20290827e+02] [-8.28736514e-02 9.96560006e-01 -3.34936595e-04 7.57647820e-01] [-4.00473134e-02 -2.99450176e-03 9.99193297e-01 -1.80809814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.895898227 meters 0.07317102958592094 Centerline is valid? [True, True] Translation: X:120.32, Y:0.76, Z:-1.81 [[ 9.95879810e-01 8.13950208e-02 3.99781712e-02 1.20321464e+02] [-8.14467807e-02 9.96677636e-01 -3.34994585e-04 7.57339341e-01] [-3.98726161e-02 -2.92247900e-03 9.99200497e-01 -1.80822313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.925898227 meters 0.07302659973181308 Centerline is valid? [True, True] Translation: X:120.35, Y:0.76, Z:-1.81 [[ 9.96078205e-01 7.88372469e-02 4.01609093e-02 1.20350753e+02] [-7.88874119e-02 9.96883475e-01 -3.36571572e-04 7.57873285e-01] [-4.00622812e-02 -2.83293858e-03 9.99193169e-01 -1.81008661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.955898227 meters 0.06812876851136539 Centerline is valid? [True, True] Translation: X:120.38, Y:0.75, Z:-1.81 [[ 9.96474367e-01 7.30697969e-02 4.12266882e-02 1.20380860e+02] [-7.31177678e-02 9.97323254e-01 -3.45072730e-04 7.49518860e-01] [-4.11415492e-02 -2.67054728e-03 9.99149759e-01 -1.81041550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.985898227 meters 0.06451101923528486 Centerline is valid? [True, True] Translation: X:120.41, Y:0.74, Z:-1.81 [[ 9.96683894e-01 6.97807025e-02 4.18553328e-02 1.20411319e+02] [-6.98272626e-02 9.97559036e-01 -3.50310802e-04 7.43309698e-01] [-4.17776104e-02 -2.57349418e-03 9.99123620e-01 -1.80998089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.015898227 meters 0.060698687085104126 Centerline is valid? [True, True] Translation: X:120.44, Y:0.74, Z:-1.81 [[ 9.96928623e-01 6.56125218e-02 4.27588401e-02 1.20441455e+02] [-6.56572884e-02 9.97842168e-01 -3.58075940e-04 7.36291284e-01] [-4.26900680e-02 -2.45045334e-03 9.99085358e-01 -1.81016461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.045898227 meters 0.057547198155308066 Centerline is valid? [True, True] Translation: X:120.47, Y:0.73, Z:-1.81 [[ 9.97133718e-01 6.13946244e-02 4.42159372e-02 1.20471338e+02] [-6.14383678e-02 9.98110810e-01 -3.70234444e-04 7.29435175e-01] [-4.41551353e-02 -2.34738176e-03 9.99021929e-01 -1.80967354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.075898227 meters 0.05402111154697394 Centerline is valid? [True, True] Translation: X:120.50, Y:0.72, Z:-1.81 [[ 9.97301018e-01 5.74387821e-02 4.57325562e-02 1.20500481e+02] [-5.74814263e-02 9.98346502e-01 -3.83146995e-04 7.21623413e-01] [-4.56789450e-02 -2.24665967e-03 9.98953646e-01 -1.80837654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.105898227 meters 0.05160861635796579 Centerline is valid? [True, True] Translation: X:120.53, Y:0.71, Z:-1.81 [[ 9.97404786e-01 5.43805461e-02 4.71852628e-02 1.20530946e+02] [-5.44225583e-02 9.98517916e-01 -3.94816998e-04 7.14807388e-01] [-4.71368007e-02 -2.17415035e-03 9.98886077e-01 -1.80742452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.135898227 meters 0.050342232457546106 Centerline is valid? [True, True] Translation: X:120.56, Y:0.71, Z:-1.81 [[ 9.97500824e-01 5.20759946e-02 4.77514017e-02 1.20560510e+02] [-5.21163902e-02 9.98640938e-01 -3.99524291e-04 7.09989259e-01] [-4.77073102e-02 -2.09010487e-03 9.98859171e-01 -1.80790887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.165898227 meters 0.048876298228189466 Centerline is valid? [True, True] Translation: X:120.59, Y:0.71, Z:-1.81 [[ 9.97612790e-01 5.08866838e-02 4.66826080e-02 1.20592218e+02] [-5.09240093e-02 9.98702455e-01 -3.90146881e-04 7.05148684e-01] [-4.66418885e-02 -1.98805004e-03 9.98909697e-01 -1.81067840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19589822700001 meters 0.048885504252433626 Centerline is valid? [True, True] Translation: X:120.62, Y:0.70, Z:-1.82 [[ 9.97742934e-01 5.02316195e-02 4.45625688e-02 1.20623455e+02] [-5.02649134e-02 9.98735850e-01 -3.73789918e-04 7.00511049e-01] [-4.45250111e-02 -1.86698741e-03 9.99006525e-01 -1.81600558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22589822700002 meters 0.049985881034555306 Centerline is valid? [True, True] Translation: X:120.65, Y:0.70, Z:-1.82 [[ 9.97748676e-01 5.02296669e-02 4.44360292e-02 1.20654143e+02] [-5.02624885e-02 9.98735970e-01 -3.79058261e-04 6.99169640e-01] [-4.43989007e-02 -1.85526053e-03 9.99012160e-01 -1.81729640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25589822700002 meters 0.04850568079471529 Centerline is valid? [True, True] Translation: X:120.69, Y:0.69, Z:-1.82 [[ 9.97753574e-01 4.93706159e-02 4.52807746e-02 1.20686538e+02] [-4.94035209e-02 9.98778823e-01 -3.92796774e-04 6.94070645e-01] [-4.52448714e-02 -1.84511531e-03 9.98974222e-01 -1.81706341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.285898227 meters 0.05139809648287181 Centerline is valid? [True, True] Translation: X:120.72, Y:0.69, Z:-1.82 [[ 9.97778302e-01 4.76498038e-02 4.65613219e-02 1.20717318e+02] [-4.76823985e-02 9.98862463e-01 -4.11023191e-04 6.89146339e-01] [-4.65279418e-02 -1.81004548e-03 9.98915349e-01 -1.81686428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.315898227 meters 0.042096884965264994 Centerline is valid? [True, True] Translation: X:120.75, Y:0.68, Z:-1.82 [[ 9.97795224e-01 4.60311245e-02 4.78103184e-02 1.20748412e+02] [-4.60635892e-02 9.98938420e-01 -4.23119313e-04 6.78792199e-01] [-4.77790406e-02 -1.78012844e-03 9.98856343e-01 -1.81509933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.345898227 meters 0.04451223687101687 Centerline is valid? [True, True] Translation: X:120.78, Y:0.68, Z:-1.82 [[ 9.97831046e-01 4.48232835e-02 4.82086796e-02 1.20779664e+02] [-4.48548224e-02 9.98993424e-01 -4.27952945e-04 6.79145846e-01] [-4.81793362e-02 -1.73536703e-03 9.98837194e-01 -1.81503916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.375898227 meters 0.04443859268048098 Centerline is valid? [True, True] Translation: X:120.81, Y:0.68, Z:-1.82 [[ 9.97879427e-01 4.43509054e-02 4.76408052e-02 1.20811087e+02] [-4.43809663e-02 9.99014588e-01 -4.27118545e-04 6.76313136e-01] [-4.76128025e-02 -1.68813216e-03 9.98864441e-01 -1.81835867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.405898227 meters 0.04587071530501008 Centerline is valid? [True, True] Translation: X:120.84, Y:0.68, Z:-1.82 [[ 9.97887430e-01 4.51686637e-02 4.66954891e-02 1.20841809e+02] [-4.51982486e-02 9.98977948e-01 -4.22629592e-04 6.77803365e-01] [-4.66668535e-02 -1.68881757e-03 9.98909081e-01 -1.82159053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.435898227 meters 0.04732036455387617 Centerline is valid? [True, True] Translation: X:120.87, Y:0.68, Z:-1.83 [[ 9.97887169e-01 4.65130577e-02 4.53622435e-02 1.20874071e+02] [-4.65420867e-02 9.98916243e-01 -4.16595674e-04 6.79692123e-01] [-4.53324590e-02 -1.69553799e-03 9.98970517e-01 -1.82597161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.465898227 meters 0.04915706867470068 Centerline is valid? [True, True] Translation: X:120.91, Y:0.68, Z:-1.83 [[ 9.97903978e-01 4.79397529e-02 4.34675803e-02 1.20905472e+02] [-4.79676796e-02 9.98848808e-01 -4.00912308e-04 6.82622123e-01] [-4.34367604e-02 -1.68496698e-03 9.99054758e-01 -1.83108789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.495898227 meters 0.050720898741100674 Centerline is valid? [True, True] Translation: X:120.94, Y:0.68, Z:-1.84 [[ 9.97911756e-01 4.90549061e-02 4.20207384e-02 1.20937586e+02] [-4.90818636e-02 9.98794683e-01 -3.90537456e-04 6.84913698e-01] [-4.19892479e-02 -1.67273423e-03 9.99116662e-01 -1.83550981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.525898227 meters 0.04595341480149781 Centerline is valid? [True, True] Translation: X:120.97, Y:0.68, Z:-1.84 [[ 9.97883002e-01 5.00181399e-02 4.15656084e-02 1.20969821e+02] [-5.00452943e-02 9.98746874e-01 -3.87636223e-04 6.79102098e-01] [-4.15329103e-02 -1.69334751e-03 9.99135701e-01 -1.83722110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.555898227 meters 0.053819622442354484 Centerline is valid? [True, True] Translation: X:121.00, Y:0.69, Z:-1.84 [[ 9.97854404e-01 5.07111836e-02 4.14121252e-02 1.21000860e+02] [-5.07384643e-02 9.98711897e-01 -3.92696455e-04 6.90566192e-01] [-4.13786963e-02 -1.70933375e-03 9.99142073e-01 -1.83926998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.585898227 meters 0.04327794903343467 Centerline is valid? [True, True] Translation: X:121.03, Y:0.68, Z:-1.84 [[ 9.97881199e-01 5.05724360e-02 4.09333668e-02 1.21033281e+02] [-5.05987360e-02 9.98718986e-01 -3.93921983e-04 6.77254156e-01] [-4.09008522e-02 -1.67808928e-03 9.99161801e-01 -1.84002913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.615898227 meters 0.053637973808507516 Centerline is valid? [True, True] Translation: X:121.06, Y:0.69, Z:-1.84 [[ 9.97926021e-01 5.00914184e-02 4.04290377e-02 1.21063987e+02] [-5.01164165e-02 9.98743305e-01 -3.95573974e-04 6.91308843e-01] [-4.03980455e-02 -1.63140493e-03 9.99182334e-01 -1.84433378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.645898227 meters 0.052377440508452985 Centerline is valid? [True, True] Translation: X:121.10, Y:0.69, Z:-1.85 [[ 9.98015716e-01 4.89840217e-02 3.95625611e-02 1.21096373e+02] [-4.90068396e-02 9.98798365e-01 -3.93419816e-04 6.90357290e-01] [-3.95342926e-02 -1.54619693e-03 9.99217018e-01 -1.84762962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.675898227 meters 0.03876590237155851 Centerline is valid? [True, True] Translation: X:121.13, Y:0.67, Z:-1.85 [[ 9.98097153e-01 4.78555036e-02 3.88834591e-02 1.21128175e+02] [-4.78766405e-02 9.98853181e-01 -3.87911740e-04 6.72433366e-01] [-3.88574306e-02 -1.47443579e-03 9.99243677e-01 -1.84845476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.705898227 meters 0.04989055893929983 Centerline is valid? [True, True] Translation: X:121.16, Y:0.69, Z:-1.85 [[ 9.98179242e-01 4.65599238e-02 3.83454725e-02 1.21159803e+02] [-4.65792851e-02 9.98914520e-01 -3.88792711e-04 6.85923899e-01] [-3.83219514e-02 -1.39801988e-03 9.99264466e-01 -1.85392609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.735898227 meters 0.03791741484793417 Centerline is valid? [True, True] Translation: X:121.19, Y:0.67, Z:-1.85 [[ 9.98215680e-01 4.58756483e-02 3.82214806e-02 1.21191752e+02] [-4.58941426e-02 9.98946231e-01 -3.93841477e-04 6.68667214e-01] [-3.81992718e-02 -1.36100335e-03 9.99269215e-01 -1.85245583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.765898227 meters 0.04903628127215458 Centerline is valid? [True, True] Translation: X:121.22, Y:0.68, Z:-1.86 [[ 9.98226524e-01 4.56395144e-02 3.82209686e-02 1.21222618e+02] [-4.56575951e-02 9.98957068e-01 -4.00121823e-04 6.81946942e-01] [-3.81993681e-02 -1.34566529e-03 9.99269232e-01 -1.85637988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.795898227 meters 0.03878878408776099 Centerline is valid? [True, True] Translation: X:121.25, Y:0.67, Z:-1.85 [[ 9.98127548e-01 4.72222167e-02 3.88775019e-02 1.21254960e+02] [-4.72418669e-02 9.98883394e-01 -4.13587746e-04 6.68169952e-01] [-3.88536216e-02 -1.42383245e-03 9.99243899e-01 -1.85232129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.825898227 meters 0.040539457603707765 Centerline is valid? [True, True] Translation: X:121.29, Y:0.67, Z:-1.85 [[ 9.98003964e-01 4.89880304e-02 3.98530006e-02 1.21287256e+02] [-4.90100094e-02 9.98798197e-01 -4.25884391e-04 6.70360326e-01] [-3.98259684e-02 -1.52816163e-03 9.99205463e-01 -1.85215992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.855898227 meters 0.0575980897203256 Centerline is valid? [True, True] Translation: X:121.32, Y:0.69, Z:-1.85 [[ 9.97860584e-01 5.08618454e-02 4.10770899e-02 1.21318756e+02] [-5.08867175e-02 9.98704335e-01 -4.40531249e-04 6.92456945e-01] [-4.10462740e-02 -1.65068950e-03 9.99155883e-01 -1.85335265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.885898227 meters 0.04700459025539692 Centerline is valid? [True, True] Translation: X:121.35, Y:0.68, Z:-1.85 [[ 9.97705056e-01 5.30026814e-02 4.21347557e-02 1.21350399e+02] [-5.30304831e-02 9.98592789e-01 -4.58393046e-04 6.78285760e-01] [-4.20997593e-02 -1.77708539e-03 9.99111832e-01 -1.85104471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.915898227 meters 0.04595918183309342 Centerline is valid? [True, True] Translation: X:121.38, Y:0.68, Z:-1.85 [[ 9.97560811e-01 5.50047600e-02 4.29756398e-02 1.21381766e+02] [-5.50352520e-02 9.98484299e-01 -4.74189909e-04 6.76955534e-01] [-4.29365843e-02 -1.89214189e-03 9.99076008e-01 -1.85095227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94589822700001 meters 0.045834127945140336 Centerline is valid? [True, True] Translation: X:121.41, Y:0.68, Z:-1.85 [[ 9.97439861e-01 5.68957347e-02 4.33197296e-02 1.21413482e+02] [-5.69284627e-02 9.98378145e-01 -4.78770525e-04 6.76874054e-01] [-4.32767113e-02 -1.98858081e-03 9.99061145e-01 -1.85170527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97589822700002 meters 0.04908989036610619 Centerline is valid? [True, True] Translation: X:121.44, Y:0.68, Z:-1.85 [[ 9.97309013e-01 5.92270712e-02 4.32074732e-02 1.21443119e+02] [-5.92615136e-02 9.98242375e-01 -4.84418380e-04 6.81138114e-01] [-4.31602213e-02 -2.07742544e-03 9.99066004e-01 -1.85433573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00589822700002 meters 0.05045912803585626 Centerline is valid? [True, True] Translation: X:121.48, Y:0.68, Z:-1.85 [[ 9.97232257e-01 6.03815263e-02 4.33808352e-02 1.21475516e+02] [-6.04173471e-02 9.98173085e-01 -4.86089430e-04 6.81893867e-01] [-4.33309329e-02 -2.13621092e-03 9.99058490e-01 -1.85477405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.035898227 meters 0.055238662026041566 Centerline is valid? [True, True] Translation: X:121.51, Y:0.68, Z:-1.86 [[ 9.97116154e-01 6.16325465e-02 4.42809677e-02 1.21507032e+02] [-6.16707774e-02 9.98096419e-01 -5.03504061e-04 6.81868124e-01] [-4.42277075e-02 -2.22878967e-03 9.99018990e-01 -1.85652114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.065898227 meters 0.05273037452952265 Centerline is valid? [True, True] Translation: X:121.54, Y:0.68, Z:-1.85 [[ 9.96962047e-01 6.32674331e-02 4.54302584e-02 1.21538348e+02] [-6.33090481e-02 9.97993833e-01 -5.23655316e-04 6.83456117e-01] [-4.53722480e-02 -2.35408194e-03 9.98967376e-01 -1.85493748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.095898227 meters 0.05345304111967705 Centerline is valid? [True, True] Translation: X:121.57, Y:0.68, Z:-1.86 [[ 9.96824066e-01 6.48337100e-02 4.62425310e-02 1.21569787e+02] [-6.48781875e-02 9.97893045e-01 -5.39970436e-04 6.84285432e-01] [-4.61801084e-02 -2.46187607e-03 9.98930096e-01 -1.85522063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.125898227 meters 0.05520387953966544 Centerline is valid? [True, True] Translation: X:121.60, Y:0.69, Z:-1.86 [[ 9.96697004e-01 6.65309941e-02 4.65693966e-02 1.21600843e+02] [-6.65779000e-02 9.97781081e-01 -5.44860039e-04 6.86503046e-01] [-4.65023130e-02 -2.55743226e-03 9.98914909e-01 -1.85607292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.155898227 meters 0.06312432402460545 Centerline is valid? [True, True] Translation: X:121.63, Y:0.70, Z:-1.86 [[ 9.96573609e-01 6.84485415e-02 4.64310215e-02 1.21631147e+02] [-6.84972169e-02 9.97651159e-01 -5.43778686e-04 6.96224168e-01] [-4.63591833e-02 -2.63848026e-03 9.98921351e-01 -1.85725918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.185898227 meters 0.06120928727520487 Centerline is valid? [True, True] Translation: X:121.66, Y:0.69, Z:-1.86 [[ 9.96350242e-01 7.19058422e-02 4.59972289e-02 1.21661628e+02] [-7.19572554e-02 9.97407571e-01 -5.39218460e-04 6.92977318e-01] [-4.59167573e-02 -2.77258390e-03 9.98941422e-01 -1.86003610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.215898227 meters 0.0605954982493082 Centerline is valid? [True, True] Translation: X:121.69, Y:0.69, Z:-1.86 [[ 9.96239380e-01 7.36189500e-02 4.56875116e-02 1.21692339e+02] [-7.36714543e-02 9.97282422e-01 -5.35833283e-04 6.91822302e-01] [-4.56027997e-02 -2.83204720e-03 9.98955637e-01 -1.86217874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.245898227 meters 0.06376623964447778 Centerline is valid? [True, True] Translation: X:121.72, Y:0.70, Z:-1.86 [[ 9.96116833e-01 7.55308191e-02 4.52366121e-02 1.21722704e+02] [-7.55842289e-02 9.97139279e-01 -5.31069953e-04 6.95936019e-01] [-4.51473149e-02 -2.89016672e-03 9.98976159e-01 -1.86495178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.275898227 meters 0.07683187326326606 Centerline is valid? [True, True] Translation: X:121.75, Y:0.71, Z:-1.87 [[ 9.96009998e-01 7.74812719e-02 4.42801972e-02 1.21753248e+02] [-7.75343076e-02 9.96989548e-01 -5.21059509e-04 7.12763538e-01] [-4.41872662e-02 -2.91425396e-03 9.99019015e-01 -1.86811060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.305898227 meters 0.06632740661792397 Centerline is valid? [True, True] Translation: X:121.78, Y:0.70, Z:-1.87 [[ 9.95962203e-01 7.88146374e-02 4.29830610e-02 1.21784440e+02] [-7.88658226e-02 9.96885112e-01 -5.06250534e-04 6.99576152e-01] [-4.28890735e-02 -2.88568807e-03 9.99075673e-01 -1.87077184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.335898227 meters 0.06711138610802372 Centerline is valid? [True, True] Translation: X:121.82, Y:0.70, Z:-1.87 [[ 9.95915133e-01 7.98428132e-02 4.21683818e-02 1.21816221e+02] [-7.98929659e-02 9.96803324e-01 -4.97241733e-04 7.01512465e-01] [-4.20732843e-02 -2.87374652e-03 9.99110394e-01 -1.87359651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.365898227 meters 0.08138598879447614 Centerline is valid? [True, True] Translation: X:121.85, Y:0.72, Z:-1.88 [[ 9.95963461e-01 8.02691726e-02 4.01701973e-02 1.21847747e+02] [-8.03147944e-02 9.96769434e-01 -4.79388556e-04 7.23687228e-01] [-4.00789050e-02 -2.74880765e-03 9.99192737e-01 -1.88018308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.395898227 meters 0.07022073139527045 Centerline is valid? [True, True] Translation: X:121.88, Y:0.71, Z:-1.88 [[ 9.96003777e-01 8.01950389e-02 3.93094274e-02 1.21879750e+02] [-8.02384438e-02 9.96775585e-01 -4.74788840e-04 7.10564917e-01] [-3.92207532e-02 -2.68123580e-03 9.99226973e-01 -1.88217251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.425898227 meters 0.08264309882274462 Centerline is valid? [True, True] Translation: X:121.91, Y:0.73, Z:-1.89 [[ 9.96054719e-01 7.98964720e-02 3.86205974e-02 1.21911254e+02] [-7.99378945e-02 9.96799734e-01 -4.72932160e-04 7.27607729e-01] [-3.85347868e-02 -2.61618293e-03 9.99253835e-01 -1.88629092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.455898227 meters 0.07002039574641503 Centerline is valid? [True, True] Translation: X:121.94, Y:0.71, Z:-1.89 [[ 9.96091674e-01 7.98156304e-02 3.78264724e-02 1.21942913e+02] [-7.98551996e-02 9.96806365e-01 -4.66048557e-04 7.12619659e-01] [-3.77428664e-02 -2.55641341e-03 9.99284214e-01 -1.88643540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.485898227 meters 0.08280362152546329 Centerline is valid? [True, True] Translation: X:121.97, Y:0.73, Z:-1.89 [[ 9.96116981e-01 7.97033632e-02 3.73943048e-02 1.21974296e+02] [-7.97417311e-02 9.96815449e-01 -4.66684066e-04 7.31824274e-01] [-3.73124170e-02 -2.51701468e-03 9.99300479e-01 -1.89030567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.515898227 meters 0.07206130812678045 Centerline is valid? [True, True] Translation: X:122.01, Y:0.72, Z:-1.89 [[ 9.96105739e-01 8.00502498e-02 3.69501532e-02 1.22006653e+02] [-8.00877526e-02 9.96787708e-01 -4.66438862e-04 7.21924369e-01] [-3.68687970e-02 -2.49463230e-03 9.99317001e-01 -1.89062054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.545898227 meters 0.06917774843225935 Centerline is valid? [True, True] Translation: X:122.04, Y:0.72, Z:-1.89 [[ 9.96102168e-01 8.03840978e-02 3.63162253e-02 1.22039091e+02] [-8.04203429e-02 9.96760931e-01 -4.63985785e-04 7.22509794e-01] [-3.62358916e-02 -2.45838605e-03 9.99340241e-01 -1.89268205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.575898227 meters 0.08440701155297776 Centerline is valid? [True, True] Translation: X:122.07, Y:0.75, Z:-1.90 [[ 9.96093735e-01 8.07417593e-02 3.57496709e-02 1.22070638e+02] [-8.07769058e-02 9.96732099e-01 -4.62477218e-04 7.45699457e-01] [-3.56701857e-02 -2.42707714e-03 9.99360669e-01 -1.89831257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.605898227 meters 0.08440701155297776 Centerline is valid? [True, True] Translation: X:122.10, Y:0.75, Z:-1.90 [[ 9.96080214e-01 8.09084219e-02 3.57496038e-02 1.22103171e+02] [-8.09434923e-02 9.96718582e-01 -4.67597545e-04 7.45090468e-01] [-3.56701270e-02 -2.42793312e-03 9.99360669e-01 -1.89978139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.635898227 meters 0.06744548428863223 Centerline is valid? [True, True] Translation: X:122.13, Y:0.73, Z:-1.90 [[ 9.96212074e-01 7.93623413e-02 3.55404425e-02 1.22134152e+02] [-7.93957649e-02 9.96843062e-01 -4.72131792e-04 7.27633358e-01] [-3.54657130e-02 -2.35141723e-03 9.99368127e-01 -1.89889464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.665898227 meters 0.07037478120252073 Centerline is valid? [True, True] Translation: X:122.16, Y:0.73, Z:-1.90 [[ 9.96310254e-01 7.75045956e-02 3.68634747e-02 1.22164463e+02] [-7.75392506e-02 9.96989179e-01 -4.90805422e-04 7.34124819e-01] [-3.67905250e-02 -2.36937172e-03 9.99320191e-01 -1.89857064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69589822700001 meters 0.06361849559284384 Centerline is valid? [True, True] Translation: X:122.20, Y:0.73, Z:-1.89 [[ 9.96436539e-01 7.48137856e-02 3.89502402e-02 1.22195378e+02] [-7.48504337e-02 9.97194637e-01 -5.18575647e-04 7.31160915e-01] [-3.88797672e-02 -2.39871465e-03 9.99241017e-01 -1.89471929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72589822700002 meters 0.06299009585566893 Centerline is valid? [True, True] Translation: X:122.23, Y:0.73, Z:-1.89 [[ 9.96640848e-01 7.11475178e-02 4.05592159e-02 1.22225396e+02] [-7.11842318e-02 9.97463039e-01 -5.40101660e-04 7.31592874e-01] [-4.04947456e-02 -2.34888925e-03 9.99176990e-01 -1.89286745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75589822700002 meters 0.05587838285406503 Centerline is valid? [True, True] Translation: X:122.26, Y:0.72, Z:-1.89 [[ 9.96854268e-01 6.72848120e-02 4.18846244e-02 1.22255764e+02] [-6.73205714e-02 9.97731241e-01 -5.57724631e-04 7.22032517e-01] [-4.18271247e-02 -2.26372667e-03 9.99122298e-01 -1.89146579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.785898227 meters 0.04998541542514602 Centerline is valid? [True, True] Translation: X:122.29, Y:0.71, Z:-1.89 [[ 9.97080290e-01 6.32607762e-02 4.27664416e-02 1.22285816e+02] [-6.32943697e-02 9.97994739e-01 -5.69448516e-04 7.12890893e-01] [-4.27167075e-02 -2.13908907e-03 9.99084935e-01 -1.89101554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.815898227 meters 0.05194671620576854 Centerline is valid? [True, True] Translation: X:122.32, Y:0.71, Z:-1.89 [[ 9.97344312e-01 5.72536957e-02 4.50148554e-02 1.22315371e+02] [-5.72848074e-02 9.98357697e-01 -5.99600694e-04 7.05114550e-01] [-4.49752567e-02 -1.98065898e-03 9.98986138e-01 -1.89085862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.845898227 meters 0.0536733516159575 Centerline is valid? [True, True] Translation: X:122.35, Y:0.71, Z:-1.89 [[ 9.97334587e-01 5.65853464e-02 4.60632125e-02 1.22346477e+02] [-5.66171935e-02 9.98395771e-01 -6.14052220e-04 7.12852552e-01] [-4.60240629e-02 -1.99555430e-03 9.98938338e-01 -1.89032368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.875898227 meters 0.04480136646306224 Centerline is valid? [True, True] Translation: X:122.38, Y:0.70, Z:-1.89 [[ 9.97305358e-01 5.68857256e-02 4.63253500e-02 1.22379416e+02] [-5.69179328e-02 9.98378665e-01 -6.24613335e-04 6.99343697e-01] [-4.62857727e-02 -2.01381293e-03 9.98926209e-01 -1.89169411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.905898227 meters 0.04418487599325432 Centerline is valid? [True, True] Translation: X:122.41, Y:0.70, Z:-1.89 [[ 9.97246381e-01 5.76328338e-02 4.66702420e-02 1.22411054e+02] [-5.76659357e-02 9.98335732e-01 -6.37912623e-04 6.96417671e-01] [-4.66293349e-02 -2.05512712e-03 9.98910147e-01 -1.89270804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.935898227 meters 0.04312507961389141 Centerline is valid? [True, True] Translation: X:122.44, Y:0.69, Z:-1.89 [[ 9.97196239e-01 5.86187989e-02 4.65134027e-02 1.22443042e+02] [-5.86525535e-02 9.98278252e-01 -6.39950899e-04 6.92791929e-01] [-4.64708315e-02 -2.08997321e-03 9.98917461e-01 -1.89368736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.965898227 meters 0.044549853032343205 Centerline is valid? [True, True] Translation: X:122.48, Y:0.69, Z:-1.90 [[ 9.97150433e-01 5.99064735e-02 4.58500613e-02 1.22475408e+02] [-5.99402784e-02 9.98201761e-01 -6.38445617e-04 6.92216390e-01] [-4.58058590e-02 -2.11163912e-03 9.98948129e-01 -1.89530298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.995898227 meters 0.05008247270288349 Centerline is valid? [True, True] Translation: X:122.51, Y:0.70, Z:-1.90 [[ 9.97041688e-01 6.33244934e-02 4.35646818e-02 1.22505095e+02] [-6.33579530e-02 9.97990678e-01 -6.13656746e-04 6.95354093e-01] [-4.35160058e-02 -2.14832770e-03 9.99050420e-01 -1.90022550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.025898227 meters 0.0520720892786878 Centerline is valid? [True, True] Translation: X:122.54, Y:0.70, Z:-1.90 [[ 9.96953703e-01 6.51135389e-02 4.29364791e-02 1.22536346e+02] [-6.51477068e-02 9.97875449e-01 -6.04480823e-04 6.95847647e-01] [-4.28846182e-02 -2.19457376e-03 9.99077621e-01 -1.90355797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.055898227 meters 0.0520720892786878 Centerline is valid? [True, True] Translation: X:122.57, Y:0.70, Z:-1.91 [[ 9.96941587e-01 6.52987829e-02 4.29364700e-02 1.22568835e+02] [-6.53330941e-02 9.97863328e-01 -6.05131642e-04 6.95231372e-01] [-4.28842431e-02 -2.20189153e-03 9.99077621e-01 -1.90502409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.085898227 meters 0.05418010666674082 Centerline is valid? [True, True] Translation: X:122.60, Y:0.70, Z:-1.91 [[ 9.96886847e-01 6.66387724e-02 4.21412822e-02 1.22599659e+02] [-6.66726787e-02 9.97774720e-01 -6.01927189e-04 6.95263719e-01] [-4.20876178e-02 -2.20961887e-03 9.99111480e-01 -1.90755009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.115898227 meters 0.0551954320270239 Centerline is valid? [True, True] Translation: X:122.63, Y:0.69, Z:-1.91 [[ 9.96863098e-01 6.67522794e-02 4.25217151e-02 1.22631903e+02] [-6.67867750e-02 9.97767084e-01 -6.10410776e-04 6.94774666e-01] [-4.24675140e-02 -2.23139224e-03 9.99095356e-01 -1.90787513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.145898227 meters 0.06550612970895207 Centerline is valid? [True, True] Translation: X:122.66, Y:0.71, Z:-1.91 [[ 9.96862745e-01 6.65129148e-02 4.29033747e-02 1.22663447e+02] [-6.65474893e-02 9.97783064e-01 -6.23426732e-04 7.05376236e-01] [-4.28497266e-02 -2.23364098e-03 9.99079032e-01 -1.90905865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.175898227 meters 0.05344508163110976 Centerline is valid? [True, True] Translation: X:122.69, Y:0.69, Z:-1.91 [[ 9.96960181e-01 6.51648760e-02 4.27075598e-02 1.22694585e+02] [-6.51976190e-02 9.97872175e-01 -6.27205330e-04 6.86573603e-01] [-4.26575574e-02 -2.15913248e-03 9.99087419e-01 -1.91033922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.205898227 meters 0.051430163776283136 Centerline is valid? [True, True] Translation: X:122.73, Y:0.68, Z:-1.91 [[ 9.97134177e-01 6.31806750e-02 4.16129174e-02 1.22726326e+02] [-6.32100007e-02 9.98000061e-01 -6.11962073e-04 6.80908006e-01] [-4.15683582e-02 -2.02014424e-03 9.99133620e-01 -1.91331226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.235898227 meters 0.04864650836330608 Centerline is valid? [True, True] Translation: X:122.76, Y:0.67, Z:-1.92 [[ 9.97338032e-01 6.07184115e-02 4.03747899e-02 1.22756861e+02] [-6.07439168e-02 9.98153205e-01 -5.95883334e-04 6.74308608e-01] [-4.03364070e-02 -1.85822576e-03 9.99184428e-01 -1.91680762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.265898227 meters 0.04650381470704779 Centerline is valid? [True, True] Translation: X:122.79, Y:0.66, Z:-1.92 [[ 9.97691989e-01 5.57612672e-02 3.87476037e-02 1.22787475e+02] [-5.57810078e-02 9.98442863e-01 -5.72285825e-04 6.61691968e-01] [-3.87191798e-02 -1.59041540e-03 9.99248866e-01 -1.92302529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.295898227 meters 0.041383336948983745 Centerline is valid? [True, True] Translation: X:122.82, Y:0.66, Z:-1.92 [[ 9.97736046e-01 5.49420648e-02 3.87834017e-02 1.22819766e+02] [-5.49612426e-02 9.98488325e-01 -5.72341449e-04 6.56589535e-01] [-3.87562194e-02 -1.56053825e-03 9.99247477e-01 -1.92226092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.325898227 meters 0.04234638956817476 Centerline is valid? [True, True] Translation: X:122.85, Y:0.66, Z:-1.92 [[ 9.97712235e-01 5.48753113e-02 3.94841164e-02 1.22850923e+02] [-5.48948732e-02 9.98491966e-01 -5.89372530e-04 6.55130868e-01] [-3.94569150e-02 -1.57945138e-03 9.99220024e-01 -1.92231670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.355898227 meters 0.047045374623921735 Centerline is valid? [True, True] Translation: X:122.88, Y:0.66, Z:-1.92 [[ 9.97619395e-01 5.59262836e-02 4.03459134e-02 1.22882525e+02] [-5.59473143e-02 9.98433537e-01 -6.08519021e-04 6.58912756e-01] [-4.03167452e-02 -1.65017512e-03 9.99185587e-01 -1.92284512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.385898227 meters 0.04498670388327533 Centerline is valid? [True, True] Translation: X:122.91, Y:0.66, Z:-1.92 [[ 9.97521138e-01 5.76407586e-02 4.03623823e-02 1.22914676e+02] [-5.76629434e-02 9.98335919e-01 -6.15296294e-04 6.55085884e-01] [-4.03306822e-02 -1.71364271e-03 9.99184918e-01 -1.92284473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.415898227 meters 0.055133236944842706 Centerline is valid? [True, True] Translation: X:122.94, Y:0.67, Z:-1.93 [[ 9.97224767e-01 6.31795728e-02 3.93840766e-02 1.22944726e+02] [-6.32049228e-02 9.98000388e-01 -6.02369502e-04 6.66568026e-01] [-3.93433812e-02 -1.88856974e-03 9.99223965e-01 -1.92665560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44589822700001 meters 0.055133236944842706 Centerline is valid? [True, True] Translation: X:122.98, Y:0.67, Z:-1.93 [[ 9.97213634e-01 6.33550436e-02 3.93840869e-02 1.22977207e+02] [-6.33805565e-02 9.97989250e-01 -6.01700457e-04 6.65895615e-01] [-3.93430161e-02 -1.89616144e-03 9.99223965e-01 -1.92812130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47589822700002 meters 0.054695019517617564 Centerline is valid? [True, True] Translation: X:123.01, Y:0.66, Z:-1.93 [[ 9.96817769e-01 6.92312083e-02 3.95142517e-02 1.23007871e+02] [-6.92611778e-02 9.97598374e-01 -6.11630622e-04 6.63295616e-01] [-3.94616972e-02 -2.12711934e-03 9.99218820e-01 -1.92871276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50589822700002 meters 0.060561752604872794 Centerline is valid? [True, True] Translation: X:123.04, Y:0.67, Z:-1.93 [[ 9.96640567e-01 7.10245463e-02 4.07810563e-02 1.23037863e+02] [-7.10579687e-02 9.97471988e-01 -6.31204455e-04 6.69926319e-01] [-4.07227923e-02 -2.26873506e-03 9.99167907e-01 -1.92873378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.535898227 meters 0.06256770326225083 Centerline is valid? [True, True] Translation: X:123.07, Y:0.67, Z:-1.93 [[ 9.96491906e-01 7.22369062e-02 4.22576722e-02 1.23068779e+02] [-7.22737735e-02 9.97384615e-01 -6.56650416e-04 6.71316488e-01] [-4.21945865e-02 -2.39977461e-03 9.99106530e-01 -1.92749359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.565898227 meters 0.05966351466628876 Centerline is valid? [True, True] Translation: X:123.10, Y:0.67, Z:-1.93 [[ 9.96383923e-01 7.29800002e-02 4.35085933e-02 1.23100380e+02] [-7.30197526e-02 9.97330265e-01 -6.77002252e-04 6.66494336e-01] [-4.34418445e-02 -2.50243256e-03 9.99052823e-01 -1.92672654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.595898227 meters 0.05955955330082894 Centerline is valid? [True, True] Translation: X:123.13, Y:0.66, Z:-1.93 [[ 9.96316480e-01 7.35574810e-02 4.40768541e-02 1.23132664e+02] [-7.35986820e-02 9.97287701e-01 -6.89508737e-04 6.64930517e-01] [-4.40080230e-02 -2.55702945e-03 9.99027905e-01 -1.92745619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.625898227 meters 0.061080648955217844 Centerline is valid? [True, True] Translation: X:123.16, Y:0.67, Z:-1.93 [[ 9.96285166e-01 7.39887908e-02 4.40627667e-02 1.23163733e+02] [-7.40300712e-02 9.97255766e-01 -6.96428599e-04 6.65249994e-01] [-4.39933761e-02 -2.56812827e-03 9.99028522e-01 -1.92870834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.655898227 meters 0.060500198904591254 Centerline is valid? [True, True] Translation: X:123.20, Y:0.66, Z:-1.93 [[ 9.96240484e-01 7.50327449e-02 4.33010899e-02 1.23195718e+02] [-7.50734285e-02 9.97177771e-01 -6.88123287e-04 6.61508008e-01] [-4.32305161e-02 -2.56522500e-03 9.99061831e-01 -1.93185560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.685898227 meters 0.06140875581277201 Centerline is valid? [True, True] Translation: X:123.23, Y:0.66, Z:-1.93 [[ 9.96163994e-01 7.61607156e-02 4.30910846e-02 1.23227647e+02] [-7.62019712e-02 9.97092166e-01 -6.86751709e-04 6.61659622e-01] [-4.30180864e-02 -2.59950826e-03 9.99070912e-01 -1.93359584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.715898227 meters 0.06128864200309386 Centerline is valid? [True, True] Translation: X:123.26, Y:0.66, Z:-1.93 [[ 9.96042799e-01 7.76162046e-02 4.32951246e-02 1.23258410e+02] [-7.76591324e-02 9.96979729e-01 -6.92064655e-04 6.61264565e-01] [-4.32180770e-02 -2.67293580e-03 9.99062087e-01 -1.93467186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.745898227 meters 0.06300349233465424 Centerline is valid? [True, True] Translation: X:123.29, Y:0.66, Z:-1.94 [[ 9.95880340e-01 7.95908099e-02 4.34471133e-02 1.23289020e+02] [-7.96358887e-02 9.96823777e-01 -6.95000040e-04 6.63558542e-01] [-4.33644311e-02 -2.76781260e-03 9.99055487e-01 -1.93571653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.775898227 meters 0.06591992620305917 Centerline is valid? [True, True] Translation: X:123.32, Y:0.67, Z:-1.94 [[ 9.95718798e-01 8.17383485e-02 4.31615309e-02 1.23319657e+02] [-8.17848221e-02 9.96649771e-01 -6.90927175e-04 6.68047394e-01] [-4.30734051e-02 -2.84198895e-03 9.99067868e-01 -1.93747075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.805898227 meters 0.07112566697189285 Centerline is valid? [True, True] Translation: X:123.35, Y:0.68, Z:-1.94 [[ 9.95414186e-01 8.60746625e-02 4.17342939e-02 1.23349037e+02] [-8.61218774e-02 9.96284385e-01 -6.68604015e-04 6.77344755e-01] [-4.16367752e-02 -2.92869782e-03 9.99128521e-01 -1.94051540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.835898227 meters 0.06999481739916122 Centerline is valid? [True, True] Translation: X:123.38, Y:0.68, Z:-1.94 [[ 9.95319467e-01 8.75652635e-02 4.08837873e-02 1.23379866e+02] [-8.76118356e-02 9.96154475e-01 -6.54625203e-04 6.76956028e-01] [-4.07838901e-02 -2.93034245e-03 9.99163694e-01 -1.94297244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.865898227 meters 0.06847913919468814 Centerline is valid? [True, True] Translation: X:123.41, Y:0.68, Z:-1.95 [[ 9.95302981e-01 8.80294551e-02 4.02838907e-02 1.23411825e+02] [-8.80750575e-02 9.96113632e-01 -6.44751528e-04 6.75582816e-01] [-4.01840898e-02 -2.90628287e-03 9.99188067e-01 -1.94538318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.895898227 meters 0.07654021844628951 Centerline is valid? [True, True] Translation: X:123.44, Y:0.69, Z:-1.95 [[ 9.95443246e-01 8.66110603e-02 3.98907085e-02 1.23442704e+02] [-8.66543569e-02 9.96238227e-01 -6.45635245e-04 6.85366380e-01] [-3.97965679e-02 -2.81401045e-03 9.99203840e-01 -1.94954005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.925898227 meters 0.06918080335630686 Centerline is valid? [True, True] Translation: X:123.47, Y:0.67, Z:-1.95 [[ 9.95654143e-01 8.43171759e-02 3.95403756e-02 1.23473249e+02] [-8.43578750e-02 9.96435316e-01 -6.40965482e-04 6.74207378e-01] [-3.94534710e-02 -2.69736212e-03 9.99217768e-01 -1.95106827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.955898227 meters 0.07942333991530706 Centerline is valid? [True, True] Translation: X:123.50, Y:0.69, Z:-1.95 [[ 9.95847967e-01 8.16681495e-02 4.02136742e-02 1.23502984e+02] [-8.17080832e-02 9.96656091e-01 -6.52267373e-04 6.85447051e-01] [-4.01324728e-02 -2.63622310e-03 9.99190890e-01 -1.95202589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.985898227 meters 0.0688592784927948 Centerline is valid? [True, True] Translation: X:123.53, Y:0.67, Z:-1.95 [[ 9.96005944e-01 7.93222742e-02 4.09894693e-02 1.23533116e+02] [-7.93618036e-02 9.96845656e-01 -6.64472081e-04 6.69532672e-01] [-4.09128818e-02 -2.59118007e-03 9.99159358e-01 -1.95088621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.015898227 meters 0.056581651125175776 Centerline is valid? [True, True] Translation: X:123.56, Y:0.65, Z:-1.95 [[ 9.96157322e-01 7.72025994e-02 4.13563576e-02 1.23563214e+02] [-7.72410289e-02 9.97012224e-01 -6.70242681e-04 6.51090047e-01] [-4.12845385e-02 -2.52674045e-03 9.99144235e-01 -1.95083053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.045898227 meters 0.056581651125175776 Centerline is valid? [True, True] Translation: X:123.60, Y:0.65, Z:-1.95 [[ 9.96142513e-01 7.73934368e-02 4.13563691e-02 1.23595715e+02] [-7.74320594e-02 9.96997406e-01 -6.69532106e-04 6.50419650e-01] [-4.12840102e-02 -2.53535944e-03 9.99144235e-01 -1.95229703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.075898227 meters 0.06550758963837229 Centerline is valid? [True, True] Translation: X:123.63, Y:0.66, Z:-1.96 [[ 9.96044847e-01 7.97890693e-02 3.90943323e-02 1.23625133e+02] [-7.98250932e-02 9.96808679e-01 -6.41115963e-04 6.62009004e-01] [-3.90207238e-02 -2.48212847e-03 9.99235319e-01 -1.95741853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.105898227 meters 0.06317678189238682 Centerline is valid? [True, True] Translation: X:123.66, Y:0.66, Z:-1.96 [[ 9.95843562e-01 8.25902814e-02 3.83985080e-02 1.23655548e+02] [-8.26271153e-02 9.96580335e-01 -6.29436487e-04 6.59008939e-01] [-3.83191832e-02 -2.54593767e-03 9.99262307e-01 -1.95897391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.135898227 meters 0.07141572139061685 Centerline is valid? [True, True] Translation: X:123.69, Y:0.67, Z:-1.96 [[ 9.95599166e-01 8.54576947e-02 3.84614374e-02 1.23685453e+02] [-8.54967744e-02 9.96338248e-01 -6.30567369e-04 6.69993409e-01] [-3.83744880e-02 -2.66053649e-03 9.99259886e-01 -1.96057387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.165898227 meters 0.07286479848503975 Centerline is valid? [True, True] Translation: X:123.72, Y:0.67, Z:-1.96 [[ 9.95313172e-01 8.86616719e-02 3.86108567e-02 1.23716652e+02] [-8.87034350e-02 9.96057879e-01 -6.33491378e-04 6.72003208e-01] [-3.85148144e-02 -2.79439330e-03 9.99254122e-01 -1.96097168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19589822700001 meters 0.07579989035952331 Centerline is valid? [True, True] Translation: X:123.75, Y:0.68, Z:-1.96 [[ 9.95036034e-01 9.15336770e-02 3.90496778e-02 1.23747292e+02] [-9.15785665e-02 9.95797647e-01 -6.41404752e-04 6.76548400e-01] [-3.89442874e-02 -2.93789267e-03 9.99237065e-01 -1.96107033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22589822700002 meters 0.07700238281316617 Centerline is valid? [True, True] Translation: X:123.78, Y:0.68, Z:-1.96 [[ 9.94744649e-01 9.42542823e-02 3.99901559e-02 1.23777651e+02] [-9.43035334e-02 9.95543275e-01 -6.57202089e-04 6.79250379e-01] [-3.98738749e-02 -3.11746474e-03 9.99199858e-01 -1.96133057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25589822700002 meters 0.08474739117480307 Centerline is valid? [True, True] Translation: X:123.81, Y:0.69, Z:-1.96 [[ 9.94184044e-01 9.85938272e-02 4.33283210e-02 1.23807819e+02] [-9.86557628e-02 9.95121366e-01 -7.11746892e-04 6.92217695e-01] [-4.31871119e-02 -3.56698116e-03 9.99060634e-01 -1.95822385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.285898227 meters 0.08785871614228227 Centerline is valid? [True, True] Translation: X:123.84, Y:0.70, Z:-1.96 [[ 9.94061274e-01 9.95715174e-02 4.39055483e-02 1.23838104e+02] [-9.96360325e-02 9.95023688e-01 -7.21937855e-04 6.97304395e-01] [-4.37589451e-02 -3.65692418e-03 9.99035426e-01 -1.95904019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.315898227 meters 0.08243237235987533 Centerline is valid? [True, True] Translation: X:123.87, Y:0.69, Z:-1.96 [[ 9.94063698e-01 9.95668485e-02 4.38612171e-02 1.23870234e+02] [-9.96311751e-02 9.95024174e-01 -7.22434064e-04 6.91245597e-01] [-4.37149018e-02 -3.65179913e-03 9.99037373e-01 -1.96105288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.345898227 meters 0.08991638644886968 Centerline is valid? [True, True] Translation: X:123.90, Y:0.70, Z:-1.96 [[ 9.94118449e-01 9.91350853e-02 4.35975300e-02 1.23902081e+02] [-9.91979283e-02 9.95067458e-01 -7.24965632e-04 7.01477230e-01] [-4.34543529e-02 -3.60408294e-03 9.99048913e-01 -1.96408067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.375898227 meters 0.09021734649099176 Centerline is valid? [True, True] Translation: X:123.93, Y:0.70, Z:-1.97 [[ 9.94248474e-01 9.82709810e-02 4.25768315e-02 1.23932910e+02] [-9.83298309e-02 9.95153623e-01 -7.14907730e-04 7.02660151e-01] [-4.24407428e-02 -3.47577672e-03 9.99092940e-01 -1.96715825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.405898227 meters 0.08389152001440897 Centerline is valid? [True, True] Translation: X:123.96, Y:0.70, Z:-1.97 [[ 9.94300398e-01 9.80706930e-02 4.18193463e-02 1.23964493e+02] [-9.81272692e-02 9.95173626e-01 -7.02647605e-04 6.95506881e-01] [-4.16864196e-02 -3.40497546e-03 9.99124941e-01 -1.96994029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.435898227 meters 0.08033636025469856 Centerline is valid? [True, True] Translation: X:124.00, Y:0.69, Z:-1.97 [[ 9.94229791e-01 9.92442671e-02 4.07148340e-02 1.23995630e+02] [-9.92985923e-02 9.95057442e-01 -6.90848499e-04 6.93933928e-01] [-4.05821613e-02 -3.35606354e-03 9.99170569e-01 -1.97232768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.465898227 meters 0.0918394979208407 Centerline is valid? [True, True] Translation: X:124.03, Y:0.71, Z:-1.97 [[ 9.94155260e-01 1.00029228e-01 4.06136950e-02 1.24027222e+02] [-1.00083906e-01 9.94978762e-01 -6.89821560e-04 7.10172610e-01] [-4.04787662e-02 -3.37898749e-03 9.99174685e-01 -1.97442114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.495898227 meters 0.0918394979208407 Centerline is valid? [True, True] Translation: X:124.06, Y:0.71, Z:-1.98 [[ 9.94137945e-01 1.00201186e-01 4.06136485e-02 1.24059789e+02] [-1.00255895e-01 9.94961444e-01 -6.92546352e-04 7.09454744e-01] [-4.04784084e-02 -3.38327109e-03 9.99174685e-01 -1.97589116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.525898227 meters 0.08514625807928507 Centerline is valid? [True, True] Translation: X:124.09, Y:0.70, Z:-1.98 [[ 9.94114975e-01 1.00434191e-01 4.06003707e-02 1.24092748e+02] [-1.00488775e-01 9.94937946e-01 -6.99299989e-04 6.97555124e-01] [-4.04650831e-02 -3.38469692e-03 9.99175220e-01 -1.97767578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.555898227 meters 0.08999647313493067 Centerline is valid? [True, True] Translation: X:124.12, Y:0.71, Z:-1.98 [[ 9.94083091e-01 1.00433197e-01 4.13760897e-02 1.24124328e+02] [-1.00489565e-01 9.94937851e-01 -7.20519149e-04 7.08305357e-01] [-4.12390019e-02 -3.44160935e-03 9.99143383e-01 -1.97795019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.585898227 meters 0.0782825523407087 Centerline is valid? [True, True] Translation: X:124.16, Y:0.69, Z:-1.98 [[ 9.94142265e-01 9.96181672e-02 4.19210934e-02 1.24155759e+02] [-9.96750366e-02 9.95019771e-01 -7.36603186e-04 6.92739869e-01] [-4.17856958e-02 -3.44619816e-03 9.99120653e-01 -1.97804533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.615898227 meters 0.08393493725904753 Centerline is valid? [True, True] Translation: X:124.19, Y:0.69, Z:-1.98 [[ 9.94378591e-01 9.71236869e-02 4.21688001e-02 1.24185066e+02] [-9.71789073e-02 9.95266651e-01 -7.43246442e-04 6.93128504e-01] [-4.20413874e-02 -3.35884957e-03 9.99110224e-01 -1.98069806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.645898227 meters 0.07680559824005494 Centerline is valid? [True, True] Translation: X:124.22, Y:0.69, Z:-1.98 [[ 9.94561100e-01 9.55380391e-02 4.14813355e-02 1.24215750e+02] [-9.55901215e-02 9.95420512e-01 -7.30625205e-04 6.87370861e-01] [-4.13611747e-02 -3.23855450e-03 9.99139012e-01 -1.98153431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.675898227 meters 0.0803279693627987 Centerline is valid? [True, True] Translation: X:124.25, Y:0.69, Z:-1.99 [[ 9.94757639e-01 9.38242149e-02 4.06725498e-02 1.24246706e+02] [-9.38728411e-02 9.95583937e-01 -7.16834692e-04 6.85563706e-01] [-4.05601937e-02 -3.10497102e-03 9.99172272e-01 -1.98563163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.705898227 meters 0.0764358771599911 Centerline is valid? [True, True] Translation: X:124.28, Y:0.68, Z:-1.99 [[ 9.94925288e-01 9.22711234e-02 4.01212101e-02 1.24276128e+02] [-9.23171605e-02 9.95729402e-01 -7.07681031e-04 6.84584025e-01] [-4.00151670e-02 -2.99978644e-03 9.99194569e-01 -1.98723718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.735898227 meters 0.07436738213251515 Centerline is valid? [True, True] Translation: X:124.31, Y:0.68, Z:-1.99 [[ 9.95083335e-01 9.08690879e-02 3.93949795e-02 1.24307707e+02] [-9.09124061e-02 9.95858651e-01 -6.94175724e-04 6.80733135e-01] [-3.92949103e-02 -2.89072968e-03 9.99223475e-01 -1.98995853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.765898227 meters 0.07925002413906594 Centerline is valid? [True, True] Translation: X:124.34, Y:0.69, Z:-1.99 [[ 9.95190738e-01 9.00354194e-02 3.85878091e-02 1.24338525e+02] [-9.00763034e-02 9.95934634e-01 -6.81295243e-04 6.86041936e-01] [-3.84922762e-02 -2.79782848e-03 9.99254981e-01 -1.99331996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.795898227 meters 0.07291900486270221 Centerline is valid? [True, True] Translation: X:124.37, Y:0.68, Z:-2.00 [[ 9.95232545e-01 9.00545011e-02 3.74482115e-02 1.24371290e+02] [-9.00930310e-02 9.95933135e-01 -6.60781818e-04 6.77256082e-01] [-3.73554211e-02 -2.71619131e-03 9.99298351e-01 -1.99530170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.825898227 meters 0.07296018316179119 Centerline is valid? [True, True] Translation: X:124.40, Y:0.68, Z:-2.00 [[ 9.95191937e-01 9.09078562e-02 3.64522905e-02 1.24403419e+02] [-9.09446571e-02 9.95855735e-01 -6.50727251e-04 6.76851028e-01] [-3.63603787e-02 -2.66754254e-03 9.99335183e-01 -1.99750713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.855898227 meters 0.08132964327359625 Centerline is valid? [True, True] Translation: X:124.43, Y:0.69, Z:-2.00 [[ 9.95096390e-01 9.21636537e-02 3.59031484e-02 1.24433216e+02] [-9.22000741e-02 9.95740294e-01 -6.43474762e-04 6.87855979e-01] [-3.58095165e-02 -2.66995353e-03 9.99355067e-01 -2.00041808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.885898227 meters 0.08025474573033331 Centerline is valid? [True, True] Translation: X:124.46, Y:0.69, Z:-2.00 [[ 9.94598638e-01 9.69654064e-02 3.70305060e-02 1.24464251e+02] [-9.70074596e-02 9.95283433e-01 -6.63650015e-04 6.87851097e-01] [-3.69202002e-02 -2.93216991e-03 9.99313915e-01 -1.99815248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.915898227 meters 0.08239666237997911 Centerline is valid? [True, True] Translation: X:124.50, Y:0.69, Z:-2.00 [[ 9.94263704e-01 1.00011498e-01 3.79128787e-02 1.24495276e+02] [-1.00057779e-01 9.94981396e-01 -6.79507548e-04 6.91481784e-01] [-3.77905676e-02 -3.11786874e-03 9.99280817e-01 -1.99763272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94589822700001 meters 0.08619164175815958 Centerline is valid? [True, True] Translation: X:124.53, Y:0.70, Z:-2.00 [[ 9.93965056e-01 1.02708380e-01 3.85286468e-02 1.24526059e+02] [-1.02758164e-01 9.94706128e-01 -6.91192378e-04 6.98001112e-01] [-3.83956723e-02 -3.27211192e-03 9.99257257e-01 -1.99780739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97589822700002 meters 0.08863969313973462 Centerline is valid? [True, True] Translation: X:124.56, Y:0.70, Z:-2.00 [[ 9.93748903e-01 1.04617459e-01 3.89654443e-02 1.24556301e+02] [-1.04669792e-01 9.94506785e-01 -7.00157293e-04 7.04231853e-01] [-3.88246474e-02 -3.38272441e-03 9.99240313e-01 -1.99942560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00589822700002 meters 0.09001178486404625 Centerline is valid? [True, True] Translation: X:124.59, Y:0.71, Z:-2.00 [[ 9.93620297e-01 1.05708600e-01 3.92988291e-02 1.24587682e+02] [-1.05762671e-01 9.94391150e-01 -7.06372647e-04 7.08927894e-01] [-3.91530775e-02 -3.45448293e-03 9.99227253e-01 -2.00020107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.035898227 meters 0.09880864196766553 Centerline is valid? [True, True] Translation: X:124.62, Y:0.72, Z:-2.00 [[ 9.93552668e-01 1.06176069e-01 3.97459312e-02 1.24618736e+02] [-1.06231741e-01 9.94341142e-01 -7.14659822e-04 7.22274698e-01] [-3.95968944e-02 -3.51222728e-03 9.99209563e-01 -2.00117225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.065898227 meters 0.09116449096051138 Centerline is valid? [True, True] Translation: X:124.65, Y:0.72, Z:-2.00 [[ 9.93647465e-01 1.04384227e-01 4.20553050e-02 1.24649833e+02] [-1.04444685e-01 9.94530405e-01 -7.63078788e-04 7.15317166e-01] [-4.19049329e-02 -3.63422177e-03 9.99114993e-01 -1.99706983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.095898227 meters 0.09069461136019753 Centerline is valid? [True, True] Translation: X:124.68, Y:0.71, Z:-2.00 [[ 9.93762155e-01 1.02729258e-01 4.33990667e-02 1.24680115e+02] [-1.02792074e-01 9.94702553e-01 -7.87626583e-04 7.14905816e-01] [-4.32500747e-02 -3.67836659e-03 9.99057506e-01 -1.99582001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.125898227 meters 0.09035136197190444 Centerline is valid? [True, True] Translation: X:124.71, Y:0.71, Z:-2.00 [[ 9.93958211e-01 1.00495875e-01 4.41322285e-02 1.24710951e+02] [-1.00558649e-01 9.94930810e-01 -8.00927044e-04 7.13288002e-01] [-4.39890037e-02 -3.64178928e-03 9.99025378e-01 -1.99636952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.155898227 meters 0.08682746891272934 Centerline is valid? [True, True] Translation: X:124.74, Y:0.71, Z:-2.00 [[ 9.94163527e-01 9.79943748e-02 4.51218725e-02 1.24741481e+02] [-9.80574408e-02 9.95180420e-01 -8.18932127e-04 7.10030242e-01] [-4.49846548e-02 -3.61038289e-03 9.98981154e-01 -1.99583880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.185898227 meters 0.08523751297005089 Centerline is valid? [True, True] Translation: X:124.77, Y:0.71, Z:-2.00 [[ 9.94396807e-01 9.56672010e-02 4.49752820e-02 1.24771522e+02] [-9.57274924e-02 9.95407244e-01 -8.16272390e-04 7.07660129e-01] [-4.48468120e-02 -3.49367231e-03 9.98987767e-01 -1.99764081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.215898227 meters 0.08475632515582303 Centerline is valid? [True, True] Translation: X:124.80, Y:0.71, Z:-2.00 [[ 9.94508840e-01 9.45508221e-02 4.48587719e-02 1.24803105e+02] [-9.46096700e-02 9.95514112e-01 -8.14212324e-04 7.06485206e-01] [-4.47345250e-02 -3.43433226e-03 9.98993007e-01 -2.00008052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.245898227 meters 0.0893494548132431 Centerline is valid? [True, True] Translation: X:124.83, Y:0.71, Z:-2.00 [[ 9.94256083e-01 9.71947564e-02 4.48109540e-02 1.24833395e+02] [-9.72560796e-02 9.95259057e-01 -8.14820521e-04 7.11941210e-01] [-4.46777041e-02 -3.54799745e-03 9.98995152e-01 -2.00091736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.275898227 meters 0.09373002496044504 Centerline is valid? [True, True] Translation: X:124.86, Y:0.72, Z:-2.00 [[ 9.93933497e-01 1.00374824e-01 4.49566364e-02 1.24864605e+02] [-1.00439781e-01 9.94942804e-01 -8.17379241e-04 7.17634782e-01] [-4.48113262e-02 -3.70301410e-03 9.98988605e-01 -2.00171091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.305898227 meters 0.09856725355681266 Centerline is valid? [True, True] Translation: X:124.89, Y:0.72, Z:-2.00 [[ 9.93574913e-01 1.04177601e-01 4.42257796e-02 1.24893867e+02] [-1.04244160e-01 9.94551410e-01 -8.04906092e-04 7.24903512e-01] [-4.40686646e-02 -3.81054474e-03 9.99021237e-01 -2.00374340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.335898227 meters 0.10342324213608105 Centerline is valid? [True, False] Translation: X:124.89, Y:0.73, Z:-2.00 [[ 9.94430181e-01 9.43352040e-02 4.70051428e-02 1.24890820e+02] [-9.48411899e-02 9.95454850e-01 8.64810104e-03 7.28763437e-01] [-4.59756770e-02 -1.30579564e-02 9.98857210e-01 -2.00330534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.365898227 meters 0.10984337812824278 Centerline is valid? [False, False] Translation: X:124.89, Y:0.73, Z:-2.01 [[ 9.95436750e-01 8.26891748e-02 4.76253747e-02 1.24893370e+02] [-8.35059849e-02 9.96387949e-01 1.54209590e-02 7.33149881e-01] [-4.61782031e-02 -1.93275931e-02 9.98746223e-01 -2.00662435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.395898227 meters 0.11840469840606878 Centerline is valid? [False, False] Translation: X:124.90, Y:0.74, Z:-2.01 [[ 9.95870610e-01 7.77271354e-02 4.69065032e-02 1.24895980e+02] [-7.81933671e-02 9.96904610e-01 8.18514804e-03 7.44177538e-01] [-4.61251012e-02 -1.18191258e-02 9.98865748e-01 -2.01040767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.425898227 meters 0.12226802243882698 Centerline is valid? [False, False] Translation: X:124.90, Y:0.75, Z:-2.01 [[ 9.96765044e-01 6.60517866e-02 4.57887341e-02 1.24896360e+02] [-6.68113491e-02 9.97648929e-01 1.52597188e-02 7.48649863e-01] [-4.46731498e-02 -1.82695614e-02 9.98834587e-01 -2.00997452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.455898227 meters 0.12173261683966816 Centerline is valid? [False, False] Translation: X:124.90, Y:0.75, Z:-2.01 [[ 9.97649390e-01 5.26003383e-02 4.39192404e-02 1.24896292e+02] [-5.35294285e-02 9.98360871e-01 2.02526747e-02 7.53802393e-01] [-4.27819536e-02 -2.25560404e-02 9.98829780e-01 -2.00888818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.485898227 meters 0.08954435082309013 Centerline is valid? [False, True] Translation: X:124.88, Y:0.76, Z:-2.01 [[ 9.97942810e-01 5.00062026e-02 4.01189145e-02 1.24876604e+02] [-5.03134721e-02 9.98711098e-01 6.68558186e-03 7.60683589e-01] [-3.97328846e-02 -8.69035023e-03 9.99172546e-01 -2.00739694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.515898227 meters 0.09770475930263003 Centerline is valid? [True, True] Translation: X:124.91, Y:0.78, Z:-2.01 [[ 9.98068610e-01 4.72318991e-02 4.03509326e-02 1.24905659e+02] [-4.73536332e-02 9.98876051e-01 2.06592441e-03 7.76101000e-01] [-4.02080027e-02 -3.97269756e-03 9.99183434e-01 -2.01055955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.545898227 meters 0.08524101668005755 Centerline is valid? [True, True] Translation: X:124.94, Y:0.76, Z:-2.01 [[ 9.98272129e-01 4.33881908e-02 3.96260211e-02 1.24937119e+02] [-4.35025903e-02 9.99051254e-01 2.02889356e-03 7.62610253e-01] [-3.95003960e-02 -3.74922245e-03 9.99212521e-01 -2.01222208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.575898227 meters 0.0863098520544604 Centerline is valid? [True, True] Translation: X:124.97, Y:0.77, Z:-2.02 [[ 9.98634314e-01 3.54598035e-02 3.83680867e-02 1.24965969e+02] [-3.55612388e-02 9.99365569e-01 1.96430584e-03 7.66116775e-01] [-3.82740909e-02 -3.32603991e-03 9.99261743e-01 -2.01683396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.605898227 meters 0.09205465037326808 Centerline is valid? [True, True] Translation: X:124.99, Y:0.77, Z:-2.02 [[ 9.98726033e-01 3.21974098e-02 3.88540620e-02 1.24994869e+02] [-3.22989764e-02 9.99476273e-01 1.98901903e-03 7.74592936e-01] [-3.87696718e-02 -3.24143152e-03 9.99242916e-01 -2.01821108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.635898227 meters 0.07714073749587581 Centerline is valid? [True, True] Translation: X:125.03, Y:0.76, Z:-2.02 [[ 9.98754256e-01 2.96128661e-02 4.01623533e-02 1.25026764e+02] [-2.97193442e-02 9.99556167e-01 2.05661577e-03 7.57268236e-01] [-4.00836256e-02 -3.24765256e-03 9.99191051e-01 -2.01535086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.665898227 meters 0.08054281792679009 Centerline is valid? [True, True] Translation: X:125.06, Y:0.76, Z:-2.01 [[ 9.98720975e-01 2.82940182e-02 4.19030138e-02 1.25056062e+02] [-2.84087726e-02 9.99594087e-01 2.14551963e-03 7.64141089e-01] [-4.18252995e-02 -3.33318865e-03 9.99119379e-01 -2.01364226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69589822700001 meters 0.09045278290588595 Centerline is valid? [True, True] Translation: X:125.09, Y:0.78, Z:-2.01 [[ 9.98657414e-01 2.91146980e-02 4.28451252e-02 1.25086780e+02] [-2.92354695e-02 9.99570143e-01 2.19477631e-03 7.80194032e-01] [-4.27628076e-02 -3.44442698e-03 9.99079315e-01 -2.01314328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72589822700002 meters 0.08248007479334102 Centerline is valid? [True, True] Translation: X:125.12, Y:0.77, Z:-2.01 [[ 9.98600417e-01 3.11645350e-02 4.27314808e-02 1.25118180e+02] [-3.12862409e-02 9.99508084e-01 2.18219802e-03 7.74229774e-01] [-4.26424532e-02 -3.51605125e-03 9.99084210e-01 -2.01459350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75589822700002 meters 0.09604566036471318 Centerline is valid? [True, True] Translation: X:125.15, Y:0.80, Z:-2.02 [[ 9.98369130e-01 3.84076924e-02 4.22365807e-02 1.25146670e+02] [-3.85330171e-02 9.99255000e-01 2.15680540e-03 7.98959474e-01] [-4.21222765e-02 -3.78079081e-03 9.99105309e-01 -2.01827739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.785898227 meters 0.09270367092967982 Centerline is valid? [True, True] Translation: X:125.18, Y:0.80, Z:-2.02 [[ 9.98220775e-01 4.17558849e-02 4.25644382e-02 1.25177635e+02] [-4.18861687e-02 9.99120026e-01 2.17324373e-03 7.98608754e-01] [-4.24362368e-02 -3.95223827e-03 9.99091360e-01 -2.01930220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.815898227 meters 0.09226320798102516 Centerline is valid? [True, True] Translation: X:125.21, Y:0.80, Z:-2.02 [[ 9.98072613e-01 4.42831148e-02 4.34748855e-02 1.25208708e+02] [-4.44214093e-02 9.99010416e-01 2.21965055e-03 8.02122182e-01] [-4.33335705e-02 -4.14658810e-03 9.99052054e-01 -2.01964772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.845898227 meters 0.09676236409831121 Centerline is valid? [True, True] Translation: X:125.24, Y:0.81, Z:-2.02 [[ 9.97951176e-01 4.60221120e-02 4.44456551e-02 1.25237991e+02] [-4.61683290e-02 9.98931099e-01 2.26837069e-03 8.12071570e-01] [-4.42937519e-02 -4.31570482e-03 9.99009228e-01 -2.02080472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.875898227 meters 0.10661455221390626 Centerline is valid? [True, False] Translation: X:125.24, Y:0.81, Z:-2.02 [[ 9.98443412e-01 3.62813492e-02 4.23605455e-02 1.25237715e+02] [-3.68144075e-02 9.99251597e-01 1.18720497e-02 8.14112766e-01] [-4.18981088e-02 -1.34130482e-02 9.99031851e-01 -2.01905752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.905898227 meters 0.09863150854078351 Centerline is valid? [False, True] Translation: X:125.24, Y:0.82, Z:-2.02 [[ 9.98598070e-01 3.17548910e-02 4.23499923e-02 1.25237708e+02] [-3.20513138e-02 9.99466125e-01 6.33865962e-03 8.19194433e-01] [-4.21260993e-02 -7.68714616e-03 9.99082729e-01 -2.02004269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.935898227 meters 0.09591857629491934 Centerline is valid? [True, True] Translation: X:125.27, Y:0.82, Z:-2.02 [[ 9.98750111e-01 2.83611050e-02 4.11565670e-02 1.25267941e+02] [-2.84959779e-02 9.99590277e-01 2.69401361e-03 8.21428317e-01] [-4.10632990e-02 -3.86344302e-03 9.99149078e-01 -2.02407089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.965898227 meters 0.09253015153586917 Centerline is valid? [True, True] Translation: X:125.30, Y:0.82, Z:-2.02 [[ 9.98819280e-01 2.61994496e-02 4.09100845e-02 1.25298808e+02] [-2.63309055e-02 9.99649695e-01 2.67768222e-03 8.19854417e-01] [-4.08255997e-02 -3.75172020e-03 9.99159244e-01 -2.02456662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.995898227 meters 0.08654865012592314 Centerline is valid? [True, True] Translation: X:125.33, Y:0.82, Z:-2.03 [[ 9.98856963e-01 2.44277813e-02 4.10859028e-02 1.25330066e+02] [-2.45588795e-02 9.99694769e-01 2.68906559e-03 8.15321339e-01] [-4.10076742e-02 -3.69501563e-03 9.99151999e-01 -2.02501536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.025898227 meters 0.09605455539868941 Centerline is valid? [True, True] Translation: X:125.36, Y:0.83, Z:-2.03 [[ 9.98884231e-01 2.27527989e-02 4.13836220e-02 1.25358822e+02] [-2.28843689e-02 9.99734450e-01 2.70827544e-03 8.31301230e-01] [-4.13110117e-02 -3.65229170e-03 9.99139660e-01 -2.02635740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.055898227 meters 0.08352812103060635 Centerline is valid? [True, True] Translation: X:125.39, Y:0.82, Z:-2.03 [[ 9.98936768e-01 2.13513337e-02 4.08589517e-02 1.25390198e+02] [-2.14784228e-02 9.99765736e-01 2.67393935e-03 8.18318497e-01] [-4.07922877e-02 -3.54868217e-03 9.99161346e-01 -2.02836716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.085898227 meters 0.08649339559151378 Centerline is valid? [True, True] Translation: X:125.42, Y:0.83, Z:-2.03 [[ 9.99014940e-01 1.95755740e-02 3.98239429e-02 1.25419312e+02] [-1.96949006e-02 9.99802640e-01 2.60620510e-03 8.25377249e-01] [-3.97650653e-02 -3.38796642e-03 9.99203313e-01 -2.03074312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.115898227 meters 0.0801105488495345 Centerline is valid? [True, True] Translation: X:125.45, Y:0.82, Z:-2.04 [[ 9.99127657e-01 1.56674910e-02 3.87098776e-02 1.25450689e+02] [-1.57773197e-02 9.99872321e-01 2.53335672e-03 8.20055627e-01] [-3.86652438e-02 -3.14188488e-03 9.99247280e-01 -2.03588554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.145898227 meters 0.08630992765805323 Centerline is valid? [True, True] Translation: X:125.48, Y:0.83, Z:-2.04 [[ 9.99166055e-01 1.34189618e-02 3.85632734e-02 1.25479812e+02] [-1.35262762e-02 9.99905332e-01 2.52324404e-03 8.34071517e-01] [-3.85257634e-02 -3.04275728e-03 9.99252975e-01 -2.03601787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.175898227 meters 0.07880966346746686 Centerline is valid? [True, True] Translation: X:125.51, Y:0.83, Z:-2.04 [[ 9.99186837e-01 1.13376736e-02 3.86926690e-02 1.25510525e+02] [-1.14441746e-02 9.99931307e-01 2.53210320e-03 8.27800037e-01] [-3.86613030e-02 -2.97284985e-03 9.99247950e-01 -2.03641385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.205898227 meters 0.07653186710587799 Centerline is valid? [True, True] Translation: X:125.54, Y:0.83, Z:-2.04 [[ 9.99188107e-01 9.40625459e-03 3.91746105e-02 1.25541872e+02] [-9.51396551e-03 9.99951454e-01 2.56398776e-03 8.27876937e-01] [-3.91485912e-02 -2.93461197e-03 9.99229091e-01 -2.03736780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.235898227 meters 0.07625213083985746 Centerline is valid? [True, True] Translation: X:125.57, Y:0.83, Z:-2.04 [[ 9.99196477e-01 7.40326190e-03 3.93902588e-02 1.25571731e+02] [-7.51059514e-03 9.99968473e-01 2.57758410e-03 8.30161477e-01] [-3.93699344e-02 -2.87135723e-03 9.99220578e-01 -2.03830013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.265898227 meters 0.08090205194260536 Centerline is valid? [True, True] Translation: X:125.60, Y:0.84, Z:-2.04 [[ 9.99183712e-01 5.13886744e-03 4.00687070e-02 1.25600824e+02] [-5.24812103e-03 9.99982791e-01 2.62194752e-03 8.39274916e-01] [-4.00545437e-02 -2.83009268e-03 9.99193487e-01 -2.03922117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.295898227 meters 0.07244631355003217 Centerline is valid? [True, True] Translation: X:125.63, Y:0.83, Z:-2.04 [[ 9.99160782e-01 2.62707819e-03 4.08757958e-02 1.25631708e+02] [-2.73870452e-03 9.99992672e-01 2.67510896e-03 8.31997202e-01] [-4.08684685e-02 -2.78481068e-03 9.99160654e-01 -2.03884148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.325898227 meters 0.06845660191833426 Centerline is valid? [True, True] Translation: X:125.66, Y:0.83, Z:-2.04 [[ 9.99141274e-01 -4.25437066e-04 4.14310608e-02 1.25661984e+02] [ 3.13373066e-04 9.99996275e-01 2.71128749e-03 8.30637605e-01] [-4.14320599e-02 -2.69597586e-03 9.99137686e-01 -2.03923267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.355898227 meters 0.06526493383940182 Centerline is valid? [True, True] Translation: X:125.69, Y:0.83, Z:-2.04 [[ 9.99085449e-01 -6.80979204e-03 4.22124568e-02 1.25691917e+02] [ 6.69913099e-03 9.99973745e-01 2.76242975e-03 8.31574214e-01] [-4.22301601e-02 -2.47711659e-03 9.99104838e-01 -2.04015611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.385898227 meters 0.059941008119648025 Centerline is valid? [True, True] Translation: X:125.72, Y:0.83, Z:-2.04 [[ 9.99027924e-01 -1.02564403e-02 4.28720365e-02 1.25722912e+02] [ 1.01454515e-02 9.99944598e-01 2.80562188e-03 8.27218860e-01] [-4.28984369e-02 -2.36793843e-03 9.99076632e-01 -2.04051891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.415898227 meters 0.059941008119648025 Centerline is valid? [True, True] Translation: X:125.76, Y:0.83, Z:-2.04 [[ 9.99029794e-01 -1.00728071e-02 4.28720173e-02 1.25755374e+02] [ 9.96163728e-03 9.99946445e-01 2.80591438e-03 8.29170026e-01] [-4.28979848e-02 -2.37611658e-03 9.99076632e-01 -2.04196801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44589822700001 meters 0.05551552235981236 Centerline is valid? [True, True] Translation: X:125.79, Y:0.82, Z:-2.04 [[ 9.98950974e-01 -1.36519800e-02 4.37101180e-02 1.25786768e+02] [ 1.35401983e-02 9.99904259e-01 2.85239855e-03 8.22583311e-01] [-4.37448740e-02 -2.25756264e-03 9.99040184e-01 -2.04358814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47589822700002 meters 0.05573603770998534 Centerline is valid? [True, True] Translation: X:125.82, Y:0.83, Z:-2.04 [[ 9.98877594e-01 -1.72550077e-02 4.41114045e-02 1.25816154e+02] [ 1.71446671e-02 9.99848876e-01 2.87853499e-03 8.27899183e-01] [-4.41544073e-02 -2.11902877e-03 9.99022471e-01 -2.04246862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50589822700002 meters 0.04794584515194648 Centerline is valid? [True, True] Translation: X:125.85, Y:0.82, Z:-2.04 [[ 9.98774013e-01 -2.12570014e-02 4.47058365e-02 1.25847819e+02] [ 2.11476425e-02 9.99772106e-01 2.91776881e-03 8.19641958e-01] [-4.47576714e-02 -1.96876861e-03 9.98995933e-01 -2.04210728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.535898227 meters 0.04691695420831265 Centerline is valid? [True, True] Translation: X:125.88, Y:0.82, Z:-2.04 [[ 9.98662698e-01 -2.54131169e-02 4.50220857e-02 1.25877134e+02] [ 2.53064201e-02 9.99675423e-01 2.93834966e-03 8.19189383e-01] [-4.50821452e-02 -1.79507238e-03 9.98981670e-01 -2.04231405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.565898227 meters 0.04108205665117113 Centerline is valid? [True, True] Translation: X:125.91, Y:0.81, Z:-2.04 [[ 9.98390386e-01 -3.25555767e-02 4.64410468e-02 1.25907867e+02] [ 3.24497334e-02 9.99468772e-01 3.03137902e-03 8.11938107e-01] [-4.65150643e-02 -1.51950009e-03 9.98916433e-01 -2.04084027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.595898227 meters 0.03416351868629167 Centerline is valid? [True, True] Translation: X:125.94, Y:0.80, Z:-2.04 [[ 9.98295206e-01 -3.49652422e-02 4.67344977e-02 1.25939972e+02] [ 3.48606924e-02 9.99387526e-01 3.05052675e-03 8.03883119e-01] [-4.68125364e-02 -1.41612928e-03 9.98902688e-01 -2.04195713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.625898227 meters 0.03413142325610619 Centerline is valid? [True, True] Translation: X:125.97, Y:0.80, Z:-2.04 [[ 9.98244913e-01 -3.63191146e-02 4.67762310e-02 1.25970844e+02] [ 3.62159146e-02 9.99339328e-01 3.05212806e-03 8.04808209e-01] [-4.68561779e-02 -1.35272732e-03 9.98900730e-01 -2.04312802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.655898227 meters 0.031420476143940446 Centerline is valid? [True, True] Translation: X:126.00, Y:0.80, Z:-2.04 [[ 9.98227668e-01 -3.69400090e-02 4.66578781e-02 1.26002841e+02] [ 3.68380857e-02 9.99316615e-01 3.04275194e-03 8.02541859e-01] [-4.67383921e-02 -1.31857226e-03 9.98906294e-01 -2.04484290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.685898227 meters 0.0342632451514706 Centerline is valid? [True, True] Translation: X:126.03, Y:0.81, Z:-2.05 [[ 9.98254497e-01 -3.63296764e-02 4.65630064e-02 1.26033755e+02] [ 3.62276058e-02 9.99338958e-01 3.03439620e-03 8.07732649e-01] [-4.66424649e-02 -1.34223341e-03 9.98910746e-01 -2.04656626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.715898227 meters 0.03329598093388294 Centerline is valid? [True, True] Translation: X:126.07, Y:0.81, Z:-2.05 [[ 9.98342527e-01 -3.50792572e-02 4.56250435e-02 1.26065598e+02] [ 3.49800295e-02 9.99383593e-01 2.97168122e-03 8.08068952e-01] [-4.57011643e-02 -1.37079037e-03 9.98954215e-01 -2.04979989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.745898227 meters 0.03271260787864035 Centerline is valid? [True, True] Translation: X:126.10, Y:0.81, Z:-2.05 [[ 9.98485747e-01 -3.33996410e-02 4.37112969e-02 1.26097501e+02] [ 3.33070487e-02 9.99441117e-01 2.84505531e-03 8.09557514e-01] [-4.37818912e-02 -1.38485288e-03 9.99040153e-01 -2.05426951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.775898227 meters 0.03726668033094578 Centerline is valid? [True, True] Translation: X:126.13, Y:0.82, Z:-2.06 [[ 9.98638979e-01 -3.15299361e-02 4.15457834e-02 1.26127496e+02] [ 3.14447646e-02 9.99501839e-01 2.70211337e-03 8.18338064e-01] [-4.16102843e-02 -1.39203836e-03 9.99132947e-01 -2.05886352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.805898227 meters 0.042619925542316923 Centerline is valid? [True, True] Translation: X:126.16, Y:0.83, Z:-2.06 [[ 9.98864001e-01 -2.72825972e-02 3.90687592e-02 1.26156556e+02] [ 2.72040834e-02 9.99626674e-01 2.53993817e-03 8.30165958e-01] [-3.91234699e-02 -1.47422302e-03 9.99233296e-01 -2.06490391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.835898227 meters 0.045062430017581444 Centerline is valid? [True, True] Translation: X:126.19, Y:0.84, Z:-2.07 [[ 9.98912990e-01 -2.55141624e-02 3.90110976e-02 1.26186714e+02] [ 2.54345014e-02 9.99673271e-01 2.53703051e-03 8.37657327e-01] [-3.90630818e-02 -1.54204491e-03 9.99235557e-01 -2.06691477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.865898227 meters 0.04630753187509175 Centerline is valid? [True, True] Translation: X:126.22, Y:0.84, Z:-2.07 [[ 9.98909886e-01 -2.45402130e-02 3.97091539e-02 1.26217757e+02] [ 2.44570437e-02 9.99697555e-01 2.57895544e-03 8.44321440e-01] [-3.97604321e-02 -1.60497557e-03 9.99207952e-01 -2.06736854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.895898227 meters 0.04709883827204993 Centerline is valid? [True, True] Translation: X:126.25, Y:0.85, Z:-2.07 [[ 9.98894759e-01 -2.48720310e-02 3.98828527e-02 1.26249430e+02] [ 2.47884491e-02 9.99689367e-01 2.58890809e-03 8.49912736e-01] [-3.99348552e-02 -1.59741266e-03 9.99201009e-01 -2.06900823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.925898227 meters 0.04203110874030295 Centerline is valid? [True, True] Translation: X:126.28, Y:0.85, Z:-2.07 [[ 9.98852016e-01 -2.60700079e-02 4.01871205e-02 1.26281835e+02] [ 2.59861868e-02 9.99658903e-01 2.60681631e-03 8.51201720e-01] [-4.02413725e-02 -1.55951371e-03 9.99188771e-01 -2.06892093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.955898227 meters 0.04249147495525021 Centerline is valid? [True, True] Translation: X:126.31, Y:0.86, Z:-2.07 [[ 9.98767697e-01 -2.83402311e-02 4.07420898e-02 1.26311710e+02] [ 2.82560473e-02 9.99597230e-01 2.64073820e-03 8.57597358e-01] [-4.08005192e-02 -1.48627360e-03 9.99166207e-01 -2.06982363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.985898227 meters 0.04044396419765301 Centerline is valid? [True, True] Translation: X:126.34, Y:0.86, Z:-2.07 [[ 9.98665759e-01 -3.12950546e-02 4.10770174e-02 1.26341412e+02] [ 3.12119970e-02 9.99509242e-01 2.66191735e-03 8.60085887e-01] [-4.11401634e-02 -1.37626996e-03 9.99152437e-01 -2.07031423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.015898227 meters 0.036891429504086116 Centerline is valid? [True, True] Translation: X:126.37, Y:0.86, Z:-2.07 [[ 9.98543624e-01 -3.50879594e-02 4.09812913e-02 1.26371076e+02] [ 3.50084781e-02 9.99383487e-01 2.65571400e-03 8.60179491e-01] [-4.10492094e-02 -1.21715364e-03 9.99156385e-01 -2.07113599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.045898227 meters 0.024236001121759453 Centerline is valid? [True, True] Translation: X:126.40, Y:0.85, Z:-2.07 [[ 9.98204707e-01 -4.45915857e-02 3.99869255e-02 1.26402466e+02] [ 4.45235296e-02 9.99004975e-01 2.59132624e-03 8.51118258e-01] [-4.00626889e-02 -8.06314983e-04 9.99196843e-01 -2.07336711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.075898227 meters 0.018912022466339138 Centerline is valid? [True, True] Translation: X:126.43, Y:0.85, Z:-2.07 [[ 9.97970586e-01 -4.96757088e-02 3.98375977e-02 1.26433883e+02] [ 4.96122228e-02 9.98765220e-01 2.58125939e-03 8.48553251e-01] [-3.99166329e-02 -5.99589176e-04 9.99202834e-01 -2.07441139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.105898227 meters 0.014979307374246126 Centerline is valid? [True, True] Translation: X:126.46, Y:0.85, Z:-2.07 [[ 9.97673885e-01 -5.47709819e-02 4.05827330e-02 1.26464217e+02] [ 5.47093521e-02 9.98498862e-01 2.62848895e-03 8.46975907e-01] [-4.06657777e-02 -4.02119753e-04 9.99172724e-01 -2.07403500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.135898227 meters 0.011618359534104714 Centerline is valid? [True, True] Translation: X:126.50, Y:0.84, Z:-2.07 [[ 9.97374614e-01 -5.92538500e-02 4.16276416e-02 1.26497129e+02] [ 5.91929196e-02 9.98242922e-01 2.69582806e-03 8.44244157e-01] [-4.17142368e-02 -2.24688821e-04 9.99129557e-01 -2.07250048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.165898227 meters 0.010431652292033494 Centerline is valid? [True, True] Translation: X:126.53, Y:0.84, Z:-2.07 [[ 9.97081186e-01 -6.32242510e-02 4.27995672e-02 1.26528660e+02] [ 6.31636395e-02 9.97999344e-01 2.76835679e-03 8.42923704e-01] [-4.28889673e-02 -5.69000371e-05 9.99079843e-01 -2.07197664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19589822700001 meters 0.010453000071758258 Centerline is valid? [True, True] Translation: X:126.56, Y:0.84, Z:-2.07 [[ 9.96814339e-01 -6.65064899e-02 4.40234118e-02 1.26559893e+02] [ 6.64456346e-02 9.97785989e-01 2.84581347e-03 8.41496239e-01] [-4.41152085e-02 8.84158636e-05 9.99026446e-01 -2.07164806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22589822700002 meters 0.011607273698769311 Centerline is valid? [True, True] Translation: X:126.59, Y:0.84, Z:-2.07 [[ 9.96588807e-01 -6.92517362e-02 4.48881638e-02 1.26590908e+02] [ 6.91913229e-02 9.97599193e-01 2.90005631e-03 8.40640244e-01] [-4.49812299e-02 2.15707774e-04 9.98987809e-01 -2.07242427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25589822700002 meters 0.014045384952090113 Centerline is valid? [True, True] Translation: X:126.62, Y:0.84, Z:-2.07 [[ 9.96265661e-01 -7.30357688e-02 4.60489903e-02 1.26622499e+02] [ 7.29762793e-02 9.97329243e-01 2.97393943e-03 8.37484526e-01] [-4.61432086e-02 3.97650248e-04 9.98934756e-01 -2.07183480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.285898227 meters 0.015936339320820177 Centerline is valid? [True, True] Translation: X:126.65, Y:0.84, Z:-2.07 [[ 9.96117188e-01 -7.47110166e-02 4.65705081e-02 1.26652463e+02] [ 7.46520508e-02 9.97205110e-01 3.00654985e-03 8.35456353e-01] [-4.66649711e-02 4.81707956e-04 9.98910481e-01 -2.07196273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.315898227 meters 0.01598790148430576 Centerline is valid? [True, True] Translation: X:126.68, Y:0.84, Z:-2.07 [[ 9.96015781e-01 -7.59729417e-02 4.66977052e-02 1.26683298e+02] [ 7.59150381e-02 9.97109732e-01 3.01478547e-03 8.37033340e-01] [-4.67917784e-02 5.42284166e-04 9.98904518e-01 -2.07300383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.345898227 meters 0.017598941070904366 Centerline is valid? [True, True] Translation: X:126.71, Y:0.84, Z:-2.07 [[ 9.95927935e-01 -7.68543259e-02 4.71270699e-02 1.26712953e+02] [ 7.67963368e-02 9.97042158e-01 3.04253804e-03 8.36361482e-01] [-4.72215077e-02 5.89037702e-04 9.98884269e-01 -2.07359349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.375898227 meters 0.016951031577319108 Centerline is valid? [True, True] Translation: X:126.74, Y:0.84, Z:-2.08 [[ 9.95893300e-01 -7.72762675e-02 4.71689872e-02 1.26743224e+02] [ 7.72186223e-02 9.97009532e-01 3.04578618e-03 8.39202291e-01] [-4.72632969e-02 6.09046156e-04 9.98882280e-01 -2.07593554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.405898227 meters 0.017882837979715543 Centerline is valid? [True, True] Translation: X:126.77, Y:0.84, Z:-2.08 [[ 9.95942600e-01 -7.71065822e-02 4.63994798e-02 1.26773213e+02] [ 7.70506193e-02 9.97022681e-01 2.99609233e-03 8.38930708e-01] [-4.64923522e-02 5.91172671e-04 9.98918471e-01 -2.07812559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.435898227 meters 0.016724266054091382 Centerline is valid? [True, True] Translation: X:126.80, Y:0.84, Z:-2.08 [[ 9.96165560e-01 -7.56861393e-02 4.38837817e-02 1.26801981e+02] [ 7.56347103e-02 9.97131567e-01 2.83351225e-03 8.40962608e-01] [-4.39723616e-02 4.96489799e-04 9.99032625e-01 -2.08405785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.465898227 meters 0.015194341649945256 Centerline is valid? [True, True] Translation: X:126.83, Y:0.85, Z:-2.09 [[ 9.96334551e-01 -7.41632245e-02 4.26295569e-02 1.26831050e+02] [ 7.41132245e-02 9.97246030e-01 2.75430949e-03 8.45220089e-01] [-4.27164248e-02 4.15200207e-04 9.99087151e-01 -2.08689618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.495898227 meters 0.013296762935106553 Centerline is valid? [True, True] Translation: X:126.86, Y:0.85, Z:-2.09 [[ 9.96491951e-01 -7.23743535e-02 4.20207705e-02 1.26860562e+02] [ 7.23241411e-02 9.97377482e-01 2.71594291e-03 8.50907070e-01] [-4.21071349e-02 3.32700887e-04 9.99113046e-01 -2.08860392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.525898227 meters 0.012042399647468659 Centerline is valid? [True, True] Translation: X:126.89, Y:0.86, Z:-2.09 [[ 9.96662789e-01 -7.02202006e-02 4.16222164e-02 1.26889404e+02] [ 7.01690157e-02 9.97531487e-01 2.69121223e-03 8.55976250e-01] [-4.17084489e-02 2.38358874e-04 9.99129796e-01 -2.09010240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.555898227 meters 0.010927934583107276 Centerline is valid? [True, True] Translation: X:126.92, Y:0.86, Z:-2.09 [[ 9.96788972e-01 -6.81887384e-02 4.19766763e-02 1.26919513e+02] [ 6.81348543e-02 9.97672427e-01 2.71466771e-03 8.61334815e-01] [-4.20640823e-02 1.54123895e-04 9.99114903e-01 -2.09109138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.585898227 meters 0.010441906778497973 Centerline is valid? [True, True] Translation: X:126.95, Y:0.87, Z:-2.09 [[ 9.96903461e-01 -6.64555667e-02 4.20374372e-02 1.26949925e+02] [ 6.63999849e-02 9.97789382e-01 2.71862552e-03 8.65884735e-01] [-4.21251763e-02 8.10780019e-05 9.99112338e-01 -2.09289251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.615898227 meters 0.010282240256401185 Centerline is valid? [True, True] Translation: X:126.98, Y:0.87, Z:-2.10 [[ 9.97028140e-01 -6.52037820e-02 4.10286986e-02 1.26981349e+02] [ 6.51497934e-02 9.97871969e-01 2.65299571e-03 8.70331986e-01] [-4.11143736e-02 2.78998539e-05 9.99154446e-01 -2.09590889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.645898227 meters 0.010352549760834747 Centerline is valid? [True, True] Translation: X:127.01, Y:0.87, Z:-2.10 [[ 9.97138971e-01 -6.43832443e-02 3.96064489e-02 1.27011088e+02] [ 6.43323472e-02 9.97925247e-01 2.55954368e-03 8.73711932e-01] [-3.96890670e-02 -4.24492936e-06 9.99212079e-01 -2.10030254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.675898227 meters 0.010554863763479798 Centerline is valid? [True, True] Translation: X:127.04, Y:0.88, Z:-2.10 [[ 9.97216972e-01 -6.41430663e-02 3.79997000e-02 1.27041941e+02] [ 6.40960559e-02 9.97940713e-01 2.45534785e-03 8.75908307e-01] [-3.80789412e-02 -1.28836571e-05 9.99274734e-01 -2.10467021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.705898227 meters 0.011030379471411628 Centerline is valid? [True, True] Translation: X:127.07, Y:0.87, Z:-2.11 [[ 9.97245142e-01 -6.48979758e-02 3.59218394e-02 1.27072663e+02] [ 6.48564893e-02 9.97891904e-01 2.32019702e-03 8.74290854e-01] [-3.59966888e-02 1.59591798e-05 9.99351909e-01 -2.10904939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.735898227 meters 0.010721521088433892 Centerline is valid? [True, True] Translation: X:127.10, Y:0.87, Z:-2.11 [[ 9.97175019e-01 -6.56049533e-02 3.65782917e-02 1.27103447e+02] [ 6.55624310e-02 9.97845674e-01 2.36206660e-03 8.73444257e-01] [-3.66544534e-02 4.27679185e-05 9.99327999e-01 -2.10755504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.765898227 meters 0.011051938462903279 Centerline is valid? [True, True] Translation: X:127.13, Y:0.87, Z:-2.11 [[ 9.97081826e-01 -6.63478481e-02 3.77596918e-02 1.27134028e+02] [ 6.63030556e-02 9.97796551e-01 2.43863690e-03 8.72889237e-01] [-3.78382886e-02 7.20624142e-05 9.99283873e-01 -2.10839270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.795898227 meters 0.010831090267439775 Centerline is valid? [True, True] Translation: X:127.16, Y:0.87, Z:-2.11 [[ 9.97038932e-01 -6.64385169e-02 3.87206886e-02 1.27164681e+02] [ 6.63915575e-02 9.97790518e-01 2.49878236e-03 8.73850907e-01] [-3.88011513e-02 7.93435350e-05 9.99246949e-01 -2.10778834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.825898227 meters 0.010438027370404281 Centerline is valid? [True, True] Translation: X:127.20, Y:0.88, Z:-2.11 [[ 9.97082372e-01 -6.56315866e-02 3.89774072e-02 1.27196340e+02] [ 6.55833807e-02 9.97843922e-01 2.51548202e-03 8.76696890e-01] [-3.90584640e-02 4.81273622e-05 9.99236926e-01 -2.10772313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.855898227 meters 0.010348498653923567 Centerline is valid? [True, True] Translation: X:127.23, Y:0.88, Z:-2.11 [[ 9.97163289e-01 -6.39118665e-02 3.97573632e-02 1.27226429e+02] [ 6.38603812e-02 9.97955547e-01 2.56490608e-03 8.80457189e-01] [-3.98400091e-02 -1.87098144e-05 9.99206072e-01 -2.10863395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.885898227 meters 0.012309069024250698 Centerline is valid? [True, True] Translation: X:127.26, Y:0.89, Z:-2.11 [[ 9.97442292e-01 -5.79636571e-02 4.18221135e-02 1.27257061e+02] [ 5.79015329e-02 9.98318658e-01 2.69624634e-03 8.90666601e-01] [-4.19080805e-02 -2.67785651e-04 9.99121435e-01 -2.10672739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.915898227 meters 0.01550142427584664 Centerline is valid? [True, True] Translation: X:127.29, Y:0.90, Z:-2.11 [[ 9.97696285e-01 -5.31352516e-02 4.21754373e-02 1.27288309e+02] [ 5.30678011e-02 9.98587212e-01 2.71804687e-03 8.99210483e-01] [-4.22602765e-02 -4.73627553e-04 9.99106523e-01 -2.10665759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94589822700001 meters 0.02057394654990932 Centerline is valid? [True, True] Translation: X:127.32, Y:0.91, Z:-2.11 [[ 9.97939187e-01 -4.77525077e-02 4.28611266e-02 1.27318413e+02] [ 4.76779509e-02 9.98858945e-01 2.76063405e-03 9.09893987e-01] [-4.29440469e-02 -7.11414209e-04 9.99077226e-01 -2.10667954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97589822700002 meters 0.026331980475285264 Centerline is valid? [True, True] Translation: X:127.35, Y:0.92, Z:-2.11 [[ 9.98158746e-01 -4.23917964e-02 4.33826398e-02 1.27348339e+02] [ 4.23103993e-02 9.99100610e-01 2.79315610e-03 9.20330549e-01] [-4.34620288e-02 -9.52476380e-04 9.99054626e-01 -2.10671619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00589822700002 meters 0.03067650632371169 Centerline is valid? [True, True] Translation: X:127.38, Y:0.93, Z:-2.11 [[ 9.98325061e-01 -3.80113212e-02 4.36143573e-02 1.27378946e+02] [ 3.79248975e-02 9.99276648e-01 2.80756122e-03 9.28630385e-01] [-4.36895279e-02 -1.14878869e-03 9.99044496e-01 -2.10745868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.035898227 meters 0.03281486728757919 Centerline is valid? [True, True] Translation: X:127.41, Y:0.94, Z:-2.11 [[ 9.98525696e-01 -3.22126168e-02 4.36896028e-02 1.27408753e+02] [ 3.21203729e-02 9.99480052e-01 2.81188706e-03 9.36006929e-01] [-4.37574648e-02 -1.40441515e-03 9.99041196e-01 -2.10880700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.065898227 meters 0.03661323189815498 Centerline is valid? [True, True] Translation: X:127.44, Y:0.95, Z:-2.11 [[ 9.98585937e-01 -3.02449270e-02 4.37192269e-02 1.27438899e+02] [ 3.01506782e-02 9.99541405e-01 2.81371641e-03 9.45075087e-01] [-4.37842782e-02 -1.49157330e-03 9.99039895e-01 -2.11067970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.095898227 meters 0.040395965050624934 Centerline is valid? [True, True] Translation: X:127.47, Y:0.95, Z:-2.11 [[ 9.98609105e-01 -2.90763953e-02 4.39820215e-02 1.27469503e+02] [ 2.89800446e-02 9.99575993e-01 2.82684277e-03 9.53997940e-01] [-4.40455672e-02 -1.54830998e-03 9.99028323e-01 -2.11223049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.125898227 meters 0.0380743169899675 Centerline is valid? [True, True] Translation: X:127.50, Y:0.95, Z:-2.11 [[ 9.98595327e-01 -2.86128044e-02 4.45946244e-02 1.27501754e+02] [ 2.85134612e-02 9.99589310e-01 2.86232401e-03 9.54407539e-01] [-4.46582090e-02 -1.58675629e-03 9.99001064e-01 -2.11269050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.155898227 meters 0.037555497217666614 Centerline is valid? [True, True] Translation: X:127.53, Y:0.96, Z:-2.11 [[ 9.98539730e-01 -2.87119324e-02 4.57606063e-02 1.27533756e+02] [ 2.86075287e-02 9.99586412e-01 2.93491662e-03 9.56458698e-01] [-4.58259474e-02 -1.62153300e-03 9.98948123e-01 -2.11269762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.185898227 meters 0.03644568674046602 Centerline is valid? [True, True] Translation: X:127.57, Y:0.96, Z:-2.11 [[ 9.98470326e-01 -2.93526629e-02 4.68554101e-02 1.27566085e+02] [ 2.92440113e-02 9.99567792e-01 3.00283247e-03 9.57120918e-01] [-4.69233000e-02 -1.62799898e-03 9.98897169e-01 -2.11239454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.215898227 meters 0.04071713381150627 Centerline is valid? [True, True] Translation: X:127.60, Y:0.96, Z:-2.12 [[ 9.98428412e-01 -3.02810473e-02 4.71568017e-02 1.27598000e+02] [ 3.01721342e-02 9.99540156e-01 3.01985674e-03 9.57095182e-01] [-4.72265614e-02 -1.59228942e-03 9.98882934e-01 -2.11643227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.245898227 meters 0.03885167912001713 Centerline is valid? [True, True] Translation: X:127.63, Y:0.96, Z:-2.12 [[ 9.98469812e-01 -3.10905020e-02 4.57319987e-02 1.27628558e+02] [ 3.09890298e-02 9.99515441e-01 2.92631260e-03 9.63763223e-01] [-4.58008193e-02 -1.50464452e-03 9.98949459e-01 -2.11701112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.275898227 meters 0.03455481571834114 Centerline is valid? [True, True] Translation: X:127.66, Y:0.96, Z:-2.13 [[ 9.98570048e-01 -3.29585743e-02 4.20902772e-02 1.27660346e+02] [ 3.28745546e-02 9.99455874e-01 2.68696557e-03 9.58850679e-01] [-4.21559334e-02 -1.29942422e-03 9.99110199e-01 -2.12519391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.305898227 meters 0.03455481571834114 Centerline is valid? [True, True] Translation: X:127.69, Y:0.96, Z:-2.13 [[ 9.98572357e-01 -3.28883745e-02 4.20904022e-02 1.27692773e+02] [ 3.28043750e-02 9.99458185e-01 2.68500623e-03 9.60790246e-01] [-4.21559025e-02 -1.30042366e-03 9.99110199e-01 -2.12664159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.335898227 meters 0.03626119991091868 Centerline is valid? [True, True] Translation: X:127.72, Y:0.96, Z:-2.13 [[ 9.98572873e-01 -3.42137743e-02 4.10077459e-02 1.27724191e+02] [ 3.41352786e-02 9.99413806e-01 2.61304726e-03 9.64211217e-01] [-4.10731096e-02 -1.20950727e-03 9.99155412e-01 -2.13050319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.365898227 meters 0.03200735095399959 Centerline is valid? [True, True] Translation: X:127.76, Y:0.96, Z:-2.13 [[ 9.98558379e-01 -3.54807685e-02 4.02775172e-02 1.27757250e+02] [ 3.54061470e-02 9.99369715e-01 2.56472262e-03 9.59169654e-01] [-4.03431292e-02 -1.13495357e-03 9.99185240e-01 -2.13298863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.395898227 meters 0.031011103287995917 Centerline is valid? [True, True] Translation: X:127.79, Y:0.96, Z:-2.14 [[ 9.98563724e-01 -3.66397165e-02 3.90899012e-02 1.27789078e+02] [ 3.65704098e-02 9.99327985e-01 2.48681867e-03 9.57917049e-01] [-3.91547485e-02 -1.05371321e-03 9.99232603e-01 -2.13643452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.425898227 meters 0.02823802055293522 Centerline is valid? [True, True] Translation: X:127.82, Y:0.95, Z:-2.14 [[ 9.98588370e-01 -3.70190674e-02 3.80901055e-02 1.27821975e+02] [ 3.69536040e-02 9.99314048e-01 2.42149316e-03 9.53456195e-01] [-3.81536189e-02 -1.01050823e-03 9.99271375e-01 -2.13900132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.455898227 meters 0.03165920132189833 Centerline is valid? [True, True] Translation: X:127.85, Y:0.96, Z:-2.14 [[ 9.98647119e-01 -3.61949496e-02 3.73343960e-02 1.27852472e+02] [ 3.61315416e-02 9.99344228e-01 2.37191767e-03 9.56934733e-01] [-3.73957646e-02 -1.01975947e-03 9.99300013e-01 -2.14150457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.485898227 meters 0.03565412703622016 Centerline is valid? [True, True] Translation: X:127.88, Y:0.96, Z:-2.14 [[ 9.98780941e-01 -3.22387970e-02 3.73803733e-02 1.27883454e+02] [ 3.21726046e-02 9.99479515e-01 2.37110711e-03 9.60521672e-01] [-3.74373591e-02 -1.16559261e-03 9.99298297e-01 -2.14164684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.515898227 meters 0.03565412703622016 Centerline is valid? [True, True] Translation: X:127.92, Y:0.96, Z:-2.14 [[ 9.98783189e-01 -3.21690550e-02 3.73803750e-02 1.27915882e+02] [ 3.21028149e-02 9.99481759e-01 2.37108113e-03 9.62447432e-01] [-3.74372784e-02 -1.16818071e-03 9.99298297e-01 -2.14309444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.545898227 meters 0.035737759764958944 Centerline is valid? [True, True] Translation: X:127.95, Y:0.96, Z:-2.14 [[ 9.98854582e-01 -2.91260125e-02 3.79631228e-02 1.27947229e+02] [ 2.90556093e-02 9.99574903e-01 2.40503594e-03 9.62880652e-01] [-3.80170339e-02 -1.29923951e-03 9.99276247e-01 -2.14240227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.575898227 meters 0.04402168103554243 Centerline is valid? [True, True] Translation: X:127.98, Y:0.97, Z:-2.14 [[ 9.98949660e-01 -2.27329677e-02 3.97842887e-02 1.27976239e+02] [ 2.26506281e-02 9.99740268e-01 2.51923684e-03 9.71282958e-01] [-3.98312251e-02 -1.61545166e-03 9.99205116e-01 -2.14158822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.605898227 meters 0.042827804567647475 Centerline is valid? [True, True] Translation: X:128.01, Y:0.97, Z:-2.14 [[ 9.98994839e-01 -1.99956181e-02 4.01184027e-02 1.28007149e+02] [ 1.99096629e-02 9.99798554e-01 2.54096702e-03 9.68991624e-01] [-4.01611292e-02 -1.73966907e-03 9.99191702e-01 -2.14153880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.635898227 meters 0.049341455353026406 Centerline is valid? [True, True] Translation: X:128.04, Y:0.98, Z:-2.14 [[ 9.99008658e-01 -1.79538473e-02 4.07352553e-02 1.28037188e+02] [ 1.78635883e-02 9.99837108e-01 2.57868399e-03 9.76348955e-01] [-4.07749171e-02 -1.84844980e-03 9.99166647e-01 -2.14257953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.665898227 meters 0.05087414082359282 Centerline is valid? [True, True] Translation: X:128.07, Y:0.98, Z:-2.14 [[ 9.99031010e-01 -1.66182353e-02 4.07538284e-02 1.28068986e+02] [ 1.65268022e-02 9.99860096e-01 2.57944861e-03 9.76858837e-01] [-4.07909926e-02 -1.90341869e-03 9.99165888e-01 -2.14353255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69589822700001 meters 0.047105753438670864 Centerline is valid? [True, True] Translation: X:128.10, Y:0.97, Z:-2.14 [[ 9.99018500e-01 -1.58979327e-02 4.13435931e-02 1.28101666e+02] [ 1.58032758e-02 9.99871700e-01 2.61535381e-03 9.70774823e-01] [-4.13798674e-02 -1.95942264e-03 9.99141565e-01 -2.14407805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72589822700002 meters 0.058215064628479425 Centerline is valid? [True, True] Translation: X:128.13, Y:0.98, Z:-2.14 [[ 9.98989487e-01 -1.34560108e-02 4.28828711e-02 1.28131264e+02] [ 1.33520171e-02 9.99907184e-01 2.71057278e-03 9.79725022e-01] [-4.29153644e-02 -2.13526088e-03 9.99076430e-01 -2.14335287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75589822700002 meters 0.05440497343630711 Centerline is valid? [True, True] Translation: X:128.16, Y:0.97, Z:-2.14 [[ 9.99015044e-01 -1.13667294e-02 4.28921787e-02 1.28163168e+02] [ 1.12608740e-02 9.99932925e-01 2.70875470e-03 9.73028031e-01] [-4.29200914e-02 -2.22308327e-03 9.99076035e-01 -2.14470119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.785898227 meters 0.059091308475546264 Centerline is valid? [True, True] Translation: X:128.19, Y:0.98, Z:-2.15 [[ 9.99073433e-01 -8.69903436e-03 4.21497589e-02 1.28193301e+02] [ 8.59449054e-03 9.99959526e-01 2.66087204e-03 9.77829091e-01] [-4.21712000e-02 -2.29615086e-03 9.99107761e-01 -2.14718024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.815898227 meters 0.06569680225142573 Centerline is valid? [True, True] Translation: X:128.22, Y:0.99, Z:-2.15 [[ 9.99102452e-01 -5.73264710e-03 4.19693604e-02 1.28222745e+02] [ 5.62641159e-03 9.99980663e-01 2.64894761e-03 9.85426237e-01] [-4.19837343e-02 -2.41043316e-03 9.99115387e-01 -2.14958071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.845898227 meters 0.06276417909984776 Centerline is valid? [True, True] Translation: X:128.25, Y:0.98, Z:-2.15 [[ 9.99083928e-01 -2.26760638e-03 4.27336206e-02 1.28254074e+02] [ 2.15428798e-03 9.99994041e-01 2.69760370e-03 9.80396666e-01] [-4.27394831e-02 -2.60307197e-03 9.99082860e-01 -2.14963341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.875898227 meters 0.06609736133507395 Centerline is valid? [True, True] Translation: X:128.28, Y:0.98, Z:-2.15 [[ 9.99039647e-01 7.71520777e-04 4.38085343e-02 1.28284456e+02] [-8.93524200e-04 9.99995777e-01 2.76541057e-03 9.83880597e-01] [-4.38062157e-02 -2.80189878e-03 9.99036118e-01 -2.14898178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.905898227 meters 0.07158615285876886 Centerline is valid? [True, True] Translation: X:128.31, Y:0.99, Z:-2.15 [[ 9.98958047e-01 5.20234007e-03 4.53404457e-02 1.28313555e+02] [-5.33757189e-03 9.99981659e-01 2.86203041e-03 9.89033624e-01] [-4.53247249e-02 -3.10105620e-03 9.98967493e-01 -2.14869093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.935898227 meters 0.06544592839662527 Centerline is valid? [True, True] Translation: X:128.35, Y:0.98, Z:-2.15 [[ 9.98970508e-01 6.70138842e-03 4.48666320e-02 1.28345243e+02] [-6.83532837e-03 9.99972627e-01 2.83253885e-03 9.82065065e-01] [-4.48464220e-02 -3.13630094e-03 9.98988970e-01 -2.15181607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.965898227 meters 0.07714258038669691 Centerline is valid? [True, True] Translation: X:128.38, Y:1.00, Z:-2.16 [[ 9.98991227e-01 7.75661115e-03 4.42308012e-02 1.28375083e+02] [-7.88776130e-03 9.99964995e-01 2.79137390e-03 9.98393255e-01] [-4.42076013e-02 -3.13744004e-03 9.99017440e-01 -2.15531528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.995898227 meters 0.0759871484730359 Centerline is valid? [True, True] Translation: X:128.41, Y:1.00, Z:-2.16 [[ 9.99030592e-01 8.50731563e-03 4.31914448e-02 1.28407386e+02] [-8.63278453e-03 9.99959039e-01 2.71925782e-03 9.97743715e-01] [-4.31665421e-02 -3.08948419e-03 9.99063113e-01 -2.15863283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.025898227 meters 0.07230070930361886 Centerline is valid? [True, True] Translation: X:128.44, Y:0.99, Z:-2.16 [[ 9.99089565e-01 9.27502788e-03 4.16415036e-02 1.28439949e+02] [-9.39204552e-03 9.99952474e-01 2.61536188e-03 9.93586865e-01] [-4.16152670e-02 -3.00407966e-03 9.99129193e-01 -2.16163523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.055898227 meters 0.07309531544748732 Centerline is valid? [True, True] Translation: X:128.47, Y:1.00, Z:-2.16 [[ 9.99101415e-01 1.02138318e-02 4.11344280e-02 1.28471941e+02] [-1.03285184e-02 9.99943340e-01 2.57653476e-03 9.95382383e-01] [-4.11057811e-02 -2.99907722e-03 9.99150299e-01 -2.16393698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.085898227 meters 0.07561495144048716 Centerline is valid? [True, True] Translation: X:128.50, Y:1.00, Z:-2.17 [[ 9.99103175e-01 1.20299434e-02 4.05971239e-02 1.28502627e+02] [-1.21430625e-02 9.99923042e-01 2.54093473e-03 9.99903246e-01] [-4.05634324e-02 -3.03162937e-03 9.99172366e-01 -2.16565739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.115898227 meters 0.07840475569188163 Centerline is valid? [True, True] Translation: X:128.53, Y:1.01, Z:-2.17 [[ 9.99107530e-01 1.34009337e-02 4.00569414e-02 1.28532105e+02] [-1.35121223e-02 9.99905566e-01 2.50630705e-03 1.00532994e+00] [-4.00195718e-02 -3.04532454e-03 9.99194255e-01 -2.16764361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.145898227 meters 0.08002762509402629 Centerline is valid? [True, True] Translation: X:128.56, Y:1.01, Z:-2.17 [[ 9.99108639e-01 1.46265035e-02 3.95978803e-02 1.28562960e+02] [-1.47360215e-02 9.99888355e-01 2.47528270e-03 1.00988213e+00] [-3.95572547e-02 -3.05659155e-03 9.99212630e-01 -2.17000835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.175898227 meters 0.086742333229437 Centerline is valid? [True, True] Translation: X:128.59, Y:1.02, Z:-2.17 [[ 9.99095092e-01 1.57751240e-02 3.94986418e-02 1.28592858e+02] [-1.58849675e-02 9.99870778e-01 2.46863045e-03 1.02002032e+00] [-3.94545948e-02 -3.09383121e-03 9.99216575e-01 -2.17209362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.205898227 meters 0.07845746070080203 Centerline is valid? [True, True] Translation: X:128.63, Y:1.01, Z:-2.17 [[ 9.99079315e-01 1.62206610e-02 3.97166530e-02 1.28625965e+02] [-1.63320815e-02 9.99863541e-01 2.48251501e-03 1.01161742e+00] [-3.96709653e-02 -3.12888500e-03 9.99207899e-01 -2.17234104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.235898227 meters 0.07973070588086702 Centerline is valid? [True, True] Translation: X:128.66, Y:1.01, Z:-2.17 [[ 9.99028148e-01 1.63030190e-02 4.09508354e-02 1.28657186e+02] [-1.64212631e-02 9.99861903e-01 2.55273128e-03 1.01458894e+00] [-4.09035630e-02 -3.22271485e-03 9.99157902e-01 -2.17245121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.265898227 meters 0.07606476059438054 Centerline is valid? [True, True] Translation: X:128.69, Y:1.01, Z:-2.17 [[ 9.98972051e-01 1.53971706e-02 4.26352847e-02 1.28689545e+02] [-1.55242398e-02 9.99875978e-01 2.65087260e-03 1.01093433e+00] [-4.25891810e-02 -3.31002802e-03 9.99087186e-01 -2.17122444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.295898227 meters 0.07842298515769457 Centerline is valid? [True, True] Translation: X:128.72, Y:1.01, Z:-2.17 [[ 9.98940658e-01 1.41119460e-02 4.37997227e-02 1.28719872e+02] [-1.42447622e-02 9.99894834e-01 2.72171236e-03 1.01453649e+00] [-4.37567078e-02 -3.34274577e-03 9.99036624e-01 -2.17078110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.325898227 meters 0.07055417665724234 Centerline is valid? [True, True] Translation: X:128.75, Y:1.00, Z:-2.17 [[ 9.98942208e-01 1.20532310e-02 4.43755023e-02 1.28751297e+02] [-1.21874082e-02 9.99921937e-01 2.75436546e-03 1.00482059e+00] [-4.43388392e-02 -3.29227427e-03 9.99011125e-01 -2.17165956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.355898227 meters 0.07020003917991346 Centerline is valid? [True, True] Translation: X:128.78, Y:1.00, Z:-2.17 [[ 9.99027819e-01 6.49021613e-03 4.36038409e-02 1.28780533e+02] [-6.61447092e-03 9.99974463e-01 2.70595561e-03 1.00374407e+00] [-4.35851651e-02 -2.99174127e-03 9.99045236e-01 -2.17417603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.385898227 meters 0.06447013376474936 Centerline is valid? [True, True] Translation: X:128.81, Y:1.00, Z:-2.18 [[ 9.99061651e-01 3.89331787e-03 4.31353740e-02 1.28811459e+02] [-4.01250836e-03 9.99988367e-01 2.67693627e-03 9.97112649e-01] [-4.31244501e-02 -2.84750541e-03 9.99065650e-01 -2.17679161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.415898227 meters 0.06952195498587953 Centerline is valid? [True, True] Translation: X:128.84, Y:1.00, Z:-2.18 [[ 9.99063976e-01 1.95911965e-03 4.32126588e-02 1.28841001e+02] [-2.07690782e-03 9.99994249e-01 2.68105234e-03 1.00405814e+00] [-4.32071578e-02 -2.76829152e-03 9.99062299e-01 -2.17858211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44589822700001 meters 0.06795207538876394 Centerline is valid? [True, True] Translation: X:128.87, Y:1.00, Z:-2.18 [[ 9.99043394e-01 9.80160672e-04 4.37188416e-02 1.28872350e+02] [-1.09979475e-03 9.99995716e-01 2.71247369e-03 1.00246458e+00] [-4.37159957e-02 -2.75796067e-03 9.99040192e-01 -2.17932069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47589822700002 meters 0.06780874186819282 Centerline is valid? [True, True] Translation: X:128.90, Y:1.00, Z:-2.18 [[ 9.99002321e-01 9.26013748e-04 4.46486865e-02 1.28904729e+02] [-1.05069465e-03 9.99995614e-01 2.76910062e-03 1.00275468e+00] [-4.46459264e-02 -2.81325008e-03 9.98998912e-01 -2.17875481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50589822700002 meters 0.06186953554359601 Centerline is valid? [True, True] Translation: X:128.94, Y:1.00, Z:-2.18 [[ 9.98898796e-01 2.29621456e-03 4.68606640e-02 1.28936121e+02] [-2.43471973e-03 9.99992834e-01 2.89881716e-03 9.96428679e-01] [-4.68536719e-02 -3.00971755e-03 9.98897229e-01 -2.17672690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.535898227 meters 0.07247368169525059 Centerline is valid? [True, True] Translation: X:128.97, Y:1.01, Z:-2.18 [[ 9.98896198e-01 3.67636341e-03 4.68280795e-02 1.28965473e+02] [-3.81611255e-03 9.99988527e-01 2.89525178e-03 1.01273979e+00] [-4.68168982e-02 -3.07075722e-03 9.98898768e-01 -2.17722001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.565898227 meters 0.06804719932232081 Centerline is valid? [True, True] Translation: X:129.00, Y:1.01, Z:-2.18 [[ 9.98933058e-01 4.94450367e-03 4.59162062e-02 1.28997494e+02] [-5.08016184e-03 9.99983068e-01 2.83824969e-03 1.00961078e+00] [-4.59013950e-02 -3.06848320e-03 9.98941263e-01 -2.18047114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.595898227 meters 0.06578326171671339 Centerline is valid? [True, True] Translation: X:129.03, Y:1.01, Z:-2.19 [[ 9.98973574e-01 5.60555943e-03 4.49485965e-02 1.29029260e+02] [-5.73607260e-03 9.99979698e-01 2.77515496e-03 1.00641219e+00] [-4.49321277e-02 -3.03013488e-03 9.98985446e-01 -2.18605317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.625898227 meters 0.07150892193284714 Centerline is valid? [True, True] Translation: X:129.06, Y:1.02, Z:-2.19 [[ 9.99012158e-01 6.03034193e-03 4.40266126e-02 1.29060102e+02] [-6.15566518e-03 9.99977377e-01 2.71151552e-03 1.01945004e+00] [-4.40092653e-02 -2.97985006e-03 9.99026679e-01 -2.18747461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.655898227 meters 0.07485364386041418 Centerline is valid? [True, True] Translation: X:129.09, Y:1.03, Z:-2.19 [[ 9.99030660e-01 6.09396417e-03 4.35959210e-02 1.29090987e+02] [-6.21661258e-03 9.99977090e-01 2.67827842e-03 1.02592213e+00] [-4.35786009e-02 -2.94670121e-03 9.99045656e-01 -2.18996832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.685898227 meters 0.06970545428292411 Centerline is valid? [True, True] Translation: X:129.12, Y:1.02, Z:-2.19 [[ 9.99064758e-01 5.05133797e-03 4.29429146e-02 1.29123117e+02] [-5.16910485e-03 9.99983177e-01 2.63180764e-03 1.02162815e+00] [-4.29288980e-02 -2.85132269e-03 9.99074061e-01 -2.19210660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.715898227 meters 0.07044715384788679 Centerline is valid? [True, True] Translation: X:129.15, Y:1.03, Z:-2.19 [[ 9.99087408e-01 4.93077805e-03 4.24268546e-02 1.29154011e+02] [-5.04556443e-03 9.99983894e-01 2.59885516e-03 1.02506919e+00] [-4.24133569e-02 -2.81055089e-03 9.99096196e-01 -2.19424136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.745898227 meters 0.07360882316793915 Centerline is valid? [True, True] Translation: X:129.18, Y:1.03, Z:-2.20 [[ 9.99106498e-01 5.42570102e-03 4.19138143e-02 1.29184604e+02] [-5.53800617e-03 9.99981379e-01 2.56378406e-03 1.03204700e+00] [-4.18991234e-02 -2.79361228e-03 9.99117941e-01 -2.19663571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.775898227 meters 0.06696245866533278 Centerline is valid? [True, True] Translation: X:129.22, Y:1.03, Z:-2.20 [[ 9.99109987e-01 6.26328722e-03 4.17133645e-02 1.29216935e+02] [-6.37499412e-03 9.99976440e-01 2.54548234e-03 1.02678001e+00] [-4.16964387e-02 -2.80913928e-03 9.99126376e-01 -2.19823520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.805898227 meters 0.06877737969825697 Centerline is valid? [True, True] Translation: X:129.25, Y:1.03, Z:-2.20 [[ 9.99103024e-01 7.14353058e-03 4.17386832e-02 1.29247147e+02] [-7.25583482e-03 9.99970451e-01 2.53977854e-03 1.03268181e+00] [-4.17193068e-02 -2.84034941e-03 9.99125333e-01 -2.20058068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.835898227 meters 0.07341484584507348 Centerline is valid? [True, True] Translation: X:129.28, Y:1.04, Z:-2.20 [[ 9.99109274e-01 8.28787782e-03 4.13759484e-02 1.29277696e+02] [-8.39918922e-03 9.99961558e-01 2.51712981e-03 1.04203838e+00] [-4.13534961e-02 -2.86241216e-03 9.99140478e-01 -2.20330199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.865898227 meters 0.07194569681401847 Centerline is valid? [True, True] Translation: X:129.31, Y:1.04, Z:-2.21 [[ 9.99142486e-01 9.10461374e-03 4.03905807e-02 1.29309188e+02] [-9.21110774e-03 9.99954572e-01 2.45128817e-03 1.04381775e+00] [-4.03664278e-02 -2.82122814e-03 9.99180961e-01 -2.20704213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.895898227 meters 0.0771482859482177 Centerline is valid? [True, True] Translation: X:129.34, Y:1.05, Z:-2.21 [[ 9.99172198e-01 8.25458610e-03 3.98344138e-02 1.29339513e+02] [-8.35723634e-03 9.99962171e-01 2.41109022e-03 1.05250023e+00] [-3.98130043e-02 -2.74199993e-03 9.99203386e-01 -2.20948552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.925898227 meters 0.06901487999144487 Centerline is valid? [True, True] Translation: X:129.37, Y:1.04, Z:-2.21 [[ 9.99197264e-01 6.96513018e-03 3.94501481e-02 1.29371183e+02] [-7.06477262e-03 9.99972195e-01 2.38693552e-03 1.04362403e+00] [-3.94324259e-02 -2.66372577e-03 9.99218689e-01 -2.21083068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.955898227 meters 0.06994723445976238 Centerline is valid? [True, True] Translation: X:129.40, Y:1.05, Z:-2.21 [[ 9.99201237e-01 5.65404282e-03 3.95590557e-02 1.29402088e+02] [-5.75317759e-03 9.99980588e-01 2.39260250e-03 1.04593179e+00] [-3.95447599e-02 -2.61828165e-03 9.99214370e-01 -2.21197075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.985898227 meters 0.07104876467760643 Centerline is valid? [True, True] Translation: X:129.43, Y:1.05, Z:-2.21 [[ 9.99175673e-01 4.51967085e-03 4.03428634e-02 1.29433129e+02] [-4.62181729e-03 9.99986345e-01 2.43905002e-03 1.04674366e+00] [-4.03312889e-02 -2.62349679e-03 9.99182918e-01 -2.21442115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.015898227 meters 0.07020871038579243 Centerline is valid? [True, True] Translation: X:129.46, Y:1.05, Z:-2.21 [[ 9.99092819e-01 5.88912522e-03 4.21764938e-02 1.29464233e+02] [-6.00194739e-03 9.99978740e-01 2.54887293e-03 1.04864124e+00] [-4.21605865e-02 -2.79970174e-03 9.99106925e-01 -2.21094238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.045898227 meters 0.06503798677313725 Centerline is valid? [True, True] Translation: X:129.50, Y:1.04, Z:-2.21 [[ 9.99026964e-01 7.83149738e-03 4.34026844e-02 1.29495564e+02] [-7.95278311e-03 9.99964937e-01 2.62246415e-03 1.04378595e+00] [-4.33806248e-02 -2.96508454e-03 9.99054218e-01 -2.20965586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.075898227 meters 0.07421301546987616 Centerline is valid? [True, True] Translation: X:129.52, Y:1.06, Z:-2.21 [[ 9.98948152e-01 1.08642317e-02 4.45483891e-02 1.29524096e+02] [-1.09949867e-02 9.99935932e-01 2.69114082e-03 1.05615604e+00] [-4.45162978e-02 -3.17811909e-03 9.99003603e-01 -2.21122446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.105898227 meters 0.08227335271231759 Centerline is valid? [True, True] Translation: X:129.55, Y:1.07, Z:-2.21 [[ 9.98885926e-01 1.46737335e-02 4.48507343e-02 1.29553207e+02] [-1.48100743e-02 9.99886655e-01 2.70908500e-03 1.06997169e+00] [-4.48058983e-02 -3.37030959e-03 9.98990026e-01 -2.21021063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.135898227 meters 0.08685590793799496 Centerline is valid? [True, True] Translation: X:129.58, Y:1.08, Z:-2.21 [[ 9.98839243e-01 1.82543354e-02 4.45751611e-02 1.29583404e+02] [-1.83925635e-02 9.99827216e-01 2.69281969e-03 1.07535187e+00] [-4.45183036e-02 -3.50954546e-03 9.99002404e-01 -2.21419660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.165898227 meters 0.08588686220241115 Centerline is valid? [True, True] Translation: X:129.61, Y:1.08, Z:-2.22 [[ 9.98803906e-01 2.19021581e-02 4.37155803e-02 1.29613561e+02] [-2.20385650e-02 9.99753634e-01 2.64076644e-03 1.07683682e+00] [-4.36469718e-02 -3.60103649e-03 9.99040527e-01 -2.21582936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19589822700001 meters 0.09082831258064712 Centerline is valid? [True, True] Translation: X:129.64, Y:1.08, Z:-2.22 [[ 9.98782387e-01 2.50198073e-02 4.25176777e-02 1.29642724e+02] [-2.51516223e-02 9.99680349e-01 2.56805145e-03 1.08360270e+00] [-4.24398348e-02 -3.63431313e-03 9.99092414e-01 -2.21936880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22589822700002 meters 0.09082831258064712 Centerline is valid? [True, True] Translation: X:129.68, Y:1.09, Z:-2.22 [[ 9.98777920e-01 2.51973269e-02 4.25177851e-02 1.29675267e+02] [-2.53292263e-02 9.99675870e-01 2.56627195e-03 1.08540593e+00] [-4.24393406e-02 -3.64007836e-03 9.99092414e-01 -2.22082127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25589822700002 meters 0.09638832615997867 Centerline is valid? [True, True] Translation: X:129.70, Y:1.09, Z:-2.22 [[ 9.98710295e-01 2.77548423e-02 4.25136968e-02 1.29704415e+02] [-2.78886775e-02 9.99607762e-01 2.55808467e-03 1.09274750e+00] [-4.24260221e-02 -3.74043628e-03 9.99092609e-01 -2.22266330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.285898227 meters 0.10342662017545716 Centerline is valid? [True, False] Translation: X:129.70, Y:1.09, Z:-2.22 [[ 9.98711777e-01 2.76353921e-02 4.25566928e-02 1.29704274e+02] [-2.77546702e-02 9.99612312e-01 2.21440573e-03 1.09426522e+00] [-4.24789981e-02 -3.39270005e-03 9.99091600e-01 -2.22260289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.315898227 meters 0.10523910207990211 Centerline is valid? [False, False] Translation: X:129.70, Y:1.09, Z:-2.22 [[ 9.99129493e-01 2.23094760e-02 3.52497251e-02 1.29704979e+02] [-2.28286991e-02 9.99635727e-01 1.43966313e-02 1.09333130e+00] [-3.49157033e-02 -1.51888043e-02 9.99274834e-01 -2.21895246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.345898227 meters 0.1049644882651352 Centerline is valid? [False, False] Translation: X:129.69, Y:1.10, Z:-2.22 [[ 9.99186362e-01 2.33096648e-02 3.29131340e-02 1.29685975e+02] [-2.34692610e-02 9.99714561e-01 4.47098702e-03 1.09714907e+00] [-3.27995221e-02 -5.23979618e-03 9.99448216e-01 -2.21985810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.375898227 meters 0.09290009783864406 Centerline is valid? [False, True] Translation: X:129.67, Y:1.10, Z:-2.22 [[ 9.99436598e-01 1.88121985e-02 2.77954708e-02 1.29665840e+02] [-1.90940420e-02 9.99768583e-01 9.90950339e-03 1.09764856e+00] [-2.76026189e-02 -1.04346482e-02 9.99564512e-01 -2.21564752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.405898227 meters 0.1023691610040661 Centerline is valid? [True, False] Translation: X:129.67, Y:1.10, Z:-2.22 [[ 9.99509080e-01 1.42167940e-02 2.79192015e-02 1.29665725e+02] [-1.43425334e-02 9.99887858e-01 4.30859952e-03 1.10287825e+00] [-2.78548162e-02 -4.70691643e-03 9.99600897e-01 -2.21694793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.435898227 meters 0.11354272467631474 Centerline is valid? [False, False] Translation: X:129.65, Y:1.10, Z:-2.22 [[ 9.99547680e-01 1.82774271e-02 2.38824333e-02 1.29647351e+02] [-1.82407549e-02 9.99832088e-01 -1.75249342e-03 1.10466522e+00] [-2.39104542e-02 1.31606712e-03 9.99713238e-01 -2.21566286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.465898227 meters 0.1269283437316589 Centerline is valid? [False, False] Translation: X:129.65, Y:1.11, Z:-2.21 [[ 9.99706283e-01 1.52244003e-02 1.88564518e-02 1.29649734e+02] [-1.54859029e-02 9.99784842e-01 1.38005699e-02 1.10826937e+00] [-1.86422893e-02 -1.40885256e-02 9.99726952e-01 -2.21369475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.495898227 meters 0.1253488332568555 Centerline is valid? [False, False] Translation: X:129.63, Y:1.11, Z:-2.21 [[ 9.99737852e-01 1.62789069e-02 1.61004755e-02 1.29629685e+02] [-1.63444701e-02 9.99858622e-01 3.94895541e-03 1.11438733e+00] [-1.60339145e-02 -4.21107394e-03 9.99862581e-01 -2.21308768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.525898227 meters 0.11238781102738596 Centerline is valid? [False, False] Translation: X:129.61, Y:1.12, Z:-2.22 [[ 9.99684215e-01 1.34683548e-02 2.12149465e-02 1.29608860e+02] [-1.36842191e-02 9.99855729e-01 1.00630080e-02 1.11719472e+00] [-2.10763536e-02 -1.03501402e-02 9.99724293e-01 -2.21903872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.555898227 meters 0.11116739375076902 Centerline is valid? [False, False] Translation: X:129.61, Y:1.12, Z:-2.22 [[ 9.99687446e-01 1.30772473e-02 2.13071781e-02 1.29608689e+02] [-1.32727195e-02 9.99870880e-01 9.05855484e-03 1.12167328e+00] [-2.11859660e-02 -9.33852775e-03 9.99731937e-01 -2.21931714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.585898227 meters 0.10695331574934012 Centerline is valid? [False, False] Translation: X:129.59, Y:1.13, Z:-2.22 [[ 9.99776310e-01 1.25702095e-02 1.70093840e-02 1.29587888e+02] [-1.25395321e-02 9.99919555e-01 -1.90901113e-03 1.12856261e+00] [-1.70320123e-02 1.69529439e-03 9.99853508e-01 -2.21613335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.615898227 meters 0.09840499384959442 Centerline is valid? [False, True] Translation: X:129.59, Y:1.13, Z:-2.21 [[ 9.99941714e-01 5.83483419e-03 9.08423795e-03 1.29585447e+02] [-5.90262511e-03 9.99954800e-01 7.45363725e-03 1.13077550e+00] [-9.04033661e-03 -7.50682366e-03 9.99930958e-01 -2.21026721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.645898227 meters 0.10860207284924518 Centerline is valid? [True, False] Translation: X:129.60, Y:1.14, Z:-2.20 [[ 9.99989811e-01 7.91982412e-04 4.44416928e-03 1.29601922e+02] [-8.29411353e-04 9.99964152e-01 8.42651998e-03 1.13749139e+00] [-4.43733631e-03 -8.43012016e-03 9.99954621e-01 -2.20228754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.675898227 meters 0.09448192535801951 Centerline is valid? [False, True] Translation: X:129.60, Y:1.14, Z:-2.20 [[ 9.99983872e-01 -1.69326915e-03 5.42111890e-03 1.29595437e+02] [ 1.66142729e-03 9.99981375e-01 5.87279373e-03 1.13936755e+00] [-5.43096215e-03 -5.86369222e-03 9.99968060e-01 -2.19733295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.705898227 meters 0.10055500491391775 Centerline is valid? [True, False] Translation: X:129.60, Y:1.14, Z:-2.20 [[ 9.99984289e-01 -1.73649340e-03 5.32972974e-03 1.29595639e+02] [ 1.70578850e-03 9.99981955e-01 5.76020945e-03 1.13986252e+00] [-5.33963614e-03 -5.75102756e-03 9.99969207e-01 -2.19719312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.735898227 meters 0.09505922756397713 Centerline is valid? [False, True] Translation: X:129.62, Y:1.14, Z:-2.19 [[ 9.99999398e-01 -4.11173889e-04 -1.01693904e-03 1.29615737e+02] [ 4.10178226e-04 9.99999437e-01 -9.79093664e-04 1.14344645e+00] [ 1.01734105e-03 9.78675949e-04 9.99999004e-01 -2.19145398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.765898227 meters 0.08630506078802429 Centerline is valid? [True, True] Translation: X:129.65, Y:1.14, Z:-2.19 [[ 9.99990602e-01 -4.29540990e-03 -5.87425004e-04 1.29646706e+02] [ 4.29537833e-03 9.99990773e-01 -5.49927422e-05 1.13641420e+00] [ 5.87655800e-04 5.24690127e-05 9.99999826e-01 -2.19119340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.795898227 meters 0.08387270793329385 Centerline is valid? [True, True] Translation: X:129.68, Y:1.14, Z:-2.19 [[ 9.99969769e-01 -7.77567733e-03 2.73103019e-05 1.29677554e+02] [ 7.77567727e-03 9.99969769e-01 2.55817738e-06 1.13767997e+00] [-2.73293678e-05 -2.34574395e-06 1.00000000e+00 -2.19056862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.825898227 meters 0.08036190020856698 Centerline is valid? [True, True] Translation: X:129.71, Y:1.14, Z:-2.19 [[ 9.99908199e-01 -1.34651244e-02 1.51097902e-03 1.29708439e+02] [ 1.34649259e-02 9.99909334e-01 1.41442443e-04 1.13657638e+00] [-1.51274657e-03 -1.21084238e-04 9.99998848e-01 -2.19104043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.855898227 meters 0.08987532236147765 Centerline is valid? [True, True] Translation: X:129.74, Y:1.16, Z:-2.19 [[ 9.99890210e-01 -1.47933301e-02 8.52171363e-04 1.29736934e+02] [ 1.47932675e-02 9.99890570e-01 7.97704731e-05 1.15590610e+00] [-8.53258181e-04 -6.71553161e-05 9.99999634e-01 -2.18938005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.885898227 meters 0.08860857220064002 Centerline is valid? [True, True] Translation: X:129.77, Y:1.16, Z:-2.19 [[ 9.99870216e-01 -1.61104445e-02 -6.39702138e-05 1.29766632e+02] [ 1.61104442e-02 9.99870218e-01 -6.04880757e-06 1.15855046e+00] [ 6.40593606e-05 5.01743398e-06 9.99999998e-01 -2.19124845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.915898227 meters 0.07227223577441175 Centerline is valid? [True, True] Translation: X:129.80, Y:1.14, Z:-2.19 [[ 9.99849341e-01 -1.73238479e-02 -1.08620364e-03 1.29797811e+02] [ 1.73237475e-02 9.99849927e-01 -1.01783008e-04 1.14141770e+00] [ 1.08780390e-03 8.29505561e-05 9.99999405e-01 -2.19213614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94589822700001 meters 0.07922207036833263 Centerline is valid? [True, True] Translation: X:129.83, Y:1.15, Z:-2.19 [[ 9.99815602e-01 -1.91503403e-02 -1.42373873e-03 1.29825915e+02] [ 1.91501696e-02 9.99816610e-01 -1.33432452e-04 1.15420965e+00] [ 1.42603290e-03 1.06143009e-04 9.99998978e-01 -2.19272017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97589822700002 meters 0.0779442239165232 Centerline is valid? [True, True] Translation: X:129.86, Y:1.16, Z:-2.19 [[ 9.99768694e-01 -2.14911283e-02 -8.31010525e-04 1.29856368e+02] [ 2.14910709e-02 9.99769037e-01 -7.78617184e-05 1.15651687e+00] [ 8.32491929e-04 5.99844023e-05 9.99999652e-01 -2.19174824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.005898227 meters 0.07750321589001936 Centerline is valid? [True, True] Translation: X:129.89, Y:1.16, Z:-2.19 [[ 9.99683393e-01 -2.51523297e-02 6.88136625e-04 1.29885571e+02] [ 2.51522913e-02 9.99683629e-01 6.44475455e-05 1.16056566e+00] [-6.89539924e-04 -4.71189282e-05 9.99999761e-01 -2.18953672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.035898227 meters 0.0684490353336088 Centerline is valid? [True, True] Translation: X:129.92, Y:1.15, Z:-2.19 [[ 9.99661203e-01 -2.60213522e-02 6.06310808e-04 1.29915908e+02] [ 2.60213225e-02 9.99661386e-01 5.67902704e-05 1.15193249e+00] [-6.07583263e-04 -4.09940210e-05 9.99999815e-01 -2.18913612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.065898227 meters 0.0644749343025405 Centerline is valid? [True, True] Translation: X:129.95, Y:1.15, Z:-2.19 [[ 9.99663909e-01 -2.59238566e-02 -1.51386650e-04 1.29945697e+02] [ 2.59238547e-02 9.99663920e-01 -1.42381214e-05 1.14971870e+00] [ 1.51704879e-04 1.03088106e-05 9.99999988e-01 -2.18949955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.095898227 meters 0.07122937592005746 Centerline is valid? [True, True] Translation: X:129.97, Y:1.16, Z:-2.19 [[ 9.99691983e-01 -2.47882116e-02 -1.21776412e-03 1.29973837e+02] [ 2.47880908e-02 9.99692722e-01 -1.14171404e-04 1.16221124e+00] [ 1.22022003e-03 8.39501895e-05 9.99999252e-01 -2.19049444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.125898227 meters 0.08256474685985549 Centerline is valid? [True, True] Translation: X:130.00, Y:1.18, Z:-2.19 [[ 9.99745900e-01 -2.24515316e-02 -2.01592399e-03 1.30001751e+02] [ 2.24511957e-02 9.99747922e-01 -1.89070303e-04 1.18133844e+00] [ 2.01966073e-03 1.43762356e-04 9.99997950e-01 -2.19282500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.155898227 meters 0.07518035011526138 Centerline is valid? [True, True] Translation: X:130.03, Y:1.18, Z:-2.19 [[ 9.99805242e-01 -1.95679929e-02 -2.56366309e-03 1.30033175e+02] [ 1.95674404e-02 9.99808510e-01 -2.40404927e-04 1.17702909e+00] [ 2.56787642e-03 1.90193782e-04 9.99996685e-01 -2.19283025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.185898227 meters 0.08703451458710981 Centerline is valid? [True, True] Translation: X:130.06, Y:1.20, Z:-2.19 [[ 9.99904628e-01 -1.36452735e-02 -2.13125270e-03 1.30060432e+02] [ 1.36448784e-02 9.99906884e-01 -1.99837185e-04 1.19767432e+00] [ 2.13378108e-03 1.70737443e-04 9.99997709e-01 -2.19300427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.215898227 meters 0.08608988422709188 Centerline is valid? [True, True] Translation: X:130.09, Y:1.20, Z:-2.19 [[ 9.99940009e-01 -1.08488241e-02 -1.51034302e-03 1.30090856e+02] [ 1.08486225e-02 9.99941142e-01 -1.41622183e-04 1.19941212e+00] [ 1.51179056e-03 1.25228545e-04 9.99998849e-01 -2.19222545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.245898227 meters 0.08811825783461923 Centerline is valid? [True, True] Translation: X:130.12, Y:1.21, Z:-2.19 [[ 9.99963297e-01 -8.51808835e-03 -9.20290663e-04 1.30120436e+02] [ 8.51801248e-03 9.99963717e-01 -8.63270939e-05 1.20514953e+00] [ 9.20992614e-04 7.84848781e-05 9.99999573e-01 -2.19088516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.275898227 meters 0.09849403726734897 Centerline is valid? [True, True] Translation: X:130.15, Y:1.22, Z:-2.19 [[ 9.99979727e-01 -6.31082160e-03 -8.48503391e-04 1.30148795e+02] [ 6.31075633e-03 9.99980084e-01 -7.95844973e-05 1.22195380e+00] [ 8.48988736e-04 7.42281857e-05 9.99999637e-01 -2.19149666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.305898227 meters 0.09437166904616795 Centerline is valid? [True, True] Translation: X:130.18, Y:1.22, Z:-2.19 [[ 9.99989028e-01 -4.45078329e-03 -1.46078213e-03 1.30179957e+02] [ 4.45058786e-03 9.99990087e-01 -1.37009162e-04 1.22023988e+00] [ 1.46137745e-03 1.30506320e-04 9.99998924e-01 -2.19230150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.335898227 meters 0.0941023062405098 Centerline is valid? [True, True] Translation: X:130.21, Y:1.22, Z:-2.19 [[ 9.99995481e-01 -2.02068845e-03 -2.22606918e-03 1.30209988e+02] [ 2.02022866e-03 9.99997938e-01 -2.08776570e-04 1.22368851e+00] [ 2.22648646e-03 2.04278457e-04 9.99997501e-01 -2.19442924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.365898227 meters 0.09733086191537121 Centerline is valid? [True, True] Translation: X:130.24, Y:1.23, Z:-2.19 [[ 9.99996675e-01 -1.05230618e-03 -2.35443431e-03 1.30238821e+02] [ 1.05178906e-03 9.99999422e-01 -2.20865297e-04 1.23097350e+00] [ 2.35466537e-03 2.18388194e-04 9.99997204e-01 -2.19464165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.395898227 meters 0.09879036726639144 Centerline is valid? [True, True] Translation: X:130.27, Y:1.24, Z:-2.20 [[ 9.99996808e-01 -1.75352569e-04 -2.52073775e-03 1.30268532e+02] [ 1.74756984e-04 9.99999957e-01 -2.36492113e-04 1.23641762e+00] [ 2.52077911e-03 2.36050842e-04 9.99996795e-01 -2.19523855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.425898227 meters 0.10132961896203857 Centerline is valid? [True, False] Translation: X:130.27, Y:1.24, Z:-2.20 [[ 9.99996779e-01 -2.50034471e-04 -2.52570644e-03 1.30268673e+02] [ 2.48990989e-04 9.99999884e-01 -4.13450576e-04 1.23719449e+00] [ 2.52580952e-03 4.12820366e-04 9.99996725e-01 -2.19550615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.455898227 meters 0.09087779282502427 Centerline is valid? [False, True] Translation: X:130.23, Y:1.23, Z:-2.20 [[ 9.99995031e-01 -1.40214078e-03 -2.82348137e-03 1.30227376e+02] [ 1.40058830e-03 9.99998867e-01 -5.51746288e-04 1.23498833e+00] [ 2.82425180e-03 5.47789011e-04 9.99995862e-01 -2.19729460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.485898227 meters 0.09994504996257003 Centerline is valid? [True, True] Translation: X:130.26, Y:1.25, Z:-2.20 [[ 9.99994424e-01 -2.15745587e-03 -2.54886254e-03 1.30255085e+02] [ 2.15684189e-03 9.99997644e-01 -2.43608845e-04 1.24735103e+00] [ 2.54938211e-03 2.38109993e-04 9.99996722e-01 -2.20004708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.515898227 meters 0.09476401392189297 Centerline is valid? [True, True] Translation: X:130.29, Y:1.25, Z:-2.20 [[ 9.99991707e-01 -4.04086914e-03 -5.07115655e-04 1.30285586e+02] [ 4.04084508e-03 9.99991835e-01 -4.84686045e-05 1.24670680e+00] [ 5.07307369e-04 4.64190267e-05 9.99999870e-01 -2.19540107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.545898227 meters 0.09559896439646282 Centerline is valid? [True, True] Translation: X:130.31, Y:1.25, Z:-2.19 [[ 9.99983051e-01 -5.79398823e-03 5.71882681e-04 1.30314931e+02] [ 5.79395792e-03 9.99983213e-01 5.46415965e-05 1.25092957e+00] [-5.72189674e-04 -5.13272062e-05 9.99999835e-01 -2.19359743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.575898227 meters 0.08975736156680476 Centerline is valid? [True, True] Translation: X:130.35, Y:1.25, Z:-2.19 [[ 9.99964354e-01 -8.36948679e-03 1.11466251e-03 1.30346532e+02] [ 8.36937318e-03 9.99964971e-01 1.06545474e-04 1.24657594e+00] [-1.11551519e-03 -9.72126496e-05 9.99999373e-01 -2.19363830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.605898227 meters 0.08175539377780787 Centerline is valid? [True, True] Translation: X:130.38, Y:1.24, Z:-2.19 [[ 9.99943634e-01 -1.05590434e-02 1.11128111e-03 1.30377564e+02] [ 1.05589319e-02 9.99944247e-01 1.06201118e-04 1.24074070e+00] [-1.11234053e-03 -9.44611907e-05 9.99999377e-01 -2.19198188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.635898227 meters 0.0855226299759489 Centerline is valid? [True, True] Translation: X:130.41, Y:1.25, Z:-2.19 [[ 9.99908717e-01 -1.34421020e-02 1.36642606e-03 1.30406101e+02] [ 1.34419361e-02 9.99909645e-01 1.30567458e-04 1.24952256e+00] [-1.36805770e-03 -1.12188128e-04 9.99999058e-01 -2.19263614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.665898227 meters 0.08231485004527442 Centerline is valid? [True, True] Translation: X:130.44, Y:1.25, Z:-2.19 [[ 9.99864655e-01 -1.63638035e-02 1.70209969e-03 1.30437005e+02] [ 1.63635501e-02 9.99866095e-01 1.62686769e-04 1.24959446e+00] [-1.70453394e-03 -1.34812357e-04 9.99998538e-01 -2.19187805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69589822700001 meters 0.07679428333482821 Centerline is valid? [True, True] Translation: X:130.47, Y:1.25, Z:-2.19 [[ 9.99756281e-01 -2.19262553e-02 2.57239596e-03 1.30468348e+02] [ 2.19256949e-02 9.99759573e-01 2.45832650e-04 1.24735075e+00] [-2.57716767e-03 -1.89371167e-04 9.99996661e-01 -2.19108899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72589822700002 meters 0.07411973994712606 Centerline is valid? [True, True] Translation: X:130.50, Y:1.25, Z:-2.19 [[ 9.99686567e-01 -2.49353696e-02 2.23485668e-03 1.30498838e+02] [ 2.49349542e-02 9.99689053e-01 2.13556751e-04 1.24785007e+00] [-2.23948687e-03 -1.57763767e-04 9.99997480e-01 -2.19103338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.755898227 meters 0.07517573586031842 Centerline is valid? [True, True] Translation: X:130.53, Y:1.25, Z:-2.19 [[ 9.99600129e-01 -2.82010123e-02 2.06985866e-03 1.30527967e+02] [ 2.82006630e-02 9.99602263e-01 1.97788538e-04 1.25331252e+00] [-2.07461324e-03 -1.39338062e-04 9.99997838e-01 -2.19147343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.785898227 meters 0.06711246067310095 Centerline is valid? [True, True] Translation: X:130.56, Y:1.25, Z:-2.19 [[ 9.99489749e-01 -3.18776379e-02 2.01429030e-03 1.30558926e+02] [ 3.18773144e-02 9.99491771e-01 1.92504905e-04 1.24745214e+00] [-2.01940318e-03 -1.28196514e-04 9.99997953e-01 -2.19095251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.815898227 meters 0.06372239983462034 Centerline is valid? [True, True] Translation: X:130.59, Y:1.25, Z:-2.19 [[ 9.99366981e-01 -3.54852714e-02 2.53633890e-03 1.30590044e+02] [ 3.54847700e-02 9.99370188e-01 2.42416449e-04 1.24779649e+00] [-2.54334370e-03 -1.52261592e-04 9.99996754e-01 -2.18983048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.845898227 meters 0.060394926962248206 Centerline is valid? [True, True] Translation: X:130.62, Y:1.25, Z:-2.19 [[ 9.99107121e-01 -4.19686583e-02 4.85715540e-03 1.30619008e+02] [ 4.19668957e-02 9.99118894e-01 4.64279230e-04 1.24936696e+00] [-4.87236090e-03 -2.60024951e-04 9.99988096e-01 -2.18634681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.875898227 meters 0.05518078779296414 Centerline is valid? [True, True] Translation: X:130.65, Y:1.25, Z:-2.19 [[ 9.98960854e-01 -4.51967014e-02 5.87120954e-03 1.30649641e+02] [ 4.51941814e-02 9.98978063e-01 5.61258331e-04 1.24636639e+00] [-5.89057656e-03 -2.95330593e-04 9.99982607e-01 -2.18559421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.905898227 meters 0.05213703138875564 Centerline is valid? [True, True] Translation: X:130.68, Y:1.25, Z:-2.19 [[ 9.98819694e-01 -4.82513074e-02 5.57055723e-03 1.30679987e+02] [ 4.82490861e-02 9.98835193e-01 5.32541192e-04 1.24570194e+00] [-5.58976442e-03 -2.63138335e-04 9.99984343e-01 -2.18606075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.935898227 meters 0.054157184458369215 Centerline is valid? [True, True] Translation: X:130.71, Y:1.25, Z:-2.19 [[ 9.98647956e-01 -5.18404296e-02 3.85084865e-03 1.30710977e+02] [ 5.18393947e-02 9.98655367e-01 3.68151343e-04 1.24574052e+00] [-3.86475579e-03 -1.68027923e-04 9.99992518e-01 -2.19049080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.965898227 meters 0.0469271037085562 Centerline is valid? [True, True] Translation: X:130.74, Y:1.25, Z:-2.19 [[ 9.98521748e-01 -5.43161708e-02 2.01782391e-03 1.30740376e+02] [ 5.43158917e-02 9.98523784e-01 1.92903851e-04 1.24655517e+00] [-2.02532297e-03 -8.30187858e-05 9.99997946e-01 -2.19134949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.995898227 meters 0.04398761183668248 Centerline is valid? [True, True] Translation: X:130.77, Y:1.25, Z:-2.19 [[ 9.98360403e-01 -5.72383874e-02 5.21466831e-04 1.30770874e+02] [ 5.72383692e-02 9.98360539e-01 4.98450027e-05 1.24617656e+00] [-5.23464955e-04 -1.99153660e-05 9.99999863e-01 -2.19352381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.025898227 meters 0.03871652890833571 Centerline is valid? [True, True] Translation: X:130.80, Y:1.24, Z:-2.19 [[ 9.98015576e-01 -6.29576659e-02 1.11439877e-03 1.30801412e+02] [ 6.29575861e-02 9.98016198e-01 1.06573710e-04 1.24185597e+00] [-1.11889766e-03 -3.62023655e-05 9.99999373e-01 -2.19171706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.055898227 meters 0.034498354559124415 Centerline is valid? [True, True] Translation: X:130.83, Y:1.24, Z:-2.19 [[ 9.97853478e-01 -6.54503529e-02 2.16517884e-03 1.30831712e+02] [ 6.54500575e-02 9.97855825e-01 2.07079605e-04 1.23860561e+00] [-2.17408975e-03 -6.49240247e-05 9.99997635e-01 -2.18999475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.085898227 meters 0.034803342404738556 Centerline is valid? [True, True] Translation: X:130.86, Y:1.24, Z:-2.19 [[ 9.97725187e-01 -6.73632866e-02 2.57648597e-03 1.30859624e+02] [ 6.73628745e-02 9.97728511e-01 2.46494787e-04 1.24095087e+00] [-2.58723821e-03 -7.23745561e-05 9.99996650e-01 -2.18927522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.115898227 meters 0.034803342404738556 Centerline is valid? [True, True] Translation: X:130.89, Y:1.24, Z:-2.19 [[ 9.97713108e-01 -6.75419523e-02 2.57646959e-03 1.30886982e+02] [ 6.75415403e-02 9.97716432e-01 2.46665895e-04 1.24376395e+00] [-2.58724634e-03 -7.20830718e-05 9.99996650e-01 -2.18934127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.145898227 meters 0.033300529293834126 Centerline is valid? [True, True] Translation: X:130.92, Y:1.24, Z:-2.19 [[ 9.97612444e-01 -6.90340219e-02 1.92737346e-03 1.30916199e+02] [ 6.90337937e-02 9.97614305e-01 1.84772716e-04 1.24362139e+00] [-1.93553094e-03 -5.12776588e-05 9.99998126e-01 -2.19071564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.175898227 meters 0.02977812132183713 Centerline is valid? [True, True] Translation: X:130.95, Y:1.24, Z:-2.19 [[ 9.97536577e-01 -7.01472112e-02 -3.81231225e-04 1.30946004e+02] [ 7.01472022e-02 9.97536650e-01 -3.70490022e-05 1.23974519e+00] [ 3.82891003e-04 1.02154310e-05 9.99999927e-01 -2.19435680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.205898227 meters 0.029056611668268416 Centerline is valid? [True, True] Translation: X:130.97, Y:1.24, Z:-2.19 [[ 9.97587377e-01 -6.94126534e-02 -1.14431751e-03 1.30974935e+02] [ 6.94125720e-02 9.97588032e-01 -1.10709008e-04 1.24114935e+00] [ 1.14924206e-03 3.10118878e-05 9.99999339e-01 -2.19495309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.235898227 meters 0.03541626569389717 Centerline is valid? [True, True] Translation: X:131.00, Y:1.25, Z:-2.20 [[ 9.97730478e-01 -6.73184570e-02 -1.45538382e-03 1.31003022e+02] [ 6.73183236e-02 9.97731539e-01 -1.40477151e-04 1.25219614e+00] [ 1.46153904e-03 4.21843362e-05 9.99998931e-01 -2.19626276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.265898227 meters 0.043645138839865275 Centerline is valid? [True, True] Translation: X:131.03, Y:1.26, Z:-2.20 [[ 9.97954845e-01 -6.38990808e-02 -1.74184565e-03 1.31033223e+02] [ 6.38988848e-02 9.97956364e-01 -1.67982586e-04 1.25774145e+00] [ 1.74901989e-03 5.63370413e-05 9.99998469e-01 -2.19773012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.295898227 meters 0.03987454163360313 Centerline is valid? [True, True] Translation: X:131.06, Y:1.26, Z:-2.20 [[ 9.98264992e-01 -5.88387096e-02 -2.23861791e-03 1.31062910e+02] [ 5.88383732e-02 9.98267499e-01 -2.15905506e-04 1.26495344e+00] [ 2.24744311e-03 8.38142727e-05 9.99997471e-01 -2.19541338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.325898227 meters 0.05081755710186033 Centerline is valid? [True, True] Translation: X:131.09, Y:1.28, Z:-2.20 [[ 9.98546027e-01 -5.38514069e-02 -2.42030348e-03 1.31090893e+02] [ 5.38509988e-02 9.98548955e-01 -2.33481650e-04 1.28365465e+00] [ 2.42936483e-03 1.02806414e-04 9.99997044e-01 -2.19665333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.355898227 meters 0.05440925963327473 Centerline is valid? [True, True] Translation: X:131.12, Y:1.30, Z:-2.19 [[ 9.98966518e-01 -4.54405399e-02 -1.02673892e-03 1.31119850e+02] [ 4.54404620e-02 9.98967044e-01 -9.90340564e-05 1.29533375e+00] [ 1.03017850e-03 5.22762157e-05 9.99999468e-01 -2.19489696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.385898227 meters 0.059066286600317604 Centerline is valid? [True, True] Translation: X:131.15, Y:1.31, Z:-2.19 [[ 9.99091724e-01 -4.26086667e-02 -4.77523353e-04 1.31148082e+02] [ 4.26086495e-02 9.99091838e-01 -4.60971947e-05 1.30591578e+00] [ 4.79053825e-04 2.57087005e-05 9.99999885e-01 -2.19424059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.415898227 meters 0.05771918524195929 Centerline is valid? [True, True] Translation: X:131.18, Y:1.31, Z:-2.19 [[ 9.99149749e-01 -4.12281867e-02 1.27062274e-04 1.31177551e+02] [ 4.12281855e-02 9.99149757e-01 1.22039002e-05 1.30843051e+00] [-1.27457385e-04 -6.95497683e-06 9.99999992e-01 -2.19367115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44589822700001 meters 0.058317290502047266 Centerline is valid? [True, True] Translation: X:131.21, Y:1.31, Z:-2.19 [[ 9.99155603e-01 -4.10786971e-02 7.89065490e-04 1.31205804e+02] [ 4.10786500e-02 9.99155913e-01 7.58745759e-05 1.31289763e+00] [-7.91516279e-04 -4.33967625e-05 9.99999686e-01 -2.19310801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47589822700002 meters 0.05890048559687543 Centerline is valid? [True, True] Translation: X:131.23, Y:1.32, Z:-2.19 [[ 9.99107173e-01 -4.22317208e-02 1.15727894e-03 1.31233681e+02] [ 4.22316196e-02 9.99107841e-01 1.11801260e-04 1.31718358e+00] [-1.16096802e-03 -6.28276772e-05 9.99999324e-01 -2.19280802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.505898227 meters 0.0608219132073322 Centerline is valid? [True, True] Translation: X:131.26, Y:1.32, Z:-2.19 [[ 9.99039484e-01 -4.37951026e-02 1.44874973e-03 1.31262320e+02] [ 4.37949454e-02 9.99040531e-01 1.40077396e-04 1.32256967e+00] [-1.45349440e-03 -7.64949338e-05 9.99998941e-01 -2.19257333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.535898227 meters 0.05127813809347322 Centerline is valid? [True, True] Translation: X:131.29, Y:1.31, Z:-2.19 [[ 9.98929669e-01 -4.62348723e-02 1.36132572e-03 1.31293306e+02] [ 4.62347357e-02 9.98930594e-01 1.31663965e-04 1.31403615e+00] [-1.36595738e-03 -6.85825057e-05 9.99999065e-01 -2.19143148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.565898227 meters 0.04998586179416368 Centerline is valid? [True, True] Translation: X:131.32, Y:1.32, Z:-2.19 [[ 9.98948384e-01 -4.58446663e-02 6.25950973e-04 1.31321634e+02] [ 4.58446375e-02 9.98948580e-01 6.02502104e-05 1.31686387e+00] [-6.28054986e-04 -3.14903549e-05 9.99999802e-01 -2.19185572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.595898227 meters 0.058035206602179264 Centerline is valid? [True, True] Translation: X:131.35, Y:1.33, Z:-2.19 [[ 9.99032014e-01 -4.39889399e-02 -9.41999782e-05 1.31348246e+02] [ 4.39889392e-02 9.99032018e-01 -9.25024675e-06 1.33220367e+00] [ 9.45157029e-05 5.09753553e-06 9.99999996e-01 -2.19267429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.625898227 meters 0.0651223555674808 Centerline is valid? [True, True] Translation: X:131.38, Y:1.35, Z:-2.19 [[ 9.99160950e-01 -4.09557062e-02 1.59996002e-04 1.31376066e+02] [ 4.09557043e-02 9.99160963e-01 1.55116591e-05 1.34705835e+00] [-1.60497050e-04 -8.94589509e-06 9.99999987e-01 -2.19210254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.655898227 meters 0.06514135339230964 Centerline is valid? [True, True] Translation: X:131.41, Y:1.35, Z:-2.19 [[ 9.99290476e-01 -3.76590794e-02 5.81548868e-04 1.31406471e+02] [ 3.76590530e-02 9.99290645e-01 5.63857570e-05 1.35306430e+00] [-5.83259779e-04 -3.44451703e-05 9.99999829e-01 -2.19140360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.685898227 meters 0.06950282327378572 Centerline is valid? [True, True] Translation: X:131.44, Y:1.36, Z:-2.19 [[ 9.99403487e-01 -3.45240301e-02 8.72792424e-04 1.31435152e+02] [ 3.45239693e-02 9.99403867e-01 8.46080315e-05 1.36444030e+00] [-8.75193134e-04 -5.44253029e-05 9.99999616e-01 -2.19099342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.715898227 meters 0.07234736369742337 Centerline is valid? [True, True] Translation: X:131.47, Y:1.38, Z:-2.19 [[ 9.99530647e-01 -3.06032115e-02 1.38909205e-03 1.31465037e+02] [ 3.06030537e-02 9.99531608e-01 1.34704788e-04 1.37548949e+00] [-1.39256381e-03 -9.21311057e-05 9.99999026e-01 -2.19256919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.745898227 meters 0.07071779253046151 Centerline is valid? [True, True] Translation: X:131.50, Y:1.38, Z:-2.19 [[ 9.99545684e-01 -3.01167994e-02 1.18500505e-03 1.31495475e+02] [ 3.01166842e-02 9.99546383e-01 1.14912199e-04 1.37779079e+00] [-1.18792830e-03 -7.91715694e-05 9.99999291e-01 -2.19294277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.775898227 meters 0.06831063130828154 Centerline is valid? [True, True] Translation: X:131.53, Y:1.38, Z:-2.19 [[ 9.99537244e-01 -3.04041463e-02 9.40996155e-04 1.31525990e+02] [ 3.04040738e-02 9.99537685e-01 9.12501910e-05 1.37876786e+00] [-9.43335503e-04 -6.25978479e-05 9.99999553e-01 -2.19392028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.805898227 meters 0.06962583982439402 Centerline is valid? [True, True] Translation: X:131.56, Y:1.38, Z:-2.20 [[ 9.99498177e-01 -3.16738637e-02 4.01098714e-04 1.31555682e+02] [ 3.16738506e-02 9.99498257e-01 3.88953069e-05 1.38423730e+00] [-4.02129430e-04 -2.61714476e-05 9.99999919e-01 -2.19537410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.835898227 meters 0.06410468863192438 Centerline is valid? [True, True] Translation: X:131.59, Y:1.38, Z:-2.20 [[ 9.99431275e-01 -3.37180277e-02 -4.69397611e-04 1.31586324e+02] [ 3.37180100e-02 9.99431385e-01 -4.55524651e-05 1.38040125e+00] [ 4.70666643e-04 2.96994050e-05 9.99999889e-01 -2.19658908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.865898227 meters 0.06430320011578324 Centerline is valid? [True, True] Translation: X:131.62, Y:1.38, Z:-2.20 [[ 9.99265454e-01 -3.82675269e-02 -2.03670965e-03 1.31615332e+02] [ 3.82672033e-02 9.99267523e-01 -1.97589812e-04 1.38387028e+00] [ 2.04277908e-03 1.19505491e-04 9.99997906e-01 -2.19917498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.895898227 meters 0.05757196242095964 Centerline is valid? [True, True] Translation: X:131.65, Y:1.38, Z:-2.20 [[ 9.99213103e-01 -3.95881089e-02 -2.44043963e-03 1.31645382e+02] [ 3.95876481e-02 9.99216074e-01 -2.36833946e-04 1.37867538e+00] [ 2.44790231e-03 1.40036316e-04 9.99996994e-01 -2.19923494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.925898227 meters 0.05726910634144733 Centerline is valid? [True, True] Translation: X:131.67, Y:1.38, Z:-2.20 [[ 9.99188667e-01 -4.02039282e-02 -2.37728119e-03 1.31673911e+02] [ 4.02034909e-02 9.99191486e-01 -2.31456548e-04 1.38203055e+00] [ 2.38466459e-03 1.35693757e-04 9.99997147e-01 -2.19941653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.955898227 meters 0.06343677124552327 Centerline is valid? [True, True] Translation: X:131.70, Y:1.39, Z:-2.20 [[ 9.99208172e-01 -3.97492085e-02 -1.74078743e-03 1.31701949e+02] [ 3.97489737e-02 9.99209683e-01 -1.69338509e-04 1.39416218e+00] [ 1.74614272e-03 1.00009909e-04 9.99998470e-01 -2.19927395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.985898227 meters 0.05814018829774366 Centerline is valid? [True, True] Translation: X:131.73, Y:1.39, Z:-2.20 [[ 9.99228093e-01 -3.92631436e-02 -1.27428991e-03 1.31731311e+02] [ 3.92630167e-02 9.99228903e-01 -1.24516768e-04 1.39154050e+00] [ 1.27819623e-03 7.43881870e-05 9.99999180e-01 -2.19783441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.015898227 meters 0.06585142333588447 Centerline is valid? [True, True] Translation: X:131.76, Y:1.41, Z:-2.20 [[ 9.99254761e-01 -3.85874133e-02 -9.66506660e-04 1.31758946e+02] [ 3.85873401e-02 9.99255227e-01 -9.42557934e-05 1.40560381e+00] [ 9.69423919e-04 5.68906291e-05 9.99999528e-01 -2.19813250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.045898227 meters 0.0678534147018216 Centerline is valid? [True, True] Translation: X:131.79, Y:1.41, Z:-2.20 [[ 9.99287254e-01 -3.77253277e-02 -1.33530669e-03 1.31787598e+02] [ 3.77251874e-02 9.99288143e-01 -1.30145287e-04 1.41400065e+00] [ 1.33926592e-03 7.96778318e-05 9.99999100e-01 -2.19788500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.075898227 meters 0.0625610342305072 Centerline is valid? [True, True] Translation: X:131.82, Y:1.41, Z:-2.20 [[ 9.99291966e-01 -3.76003986e-02 -1.33297433e-03 1.31817436e+02] [ 3.76002585e-02 9.99292852e-01 -1.29978681e-04 1.41183448e+00] [ 1.33691897e-03 7.97664722e-05 9.99999103e-01 -2.19706160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.105898227 meters 0.060891829619629204 Centerline is valid? [True, True] Translation: X:131.85, Y:1.41, Z:-2.20 [[ 9.99295580e-01 -3.75195734e-02 -7.91249733e-04 1.31846617e+02] [ 3.75195240e-02 9.99295892e-01 -7.71977680e-05 1.41390121e+00] [ 7.93589035e-04 4.74560750e-05 9.99999684e-01 -2.19605296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.135898227 meters 0.05894391589024212 Centerline is valid? [True, True] Translation: X:131.88, Y:1.42, Z:-2.20 [[ 9.99289267e-01 -3.76921762e-02 -5.11055768e-04 1.31876372e+02] [ 3.76921556e-02 9.99289397e-01 -4.98941234e-05 1.41527716e+00] [ 5.12573228e-04 3.05958685e-05 9.99999868e-01 -2.19512842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.165898227 meters 0.06609357259103102 Centerline is valid? [True, True] Translation: X:131.90, Y:1.43, Z:-2.19 [[ 9.99263929e-01 -3.83609269e-02 1.99019808e-04 1.31904379e+02] [ 3.83609238e-02 9.99263949e-01 1.93814003e-05 1.42781566e+00] [-1.99616808e-04 -1.17325506e-05 9.99999980e-01 -2.19466493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19589822700001 meters 0.06115955643421469 Centerline is valid? [True, True] Translation: X:131.94, Y:1.42, Z:-2.19 [[ 9.99258077e-01 -3.85076664e-02 6.74333757e-04 1.31935019e+02] [ 3.85076308e-02 9.99258304e-01 6.57257392e-05 1.42386092e+00] [-6.76364551e-04 -3.97099805e-05 9.99999770e-01 -2.19430222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22589822700002 meters 0.06333613628703048 Centerline is valid? [True, True] Translation: X:131.96, Y:1.43, Z:-2.19 [[ 9.99239152e-01 -3.89890855e-02 9.83814715e-04 1.31964243e+02] [ 3.89890099e-02 9.99239635e-01 9.59563683e-05 1.42836961e+00] [-9.86807908e-04 -5.75253984e-05 9.99999511e-01 -2.19380573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.255898227 meters 0.06273086805520575 Centerline is valid? [True, True] Translation: X:132.00, Y:1.43, Z:-2.19 [[ 9.99221557e-01 -3.94434065e-02 7.05415280e-04 1.31995167e+02] [ 3.94433677e-02 9.99221805e-01 6.88229179e-05 1.42903364e+00] [-7.07580940e-04 -4.09453889e-05 9.99999749e-01 -2.19323891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.285898227 meters 0.06791699145553966 Centerline is valid? [True, True] Translation: X:132.02, Y:1.43, Z:-2.20 [[ 9.99209752e-01 -3.97354907e-02 9.81018021e-04 1.32024383e+02] [ 3.97354158e-02 9.99210232e-01 9.57179461e-05 1.43264826e+00] [-9.84046644e-04 -5.66611462e-05 9.99999514e-01 -2.19500602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.315898227 meters 0.06519234206224211 Centerline is valid? [True, True] Translation: X:132.05, Y:1.44, Z:-2.19 [[ 9.99262629e-01 -3.83764128e-02 1.20377503e-03 1.32054651e+02] [ 3.83762991e-02 9.99263352e-01 1.17439432e-04 1.43552560e+00] [-1.20739518e-03 -7.11564049e-05 9.99999269e-01 -2.19223470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.345898227 meters 0.06819171361341622 Centerline is valid? [True, True] Translation: X:132.08, Y:1.44, Z:-2.19 [[ 9.99416913e-01 -3.40701754e-02 2.24899036e-03 1.32084716e+02] [ 3.40697676e-02 9.99419433e-01 2.19410018e-04 1.44075462e+00] [-2.25516001e-03 -1.42659504e-04 9.99997447e-01 -2.19073976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.375898227 meters 0.07060137014754332 Centerline is valid? [True, True] Translation: X:132.11, Y:1.45, Z:-2.19 [[ 9.99516969e-01 -3.09831132e-02 2.42373121e-03 1.32114399e+02] [ 3.09826305e-02 9.99519895e-01 2.36455536e-04 1.44653220e+00] [-2.42989370e-03 -1.61247752e-04 9.99997035e-01 -2.19103494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.405898227 meters 0.07905590473090397 Centerline is valid? [True, True] Translation: X:132.14, Y:1.46, Z:-2.19 [[ 9.99607843e-01 -2.79410659e-02 1.85911194e-03 1.32143021e+02] [ 2.79407766e-02 9.99609564e-01 1.81377571e-04 1.46124855e+00] [-1.86345396e-03 -1.29361411e-04 9.99998255e-01 -2.19230317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.435898227 meters 0.0723206887511257 Centerline is valid? [True, True] Translation: X:132.17, Y:1.46, Z:-2.19 [[ 9.99702368e-01 -2.43726290e-02 1.07276770e-03 1.32174073e+02] [ 2.43725307e-02 9.99702940e-01 1.04676110e-04 1.45728483e+00] [-1.07500025e-03 -7.84988917e-05 9.99999419e-01 -2.19366595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.465898227 meters 0.08884993280923922 Centerline is valid? [True, True] Translation: X:132.20, Y:1.48, Z:-2.20 [[ 9.99775206e-01 -2.12013854e-02 1.98592083e-04 1.32201410e+02] [ 2.12013820e-02 9.99775225e-01 1.93551274e-05 1.48103455e+00] [-1.98957800e-04 -1.51403499e-05 9.99999980e-01 -2.19679839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.495898227 meters 0.07830216509859139 Centerline is valid? [True, True] Translation: X:132.23, Y:1.48, Z:-2.20 [[ 9.99832689e-01 -1.82871244e-02 -4.19371296e-04 1.32232758e+02] [ 1.82871088e-02 9.99832776e-01 -4.09211844e-05 1.47516180e+00] [ 4.20049498e-04 3.32452492e-05 9.99999911e-01 -2.19622980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.525898227 meters 0.08422223532057753 Centerline is valid? [True, True] Translation: X:132.26, Y:1.49, Z:-2.20 [[ 9.99866822e-01 -1.62848370e-02 -1.06909539e-03 1.32261162e+02] [ 1.62847347e-02 9.99867389e-01 -1.04356297e-04 1.48963316e+00] [ 1.07065304e-03 8.69324646e-05 9.99999423e-01 -2.19740402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.555898227 meters 0.08597172957817252 Centerline is valid? [True, True] Translation: X:132.29, Y:1.50, Z:-2.20 [[ 9.99844403e-01 -1.76093631e-02 -1.03909362e-03 1.32290836e+02] [ 1.76092672e-02 9.99844940e-01 -1.01406060e-04 1.49658745e+00] [ 1.04071820e-03 8.30926039e-05 9.99999455e-01 -2.19805813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.585898227 meters 0.07941814937996099 Centerline is valid? [True, True] Translation: X:132.32, Y:1.49, Z:-2.20 [[ 9.99784800e-01 -2.06885054e-02 -1.52962530e-03 1.32321495e+02] [ 2.06883010e-02 9.99785963e-01 -1.49282953e-04 1.49285627e+00] [ 1.53238635e-03 1.17605479e-04 9.99998819e-01 -2.19875203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.615898227 meters 0.08920190993324885 Centerline is valid? [True, True] Translation: X:132.35, Y:1.51, Z:-2.20 [[ 9.99676395e-01 -2.53441620e-02 -2.18611593e-03 1.32350234e+02] [ 2.53437558e-02 9.99678773e-01 -2.13342884e-04 1.50573480e+00] [ 2.19082069e-03 1.57869456e-04 9.99997588e-01 -2.20206380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.645898227 meters 0.07491805235164337 Centerline is valid? [True, True] Translation: X:132.38, Y:1.49, Z:-2.20 [[ 9.99544139e-01 -3.00880469e-02 -2.49471822e-03 1.32381694e+02] [ 3.00875324e-02 9.99547238e-01 -2.43485980e-04 1.49429194e+00] [ 2.50091473e-03 1.68315069e-04 9.99996859e-01 -2.20083969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.675898227 meters 0.0673186108783434 Centerline is valid? [True, True] Translation: X:132.41, Y:1.49, Z:-2.20 [[ 9.99376424e-01 -3.52214769e-02 -2.49210962e-03 1.32413011e+02] [ 3.52209794e-02 9.99379519e-01 -2.43227439e-04 1.48716979e+00] [ 2.49913014e-03 1.55301226e-04 9.99996865e-01 -2.20057907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.705898227 meters 0.05740636301912074 Centerline is valid? [True, True] Translation: X:132.45, Y:1.48, Z:-2.20 [[ 9.98982244e-01 -4.51048274e-02 -1.75500229e-04 1.32445113e+02] [ 4.51048251e-02 9.98982259e-01 -1.71402581e-05 1.47562251e+00] [ 1.76094724e-04 9.20690637e-06 9.99999984e-01 -2.19626425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.735898227 meters 0.05445065912929617 Centerline is valid? [True, True] Translation: X:132.47, Y:1.47, Z:-2.19 [[ 9.98786179e-01 -4.92482138e-02 8.84129853e-04 1.32474968e+02] [ 4.92481567e-02 9.98786570e-01 8.62724765e-05 1.47359249e+00] [-8.87305788e-04 -4.26259916e-05 9.99999605e-01 -2.19443155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.765898227 meters 0.05005007063590362 Centerline is valid? [True, True] Translation: X:132.51, Y:1.47, Z:-2.19 [[ 9.98597647e-01 -5.29315852e-02 9.93325894e-04 1.32505480e+02] [ 5.29315149e-02 9.98598140e-01 9.69608170e-05 1.46975275e+00] [-9.97065680e-04 -4.42465994e-05 9.99999502e-01 -2.19317167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.795898227 meters 0.04759961169268765 Centerline is valid? [True, True] Translation: X:132.53, Y:1.47, Z:-2.19 [[ 9.98438499e-01 -5.58614025e-02 2.58754917e-04 1.32534520e+02] [ 5.58613978e-02 9.98438533e-01 2.52279457e-05 1.46806813e+00] [-2.59760148e-04 -1.07341409e-05 9.99999966e-01 -2.19394028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.825898227 meters 0.04607308190856762 Centerline is valid? [True, True] Translation: X:132.56, Y:1.47, Z:-2.19 [[ 9.98323752e-01 -5.78758027e-02 -2.78284502e-04 1.32563714e+02] [ 5.78757973e-02 9.98323791e-01 -2.72309717e-05 1.46860474e+00] [ 2.79394054e-04 1.10793884e-05 9.99999961e-01 -2.19446628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.855898227 meters 0.042597695080396826 Centerline is valid? [True, True] Translation: X:132.59, Y:1.47, Z:-2.19 [[ 9.98265659e-01 -5.88685157e-02 4.15794889e-04 1.32592434e+02] [ 5.88685040e-02 9.98265745e-01 4.02777385e-05 1.46703486e+00] [-4.17444885e-04 -1.57306601e-05 9.99999913e-01 -2.19316371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.885898227 meters 0.04354326938029379 Centerline is valid? [True, True] Translation: X:132.62, Y:1.47, Z:-2.19 [[ 9.98245559e-01 -5.90744807e-02 4.00113288e-03 1.32620119e+02] [ 5.90733853e-02 9.98253566e-01 3.91491682e-04 1.47173529e+00] [-4.01727233e-03 -1.54444369e-04 9.99991919e-01 -2.18738165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.915898227 meters 0.043398699253835764 Centerline is valid? [True, True] Translation: X:132.65, Y:1.48, Z:-2.19 [[ 9.98232030e-01 -5.92529000e-02 4.68053398e-03 1.32649058e+02] [ 5.92514005e-02 9.98242987e-01 4.58507419e-04 1.47529119e+00] [-4.69947812e-03 -1.80368598e-04 9.99988941e-01 -2.18583250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94589822700001 meters 0.04356652109045239 Centerline is valid? [True, True] Translation: X:132.68, Y:1.48, Z:-2.19 [[ 9.98210951e-01 -5.96490318e-02 4.10973354e-03 1.32677828e+02] [ 5.96478773e-02 9.98219399e-01 4.03010540e-04 1.47926117e+00] [-4.12645493e-03 -1.57152652e-04 9.99991474e-01 -2.18704450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97589822700002 meters 0.045313951114793846 Centerline is valid? [True, True] Translation: X:132.71, Y:1.49, Z:-2.19 [[ 9.98152571e-01 -6.06735411e-02 3.18857661e-03 1.32706158e+02] [ 6.06728511e-02 9.98157657e-01 3.12788785e-04 1.48564249e+00] [-3.20168016e-03 -1.18750896e-04 9.99994868e-01 -2.18871216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.005898227 meters 0.045313951114793846 Centerline is valid? [True, True] Translation: X:132.73, Y:1.49, Z:-2.19 [[ 9.98143115e-01 -6.08288936e-02 3.18855636e-03 1.32734342e+02] [ 6.08282037e-02 9.98148201e-01 3.12995052e-04 1.48855752e+00] [-3.20169094e-03 -1.18459701e-04 9.99994868e-01 -2.18878022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.035898227 meters 0.04021078030671972 Centerline is valid? [True, True] Translation: X:132.76, Y:1.49, Z:-2.19 [[ 9.98054704e-01 -6.22811237e-02 2.80513738e-03 1.32763299e+02] [ 6.22805945e-02 9.98058641e-01 2.75707821e-04 1.48638266e+00] [-2.81686300e-03 -1.00465864e-04 9.99996028e-01 -2.18979168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.065898227 meters 0.03682678668996083 Centerline is valid? [True, True] Translation: X:132.79, Y:1.49, Z:-2.19 [[ 9.97882998e-01 -6.49575937e-02 3.16749789e-03 1.32793555e+02] [ 6.49569320e-02 9.97888020e-01 3.11459143e-04 1.48855070e+00] [-3.18103983e-03 -1.05048838e-04 9.99994935e-01 -2.18904118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.095898227 meters 0.036062928375700666 Centerline is valid? [True, True] Translation: X:132.82, Y:1.49, Z:-2.19 [[ 9.97791293e-01 -6.63485806e-02 3.22502217e-03 1.32820797e+02] [ 6.63479016e-02 9.97796500e-01 3.17193871e-04 1.49255192e+00] [-3.23896120e-03 -1.02519829e-04 9.99994749e-01 -2.18904561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.125898227 meters 0.03239202442007214 Centerline is valid? [True, True] Translation: X:132.85, Y:1.49, Z:-2.19 [[ 9.97692298e-01 -6.78375266e-02 2.85458966e-03 1.32849830e+02] [ 6.78370001e-02 9.97696378e-01 2.80965430e-04 1.49264116e+00] [-2.86707376e-03 -8.66702466e-05 9.99995886e-01 -2.18964346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.155898227 meters 0.031366355178939084 Centerline is valid? [True, True] Translation: X:132.88, Y:1.50, Z:-2.19 [[ 9.97554255e-01 -6.98413608e-02 2.77368245e-03 1.32877625e+02] [ 6.98408703e-02 9.97558108e-01 2.73424233e-04 1.49561248e+00] [-2.78600574e-03 -7.90391102e-05 9.99996116e-01 -2.19056741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.185898227 meters 0.02925757340628239 Centerline is valid? [True, True] Translation: X:132.91, Y:1.50, Z:-2.19 [[ 9.97400560e-01 -7.20189234e-02 2.32307592e-03 1.32906605e+02] [ 7.20185850e-02 9.97403264e-01 2.29123071e-04 1.49620060e+00] [-2.33354470e-03 -6.12228384e-05 9.99997275e-01 -2.19184526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.215898227 meters 0.026816064331666254 Centerline is valid? [True, True] Translation: X:132.94, Y:1.50, Z:-2.19 [[ 9.97219605e-01 -7.45009697e-02 1.63216631e-03 1.32936048e+02] [ 7.45008060e-02 9.97220940e-01 1.60940442e-04 1.49630457e+00] [-1.63962064e-03 -3.88952583e-05 9.99998655e-01 -2.19214174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.245898227 meters 0.0242028863748676 Centerline is valid? [True, True] Translation: X:132.97, Y:1.50, Z:-2.19 [[ 9.97037698e-01 -7.69142055e-02 -1.84856108e-04 1.32965428e+02] [ 7.69142034e-02 9.97037715e-01 -1.86856479e-05 1.49597428e+00] [ 1.85745703e-04 4.41223509e-06 9.99999983e-01 -2.19401299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.275898227 meters 0.026207598533109448 Centerline is valid? [True, True] Translation: X:132.99, Y:1.50, Z:-2.20 [[ 9.97028772e-01 -7.70267789e-02 -7.09252979e-04 1.32992088e+02] [ 7.70267483e-02 9.97029024e-01 -7.04836418e-05 1.50199795e+00] [ 7.12574934e-04 1.56427681e-05 9.99999746e-01 -2.19520882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.305898227 meters 0.026588427591899017 Centerline is valid? [True, True] Translation: X:133.02, Y:1.51, Z:-2.20 [[ 9.97066690e-01 -7.65320366e-02 -9.28529702e-04 1.33021023e+02] [ 7.65319836e-02 9.97067123e-01 -9.25577615e-05 1.50640193e+00] [ 9.32890072e-04 2.12240410e-05 9.99999565e-01 -2.19508675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.335898227 meters 0.03009388795279541 Centerline is valid? [True, True] Translation: X:133.05, Y:1.51, Z:-2.19 [[ 9.97145131e-01 -7.55088001e-02 9.47422637e-05 1.33048125e+02] [ 7.55087996e-02 9.97145135e-01 9.26776704e-06 1.51282366e+00] [-9.51715854e-05 -2.08743418e-06 9.99999995e-01 -2.19471651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.365898227 meters 0.030015678160375106 Centerline is valid? [True, True] Translation: X:133.08, Y:1.52, Z:-2.19 [[ 9.97279581e-01 -7.37024067e-02 1.18025194e-03 1.33076611e+02] [ 7.37023198e-02 9.97280279e-01 1.17012964e-04 1.51889298e+00] [-1.18566612e-03 -2.97073341e-05 9.99999297e-01 -2.19163721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.395898227 meters 0.029692496496280783 Centerline is valid? [True, True] Translation: X:133.11, Y:1.52, Z:-2.19 [[ 9.97437402e-01 -7.15117846e-02 2.16661434e-03 1.33105627e+02] [ 7.15114850e-02 9.97439753e-01 2.15520935e-04 1.52312714e+00] [-2.17647956e-03 -6.00308330e-05 9.99997630e-01 -2.18961703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.425898227 meters 0.03570055622524021 Centerline is valid? [True, True] Translation: X:133.13, Y:1.54, Z:-2.19 [[ 9.97815838e-01 -6.60003525e-02 2.73983848e-03 1.33133476e+02] [ 6.59998524e-02 9.97819595e-01 2.72655990e-04 1.53723741e+00] [-2.75185991e-03 -9.12315296e-05 9.99996209e-01 -2.18965178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.455898227 meters 0.03723332022319307 Centerline is valid? [True, True] Translation: X:133.16, Y:1.54, Z:-2.19 [[ 9.97944930e-01 -6.40423046e-02 2.12142291e-03 1.33162317e+02] [ 6.40420004e-02 9.97947182e-01 2.11115789e-04 1.54390707e+00] [-2.13058835e-03 -7.48217645e-05 9.99997727e-01 -2.19062100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.485898227 meters 0.03879817170690995 Centerline is valid? [True, True] Translation: X:133.19, Y:1.55, Z:-2.19 [[ 9.98039225e-01 -6.25704474e-02 1.62589048e-03 1.33191146e+02] [ 6.25702667e-02 9.98040548e-01 1.61850921e-04 1.55047017e+00] [-1.63283171e-03 -5.98011665e-05 9.99998665e-01 -2.19138501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.515898227 meters 0.046085115672232654 Centerline is valid? [True, True] Translation: X:133.22, Y:1.57, Z:-2.19 [[ 9.98081094e-01 -6.19014935e-02 1.52806897e-03 1.33218806e+02] [ 6.19013330e-02 9.98082262e-01 1.52124759e-04 1.56549123e+00] [-1.53455529e-03 -5.72433391e-05 9.99998821e-01 -2.19190531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.545898227 meters 0.042594548956383003 Centerline is valid? [True, True] Translation: X:133.25, Y:1.57, Z:-2.19 [[ 9.98120447e-01 -6.12663361e-02 1.41758174e-03 1.33248678e+02] [ 6.12661972e-02 9.98121452e-01 1.41213925e-04 1.56672220e+00] [-1.42357040e-03 -5.40986633e-05 9.99998985e-01 -2.19149799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.575898227 meters 0.040866756558547726 Centerline is valid? [True, True] Translation: X:133.28, Y:1.57, Z:-2.19 [[ 9.98156718e-01 -6.06674694e-02 1.61982738e-03 1.33277568e+02] [ 6.06672873e-02 9.98158031e-01 1.61397347e-04 1.57059969e+00] [-1.62663528e-03 -6.28293129e-05 9.99998675e-01 -2.19060273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.605898227 meters 0.04609997172067122 Centerline is valid? [True, True] Translation: X:133.31, Y:1.58, Z:-2.19 [[ 9.98224808e-01 -5.95294303e-02 1.86520443e-03 1.33305319e+02] [ 5.95291866e-02 9.98226548e-01 1.85928001e-04 1.58371065e+00] [-1.87296476e-03 -7.45638403e-05 9.99998243e-01 -2.18978080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.635898227 meters 0.04962630323359994 Centerline is valid? [True, True] Translation: X:133.33, Y:1.60, Z:-2.19 [[ 9.98466267e-01 -5.53296451e-02 1.93505242e-03 1.33334680e+02] [ 5.53293748e-02 9.98468138e-01 1.92978866e-04 1.59859169e+00] [-1.94276564e-03 -8.56176472e-05 9.99998109e-01 -2.18871865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.665898227 meters 0.05066157584325464 Centerline is valid? [True, True] Translation: X:133.36, Y:1.61, Z:-2.19 [[ 9.98612941e-01 -5.26160325e-02 1.93578315e-03 1.33364533e+02] [ 5.26157569e-02 9.98614813e-01 1.93061707e-04 1.60736498e+00] [-1.94325987e-03 -9.09412231e-05 9.99998108e-01 -2.18898219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69589822700001 meters 0.05594286664349856 Centerline is valid? [True, True] Translation: X:133.39, Y:1.62, Z:-2.19 [[ 9.98735137e-01 -5.02554540e-02 1.58608054e-03 1.33393756e+02] [ 5.02552660e-02 9.98736393e-01 1.58194285e-04 1.62191185e+00] [-1.59202648e-03 -7.82852918e-05 9.99998730e-01 -2.19018924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72589822700002 meters 0.05339038598634825 Centerline is valid? [True, True] Translation: X:133.42, Y:1.63, Z:-2.19 [[ 9.98824984e-01 -4.84519207e-02 1.03099483e-03 1.33424884e+02] [ 4.84518403e-02 9.98825515e-01 1.02845024e-04 1.62588543e+00] [-1.03476698e-03 -5.27705824e-05 9.99999463e-01 -2.19162174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.755898227 meters 0.05876832743294145 Centerline is valid? [True, True] Translation: X:133.45, Y:1.64, Z:-2.19 [[ 9.98866711e-01 -4.75910867e-02 6.17382489e-04 1.33453636e+02] [ 4.75910576e-02 9.98866902e-01 6.16577917e-05 1.63953104e+00] [-6.19617295e-04 -3.22060301e-05 9.99999808e-01 -2.19284501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.785898227 meters 0.05804856630738217 Centerline is valid? [True, True] Translation: X:133.48, Y:1.64, Z:-2.19 [[ 9.98867071e-01 -4.75875411e-02 3.02594409e-06 1.33483803e+02] [ 4.75875411e-02 9.98867071e-01 3.01495897e-07 1.64470205e+00] [-3.03686336e-06 -1.57157085e-07 1.00000000e+00 -2.19354497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.815898227 meters 0.05673850977014523 Centerline is valid? [True, True] Translation: X:133.51, Y:1.65, Z:-2.20 [[ 9.98758744e-01 -4.98081394e-02 -3.48297409e-04 1.33513073e+02] [ 4.98081303e-02 9.98758804e-01 -3.47032986e-05 1.65220840e+00] [ 3.49593610e-04 1.73121802e-05 9.99999939e-01 -2.19523596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.845898227 meters 0.053379114251950584 Centerline is valid? [True, True] Translation: X:133.54, Y:1.65, Z:-2.19 [[ 9.98694810e-01 -5.10735295e-02 -4.13124664e-04 1.33543692e+02] [ 5.10735168e-02 9.98694895e-01 -4.11624898e-05 1.65401368e+00] [ 4.14687807e-04 2.00090355e-05 9.99999914e-01 -2.19496052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.875898227 meters 0.05269290827289693 Centerline is valid? [True, True] Translation: X:133.57, Y:1.66, Z:-2.19 [[ 9.98636922e-01 -5.21934247e-02 -3.80971913e-04 1.33574345e+02] [ 5.21934140e-02 9.98636994e-01 -3.79262341e-05 1.65877984e+00] [ 3.82432146e-04 1.79903129e-05 9.99999927e-01 -2.19487214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.905898227 meters 0.05124707957518702 Centerline is valid? [True, True] Translation: X:133.61, Y:1.66, Z:-2.20 [[ 9.98563836e-01 -5.35671609e-02 -9.08470078e-04 1.33605226e+02] [ 5.35671007e-02 9.98564248e-01 -9.04674703e-05 1.66222273e+00] [ 9.12011826e-04 4.16734360e-05 9.99999583e-01 -2.19607244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.935898227 meters 0.05055370091348637 Centerline is valid? [True, True] Translation: X:133.63, Y:1.67, Z:-2.20 [[ 9.98473312e-01 -5.52038407e-02 -1.89217733e-03 1.33634835e+02] [ 5.52035824e-02 9.98475102e-01 -1.88486127e-04 1.66555044e+00] [ 1.89969711e-03 8.37434007e-05 9.99998192e-01 -2.19770346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.965898227 meters 0.04852043265081473 Centerline is valid? [True, True] Translation: X:133.67, Y:1.67, Z:-2.20 [[ 9.98357016e-01 -5.72523628e-02 -2.33156489e-03 1.33665429e+02] [ 5.72519762e-02 9.98359733e-01 -2.32254996e-04 1.66676369e+00] [ 2.34103765e-03 9.83867064e-05 9.99997255e-01 -2.19947583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.995898227 meters 0.05041388528429801 Centerline is valid? [True, True] Translation: X:133.70, Y:1.67, Z:-2.20 [[ 9.98216203e-01 -5.96455148e-02 -2.61243467e-03 1.33695048e+02] [ 5.96450377e-02 9.98219616e-01 -2.60233375e-04 1.67295830e+00] [ 2.62330528e-03 1.03950408e-04 9.99996554e-01 -2.20061378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.025898227 meters 0.04885007753154408 Centerline is valid? [True, True] Translation: X:133.73, Y:1.67, Z:-2.20 [[ 9.98119736e-01 -6.12454024e-02 -2.44829470e-03 1.33725329e+02] [ 6.12449880e-02 9.98122734e-01 -2.43936784e-04 1.67398735e+00] [ 2.45863861e-03 9.35323382e-05 9.99996973e-01 -2.20134443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.055898227 meters 0.04723303702305001 Centerline is valid? [True, True] Translation: X:133.76, Y:1.67, Z:-2.20 [[ 9.98041313e-01 -6.25028682e-02 -2.63225959e-03 1.33755528e+02] [ 6.25023935e-02 9.98044780e-01 -2.62293668e-04 1.67440065e+00] [ 2.64350705e-03 9.72573923e-05 9.99996501e-01 -2.20193509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.085898227 meters 0.044629180808083896 Centerline is valid? [True, True] Translation: X:133.79, Y:1.67, Z:-2.20 [[ 9.98028635e-01 -6.26762403e-02 -3.24540632e-03 1.33785918e+02] [ 6.26755193e-02 9.98033905e-01 -3.23487759e-04 1.67240615e+00] [ 3.25930054e-03 1.19442521e-04 9.99994681e-01 -2.20205251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.115898227 meters 0.04638128424261073 Centerline is valid? [True, True] Translation: X:133.81, Y:1.68, Z:-2.20 [[ 9.98096121e-01 -6.15688305e-02 -3.66231557e-03 1.33814701e+02] [ 6.15679044e-02 9.98102830e-01 -3.65189308e-04 1.67728297e+00] [ 3.67785182e-03 1.39012936e-04 9.99993227e-01 -2.20157169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.145898227 meters 0.04854694063284408 Centerline is valid? [True, True] Translation: X:133.84, Y:1.68, Z:-2.20 [[ 9.98201370e-01 -5.98425286e-02 -3.59132635e-03 1.33843516e+02] [ 5.98416264e-02 9.98207820e-01 -3.58234756e-04 1.68331320e+00] [ 3.60632772e-03 1.42679614e-04 9.99993487e-01 -2.20110144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.175898227 meters 0.048188899167847424 Centerline is valid? [True, True] Translation: X:133.87, Y:1.69, Z:-2.20 [[ 9.98312383e-01 -5.79769503e-02 -3.32546819e-03 1.33873475e+02] [ 5.79761664e-02 9.98317912e-01 -3.31706545e-04 1.68588089e+00] [ 3.33910579e-03 1.38348854e-04 9.99994416e-01 -2.20036767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.205898227 meters 0.05377705431636061 Centerline is valid? [True, True] Translation: X:133.90, Y:1.70, Z:-2.20 [[ 9.98441576e-01 -5.57473645e-02 -2.57880589e-03 1.33902370e+02] [ 5.57468856e-02 9.98444900e-01 -2.57265085e-04 1.69550520e+00] [ 2.58913744e-03 1.13103760e-04 9.99996642e-01 -2.19978879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.235898227 meters 0.06012087923389467 Centerline is valid? [True, True] Translation: X:133.93, Y:1.70, Z:-2.20 [[ 9.98707879e-01 -5.08040577e-02 -1.23327288e-03 1.33930618e+02] [ 5.08039444e-02 9.98708638e-01 -1.23096940e-04 1.70452662e+00] [ 1.23793410e-03 6.02827573e-05 9.99999232e-01 -2.19823847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.265898227 meters 0.0630880228158878 Centerline is valid? [True, True] Translation: X:133.96, Y:1.71, Z:-2.20 [[ 9.98834838e-01 -4.82483816e-02 -1.02919121e-03 1.33960835e+02] [ 4.82483013e-02 9.98835367e-01 -1.02684341e-04 1.71049668e+00] [ 1.03294693e-03 5.29079700e-05 9.99999465e-01 -2.19738659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.295898227 meters 0.06636623180508319 Centerline is valid? [True, True] Translation: X:133.99, Y:1.72, Z:-2.20 [[ 9.98954073e-01 -4.57138927e-02 -1.00019214e-03 1.33990992e+02] [ 4.57138157e-02 9.98954572e-01 -9.97774832e-05 1.71748261e+00] [ 1.00370773e-03 5.39505239e-05 9.99999495e-01 -2.19742337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.325898227 meters 0.05809809416275192 Centerline is valid? [True, True] Translation: X:134.02, Y:1.71, Z:-2.20 [[ 9.99054599e-01 -4.34525613e-02 -1.33534870e-03 1.34022972e+02] [ 4.34524220e-02 9.99055489e-01 -1.33179790e-04 1.70946998e+00] [ 1.33987445e-03 7.50297472e-05 9.99999100e-01 -2.19682052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.355898227 meters 0.0647374606053093 Centerline is valid? [True, True] Translation: X:134.05, Y:1.71, Z:-2.20 [[ 9.99183816e-01 -4.03720136e-02 -1.34215868e-03 1.34053153e+02] [ 4.03718701e-02 9.99184715e-01 -1.33878191e-04 1.71494297e+00] [ 1.34646937e-03 7.95834655e-05 9.99999090e-01 -2.19922843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.385898227 meters 0.06202025210118565 Centerline is valid? [True, True] Translation: X:134.08, Y:1.72, Z:-2.20 [[ 9.99248848e-01 -3.87457746e-02 -7.10830782e-04 1.34083359e+02] [ 3.87457340e-02 9.99249100e-01 -7.08352593e-05 1.71977975e+00] [ 7.13041586e-04 4.32403908e-05 9.99999745e-01 -2.19703417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.415898227 meters 0.06339825297056997 Centerline is valid? [True, True] Translation: X:134.11, Y:1.72, Z:-2.20 [[ 9.99315202e-01 -3.69982137e-02 -5.10039565e-04 1.34114049e+02] [ 3.69981925e-02 9.99315331e-01 -5.08309463e-05 1.72461864e+00] [ 5.11571011e-04 3.19255953e-05 9.99999869e-01 -2.19627040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44589822700001 meters 0.07274668947796828 Centerline is valid? [True, True] Translation: X:134.14, Y:1.74, Z:-2.20 [[ 9.99390032e-01 -3.49222577e-02 -2.39296329e-07 1.34142655e+02] [ 3.49222577e-02 9.99390032e-01 -2.38620693e-08 1.73985830e+00] [ 2.39983681e-07 1.54907460e-08 1.00000000e+00 -2.19570686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47589822700002 meters 0.07782616353899173 Centerline is valid? [True, True] Translation: X:134.17, Y:1.75, Z:-2.20 [[ 9.99457952e-01 -3.29186579e-02 4.04812050e-04 1.34172096e+02] [ 3.29186442e-02 9.99458034e-01 4.04023864e-05 1.75016990e+00] [-4.05922648e-04 -2.70546225e-05 9.99999917e-01 -2.19521116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.505898227 meters 0.07353247736941114 Centerline is valid? [True, True] Translation: X:134.20, Y:1.75, Z:-2.19 [[ 9.99527767e-01 -3.07223007e-02 6.18921621e-04 1.34203227e+02] [ 3.07222684e-02 9.99527958e-01 6.17266127e-05 1.74900030e+00] [-6.20525847e-04 -4.26827872e-05 9.99999807e-01 -2.19485984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.535898227 meters 0.07783900988912505 Centerline is valid? [True, True] Translation: X:134.23, Y:1.76, Z:-2.20 [[ 9.99666667e-01 -2.58009454e-02 9.31046790e-04 1.34232713e+02] [ 2.58008701e-02 9.99667098e-01 9.28173740e-05 1.76051435e+00] [-9.33131618e-04 -6.87646177e-05 9.99999562e-01 -2.19605701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.565898227 meters 0.07783900988912505 Centerline is valid? [True, True] Translation: X:134.26, Y:1.76, Z:-2.20 [[ 9.99667873e-01 -2.57541712e-02 9.31040450e-04 1.34264328e+02] [ 2.57540958e-02 9.99668304e-01 9.28809900e-05 1.76357972e+00] [-9.33123700e-04 -6.88720368e-05 9.99999562e-01 -2.19613330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.595898227 meters 0.10144009292775104 Centerline is valid? [True, False] Translation: X:134.29, Y:1.77, Z:-2.20 [[ 9.99873594e-01 -1.47021438e-02 6.05340496e-03 1.34287573e+02] [ 1.48038757e-02 9.99743865e-01 -1.71186828e-02 1.77298005e+00] [-5.80017314e-03 1.72061327e-02 9.99835140e-01 -2.19888909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.625898227 meters 0.08603736142364685 Centerline is valid? [False, True] Translation: X:134.27, Y:1.77, Z:-2.20 [[ 9.99928044e-01 -1.19947296e-02 1.81348147e-04 1.34271352e+02] [ 1.19953737e-02 9.99919609e-01 -4.10940580e-03 1.76821831e+00] [-1.32042357e-04 4.11128544e-03 9.99991540e-01 -2.19796927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.655898227 meters 0.08474186533600578 Centerline is valid? [True, True] Translation: X:134.30, Y:1.77, Z:-2.20 [[ 9.99925348e-01 -1.20667193e-02 -1.92171430e-03 1.34302956e+02] [ 1.20664078e-02 9.99927183e-01 -1.73596912e-04 1.76978787e+00] [ 1.92366911e-03 1.50395765e-04 9.99998138e-01 -2.20169091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.685898227 meters 0.08502980567703051 Centerline is valid? [True, True] Translation: X:134.33, Y:1.77, Z:-2.20 [[ 9.99915463e-01 -1.26561133e-02 -2.98163255e-03 1.34333215e+02] [ 1.26553659e-02 9.99919881e-01 -2.69384558e-04 1.77492954e+00] [ 2.98480303e-03 2.31628134e-04 9.99995519e-01 -2.20339978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.715898227 meters 0.07845526401211592 Centerline is valid? [True, True] Translation: X:134.36, Y:1.77, Z:-2.20 [[ 9.99899431e-01 -1.38459084e-02 -3.06902709e-03 1.34364031e+02] [ 1.38451220e-02 9.99904113e-01 -2.77316851e-04 1.77067104e+00] [ 3.07257251e-03 2.34797907e-04 9.99995252e-01 -2.20356553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.745898227 meters 0.08072873169177174 Centerline is valid? [True, True] Translation: X:134.39, Y:1.78, Z:-2.20 [[ 9.99874160e-01 -1.57314261e-02 -2.04603494e-03 1.34393042e+02] [ 1.57310806e-02 9.99876242e-01 -1.84879426e-04 1.77981240e+00] [ 2.04869015e-03 1.52669821e-04 9.99997890e-01 -2.20229022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.775898227 meters 0.07546244452939062 Centerline is valid? [True, True] Translation: X:134.43, Y:1.78, Z:-2.20 [[ 9.99875650e-01 -1.56421550e-02 -2.00166834e-03 1.34425166e+02] [ 1.56418243e-02 9.99877643e-01 -1.80748449e-04 1.77799210e+00] [ 2.00425071e-03 1.49416228e-04 9.99997980e-01 -2.20172448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.805898227 meters 0.07625131944221918 Centerline is valid? [True, True] Translation: X:134.46, Y:1.78, Z:-2.20 [[ 9.99882532e-01 -1.51803775e-02 -2.11624993e-03 1.34456485e+02] [ 1.51800070e-02 9.99884759e-01 -1.91048308e-04 1.78414682e+00] [ 2.11890623e-03 1.58901177e-04 9.99997742e-01 -2.20207384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.835898227 meters 0.08385089756889749 Centerline is valid? [True, True] Translation: X:134.49, Y:1.80, Z:-2.20 [[ 9.99896954e-01 -1.41804836e-02 -2.23496000e-03 1.34485011e+02] [ 1.41800677e-02 9.99899437e-01 -2.01843213e-04 1.79857174e+00] [ 2.23759748e-03 1.70130530e-04 9.99997482e-01 -2.20308631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.865898227 meters 0.07892226604810577 Centerline is valid? [True, True] Translation: X:134.52, Y:1.80, Z:-2.20 [[ 9.99911584e-01 -1.30533695e-02 -2.53636527e-03 1.34516427e+02] [ 1.30528306e-02 9.99914782e-01 -2.28929415e-04 1.79749447e+00] [ 2.53913743e-03 1.95802428e-04 9.99996757e-01 -2.20280337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.895898227 meters 0.08597133159848465 Centerline is valid? [True, True] Translation: X:134.54, Y:1.81, Z:-2.20 [[ 9.99929040e-01 -1.16343423e-02 -2.56062766e-03 1.34544973e+02] [ 1.16337888e-02 9.99932299e-01 -2.30965880e-04 1.81067679e+00] [ 2.56314143e-03 2.01159689e-04 9.99996695e-01 -2.20483755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.925898227 meters 0.08516745995148886 Centerline is valid? [True, True] Translation: X:134.57, Y:1.82, Z:-2.20 [[ 9.99961781e-01 -8.64195879e-03 -1.32407372e-03 1.34574627e+02] [ 8.64180810e-03 9.99962652e-01 -1.19485503e-04 1.82162903e+00] [ 1.32505686e-03 1.08038545e-04 9.99999116e-01 -2.20101082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.955898227 meters 0.08516745995148886 Centerline is valid? [True, True] Translation: X:134.61, Y:1.82, Z:-2.20 [[ 9.99961982e-01 -8.61870546e-03 -1.32408240e-03 1.34605448e+02] [ 8.61855487e-03 9.99962852e-01 -1.19389271e-04 1.82436765e+00] [ 1.32506220e-03 1.07973055e-04 9.99999116e-01 -2.20110640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.985898227 meters 0.08205199509440742 Centerline is valid? [True, True] Translation: X:134.64, Y:1.83, Z:-2.20 [[ 9.99971181e-01 -7.58622610e-03 -2.92815615e-04 1.34636778e+02] [ 7.58621871e-03 9.99971224e-01 -2.63377048e-05 1.82802805e+00] [ 2.93006992e-04 2.41155825e-05 9.99999957e-01 -2.19984042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.015898227 meters 0.09011344248673223 Centerline is valid? [True, True] Translation: X:134.67, Y:1.85, Z:-2.20 [[ 9.99977002e-01 -6.76691441e-03 4.51454247e-04 1.34665070e+02] [ 6.76689671e-03 9.99977103e-01 4.07203000e-05 1.84504394e+00] [-4.51719461e-04 -3.76644193e-05 9.99999897e-01 -2.20029735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.045898227 meters 0.0844108700110244 Centerline is valid? [True, True] Translation: X:134.70, Y:1.85, Z:-2.20 [[ 9.99979177e-01 -6.33677897e-03 1.22095316e-03 1.34695964e+02] [ 6.33664917e-03 9.99979917e-01 1.10149887e-04 1.84503808e+00] [-1.22162663e-03 -1.02410842e-04 9.99999249e-01 -2.19917150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.075898227 meters 0.08788097403760986 Centerline is valid? [True, True] Translation: X:134.73, Y:1.85, Z:-2.20 [[ 9.99979579e-01 -6.20956510e-03 1.51060630e-03 1.34726628e+02] [ 6.20936615e-03 9.99980712e-01 1.36359956e-04 1.85475580e+00] [-1.51142390e-03 -1.26977264e-04 9.99998850e-01 -2.19934008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.105898227 meters 0.0864715387190705 Centerline is valid? [True, True] Translation: X:134.76, Y:1.86, Z:-2.20 [[ 9.99979338e-01 -6.27249342e-03 1.40712785e-03 1.34757045e+02] [ 6.27232108e-03 9.99980321e-01 1.26851184e-04 1.86145107e+00] [-1.40789583e-03 -1.18022606e-04 9.99999002e-01 -2.19800960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.135898227 meters 0.08708241466501358 Centerline is valid? [True, True] Translation: X:134.79, Y:1.87, Z:-2.20 [[ 9.99980886e-01 -6.05577046e-03 1.24718885e-03 1.34788509e+02] [ 6.05563492e-03 9.99981658e-01 1.12421845e-04 1.86954589e+00] [-1.24784678e-03 -1.04867176e-04 9.99999216e-01 -2.19787934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.165898227 meters 0.09327932566472841 Centerline is valid? [True, True] Translation: X:134.82, Y:1.89, Z:-2.20 [[ 9.99984808e-01 -5.22170511e-03 1.76547856e-03 1.34817298e+02] [ 5.22143254e-03 9.99986356e-01 1.58965762e-04 1.89201365e+00] [-1.76628454e-03 -1.49745020e-04 9.99998429e-01 -2.19555914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19589822700001 meters 0.09199612860227678 Centerline is valid? [True, True] Translation: X:134.85, Y:1.90, Z:-2.20 [[ 9.99987033e-01 -4.76163662e-03 1.80594912e-03 1.34848093e+02] [ 4.76135074e-03 9.99988651e-01 1.62565561e-04 1.89862076e+00] [-1.80670271e-03 -1.53964696e-04 9.99998356e-01 -2.19584313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22589822700002 meters 0.09283911265081664 Centerline is valid? [True, True] Translation: X:134.88, Y:1.91, Z:-2.20 [[ 9.99989178e-01 -4.40495479e-03 1.49651977e-03 1.34879608e+02] [ 4.40475806e-03 9.99990290e-01 1.34725818e-04 1.90734231e+00] [-1.49709870e-03 -1.28132553e-04 9.99998871e-01 -2.19656174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.255898227 meters 0.09356003889502398 Centerline is valid? [True, True] Translation: X:134.91, Y:1.92, Z:-2.20 [[ 9.99990126e-01 -4.31465722e-03 1.06364150e-03 1.34911168e+02] [ 4.31455781e-03 9.99990688e-01 9.57469791e-05 1.91540378e+00] [-1.06404471e-03 -9.11568910e-05 9.99999430e-01 -2.19797033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.285898227 meters 0.09232416302655082 Centerline is valid? [True, True] Translation: X:134.94, Y:1.92, Z:-2.20 [[ 9.99986760e-01 -5.11137385e-03 5.94925623e-04 1.34942547e+02] [ 5.11134289e-03 9.99986936e-01 5.35571765e-05 1.92146063e+00] [-5.95191602e-04 -5.05155985e-05 9.99999822e-01 -2.19885075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.315898227 meters 0.09184248159878715 Centerline is valid? [True, True] Translation: X:134.97, Y:1.93, Z:-2.20 [[ 9.99980076e-01 -6.29311718e-03 4.94163877e-04 1.34972289e+02] [ 6.29309598e-03 9.99980197e-01 4.44313020e-05 1.92858939e+00] [-4.94433702e-04 -4.13205961e-05 9.99999877e-01 -2.19906441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.345898227 meters 0.07472262030353229 Centerline is valid? [True, True] Translation: X:135.00, Y:1.92, Z:-2.20 [[ 9.99963957e-01 -8.36013909e-03 -1.48060460e-03 1.35004101e+02] [ 8.35995132e-03 9.99965046e-01 -1.32958831e-04 1.91859985e+00] [ 1.48166440e-03 1.20576257e-04 9.99998895e-01 -2.19993450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.375898227 meters 0.0814132368519399 Centerline is valid? [True, True] Translation: X:135.03, Y:1.93, Z:-2.20 [[ 9.99953973e-01 -9.19443702e-03 -2.74111616e-03 1.35033648e+02] [ 9.19379678e-03 9.99957706e-01 -2.46077610e-04 1.93335049e+00] [ 2.74326277e-03 2.20865019e-04 9.99996213e-01 -2.20204832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.405898227 meters 0.09216809885499443 Centerline is valid? [True, True] Translation: X:135.06, Y:1.95, Z:-2.20 [[ 9.99942869e-01 -1.01953831e-02 -3.21133061e-03 1.35062320e+02] [ 1.01945094e-02 9.99947993e-01 -2.88304600e-04 1.95309820e+00] [ 3.21410297e-03 2.55550189e-04 9.99994802e-01 -2.20461571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.435898227 meters 0.0821210095524057 Centerline is valid? [True, True] Translation: X:135.09, Y:1.95, Z:-2.20 [[ 9.99933624e-01 -1.10656786e-02 -3.20896497e-03 1.35094118e+02] [ 1.10648110e-02 9.99938742e-01 -2.87977756e-04 1.94646394e+00] [ 3.21195506e-03 2.52452050e-04 9.99994810e-01 -2.20385825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.465898227 meters 0.09133480519804477 Centerline is valid? [True, True] Translation: X:135.12, Y:1.96, Z:-2.20 [[ 9.99928825e-01 -1.16291596e-02 -2.66589007e-03 1.35123473e+02] [ 1.16285631e-02 9.99932357e-01 -2.39165965e-04 1.96480942e+00] [ 2.66849104e-03 2.08148471e-04 9.99996418e-01 -2.20403588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.495898227 meters 0.07975361085323333 Centerline is valid? [True, True] Translation: X:135.16, Y:1.96, Z:-2.20 [[ 9.99926391e-01 -1.19381620e-02 -2.16631283e-03 1.35155921e+02] [ 1.19377689e-02 9.99928723e-01 -1.94279787e-04 1.95612579e+00] [ 2.16847776e-03 1.68404544e-04 9.99997635e-01 -2.20255263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.525898227 meters 0.08013074720063569 Centerline is valid? [True, True] Translation: X:135.19, Y:1.97, Z:-2.20 [[ 9.99934573e-01 -1.12986428e-02 -1.78630048e-03 1.35186507e+02] [ 1.12983746e-02 9.99936159e-01 -1.60142831e-04 1.96602840e+00] [ 1.78799584e-03 1.39950062e-04 9.99998392e-01 -2.20214550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.555898227 meters 0.08478824064768624 Centerline is valid? [True, True] Translation: X:135.22, Y:1.98, Z:-2.20 [[ 9.99947217e-01 -1.01611283e-02 -1.52116808e-03 1.35215360e+02] [ 1.01609324e-02 9.99948367e-01 -1.36437204e-04 1.97839961e+00] [ 1.52247589e-03 1.20973516e-04 9.99998834e-01 -2.20190783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.585898227 meters 0.08581685402820366 Centerline is valid? [True, True] Translation: X:135.25, Y:1.98, Z:-2.20 [[ 9.99955803e-01 -9.30851406e-03 -1.32075067e-03 1.35246494e+02] [ 9.30836580e-03 9.99956669e-01 -1.18355550e-04 1.98457696e+00] [ 1.32179515e-03 1.06056289e-04 9.99999121e-01 -2.20276425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.615898227 meters 0.0863417573144941 Centerline is valid? [True, True] Translation: X:135.28, Y:1.99, Z:-2.20 [[ 9.99969082e-01 -7.83772308e-03 -6.37277833e-04 1.35275681e+02] [ 7.83768824e-03 9.99969283e-01 -5.71436494e-05 1.99480597e+00] [ 6.37706134e-04 5.21470976e-05 9.99999795e-01 -2.20048343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.645898227 meters 0.08887224333029 Centerline is valid? [True, True] Translation: X:135.30, Y:2.00, Z:-2.20 [[ 9.99978907e-01 -6.49315348e-03 -1.55521343e-04 1.35304986e+02] [ 6.49315141e-03 9.99978919e-01 -1.38162847e-05 2.00470188e+00] [ 1.55607776e-04 1.28061697e-05 9.99999988e-01 -2.19999298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.675898227 meters 0.0895802654782 Centerline is valid? [True, True] Translation: X:135.33, Y:2.02, Z:-2.20 [[ 9.99995069e-01 -3.03535155e-03 8.05553081e-04 1.35333955e+02] [ 3.03529438e-03 9.99995391e-01 7.21856864e-05 2.01556894e+00] [-8.05768477e-04 -6.97402397e-05 9.99999673e-01 -2.19856407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.705898227 meters 0.09149669858500592 Centerline is valid? [True, True] Translation: X:135.36, Y:2.03, Z:-2.20 [[ 9.99998266e-01 -1.60646525e-03 9.42107984e-04 1.35364778e+02] [ 1.60638635e-03 9.99998706e-01 8.44966159e-05 2.02524278e+00] [-9.42242506e-04 -8.29830800e-05 9.99999553e-01 -2.19877232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.735898227 meters 0.08542171158621195 Centerline is valid? [True, True] Translation: X:135.40, Y:2.02, Z:-2.20 [[ 9.99999279e-01 -8.98554021e-04 7.96083076e-04 1.35396050e+02] [ 8.98497467e-04 9.99999594e-01 7.13942514e-05 2.02486817e+00] [-7.96146904e-04 -7.06789213e-05 9.99999681e-01 -2.19879316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.765898227 meters 0.08927898623959486 Centerline is valid? [True, True] Translation: X:135.43, Y:2.04, Z:-2.20 [[ 9.99998432e-01 -1.40515386e-03 1.07811931e-03 1.35425629e+02] [ 1.40505052e-03 9.99999008e-01 9.66093888e-05 2.03709586e+00] [-1.07825399e-03 -9.50944251e-05 9.99999414e-01 -2.19933186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.795898227 meters 0.09019443268455232 Centerline is valid? [True, True] Translation: X:135.45, Y:2.04, Z:-2.20 [[ 9.99995341e-01 -2.76166087e-03 1.30083505e-03 1.35454975e+02] [ 2.76151161e-03 9.99996180e-01 1.16521085e-04 2.04489240e+00] [-1.30115188e-03 -1.12928271e-04 9.99999147e-01 -2.19922784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.825898227 meters 0.08922185851005386 Centerline is valid? [True, True] Translation: X:135.49, Y:2.05, Z:-2.20 [[ 9.99987882e-01 -4.73319485e-03 1.35402900e-03 1.35485440e+02] [ 4.73303492e-03 9.99988792e-01 1.21295136e-04 2.04788059e+00] [-1.35458794e-03 -1.14884999e-04 9.99999076e-01 -2.20088379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.855898227 meters 0.08392362312688618 Centerline is valid? [True, True] Translation: X:135.52, Y:2.05, Z:-2.20 [[ 9.99964731e-01 -8.37062395e-03 6.85156090e-04 1.35515679e+02] [ 8.37058384e-03 9.99964964e-01 6.13891690e-05 2.04965540e+00] [-6.85645950e-04 -5.56518473e-05 9.99999763e-01 -2.20019759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.885898227 meters 0.08193472457917612 Centerline is valid? [True, True] Translation: X:135.55, Y:2.05, Z:-2.20 [[ 9.99944895e-01 -1.04865243e-02 -4.88989300e-04 1.35546439e+02] [ 1.04865041e-02 9.99945014e-01 -4.37657426e-05 2.05249670e+00] [ 4.89421363e-04 3.86355425e-05 9.99999879e-01 -2.20135879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.915898227 meters 0.08303757612845392 Centerline is valid? [True, True] Translation: X:135.58, Y:2.06, Z:-2.20 [[ 9.99923295e-01 -1.23265425e-02 -1.20875756e-03 1.35575727e+02] [ 1.23264206e-02 9.99924021e-01 -1.08246858e-04 2.05912459e+00] [ 1.21000003e-03 9.33389008e-05 9.99999264e-01 -2.20336456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94589822700001 meters 0.07919557623127409 Centerline is valid? [True, True] Translation: X:135.61, Y:2.06, Z:-2.20 [[ 9.99893561e-01 -1.45594905e-02 -9.42266832e-04 1.35606658e+02] [ 1.45594174e-02 9.99894003e-01 -8.43623124e-05 2.05952861e+00] [ 9.43395226e-04 7.06344769e-05 9.99999553e-01 -2.20341010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97589822700002 meters 0.07807074792304103 Centerline is valid? [True, True] Translation: X:135.64, Y:2.06, Z:-2.20 [[ 9.99854607e-01 -1.70504112e-02 2.20018802e-04 1.35636346e+02] [ 1.70504073e-02 9.99854631e-01 1.96721913e-05 2.06255555e+00] [-2.20322237e-04 -1.59179209e-05 9.99999976e-01 -2.20230255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.005898227 meters 0.07919209712630736 Centerline is valid? [True, True] Translation: X:135.67, Y:2.07, Z:-2.20 [[ 9.99793225e-01 -2.02376489e-02 1.98625268e-03 1.35665413e+02] [ 2.02373353e-02 9.99795188e-01 1.77870862e-04 2.06784094e+00] [-1.98944556e-03 -1.37637621e-04 9.99998012e-01 -2.20008741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.035898227 meters 0.0682904043867579 Centerline is valid? [True, True] Translation: X:135.70, Y:2.05, Z:-2.20 [[ 9.99625176e-01 -2.72709268e-02 2.40930267e-03 1.35696996e+02] [ 2.72704856e-02 9.99628068e-01 2.15805378e-04 2.05480207e+00] [-2.41429178e-03 -1.50021635e-04 9.99997074e-01 -2.19956770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.065898227 meters 0.06384730039238751 Centerline is valid? [True, True] Translation: X:135.73, Y:2.05, Z:-2.20 [[ 9.99524345e-01 -3.08120517e-02 1.30465771e-03 1.35728455e+02] [ 3.08119254e-02 9.99525193e-01 1.16850522e-04 2.04973385e+00] [-1.30763865e-03 -7.65959257e-05 9.99999142e-01 -2.20168294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.095898227 meters 0.06061340603582537 Centerline is valid? [True, True] Translation: X:135.76, Y:2.05, Z:-2.20 [[ 9.99419583e-01 -3.40658643e-02 1.21469378e-04 1.35759342e+02] [ 3.40658632e-02 9.99419590e-01 1.08860191e-05 2.04601737e+00] [-1.21769718e-04 -6.74174140e-06 9.99999993e-01 -2.20373368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.125898227 meters 0.05983892311218895 Centerline is valid? [True, True] Translation: X:135.79, Y:2.04, Z:-2.21 [[ 9.99349155e-01 -3.60706405e-02 -4.18553749e-04 1.35789650e+02] [ 3.60706279e-02 9.99349242e-01 -3.74449390e-05 2.04497310e+00] [ 4.19632035e-04 2.23230716e-05 9.99999912e-01 -2.20513594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.155898227 meters 0.05988230153271938 Centerline is valid? [True, True] Translation: X:135.82, Y:2.05, Z:-2.20 [[ 9.99290427e-01 -3.76633631e-02 -3.37691768e-04 1.35820502e+02] [ 3.76633551e-02 9.99290484e-01 -3.01580859e-05 2.04575382e+00] [ 3.38588025e-04 1.74180816e-05 9.99999943e-01 -2.20489200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.185898227 meters 0.05771348570691593 Centerline is valid? [True, True] Translation: X:135.85, Y:2.04, Z:-2.20 [[ 9.99272748e-01 -3.81290191e-02 -3.92141963e-04 1.35853589e+02] [ 3.81290083e-02 9.99272824e-01 -3.49398218e-05 2.04061014e+00] [ 3.93189028e-04 1.99624275e-05 9.99999923e-01 -2.20471185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.215898227 meters 0.06263146398355361 Centerline is valid? [True, True] Translation: X:135.88, Y:2.05, Z:-2.21 [[ 9.99296665e-01 -3.74937528e-02 -6.28266162e-04 1.35883940e+02] [ 3.74937249e-02 9.99296862e-01 -5.61265371e-05 2.04665906e+00] [ 6.29928799e-04 3.25310226e-05 9.99999801e-01 -2.20624488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.245898227 meters 0.056022143444563015 Centerline is valid? [True, True] Translation: X:135.92, Y:2.04, Z:-2.21 [[ 9.99338965e-01 -3.63426870e-02 -9.17469910e-04 1.35917289e+02] [ 3.63426271e-02 9.99339385e-01 -8.18725842e-05 2.03736540e+00] [ 9.19839286e-04 4.84751968e-05 9.99999576e-01 -2.20638340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.275898227 meters 0.0598104843911109 Centerline is valid? [True, True] Translation: X:135.95, Y:2.04, Z:-2.21 [[ 9.99390797e-01 -3.48796371e-02 -1.20212412e-03 1.35947752e+02] [ 3.48795331e-02 9.99391518e-01 -1.07370124e-04 2.04076344e+00] [ 1.20513768e-03 6.53751855e-05 9.99999272e-01 -2.20689272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.305898227 meters 0.06147893858187174 Centerline is valid? [True, True] Translation: X:135.98, Y:2.04, Z:-2.21 [[ 9.99445227e-01 -3.32883482e-02 -1.06006927e-03 1.35979295e+02] [ 3.32882665e-02 9.99445788e-01 -9.46484285e-05 2.04161874e+00] [ 1.06263246e-03 5.93080517e-05 9.99999434e-01 -2.20690761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.335898227 meters 0.06349737070224643 Centerline is valid? [True, True] Translation: X:136.01, Y:2.04, Z:-2.21 [[ 9.99514232e-01 -3.11496970e-02 -9.97968693e-04 1.36010426e+02] [ 3.11496235e-02 9.99514729e-01 -8.91245699e-05 2.04263806e+00] [ 1.00026061e-03 5.79949270e-05 9.99999498e-01 -2.20664038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.365898227 meters 0.06955043743042548 Centerline is valid? [True, True] Translation: X:136.04, Y:2.05, Z:-2.21 [[ 9.99674329e-01 -2.55162118e-02 -3.99374654e-04 1.36039914e+02] [ 2.55161996e-02 9.99674408e-01 -3.56255582e-05 2.04751411e+00] [ 4.00153651e-04 2.54234326e-05 9.99999920e-01 -2.20534729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.395898227 meters 0.07320287550687643 Centerline is valid? [True, True] Translation: X:136.07, Y:2.05, Z:-2.21 [[ 9.99762027e-01 -2.18053400e-02 -6.45330569e-04 1.36070988e+02] [ 2.18053074e-02 9.99762234e-01 -5.75770992e-05 2.05321846e+00] [ 6.46432620e-04 4.34917660e-05 9.99999790e-01 -2.20509262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.425898227 meters 0.07136112754277135 Centerline is valid? [True, True] Translation: X:136.10, Y:2.05, Z:-2.21 [[ 9.99841931e-01 -1.77608542e-02 -8.14985062e-04 1.36102206e+02] [ 1.77608008e-02 9.99842262e-01 -7.26823159e-05 2.05149876e+00] [ 8.16147408e-04 5.81960397e-05 9.99999665e-01 -2.20509515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.455898227 meters 0.08619193542787353 Centerline is valid? [True, True] Translation: X:136.13, Y:2.07, Z:-2.21 [[ 9.99898938e-01 -1.42019377e-02 -6.46340614e-04 1.36130888e+02] [ 1.42019034e-02 9.99899146e-01 -5.76068404e-05 2.07178888e+00] [ 6.47093557e-04 4.84217516e-05 9.99999789e-01 -2.20537653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.485898227 meters 0.07980076518007986 Centerline is valid? [True, True] Translation: X:136.16, Y:2.06, Z:-2.20 [[ 9.99940147e-01 -1.09327422e-02 -4.21492160e-04 1.36162573e+02] [ 1.09327273e-02 9.99940235e-01 -3.75552982e-05 2.06479723e+00] [ 4.21877552e-04 3.29449915e-05 9.99999910e-01 -2.20489298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.515898227 meters 0.0839481406346046 Centerline is valid? [True, True] Translation: X:136.19, Y:2.07, Z:-2.21 [[ 9.99965051e-01 -8.34412104e-03 -5.22325926e-04 1.36191158e+02] [ 8.34409778e-03 9.99965186e-01 -4.66913268e-05 2.07212152e+00] [ 5.22697340e-04 4.23313564e-05 9.99999862e-01 -2.20502646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.545898227 meters 0.1041511927756156 Centerline is valid? [True, False] Translation: X:136.21, Y:2.07, Z:-2.21 [[ 9.99994539e-01 -2.67586724e-03 1.93967555e-03 1.36211497e+02] [ 2.68404528e-03 9.99987469e-01 -4.22591872e-03 2.07191055e+00] [-1.92834325e-03 4.23110181e-03 9.99989190e-01 -2.20577012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.575898227 meters 0.08626970982028313 Centerline is valid? [False, True] Translation: X:136.17, Y:2.07, Z:-2.21 [[ 9.99999711e-01 -1.40727673e-04 7.47512059e-04 1.36173834e+02] [ 1.42192975e-04 9.99998068e-01 -1.96054696e-03 2.06563131e+00] [-7.47234712e-04 1.96065268e-03 9.99997799e-01 -2.20949916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.605898227 meters 0.08782122545642113 Centerline is valid? [True, True] Translation: X:136.20, Y:2.07, Z:-2.21 [[ 9.99999653e-01 -4.03985344e-05 8.31706179e-04 1.36204340e+02] [ 4.03398632e-05 9.99999997e-01 7.05599260e-05 2.06775480e+00] [-8.31709027e-04 -7.05263506e-05 9.99999652e-01 -2.20964705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.635898227 meters 0.0884103034363896 Centerline is valid? [True, True] Translation: X:136.23, Y:2.07, Z:-2.21 [[ 9.99999001e-01 -3.02659173e-05 1.41327079e-03 1.36234512e+02] [ 3.00966399e-05 9.99999992e-01 1.19798147e-04 2.07052510e+00] [-1.41327440e-03 -1.19755493e-04 9.99998994e-01 -2.20851715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.665898227 meters 0.0983030244567428 Centerline is valid? [True, True] Translation: X:136.26, Y:2.09, Z:-2.21 [[ 9.99998419e-01 5.03526072e-04 1.70551700e-03 1.36263794e+02] [-5.03773432e-04 9.99999863e-01 1.44609038e-04 2.08515895e+00] [-1.70544395e-03 -1.45468004e-04 9.99998535e-01 -2.20765437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69589822700001 meters 0.09094193840730291 Centerline is valid? [True, True] Translation: X:136.30, Y:2.08, Z:-2.21 [[ 9.99997540e-01 1.67441803e-03 1.45450846e-03 1.36295203e+02] [-1.67459910e-03 9.99998590e-01 1.23276395e-04 2.07814370e+00] [-1.45429999e-03 -1.25711811e-04 9.99998935e-01 -2.20775145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72589822700002 meters 0.095977969217142 Centerline is valid? [True, True] Translation: X:136.32, Y:2.09, Z:-2.21 [[ 9.99987229e-01 4.86689533e-03 1.36235670e-03 1.36323548e+02] [-4.86705701e-03 9.99988149e-01 1.15389121e-04 2.08738397e+00] [-1.36177897e-03 -1.22018315e-04 9.99999065e-01 -2.20925267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.755898227 meters 0.09195729651730393 Centerline is valid? [True, True] Translation: X:136.35, Y:2.09, Z:-2.21 [[ 9.99977487e-01 6.62645182e-03 1.05605197e-03 1.36354051e+02] [-6.62654999e-03 9.99978040e-01 8.94835489e-05 2.08532967e+00] [-1.05543582e-03 -9.64795156e-05 9.99999438e-01 -2.20927698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.785898227 meters 0.09755532077085506 Centerline is valid? [True, True] Translation: X:136.38, Y:2.10, Z:-2.21 [[ 9.99962846e-01 8.60629243e-03 4.89157458e-04 1.36382382e+02] [-8.60631371e-03 9.99962964e-01 4.14140501e-05 2.09559827e+00] [-4.88782920e-04 -4.56223539e-05 9.99999880e-01 -2.21018325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.815898227 meters 0.09755532077085506 Centerline is valid? [True, True] Translation: X:136.41, Y:2.10, Z:-2.21 [[ 9.99963247e-01 8.55956303e-03 4.89169312e-04 1.36410712e+02] [-8.55958423e-03 9.99963365e-01 4.12743195e-05 2.09808743e+00] [-4.88798102e-04 -4.54598885e-05 9.99999880e-01 -2.21032340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.845898227 meters 0.10341388770702621 Centerline is valid? [True, False] Translation: X:136.41, Y:2.10, Z:-2.21 [[ 9.99964466e-01 8.41490756e-03 5.05676667e-04 1.36410642e+02] [-8.41475004e-03 9.99964546e-01 -3.12823671e-04 2.09966059e+00] [-5.08291121e-04 3.08557412e-04 9.99999823e-01 -2.21030597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.875898227 meters 0.09827098961174982 Centerline is valid? [False, True] Translation: X:136.41, Y:2.10, Z:-2.21 [[ 9.99965642e-01 8.26997191e-03 5.68305658e-04 1.36410363e+02] [-8.26959180e-03 9.99965583e-01 -6.67977650e-04 2.10123784e+00] [-5.73810255e-04 6.63255044e-04 9.99999615e-01 -2.21013977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.905898227 meters 0.10897510052851464 Centerline is valid? [True, False] Translation: X:136.43, Y:2.10, Z:-2.21 [[ 9.99976312e-01 6.60740443e-03 1.92811733e-03 1.36431026e+02] [-6.62349294e-03 9.99942272e-01 8.46060520e-03 2.10329120e+00] [-1.87210339e-03 -8.47317566e-03 9.99962350e-01 -2.21136994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.935898227 meters 0.10403562999511796 Centerline is valid? [False, False] Translation: X:136.41, Y:2.11, Z:-2.21 [[ 9.99970203e-01 7.46346039e-03 -1.97217571e-03 1.36406996e+02] [-7.46682883e-03 9.99970667e-01 -1.70617660e-03 2.10996286e+00] [ 1.95938388e-03 1.72085166e-03 9.99996600e-01 -2.20521098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.965898227 meters 0.10484578965016907 Centerline is valid? [False, False] Translation: X:136.42, Y:2.11, Z:-2.20 [[ 9.99971609e-01 5.38178533e-03 -5.27423332e-03 1.36424659e+02] [-5.35176677e-03 9.99969495e-01 5.68923144e-03 2.11238721e+00] [ 5.30469065e-03 -5.66084345e-03 9.99969907e-01 -2.19874796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.995898227 meters 0.11280819920907736 Centerline is valid? [False, False] Translation: X:136.42, Y:2.12, Z:-2.20 [[ 9.99986879e-01 6.07745136e-04 -5.08641312e-03 1.36423809e+02] [-6.06650698e-04 9.99999793e-01 2.16709017e-04 2.11722766e+00] [ 5.08654377e-03 -2.13620498e-04 9.99987041e-01 -2.19828011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.025898227 meters 0.10434715495431311 Centerline is valid? [False, False] Translation: X:136.42, Y:2.12, Z:-2.20 [[ 9.99986899e-01 4.92258734e-04 -5.09508797e-03 1.36423805e+02] [-4.92541597e-04 9.99999877e-01 -5.42623558e-05 2.11843774e+00] [ 5.09506064e-03 5.67711877e-05 9.99987018e-01 -2.19824409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.055898227 meters 0.11540485787147403 Centerline is valid? [False, False] Translation: X:136.47, Y:2.12, Z:-2.20 [[ 9.99985340e-01 4.75855288e-04 -5.39380306e-03 1.36466120e+02] [-4.70964060e-04 9.99999477e-01 9.08057528e-04 2.12245054e+00] [ 5.39423235e-03 -9.05503929e-04 9.99985041e-01 -2.19675314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.085898227 meters 0.096447470725712 Centerline is valid? [False, True] Translation: X:136.42, Y:2.12, Z:-2.20 [[ 9.99985607e-01 -5.46425596e-04 -5.33739706e-03 1.36424407e+02] [ 5.40306904e-04 9.99999195e-01 -1.14775596e-03 2.11963177e+00] [ 5.33801993e-03 1.14485561e-03 9.99985097e-01 -2.19830920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.115898227 meters 0.09451988793931604 Centerline is valid? [True, True] Translation: X:136.45, Y:2.12, Z:-2.20 [[ 9.99963327e-01 -6.48737290e-03 -5.59097659e-03 1.36454331e+02] [ 6.48442393e-03 9.99978827e-01 -5.45418794e-04 2.11956543e+00] [ 5.59439655e-03 5.09144529e-04 9.99984222e-01 -2.19945472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.145898227 meters 0.09550559620867564 Centerline is valid? [True, True] Translation: X:136.48, Y:2.12, Z:-2.20 [[ 9.99942326e-01 -9.20014555e-03 -5.54096500e-03 1.36483899e+02] [ 9.19729016e-03 9.99957558e-01 -5.40586024e-04 2.12323383e+00] [ 5.54570330e-03 4.89592983e-04 9.99984503e-01 -2.19878452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.175898227 meters 0.08489022000590987 Centerline is valid? [True, True] Translation: X:136.52, Y:2.11, Z:-2.20 [[ 9.99920199e-01 -1.13271290e-02 -5.59384282e-03 1.36515873e+02] [ 1.13242518e-02 9.99935730e-01 -5.45756205e-04 2.10983801e+00] [ 5.59966516e-03 4.82366569e-04 9.99984205e-01 -2.19934449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.205898227 meters 0.09711381572242295 Centerline is valid? [True, True] Translation: X:136.54, Y:2.13, Z:-2.20 [[ 9.99902338e-01 -1.27253544e-02 -5.77758753e-03 1.36543415e+02] [ 1.27223080e-02 9.99918909e-01 -5.63726195e-04 2.12950603e+00] [ 5.78429264e-03 4.90166892e-04 9.99983151e-01 -2.19818896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.235898227 meters 0.08663225813621048 Centerline is valid? [True, True] Translation: X:136.58, Y:2.12, Z:-2.20 [[ 9.99889311e-01 -1.34325677e-02 -6.39784940e-03 1.36576556e+02] [ 1.34288470e-02 9.99909634e-01 -6.24156057e-04 2.11853282e+00] [ 6.40565527e-03 5.38171228e-04 9.99979339e-01 -2.19856585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.265898227 meters 0.09309977691461258 Centerline is valid? [True, True] Translation: X:136.61, Y:2.13, Z:-2.20 [[ 9.99884821e-01 -1.36117688e-02 -6.71296108e-03 1.36606241e+02] [ 1.36076784e-02 9.99907197e-01 -6.54625220e-04 2.12909706e+00] [ 6.72124870e-03 5.63202006e-04 9.99977254e-01 -2.19996861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.295898227 meters 0.08775445272569968 Centerline is valid? [True, True] Translation: X:136.64, Y:2.12, Z:-2.20 [[ 9.99876502e-01 -1.42445582e-02 -6.63876760e-03 1.36638179e+02] [ 1.42405730e-02 9.99898388e-01 -6.47179253e-04 2.12279283e+00] [ 6.64731180e-03 5.52559474e-04 9.99977754e-01 -2.20014107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.325898227 meters 0.08566711310408019 Centerline is valid? [True, True] Translation: X:136.67, Y:2.12, Z:-2.20 [[ 9.99864647e-01 -1.51483516e-02 -6.41997391e-03 1.36669523e+02] [ 1.51446440e-02 9.99885118e-01 -6.25742526e-04 2.12210950e+00] [ 6.42871534e-03 5.28429611e-04 9.99979196e-01 -2.19874546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.355898227 meters 0.09180110510727951 Centerline is valid? [True, True] Translation: X:136.70, Y:2.13, Z:-2.20 [[ 9.99851896e-01 -1.61230019e-02 -6.01950659e-03 1.36698980e+02] [ 1.61197603e-02 9.99869896e-01 -5.86639542e-04 2.13211713e+00] [ 6.02818182e-03 4.89519655e-04 9.99981711e-01 -2.19762901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.385898227 meters 0.08542916549385553 Centerline is valid? [True, True] Translation: X:136.73, Y:2.13, Z:-2.20 [[ 9.99847255e-01 -1.64946763e-02 -5.77862018e-03 1.36730712e+02] [ 1.64916958e-02 9.99863844e-01 -5.63059430e-04 2.12666881e+00] [ 5.78712087e-03 4.67674180e-04 9.99983145e-01 -2.19662807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.415898227 meters 0.09952521460714235 Centerline is valid? [True, True] Translation: X:136.76, Y:2.15, Z:-2.20 [[ 9.99846529e-01 -1.65517386e-02 -5.74089479e-03 1.36759666e+02] [ 1.65487988e-02 9.99862903e-01 -5.59210825e-04 2.14764217e+00] [ 5.74936364e-03 4.64120089e-04 9.99983365e-01 -2.19690285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44589822700001 meters 0.08193563053081553 Centerline is valid? [True, True] Translation: X:136.79, Y:2.13, Z:-2.20 [[ 9.99855070e-01 -1.58820920e-02 -6.13167718e-03 1.36792780e+02] [ 1.58787270e-02 9.99873747e-01 -5.97088503e-04 2.12796427e+00] [ 6.14038605e-03 4.99638739e-04 9.99981023e-01 -2.19624731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47589822700002 meters 0.08880653234258627 Centerline is valid? [True, True] Translation: X:136.82, Y:2.14, Z:-2.20 [[ 9.99888594e-01 -1.33810979e-02 -6.61406449e-03 1.36821469e+02] [ 1.33771284e-02 9.99910315e-01 -6.44029670e-04 2.14130677e+00] [ 6.62208913e-03 5.55480731e-04 9.99977919e-01 -2.19659639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.505898227 meters 0.09034600019755293 Centerline is valid? [True, True] Translation: X:136.85, Y:2.15, Z:-2.20 [[ 9.99910540e-01 -1.16398320e-02 -6.58979776e-03 1.36852165e+02] [ 1.16358542e-02 9.99932095e-01 -6.41660731e-04 2.14807183e+00] [ 6.59681911e-03 5.64925403e-04 9.99978081e-01 -2.19676152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.535898227 meters 0.09870024703767129 Centerline is valid? [True, True] Translation: X:136.88, Y:2.16, Z:-2.20 [[ 9.99927091e-01 -1.00903666e-02 -6.63305499e-03 1.36881096e+02] [ 1.00863029e-02 9.99948923e-01 -6.45817234e-04 2.16327978e+00] [ 6.63923272e-03 5.78867147e-04 9.99977793e-01 -2.19689210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.565898227 meters 0.09131325686155349 Centerline is valid? [True, True] Translation: X:136.91, Y:2.16, Z:-2.20 [[ 9.99936168e-01 -9.30763034e-03 -6.40532888e-03 1.36912732e+02] [ 9.30382533e-03 9.99956524e-01 -6.23579977e-04 2.15780877e+00] [ 6.41085445e-03 5.63946112e-04 9.99979291e-01 -2.19676735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.595898227 meters 0.09723373580249342 Centerline is valid? [True, True] Translation: X:136.94, Y:2.17, Z:-2.20 [[ 9.99937368e-01 -9.30632620e-03 -6.21710604e-03 1.36942523e+02] [ 9.30274196e-03 9.99956545e-01 -6.05182565e-04 2.16835949e+00] [ 6.22246790e-03 5.47308528e-04 9.99980490e-01 -2.19733819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.625898227 meters 0.0896697720053092 Centerline is valid? [True, True] Translation: X:136.97, Y:2.16, Z:-2.20 [[ 9.99907777e-01 -1.20076584e-02 -6.34451719e-03 1.36973834e+02] [ 1.20039799e-02 9.99927759e-01 -6.17555703e-04 2.15916119e+00] [ 6.35147425e-03 5.41339294e-04 9.99979683e-01 -2.19810764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.655898227 meters 0.09096029419682815 Centerline is valid? [True, True] Translation: X:137.00, Y:2.16, Z:-2.20 [[ 9.99887447e-01 -1.35537765e-02 -6.43335781e-03 1.37003641e+02] [ 1.35500260e-02 9.99907998e-01 -6.26206362e-04 2.16205466e+00] [ 6.44125339e-03 5.38963715e-04 9.99979110e-01 -2.19940079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.685898227 meters 0.0844584875779459 Centerline is valid? [True, True] Translation: X:137.03, Y:2.16, Z:-2.20 [[ 9.99867613e-01 -1.48131071e-02 -6.73264824e-03 1.37034744e+02] [ 1.48090279e-02 9.99890126e-01 -6.55338515e-04 2.15526997e+00] [ 6.74161609e-03 5.55547781e-04 9.99977121e-01 -2.19933377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.715898227 meters 0.08447579484496147 Centerline is valid? [True, True] Translation: X:137.07, Y:2.16, Z:-2.20 [[ 9.99862489e-01 -1.50250296e-02 -7.01796107e-03 1.37065682e+02] [ 1.50206032e-02 9.99886951e-01 -6.83006453e-04 2.15715523e+00] [ 7.02742989e-03 5.77498523e-04 9.99975141e-01 -2.19948281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.745898227 meters 0.08540549279091264 Centerline is valid? [True, True] Translation: X:137.10, Y:2.16, Z:-2.20 [[ 9.99868407e-01 -1.47806997e-02 -6.68575723e-03 1.37097063e+02] [ 1.47766781e-02 9.99890607e-01 -6.50517042e-04 2.16135051e+00] [ 6.69464096e-03 5.51638156e-04 9.99977438e-01 -2.19894382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.775898227 meters 0.08571253013355548 Centerline is valid? [True, True] Translation: X:137.13, Y:2.16, Z:-2.20 [[ 9.99877141e-01 -1.42005269e-02 -6.63682666e-03 1.37128015e+02] [ 1.41965523e-02 9.99899015e-01 -6.45595761e-04 2.16371058e+00] [ 6.64532424e-03 5.51296387e-04 9.99977768e-01 -2.19931654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.805898227 meters 0.09603882244725145 Centerline is valid? [True, True] Translation: X:137.16, Y:2.18, Z:-2.20 [[ 9.99891381e-01 -1.31961796e-02 -6.56401147e-03 1.37156681e+02] [ 1.31922710e-02 9.99912774e-01 -6.38400379e-04 2.18103382e+00] [ 6.57186336e-03 5.51736818e-04 9.99978253e-01 -2.19789096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.835898227 meters 0.0946881367750128 Centerline is valid? [True, True] Translation: X:137.19, Y:2.18, Z:-2.20 [[ 9.99909069e-01 -1.14393481e-02 -7.14110261e-03 1.37187683e+02] [ 1.14346781e-02 9.99934381e-01 -6.94444971e-04 2.18218444e+00] [ 7.14857802e-03 6.12725614e-04 9.99974261e-01 -2.19839853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.865898227 meters 0.09267445323310064 Centerline is valid? [True, True] Translation: X:137.22, Y:2.18, Z:-2.20 [[ 9.99927648e-01 -7.66294292e-03 -9.27244713e-03 1.37218426e+02] [ 7.65490816e-03 9.99970294e-01 -9.01701645e-04 2.18077287e+00] [ 9.27908137e-03 8.30656674e-04 9.99956603e-01 -2.20177103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.895898227 meters 0.09841380059469476 Centerline is valid? [True, True] Translation: X:137.25, Y:2.19, Z:-2.20 [[ 9.99933767e-01 -6.53950928e-03 -9.47086829e-03 1.37247052e+02] [ 6.53107676e-03 9.99978248e-01 -9.21019073e-04 2.18942214e+00] [ 9.47668529e-03 8.59103103e-04 9.99954726e-01 -2.20280558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.925898227 meters 0.09085390054601473 Centerline is valid? [True, True] Translation: X:137.28, Y:2.18, Z:-2.20 [[ 9.99941613e-01 -6.69297500e-03 -8.48378347e-03 1.37276685e+02] [ 6.68620584e-03 9.99977306e-01 -8.26006437e-04 2.18120779e+00] [ 8.48911938e-03 7.69233887e-04 9.99963671e-01 -2.20030597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.955898227 meters 0.09439644093865553 Centerline is valid? [True, True] Translation: X:137.31, Y:2.19, Z:-2.20 [[ 9.99947585e-01 -7.63622434e-03 -6.82019185e-03 1.37305243e+02] [ 7.63186823e-03 9.99970656e-01 -6.64506877e-04 2.18643285e+00] [ 6.82506604e-03 6.12421242e-04 9.99976521e-01 -2.19842122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.985898227 meters 0.09141088014721149 Centerline is valid? [True, True] Translation: X:137.34, Y:2.18, Z:-2.20 [[ 9.99942229e-01 -9.06370077e-03 -5.77818801e-03 1.37335524e+02] [ 9.06059718e-03 9.99958793e-01 -5.63074087e-04 2.18337048e+00] [ 5.78305345e-03 5.10687724e-04 9.99983148e-01 -2.19657552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.015898227 meters 0.09384955079927534 Centerline is valid? [True, True] Translation: X:137.36, Y:2.19, Z:-2.20 [[ 9.99926159e-01 -1.07016352e-02 -5.75767389e-03 1.37364949e+02] [ 1.06985804e-02 9.99942611e-01 -5.61107578e-04 2.18681302e+00] [ 5.76334824e-03 4.99467209e-04 9.99983267e-01 -2.19662496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.045898227 meters 0.08707158932612248 Centerline is valid? [True, True] Translation: X:137.40, Y:2.18, Z:-2.20 [[ 9.99902474e-01 -1.25140021e-02 -6.20015144e-03 1.37396975e+02] [ 1.25104945e-02 9.99921558e-01 -6.04201524e-04 2.17688480e+00] [ 6.20722607e-03 5.26575639e-04 9.99980596e-01 -2.19735693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.075898227 meters 0.08494511696537288 Centerline is valid? [True, True] Translation: X:137.43, Y:2.18, Z:-2.20 [[ 9.99900263e-01 -1.31722594e-02 -5.09461921e-03 1.37428891e+02] [ 1.31699000e-02 9.99913150e-01 -4.96392931e-04 2.17521318e+00] [ 5.10071535e-03 4.29247797e-04 9.99986899e-01 -2.19582463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.105898227 meters 0.08895591138196282 Centerline is valid? [True, True] Translation: X:137.46, Y:2.18, Z:-2.19 [[ 9.99894998e-01 -1.39958035e-02 -3.75646952e-03 1.37458779e+02] [ 1.39945268e-02 9.99902005e-01 -3.65949042e-04 2.18124438e+00] [ 3.76122316e-03 3.13340603e-04 9.99992877e-01 -2.19375356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.135898227 meters 0.08644247861238821 Centerline is valid? [True, True] Translation: X:137.49, Y:2.18, Z:-2.19 [[ 9.99885396e-01 -1.49319684e-02 -2.49637953e-03 1.37490694e+02] [ 1.49314075e-02 9.99888491e-01 -2.43176888e-04 2.17904573e+00] [ 2.49973227e-03 2.05874559e-04 9.99996854e-01 -2.19148883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.165898227 meters 0.08663060280560535 Centerline is valid? [True, True] Translation: X:137.52, Y:2.18, Z:-2.19 [[ 9.99867534e-01 -1.61845106e-02 -1.72500303e-03 1.37521512e+02] [ 1.61842447e-02 9.99869012e-01 -1.68014491e-04 2.18007807e+00] [ 1.72749631e-03 1.40074364e-04 9.99998498e-01 -2.19006746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19589822700001 meters 0.08245788745183037 Centerline is valid? [True, True] Translation: X:137.55, Y:2.18, Z:-2.19 [[ 9.99842624e-01 -1.76564632e-02 -1.72522412e-03 1.37552772e+02] [ 1.76561994e-02 9.99844103e-01 -1.67983345e-04 2.17516980e+00] [ 1.72792115e-03 1.37496008e-04 9.99998498e-01 -2.19074256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22589822700002 meters 0.07437917753677206 Centerline is valid? [True, True] Translation: X:137.58, Y:2.16, Z:-2.20 [[ 9.99741038e-01 -2.24118583e-02 -3.94540615e-03 1.37584365e+02] [ 2.24105161e-02 9.99748779e-01 -3.84079456e-04 2.16195977e+00] [ 3.95302291e-03 2.95561406e-04 9.99992143e-01 -2.19526762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.255898227 meters 0.0780360018722464 Centerline is valid? [True, True] Translation: X:137.61, Y:2.17, Z:-2.20 [[ 9.99666149e-01 -2.52743396e-02 -5.36648814e-03 1.37614027e+02] [ 2.52718975e-02 9.99680478e-01 -5.22392852e-04 2.16662494e+00] [ 5.37797657e-03 3.86597112e-04 9.99985464e-01 -2.19714356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.285898227 meters 0.0699436129951471 Centerline is valid? [True, True] Translation: X:137.65, Y:2.16, Z:-2.20 [[ 9.99596835e-01 -2.80725692e-02 -4.25429520e-03 1.37645259e+02] [ 2.80691877e-02 9.99605619e-01 -8.52491722e-04 2.15638195e+00] [ 4.27654902e-03 7.32733417e-04 9.99990587e-01 -2.19739757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.315898227 meters 0.07165501028499327 Centerline is valid? [True, True] Translation: X:137.68, Y:2.16, Z:-2.20 [[ 9.99532719e-01 -2.99979424e-02 -5.87080661e-03 1.37675330e+02] [ 2.99976740e-02 9.99549960e-01 -1.33788760e-04 2.15824165e+00] [ 5.87217790e-03 -4.23842998e-05 9.99982758e-01 -2.19720596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.345898227 meters 0.07496672661723752 Centerline is valid? [True, True] Translation: X:137.71, Y:2.16, Z:-2.20 [[ 9.99508725e-01 -3.08166075e-02 -5.71366542e-03 1.37705467e+02] [ 3.08139300e-02 9.99524983e-01 -5.56068720e-04 2.15964138e+00] [ 5.72808749e-03 3.79735051e-04 9.99983522e-01 -2.19833848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.375898227 meters 0.0779865115526913 Centerline is valid? [True, True] Translation: X:137.74, Y:2.17, Z:-2.20 [[ 9.99550983e-01 -2.92256031e-02 -6.61034019e-03 1.37735198e+02] [ 2.92219849e-02 9.99572740e-01 -6.43297594e-04 2.16501442e+00] [ 6.62631661e-03 4.49841481e-04 9.99977945e-01 -2.19911984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.405898227 meters 0.07172346331847605 Centerline is valid? [True, True] Translation: X:137.77, Y:2.16, Z:-2.20 [[ 9.99587317e-01 -2.76573099e-02 -7.76327677e-03 1.37767148e+02] [ 2.76522734e-02 9.99617317e-01 -7.55375427e-04 2.16028692e+00] [ 7.78119755e-03 5.40391445e-04 9.99969580e-01 -2.19873302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.435898227 meters 0.08004340163328565 Centerline is valid? [True, True] Translation: X:137.80, Y:2.17, Z:-2.20 [[ 9.99626207e-01 -2.59601749e-02 -8.57407718e-03 1.37795947e+02] [ 2.59539698e-02 9.99662791e-01 -8.34193385e-04 2.17338403e+00] [ 8.59284172e-03 6.11350229e-04 9.99962894e-01 -2.20002415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.465898227 meters 0.07961483180735993 Centerline is valid? [True, True] Translation: X:137.83, Y:2.18, Z:-2.20 [[ 9.99665682e-01 -2.44007036e-02 -8.55161415e-03 1.37826928e+02] [ 2.43944753e-02 9.99702064e-01 -8.31880637e-04 2.17593221e+00] [ 8.56936479e-03 6.22990384e-04 9.99963088e-01 -2.19984717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.495898227 meters 0.08047396250025508 Centerline is valid? [True, True] Translation: X:137.86, Y:2.18, Z:-2.20 [[ 9.99693563e-01 -2.36095992e-02 -7.44088012e-03 1.37858310e+02] [ 2.36048633e-02 9.99721104e-01 -7.23668207e-04 2.17943440e+00] [ 7.45589041e-03 5.47805490e-04 9.99972054e-01 -2.19778016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.525898227 meters 0.07979973513324799 Centerline is valid? [True, True] Translation: X:137.89, Y:2.18, Z:-2.20 [[ 9.99679360e-01 -2.43234098e-02 -7.03913113e-03 1.37890000e+02] [ 2.43191903e-02 9.99704010e-01 -6.84433214e-04 2.17999358e+00] [ 7.05369537e-03 5.13027788e-04 9.99974991e-01 -2.19788665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.555898227 meters 0.07681188672704363 Centerline is valid? [True, True] Translation: X:137.92, Y:2.18, Z:-2.20 [[ 9.99642101e-01 -2.57615643e-02 -7.21194950e-03 1.37921027e+02] [ 2.57571727e-02 9.99667983e-01 -7.01170390e-04 2.17675159e+00] [ 7.22761826e-03 5.15160013e-04 9.99973748e-01 -2.19773659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.585898227 meters 0.0791105272434779 Centerline is valid? [True, True] Translation: X:137.95, Y:2.18, Z:-2.20 [[ 9.99593327e-01 -2.75788241e-02 -7.25176843e-03 1.37951010e+02] [ 2.75744315e-02 9.99619504e-01 -7.05041723e-04 2.18035097e+00] [ 7.26845339e-03 5.04791610e-04 9.99973457e-01 -2.19835133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.615898227 meters 0.07847735622423052 Centerline is valid? [True, True] Translation: X:137.98, Y:2.18, Z:-2.20 [[ 9.99545688e-01 -2.93599962e-02 -6.81239246e-03 1.37981124e+02] [ 2.93561609e-02 9.99568796e-01 -6.62324088e-04 2.18020046e+00] [ 6.82890076e-03 4.62037497e-04 9.99976576e-01 -2.19786390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.645898227 meters 0.07382669419803099 Centerline is valid? [True, True] Translation: X:138.01, Y:2.18, Z:-2.20 [[ 9.99505445e-01 -3.07451968e-02 -6.60284988e-03 1.38012600e+02] [ 3.07416242e-02 9.99527158e-01 -6.41906445e-04 2.17505922e+00] [ 6.61946332e-03 4.38606657e-04 9.99977995e-01 -2.19679558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.675898227 meters 0.07131115130451422 Centerline is valid? [True, True] Translation: X:138.04, Y:2.17, Z:-2.20 [[ 9.99489069e-01 -3.13557591e-02 -6.19822057e-03 1.38044610e+02] [ 3.13526234e-02 9.99508204e-01 -6.02457636e-04 2.16990815e+00] [ 6.21406283e-03 4.07819346e-04 9.99980609e-01 -2.19625899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.705898227 meters 0.0715387863027663 Centerline is valid? [True, True] Translation: X:138.08, Y:2.17, Z:-2.20 [[ 9.99517156e-01 -3.03862514e-02 -6.49073164e-03 1.38076324e+02] [ 3.03827934e-02 9.99538137e-01 -6.30731840e-04 2.17066529e+00] [ 6.50689939e-03 4.33220737e-04 9.99978736e-01 -2.19637811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.735898227 meters 0.07681117094607542 Centerline is valid? [True, True] Translation: X:138.11, Y:2.18, Z:-2.20 [[ 9.99569551e-01 -2.84940327e-02 -6.98590108e-03 1.38105612e+02] [ 2.84899823e-02 9.99593848e-01 -6.78650452e-04 2.17763314e+00] [ 7.00240123e-03 4.79330129e-04 9.99975368e-01 -2.19740960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.765898227 meters 0.07681117094607542 Centerline is valid? [True, True] Translation: X:138.14, Y:2.18, Z:-2.20 [[ 9.99570211e-01 -2.84708700e-02 -6.98591864e-03 1.38136384e+02] [ 2.84668203e-02 9.99594508e-01 -6.78469665e-04 2.18057723e+00] [ 7.00240252e-03 4.79311175e-04 9.99975368e-01 -2.19732443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.795898227 meters 0.07935241624077108 Centerline is valid? [True, True] Translation: X:138.17, Y:2.18, Z:-2.20 [[ 9.99621478e-01 -2.63939573e-02 -7.76274057e-03 1.38167444e+02] [ 2.63888958e-02 9.99651468e-01 -7.53745415e-04 2.18496141e+00] [ 7.77992933e-03 5.48609953e-04 9.99969585e-01 -2.19794311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.825898227 meters 0.08153872046754308 Centerline is valid? [True, True] Translation: X:138.20, Y:2.19, Z:-2.20 [[ 9.99680070e-01 -2.40083716e-02 -7.95968604e-03 1.38198134e+02] [ 2.40029753e-02 9.99711588e-01 -7.72802267e-04 2.18892431e+00] [ 7.97594410e-03 5.81498877e-04 9.99968023e-01 -2.19772567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.855898227 meters 0.08234362038527658 Centerline is valid? [True, True] Translation: X:138.23, Y:2.19, Z:-2.20 [[ 9.99731053e-01 -2.19164136e-02 -7.58241531e-03 1.38228984e+02] [ 2.19114570e-02 9.99759644e-01 -7.36159680e-04 2.19077027e+00] [ 7.59672681e-03 5.69819925e-04 9.99970982e-01 -2.19646422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.885898227 meters 0.08629580510450616 Centerline is valid? [True, True] Translation: X:138.26, Y:2.20, Z:-2.20 [[ 9.99769624e-01 -2.03649819e-02 -6.77984108e-03 1.38258442e+02] [ 2.03609847e-02 9.99792477e-01 -6.58084001e-04 2.19629580e+00] [ 6.79183598e-03 5.19888153e-04 9.99976800e-01 -2.19533218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.915898227 meters 0.08647947845618137 Centerline is valid? [True, True] Translation: X:138.29, Y:2.20, Z:-2.19 [[ 9.99798745e-01 -1.91436259e-02 -5.99927835e-03 1.38289543e+02] [ 1.91404750e-02 9.99816635e-01 -5.82189940e-04 2.19738895e+00] [ 6.00932352e-03 4.67243734e-04 9.99981835e-01 -2.19383598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94589822700001 meters 0.08636943254651261 Centerline is valid? [True, True] Translation: X:138.32, Y:2.20, Z:-2.19 [[ 9.99829133e-01 -1.75029673e-02 -5.94563902e-03 1.38320620e+02] [ 1.74998441e-02 9.99846700e-01 -5.76915618e-04 2.19751745e+00] [ 5.95482528e-03 4.72769286e-04 9.99982158e-01 -2.19315725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97589822700002 meters 0.08645658342732163 Centerline is valid? [True, True] Translation: X:138.35, Y:2.20, Z:-2.19 [[ 9.99848275e-01 -1.62200299e-02 -6.35121332e-03 1.38350992e+02] [ 1.62164405e-02 9.99868315e-01 -6.16234910e-04 2.19981500e+00] [ 6.36037231e-03 5.13147339e-04 9.99979641e-01 -2.19290806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.005898227 meters 0.08780280098710684 Centerline is valid? [True, True] Translation: X:138.38, Y:2.20, Z:-2.19 [[ 9.99866887e-01 -1.50515420e-02 -6.29749634e-03 1.38380852e+02] [ 1.50479898e-02 9.99886586e-01 -6.11064507e-04 2.20416445e+00] [ 6.30597958e-03 5.16218506e-04 9.99979984e-01 -2.19284850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.035898227 meters 0.0865752795714985 Centerline is valid? [True, True] Translation: X:138.41, Y:2.21, Z:-2.19 [[ 9.99879339e-01 -1.40920415e-02 -6.53617014e-03 1.38411658e+02] [ 1.40881944e-02 9.99900555e-01 -6.34257008e-04 2.20525485e+00] [ 6.54445813e-03 5.42097642e-04 9.99978438e-01 -2.19291845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.065898227 meters 0.08347411753674555 Centerline is valid? [True, True] Translation: X:138.44, Y:2.20, Z:-2.19 [[ 9.99879766e-01 -1.40040701e-02 -6.65884098e-03 1.38442654e+02] [ 1.40000753e-02 9.99901785e-01 -6.46160744e-04 2.20378389e+00] [ 6.66723587e-03 5.52858778e-04 9.99977621e-01 -2.19307511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.095898227 meters 0.09924495151946888 Centerline is valid? [True, True] Translation: X:138.47, Y:2.23, Z:-2.19 [[ 9.99876553e-01 -1.43131181e-02 -6.48172997e-03 1.38470653e+02] [ 1.43093397e-02 9.99897418e-01 -6.28929340e-04 2.22594227e+00] [ 6.49006701e-03 5.36102425e-04 9.99978796e-01 -2.19428278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.125898227 meters 0.09721736310684705 Centerline is valid? [True, True] Translation: X:138.50, Y:2.22, Z:-2.19 [[ 9.99867880e-01 -1.54569959e-02 -5.03035167e-03 1.38501739e+02] [ 1.54547349e-02 9.99880449e-01 -4.88049537e-04 2.22369531e+00] [ 5.03729407e-03 4.10242304e-04 9.99987229e-01 -2.19239213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.155898227 meters 0.08695375238964237 Centerline is valid? [True, True] Translation: X:138.53, Y:2.21, Z:-2.19 [[ 9.99856082e-01 -1.62649754e-02 -4.82354201e-03 1.38533603e+02] [ 1.62629059e-02 9.99867641e-01 -4.67955442e-04 2.21262133e+00] [ 4.83051485e-03 3.89443285e-04 9.99988257e-01 -2.19151278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.185898227 meters 0.0875573407547706 Centerline is valid? [True, True] Translation: X:138.56, Y:2.22, Z:-2.19 [[ 9.99841771e-01 -1.69880681e-02 -5.27624844e-03 1.38563925e+02] [ 1.69856019e-02 9.99855603e-01 -5.11874710e-04 2.21559716e+00] [ 5.28418233e-03 4.22173461e-04 9.99985949e-01 -2.19221210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.215898227 meters 0.09130849510897338 Centerline is valid? [True, True] Translation: X:138.59, Y:2.22, Z:-2.19 [[ 9.99824304e-01 -1.77809940e-02 -5.93268204e-03 1.38593438e+02] [ 1.77778901e-02 9.99841795e-01 -5.75521502e-04 2.22240280e+00] [ 5.94197681e-03 4.69949816e-04 9.99982236e-01 -2.19362329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.245898227 meters 0.08603613444316856 Centerline is valid? [True, True] Translation: X:138.62, Y:2.22, Z:-2.19 [[ 9.99797447e-01 -1.90427357e-02 -6.51447003e-03 1.38624838e+02] [ 1.90390203e-02 9.99818542e-01 -6.31881306e-04 2.21710169e+00] [ 6.52532067e-03 5.07724190e-04 9.99978581e-01 -2.19458309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.275898227 meters 0.08350208638474452 Centerline is valid? [True, True] Translation: X:138.66, Y:2.22, Z:-2.19 [[ 9.99776019e-01 -2.01906157e-02 -6.34430910e-03 1.38656214e+02] [ 2.01871151e-02 9.99796030e-01 -6.15336491e-04 2.21503208e+00] [ 6.35543907e-03 4.87125369e-04 9.99979685e-01 -2.19432091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.305898227 meters 0.08395104002659487 Centerline is valid? [True, True] Translation: X:138.69, Y:2.21, Z:-2.20 [[ 9.99728122e-01 -2.26084038e-02 -5.70448748e-03 1.38686415e+02] [ 2.26056127e-02 9.99744307e-01 -5.53305451e-04 2.21392359e+00] [ 5.71553823e-03 4.24201585e-04 9.99983576e-01 -2.19500101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.335898227 meters 0.07604179075971002 Centerline is valid? [True, True] Translation: X:138.72, Y:2.20, Z:-2.20 [[ 9.99708929e-01 -2.33197344e-02 -6.18436586e-03 1.38718915e+02] [ 2.33164678e-02 9.99727954e-01 -5.99799453e-04 2.20453335e+00] [ 6.19667059e-03 4.55427302e-04 9.99980697e-01 -2.19543084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.365898227 meters 0.07499104162155938 Centerline is valid? [True, True] Translation: X:138.75, Y:2.20, Z:-2.20 [[ 9.99691066e-01 -2.37730465e-02 -7.25356108e-03 1.38749492e+02] [ 2.37685651e-02 9.99717240e-01 -7.03418960e-04 2.20411415e+00] [ 7.26823248e-03 5.30794911e-04 9.99973445e-01 -2.19760214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.395898227 meters 0.09724103868571128 Centerline is valid? [True, True] Translation: X:138.78, Y:2.23, Z:-2.20 [[ 9.99681335e-01 -2.38249065e-02 -8.34276723e-03 1.38777410e+02] [ 2.38189804e-02 9.99715961e-01 -8.08978455e-04 2.23355192e+00] [ 8.35967139e-03 6.10004452e-04 9.99964871e-01 -2.20215413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.425898227 meters 0.08541381492445196 Centerline is valid? [True, True] Translation: X:138.81, Y:2.22, Z:-2.20 [[ 9.99671193e-01 -2.39813585e-02 -9.07743539e-03 1.38809315e+02] [ 2.39743495e-02 9.99712187e-01 -8.80181784e-04 2.21959103e+00] [ 9.09593074e-03 6.62266766e-04 9.99958412e-01 -2.20229316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.455898227 meters 0.07435955984856499 Centerline is valid? [True, True] Translation: X:138.84, Y:2.20, Z:-2.20 [[ 9.99660773e-01 -2.45025427e-02 -8.82976305e-03 1.38841395e+02] [ 2.44959311e-02 9.99699563e-01 -8.56166556e-04 2.20473137e+00] [ 8.84808852e-03 6.39582853e-04 9.99960650e-01 -2.19971615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.485898227 meters 0.07769911352708553 Centerline is valid? [True, True] Translation: X:138.87, Y:2.21, Z:-2.20 [[ 9.99639745e-01 -2.55428754e-02 -8.24268320e-03 1.38870818e+02] [ 2.55371485e-02 9.99673554e-01 -7.99307313e-04 2.20680025e+00] [ 8.26040902e-03 5.88524734e-04 9.99965709e-01 -2.20039631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.515898227 meters 0.0721079294909999 Centerline is valid? [True, True] Translation: X:138.90, Y:2.20, Z:-2.20 [[ 9.99610571e-01 -2.67113169e-02 -8.07540390e-03 1.38901577e+02] [ 2.67058572e-02 9.99643028e-01 -7.83183069e-04 2.20400463e+00] [ 8.09344106e-03 5.67217491e-04 9.99967087e-01 -2.19823327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.545898227 meters 0.07190530298012604 Centerline is valid? [True, True] Translation: X:138.93, Y:2.21, Z:-2.20 [[ 9.99577778e-01 -2.79599152e-02 -7.90627587e-03 1.38931562e+02] [ 2.79547205e-02 9.99608896e-01 -7.66813016e-04 2.20589006e+00] [ 7.92462373e-03 5.45471519e-04 9.99968451e-01 -2.19694999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.575898227 meters 0.07712930981494112 Centerline is valid? [True, True] Translation: X:138.96, Y:2.21, Z:-2.20 [[ 9.99554405e-01 -2.88784554e-02 -7.55154191e-03 1.38960313e+02] [ 2.88737430e-02 9.99582798e-01 -7.32330634e-04 2.21361663e+00] [ 7.56953997e-03 5.13963031e-04 9.99971219e-01 -2.19747965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.605898227 meters 0.07430685488057726 Centerline is valid? [True, True] Translation: X:138.99, Y:2.21, Z:-2.20 [[ 9.99530540e-01 -2.96345909e-02 -7.77755800e-03 1.38991564e+02] [ 2.96296158e-02 9.99560662e-01 -7.54144843e-04 2.21146634e+00] [ 7.79648980e-03 5.23344747e-04 9.99969470e-01 -2.19736950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.635898227 meters 0.07384887000513947 Centerline is valid? [True, True] Translation: X:139.02, Y:2.21, Z:-2.20 [[ 9.99494076e-01 -3.08130599e-02 -7.88341829e-03 1.39021500e+02] [ 3.08079852e-02 9.99525029e-01 -7.64377046e-04 2.21187707e+00] [ 7.90322669e-03 5.21118095e-04 9.99968633e-01 -2.19763426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.665898227 meters 0.07412271635810176 Centerline is valid? [True, True] Translation: X:139.05, Y:2.21, Z:-2.20 [[ 9.99477029e-01 -3.14068540e-02 -7.69928137e-03 1.39052006e+02] [ 3.14020312e-02 9.99506556e-01 -7.46523111e-04 2.21451750e+00] [ 7.71892815e-03 5.04359628e-04 9.99970081e-01 -2.19725227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69589822700001 meters 0.06901573879399235 Centerline is valid? [True, True] Translation: X:139.08, Y:2.21, Z:-2.20 [[ 9.99456007e-01 -3.21136613e-02 -7.51013329e-03 1.39082735e+02] [ 3.21090924e-02 9.99484105e-01 -7.28183294e-04 2.21019268e+00] [ 7.52964348e-03 4.86643604e-04 9.99971533e-01 -2.19598411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72589822700002 meters 0.06488478283790278 Centerline is valid? [True, True] Translation: X:139.11, Y:2.21, Z:-2.20 [[ 9.99435041e-01 -3.28105982e-02 -7.28453226e-03 1.39113410e+02] [ 3.28063181e-02 9.99461478e-01 -7.06308995e-04 2.20666416e+00] [ 7.30378380e-03 4.66931276e-04 9.99973218e-01 -2.19535094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.755898227 meters 0.07071359188493206 Centerline is valid? [True, True] Translation: X:139.14, Y:2.22, Z:-2.20 [[ 9.99401480e-01 -3.37828842e-02 -7.44300081e-03 1.39142345e+02] [ 3.37784423e-02 9.99429085e-01 -7.21731513e-04 2.21570889e+00] [ 7.46313367e-03 4.69886569e-04 9.99972040e-01 -2.19582872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.785898227 meters 0.06601386151535758 Centerline is valid? [True, True] Translation: X:139.17, Y:2.21, Z:-2.20 [[ 9.99361601e-01 -3.49357947e-02 -7.47537498e-03 1.39173919e+02] [ 3.49313463e-02 9.99389451e-01 -7.24847463e-04 2.21082890e+00] [ 7.49613402e-03 4.63259809e-04 9.99971796e-01 -2.19580749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.815898227 meters 0.06107810535507168 Centerline is valid? [True, True] Translation: X:139.21, Y:2.20, Z:-2.19 [[ 9.99285972e-01 -3.73162073e-02 -5.91997338e-03 1.39205049e+02] [ 3.73134593e-02 9.99303446e-01 -5.74002284e-04 2.20457117e+00] [ 5.93726938e-03 3.52697745e-04 9.99982312e-01 -2.19257492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.845898227 meters 0.06645567122428242 Centerline is valid? [True, True] Translation: X:139.23, Y:2.21, Z:-2.19 [[ 9.99262090e-01 -3.80504673e-02 -5.23813608e-03 1.39233691e+02] [ 3.80483261e-02 9.99275771e-01 -5.07862180e-04 2.21322814e+00] [ 5.25366686e-03 3.08185113e-04 9.99986152e-01 -2.19177440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.875898227 meters 0.06609303107859717 Centerline is valid? [True, True] Translation: X:139.26, Y:2.22, Z:-2.19 [[ 9.99244923e-01 -3.84786932e-02 -5.38273490e-03 1.39264594e+02] [ 3.84764384e-02 9.99259371e-01 -5.21862865e-04 2.21527689e+00] [ 5.39882889e-03 3.14360350e-04 9.99985377e-01 -2.19227448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.905898227 meters 0.0661893897447422 Centerline is valid? [True, True] Translation: X:139.29, Y:2.22, Z:-2.19 [[ 9.99253451e-01 -3.81023167e-02 -6.38393857e-03 1.39294851e+02] [ 3.80991373e-02 9.99273773e-01 -6.18947897e-04 2.21753267e+00] [ 6.40288573e-03 3.75263270e-04 9.99979431e-01 -2.19381027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.935898227 meters 0.0624334282840445 Centerline is valid? [True, True] Translation: X:139.33, Y:2.22, Z:-2.20 [[ 9.99282936e-01 -3.71010879e-02 -7.55804181e-03 1.39325303e+02] [ 3.70966025e-02 9.99311415e-01 -7.32840018e-04 2.21516571e+00] [ 7.58002662e-03 4.51936851e-04 9.99971169e-01 -2.19527967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.965898227 meters 0.06402336758187878 Centerline is valid? [True, True] Translation: X:139.36, Y:2.22, Z:-2.20 [[ 9.99364266e-01 -3.44195498e-02 -9.29289912e-03 1.39355763e+02] [ 3.44126526e-02 9.99407303e-01 -9.01127306e-04 2.21886259e+00] [ 9.31840764e-03 5.80761120e-04 9.99956414e-01 -2.19728150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.995898227 meters 0.07290906406838041 Centerline is valid? [True, True] Translation: X:139.38, Y:2.23, Z:-2.20 [[ 9.99392906e-01 -3.34007793e-02 -9.90996033e-03 1.39383579e+02] [ 3.33928840e-02 9.99441840e-01 -9.61151818e-04 2.23282725e+00] [ 9.93653221e-03 6.29646153e-04 9.99950433e-01 -2.19864419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.025898227 meters 0.07955391642111445 Centerline is valid? [True, True] Translation: X:139.41, Y:2.24, Z:-2.20 [[ 9.99440498e-01 -3.20857856e-02 -9.44424750e-03 1.39412269e+02] [ 3.20785551e-02 9.99484931e-01 -9.16123285e-04 2.24424885e+00] [ 9.46877759e-03 6.12652898e-04 9.99954982e-01 -2.19862530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.055898227 meters 0.0744891088546817 Centerline is valid? [True, True] Translation: X:139.44, Y:2.24, Z:-2.20 [[ 9.99495302e-01 -3.06356027e-02 -8.40249492e-03 1.39442675e+02] [ 3.06298275e-02 9.99530464e-01 -8.15175956e-04 2.24110154e+00] [ 8.42352306e-03 5.57397567e-04 9.99964366e-01 -2.19596513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.085898227 meters 0.07461786364209524 Centerline is valid? [True, True] Translation: X:139.47, Y:2.25, Z:-2.19 [[ 9.99565797e-01 -2.85941489e-02 -7.11278935e-03 1.39472189e+02] [ 2.85899585e-02 9.99590985e-01 -6.90136970e-04 2.24529151e+00] [ 7.12961399e-03 4.86482959e-04 9.99974466e-01 -2.19364883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.115898227 meters 0.07878930667439081 Centerline is valid? [True, True] Translation: X:139.50, Y:2.26, Z:-2.19 [[ 9.99635337e-01 -2.62260408e-02 -6.43326797e-03 1.39500613e+02] [ 2.62225636e-02 9.99655935e-01 -6.24280997e-04 2.25521318e+00] [ 6.44742692e-03 4.55356567e-04 9.99979111e-01 -2.19298327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.145898227 meters 0.08115910239787051 Centerline is valid? [True, True] Translation: X:139.53, Y:2.27, Z:-2.20 [[ 9.99714462e-01 -2.24205478e-02 -8.26524570e-03 1.39529841e+02] [ 2.24146779e-02 9.99748438e-01 -8.02153606e-04 2.26559369e+00] [ 8.28115120e-03 6.16661740e-04 9.99965521e-01 -2.19564407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.175898227 meters 0.08271939737927272 Centerline is valid? [True, True] Translation: X:139.56, Y:2.27, Z:-2.20 [[ 9.99719580e-01 -2.17729317e-02 -9.31128260e-03 1.39558562e+02] [ 2.17654530e-02 9.99762696e-01 -9.03778685e-04 2.27244529e+00] [ 9.32875090e-03 7.00860964e-04 9.99956241e-01 -2.19766036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.205898227 meters 0.09260635508701873 Centerline is valid? [True, True] Translation: X:139.59, Y:2.29, Z:-2.20 [[ 9.99698621e-01 -2.26765689e-02 -9.40425156e-03 1.39586270e+02] [ 2.26689788e-02 9.99742609e-01 -9.12911165e-04 2.28932326e+00] [ 9.42253268e-03 6.99451253e-04 9.99955362e-01 -2.19975684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.235898227 meters 0.07930431736058355 Centerline is valid? [True, True] Translation: X:139.62, Y:2.28, Z:-2.20 [[ 9.99646683e-01 -2.51870518e-02 -8.49243258e-03 1.39618120e+02] [ 2.51809521e-02 9.99682570e-01 -8.24437013e-04 2.27653200e+00] [ 8.51050196e-03 6.10298187e-04 9.99963599e-01 -2.19683505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.265898227 meters 0.0893435573151423 Centerline is valid? [True, True] Translation: X:139.65, Y:2.29, Z:-2.20 [[ 9.99556324e-01 -2.87659829e-02 -7.72487459e-03 1.39645923e+02] [ 2.87610417e-02 9.99586034e-01 -7.49992990e-04 2.29194213e+00] [ 7.74325104e-03 5.27484796e-04 9.99969881e-01 -2.19720493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.295898227 meters 0.07079058225345 Centerline is valid? [True, True] Translation: X:139.68, Y:2.27, Z:-2.20 [[ 9.99421343e-01 -3.30839423e-02 -7.90138841e-03 1.39678878e+02] [ 3.30789072e-02 9.99452449e-01 -7.67115768e-04 2.27035009e+00] [ 7.92244121e-03 5.05302577e-04 9.99968489e-01 -2.19560486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.325898227 meters 0.06175469628612833 Centerline is valid? [True, True] Translation: X:139.71, Y:2.26, Z:-2.20 [[ 9.99107629e-01 -4.10815159e-02 -9.81092429e-03 1.39710288e+02] [ 4.10741377e-02 9.99155648e-01 -9.52444614e-04 2.26024212e+00] [ 9.84176828e-03 5.48619426e-04 9.99951418e-01 -2.19905864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.355898227 meters 0.05957789298614785 Centerline is valid? [True, True] Translation: X:139.74, Y:2.26, Z:-2.20 [[ 9.98966139e-01 -4.42478917e-02 -1.04296579e-02 1.39741114e+02] [ 4.42397263e-02 9.99020431e-01 -1.01242675e-03 2.26007919e+00] [ 1.04642391e-02 5.49974824e-04 9.99945097e-01 -2.20036002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.385898227 meters 0.057986591084230994 Centerline is valid? [True, True] Translation: X:139.77, Y:2.26, Z:-2.20 [[ 9.98854111e-01 -4.67411098e-02 -1.02827153e-02 1.39770357e+02] [ 4.67333031e-02 9.98906903e-01 -9.98314066e-04 2.26069343e+00] [ 1.03181376e-02 5.16624858e-04 9.99946633e-01 -2.20052837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.415898227 meters 0.05586825158340488 Centerline is valid? [True, True] Translation: X:139.80, Y:2.26, Z:-2.20 [[ 9.98804157e-01 -4.78458481e-02 -1.00514410e-02 1.39799888e+02] [ 4.78384421e-02 9.98854609e-01 -9.76096354e-04 2.26070104e+00] [ 1.00866304e-02 4.94083816e-04 9.99949007e-01 -2.19892643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44589822700001 meters 0.05543861612094009 Centerline is valid? [True, True] Translation: X:139.83, Y:2.26, Z:-2.20 [[ 9.98832552e-01 -4.73927010e-02 -9.35225166e-03 1.39830715e+02] [ 4.73862691e-02 9.98876227e-01 -9.08258394e-04 2.26313331e+00] [ 9.38478667e-03 4.64029736e-04 9.99955854e-01 -2.19720305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47589822700002 meters 0.0556707398823407 Centerline is valid? [True, True] Translation: X:139.86, Y:2.27, Z:-2.20 [[ 9.98888282e-01 -4.62035714e-02 -9.35036544e-03 1.39860605e+02] [ 4.61970893e-02 9.98931932e-01 -9.08154576e-04 2.26581927e+00] [ 9.38233860e-03 4.75185297e-04 9.99955872e-01 -2.19581229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.505898227 meters 0.05595711220842878 Centerline is valid? [True, True] Translation: X:139.89, Y:2.27, Z:-2.19 [[ 9.98982580e-01 -4.43779186e-02 -8.02528751e-03 1.39890645e+02] [ 4.43730841e-02 9.99014725e-01 -7.79548855e-04 2.26708769e+00] [ 8.05197516e-03 4.22648969e-04 9.99967493e-01 -2.19355548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.535898227 meters 0.0602194084862386 Centerline is valid? [True, True] Translation: X:139.92, Y:2.27, Z:-2.19 [[ 9.99015163e-01 -4.38652335e-02 -6.67430290e-03 1.39919438e+02] [ 4.38618778e-02 9.99037394e-01 -6.48394044e-04 2.27431301e+00] [ 6.69632013e-03 3.55008023e-04 9.99977516e-01 -2.19193532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.565898227 meters 0.06051321821081431 Centerline is valid? [True, True] Translation: X:139.95, Y:2.28, Z:-2.19 [[ 9.99032394e-01 -4.35982134e-02 -5.78549666e-03 1.39950053e+02] [ 4.35956873e-02 9.99049098e-01 -5.62077143e-04 2.27685932e+00] [ 5.80450077e-03 3.09310570e-04 9.99983106e-01 -2.19043998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.595898227 meters 0.06071354915283258 Centerline is valid? [True, True] Translation: X:139.98, Y:2.28, Z:-2.19 [[ 9.99042381e-01 -4.34427886e-02 -5.20039427e-03 1.39980598e+02] [ 4.34407455e-02 9.99055878e-01 -5.05232814e-04 2.27898868e+00] [ 5.21743319e-03 2.78839989e-04 9.99986350e-01 -2.18949230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.625898227 meters 0.06071354915283258 Centerline is valid? [True, True] Translation: X:140.01, Y:2.28, Z:-2.19 [[ 9.99042381e-01 -4.34427886e-02 -5.20039427e-03 1.40010500e+02] [ 4.34407455e-02 9.99055878e-01 -5.05232814e-04 2.28189374e+00] [ 5.21743319e-03 2.78839989e-04 9.99986350e-01 -2.18940951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.655898227 meters 0.06407823599152485 Centerline is valid? [True, True] Translation: X:140.04, Y:2.29, Z:-2.19 [[ 9.99111688e-01 -4.17365538e-02 -5.82188800e-03 1.40039903e+02] [ 4.17339643e-02 9.99128598e-01 -5.65612663e-04 2.28606056e+00] [ 5.84042152e-03 3.22139757e-04 9.99982893e-01 -2.18991479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.685898227 meters 0.06508472149044767 Centerline is valid? [True, True] Translation: X:140.07, Y:2.29, Z:-2.19 [[ 9.99163946e-01 -4.03688472e-02 -6.46260699e-03 1.40070230e+02] [ 4.03656279e-02 9.99184779e-01 -6.27860301e-04 2.28909706e+00] [ 6.48268453e-03 3.66468186e-04 9.99978920e-01 -2.19019475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.715898227 meters 0.06738267525708994 Centerline is valid? [True, True] Translation: X:140.10, Y:2.29, Z:-2.19 [[ 9.99219138e-01 -3.89200191e-02 -6.80788850e-03 1.40100097e+02] [ 3.89164127e-02 9.99242251e-01 -6.61451957e-04 2.29374028e+00] [ 6.82847355e-03 3.95996855e-04 9.99976607e-01 -2.19085555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.745898227 meters 0.06821811481635158 Centerline is valid? [True, True] Translation: X:140.13, Y:2.29, Z:-2.19 [[ 9.99292028e-01 -3.69977213e-02 -6.82725322e-03 1.40130783e+02] [ 3.69940495e-02 9.99315266e-01 -6.63364955e-04 2.29386415e+00] [ 6.84712136e-03 4.10327568e-04 9.99976474e-01 -2.19207600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.775898227 meters 0.07426887475190005 Centerline is valid? [True, True] Translation: X:140.16, Y:2.31, Z:-2.19 [[ 9.99367823e-01 -3.50220234e-02 -6.11654186e-03 1.40159192e+02] [ 3.50190391e-02 9.99386469e-01 -5.94348581e-04 2.30594333e+00] [ 6.13360446e-03 3.79777428e-04 9.99981117e-01 -2.19026511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.805898227 meters 0.07558017595663226 Centerline is valid? [True, True] Translation: X:140.19, Y:2.31, Z:-2.19 [[ 9.99436736e-01 -3.30218076e-02 -5.98090225e-03 1.40188801e+02] [ 3.30189181e-02 9.99454558e-01 -5.81236202e-04 2.30928325e+00] [ 5.99683348e-03 3.83425891e-04 9.99981945e-01 -2.18990445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.835898227 meters 0.0680237294893412 Centerline is valid? [True, True] Translation: X:140.22, Y:2.30, Z:-2.19 [[ 9.99573404e-01 -2.83968813e-02 -6.82834843e-03 1.40220187e+02] [ 2.83930070e-02 9.99596617e-01 -6.63670082e-04 2.30114061e+00] [ 6.84444015e-03 4.69509619e-04 9.99976466e-01 -2.18987494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.865898227 meters 0.07381289531768184 Centerline is valid? [True, True] Translation: X:140.25, Y:2.31, Z:-2.19 [[ 9.99642763e-01 -2.56157403e-02 -7.62760990e-03 1.40248609e+02] [ 2.56108251e-02 9.99671714e-01 -7.41400346e-04 2.31113502e+00] [ 7.64409738e-03 5.45786108e-04 9.99970635e-01 -2.19110471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.895898227 meters 0.08266094398236701 Centerline is valid? [True, True] Translation: X:140.28, Y:2.33, Z:-2.19 [[ 9.99708143e-01 -2.26461678e-02 -8.41303302e-03 1.40277271e+02] [ 2.26400829e-02 9.99743346e-01 -8.17820012e-04 2.32524424e+00] [ 8.42939427e-03 6.27109561e-04 9.99964275e-01 -2.19267191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.925898227 meters 0.0769255694312503 Centerline is valid? [True, True] Translation: X:140.31, Y:2.32, Z:-2.19 [[ 9.99765940e-01 -1.96826294e-02 -8.98108773e-03 1.40308576e+02] [ 1.96755758e-02 9.99806036e-01 -8.73071592e-04 2.31870856e+00] [ 8.99653007e-03 6.96159168e-04 9.99959288e-01 -2.19411434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.955898227 meters 0.0962836421772327 Centerline is valid? [True, True] Translation: X:140.33, Y:2.35, Z:-2.19 [[ 9.99816595e-01 -1.69775734e-02 -8.86217092e-03 1.40334825e+02] [ 1.69706014e-02 9.99855618e-01 -8.61326206e-04 2.34828645e+00] [ 8.87551461e-03 7.10771864e-04 9.99960359e-01 -2.19411770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.985898227 meters 0.08260044009880005 Centerline is valid? [True, True] Translation: X:140.37, Y:2.33, Z:-2.19 [[ 9.99847247e-01 -1.53267291e-02 -8.40083751e-03 1.40366643e+02] [ 1.53204063e-02 9.99882302e-01 -8.16478129e-04 2.33409638e+00] [ 8.41236269e-03 6.87649165e-04 9.99964379e-01 -2.19163349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.015898227 meters 0.08922941847900041 Centerline is valid? [True, True] Translation: X:140.40, Y:2.35, Z:-2.19 [[ 9.99878136e-01 -1.38438763e-02 -7.21526934e-03 1.40395055e+02] [ 1.38391729e-02 9.99903988e-01 -7.01387495e-04 2.34517045e+00] [ 7.22428650e-03 6.01448662e-04 9.99973724e-01 -2.19094827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.045898227 meters 0.09001468355324078 Centerline is valid? [True, True] Translation: X:140.42, Y:2.35, Z:-2.19 [[ 9.99873001e-01 -1.38783508e-02 -7.83409467e-03 1.40424790e+02] [ 1.38728060e-02 9.99903478e-01 -7.61672566e-04 2.34822174e+00] [ 7.84390927e-03 6.52894959e-04 9.99969023e-01 -2.19182157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.075898227 meters 0.08250044478297887 Centerline is valid? [True, True] Translation: X:140.46, Y:2.34, Z:-2.19 [[ 9.99871254e-01 -1.37414807e-02 -8.28537671e-03 1.40455132e+02] [ 1.37352727e-02 9.99905342e-01 -8.05715251e-04 2.34073834e+00] [ 8.29566416e-03 6.91809610e-04 9.99965351e-01 -2.19164146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.105898227 meters 0.0929656939985968 Centerline is valid? [True, True] Translation: X:140.48, Y:2.36, Z:-2.19 [[ 9.99879940e-01 -1.31658773e-02 -8.17102818e-03 1.40482045e+02] [ 1.31598182e-02 9.99913090e-01 -7.94854647e-04 2.35685186e+00] [ 8.18078299e-03 6.87229971e-04 9.99966301e-01 -2.19276780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.135898227 meters 0.08293377932974012 Centerline is valid? [True, True] Translation: X:140.51, Y:2.35, Z:-2.19 [[ 9.99896564e-01 -1.20891460e-02 -7.79187023e-03 1.40512094e+02] [ 1.20836017e-02 9.99926703e-01 -7.58247892e-04 2.34798175e+00] [ 7.80046568e-03 6.64015606e-04 9.99969355e-01 -2.19078838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.165898227 meters 0.09308571043877645 Centerline is valid? [True, True] Translation: X:140.54, Y:2.37, Z:-2.19 [[ 9.99924943e-01 -9.90342084e-03 -7.21328816e-03 1.40539899e+02] [ 9.89861174e-03 9.99950761e-01 -7.02097933e-04 2.36588122e+00] [ 7.21988615e-03 6.30643696e-04 9.99973737e-01 -2.18974079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19589822700001 meters 0.10514144465551557 Centerline is valid? [True, False] Translation: X:140.54, Y:2.37, Z:-2.19 [[ 9.99998403e-01 1.78717871e-03 -4.22830045e-07 1.40543047e+02] [-1.78714613e-03 9.99978689e-01 -6.27911353e-03 2.37300612e+00] [-1.07990770e-05 6.27910425e-03 9.99980286e-01 -2.19453075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22589822700002 meters 0.09855874549945608 Centerline is valid? [False, True] Translation: X:140.53, Y:2.37, Z:-2.19 [[ 9.99987385e-01 2.28033721e-03 -4.47555532e-03 1.40526544e+02] [-2.26112574e-03 9.99988229e-01 4.29290947e-03 2.37281709e+00] [ 4.48529192e-03 -4.28273552e-03 9.99980770e-01 -2.19499157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.255898227 meters 0.1029521470753943 Centerline is valid? [True, False] Translation: X:140.53, Y:2.38, Z:-2.20 [[ 9.99988577e-01 1.90175084e-03 -4.38517508e-03 1.40526348e+02] [-1.88741424e-03 9.99992869e-01 3.27115626e-03 2.37725711e+00] [ 4.39136473e-03 -3.26284225e-03 9.99985035e-01 -2.19529359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.285898227 meters 0.1061886128765804 Centerline is valid? [False, False] Translation: X:140.53, Y:2.38, Z:-2.20 [[ 9.99989764e-01 1.49484143e-03 -4.27062611e-03 1.40525993e+02] [-1.48537842e-03 9.99996437e-01 2.21815123e-03 2.38187109e+00] [ 4.27392668e-03 -2.21178503e-03 9.99988421e-01 -2.19536937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.315898227 meters 0.10739176224473641 Centerline is valid? [False, False] Translation: X:140.53, Y:2.39, Z:-2.20 [[ 9.99990751e-01 1.10287470e-03 -4.15718874e-03 1.40525540e+02] [-1.09770343e-03 9.99998621e-01 1.24601071e-03 2.38616591e+00] [ 4.15855720e-03 -1.24143583e-03 9.99990583e-01 -2.19518256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.345898227 meters 0.10891575978973496 Centerline is valid? [False, False] Translation: X:140.53, Y:2.39, Z:-2.19 [[ 9.99991293e-01 7.46780113e-04 -4.10564402e-03 1.40525199e+02] [-7.45203881e-04 9.99999648e-01 3.85434790e-04 2.38998145e+00] [ 4.10593041e-03 -3.82371892e-04 9.99991498e-01 -2.19486543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.375898227 meters 0.10143518916017079 Centerline is valid? [False, False] Translation: X:140.52, Y:2.40, Z:-2.19 [[ 9.99991568e-01 1.00049331e-04 -4.10543516e-03 1.40524831e+02] [-1.04503743e-04 9.99999406e-01 -1.08480345e-03 2.39643133e+00] [ 4.10532419e-03 1.08522333e-03 9.99990984e-01 -2.19440099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.405898227 meters 0.10486999847882365 Centerline is valid? [False, False] Translation: X:140.55, Y:2.40, Z:-2.19 [[ 9.99980826e-01 -5.15487375e-03 -3.43149932e-03 1.40545313e+02] [ 5.16801785e-03 9.99979301e-01 3.83264250e-03 2.40208543e+00] [ 3.41167151e-03 -3.85030306e-03 9.99986768e-01 -2.19430961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.435898227 meters 0.09664359164623493 Centerline is valid? [False, True] Translation: X:140.55, Y:2.40, Z:-2.19 [[ 9.99979693e-01 -5.27737914e-03 -3.57241897e-03 1.40545579e+02] [ 5.28998537e-03 9.99979782e-01 3.52856173e-03 2.40340516e+00] [ 3.55372519e-03 -3.54738812e-03 9.99987393e-01 -2.19402667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.465898227 meters 0.0945750964797251 Centerline is valid? [True, True] Translation: X:140.57, Y:2.41, Z:-2.19 [[ 9.99940681e-01 -1.04166941e-02 -3.18236560e-03 1.40574701e+02] [ 1.04157668e-02 9.99945707e-01 -3.07827911e-04 2.40736313e+00] [ 3.18539937e-03 2.74662873e-04 9.99994889e-01 -2.19316279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.495898227 meters 0.08442156729579993 Centerline is valid? [True, True] Translation: X:140.61, Y:2.40, Z:-2.19 [[ 9.99757290e-01 -2.18547521e-02 -2.78057832e-03 1.40605688e+02] [ 2.18540882e-02 9.99761135e-01 -2.68932316e-04 2.39997797e+00] [ 2.78579159e-03 2.08100039e-04 9.99996098e-01 -2.19346904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.525898227 meters 0.0724296710534154 Centerline is valid? [True, True] Translation: X:140.64, Y:2.39, Z:-2.19 [[ 9.99619453e-01 -2.74713760e-02 -2.50468065e-03 1.40637236e+02] [ 2.74708549e-02 9.99622575e-01 -2.42248052e-04 2.38837051e+00] [ 2.51039021e-03 1.73350146e-04 9.99996834e-01 -2.19293413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.555898227 meters 0.07237625073574035 Centerline is valid? [True, True] Translation: X:140.67, Y:2.39, Z:-2.19 [[ 9.99455193e-01 -3.29410254e-02 -2.05073963e-03 1.40666153e+02] [ 3.29406874e-02 9.99457289e-01 -1.98378581e-04 2.39157527e+00] [ 2.05616146e-03 1.30717730e-04 9.99997878e-01 -2.19248750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.585898227 meters 0.06884763764866175 Centerline is valid? [True, True] Translation: X:140.70, Y:2.39, Z:-2.19 [[ 9.99285109e-01 -3.77816227e-02 -1.34918380e-03 1.40697239e+02] [ 3.77814808e-02 9.99286016e-01 -1.30507831e-04 2.38665397e+00] [ 1.35315130e-03 7.94403701e-05 9.99999081e-01 -2.19392334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.615898227 meters 0.06027789329995664 Centerline is valid? [True, True] Translation: X:140.73, Y:2.38, Z:-2.19 [[ 9.99110853e-01 -4.21274771e-02 -1.66730881e-03 1.40729077e+02] [ 4.21272665e-02 9.99112240e-01 -1.61263881e-04 2.38089119e+00] [ 1.67262228e-03 9.08813310e-05 9.99998597e-01 -2.19104606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.645898227 meters 0.05612290456416387 Centerline is valid? [True, True] Translation: X:140.76, Y:2.37, Z:-2.19 [[ 9.98834395e-01 -4.81763342e-02 -2.98199965e-03 1.40759069e+02] [ 4.81756871e-02 9.98838836e-01 -2.88490067e-04 2.37492378e+00] [ 2.99243545e-03 1.44493920e-04 9.99995512e-01 -2.19358388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.675898227 meters 0.061125948488146904 Centerline is valid? [True, True] Translation: X:140.79, Y:2.38, Z:-2.20 [[ 9.98759716e-01 -4.96339310e-02 -3.93740258e-03 1.40788868e+02] [ 4.96328145e-02 9.98767460e-01 -3.80835091e-04 2.37929362e+00] [ 3.95145192e-03 1.84938375e-04 9.99992176e-01 -2.19821175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.705898227 meters 0.05149855778845994 Centerline is valid? [True, True] Translation: X:140.82, Y:2.37, Z:-2.20 [[ 9.98705322e-01 -5.06511804e-02 -4.70502573e-03 1.40821981e+02] [ 5.06495982e-02 9.98716382e-01 -4.54904296e-04 2.36832528e+00] [ 4.72202772e-03 2.16007679e-04 9.99988828e-01 -2.19653983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.735898227 meters 0.053760878843470083 Centerline is valid? [True, True] Translation: X:140.85, Y:2.37, Z:-2.20 [[ 9.98675478e-01 -5.12620622e-02 -4.41472273e-03 1.40852602e+02] [ 5.12606753e-02 9.98685216e-01 -4.26809038e-04 2.37060836e+00] [ 4.43079744e-03 1.99942051e-04 9.99990164e-01 -2.19705737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.765898227 meters 0.056649488917511176 Centerline is valid? [True, True] Translation: X:140.88, Y:2.37, Z:-2.20 [[ 9.98686094e-01 -5.10997069e-02 -3.86079796e-03 1.40882476e+02] [ 5.10986452e-02 9.98693541e-01 -3.73210474e-04 2.37369893e+00] [ 3.87482493e-03 1.75438565e-04 9.99992477e-01 -2.19670731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.795898227 meters 0.057265882477985204 Centerline is valid? [True, True] Translation: X:140.91, Y:2.37, Z:-2.20 [[ 9.98707645e-01 -5.07077727e-02 -3.42945848e-03 1.40914002e+02] [ 5.07069328e-02 9.98713521e-01 -3.31472151e-04 2.36823994e+00] [ 3.44185477e-03 1.57146451e-04 9.99994064e-01 -2.19769633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.825898227 meters 0.04927840796427952 Centerline is valid? [True, True] Translation: X:140.95, Y:2.36, Z:-2.19 [[ 9.98745902e-01 -4.99664400e-02 -3.15893928e-03 1.40946383e+02] [ 4.99657239e-02 9.98750886e-01 -3.05229681e-04 2.35582619e+00] [ 3.17024464e-03 1.47008205e-04 9.99994964e-01 -2.19360900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.855898227 meters 0.05071015747538007 Centerline is valid? [True, True] Translation: X:140.98, Y:2.35, Z:-2.19 [[ 9.98762886e-01 -4.96601601e-02 -2.56253903e-03 1.40976930e+02] [ 4.96596879e-02 9.98766166e-01 -2.47582187e-04 2.35458750e+00] [ 2.57167225e-03 1.20021011e-04 9.99996686e-01 -2.19369976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.885898227 meters 0.056144848252969726 Centerline is valid? [True, True] Translation: X:141.01, Y:2.35, Z:-2.20 [[ 9.98790454e-01 -4.91259137e-02 -2.06743585e-03 1.41007226e+02] [ 4.91256053e-02 9.98792589e-01 -1.99719562e-04 2.35319597e+00] [ 2.07475102e-03 9.79139537e-05 9.99997843e-01 -2.19601682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.915898227 meters 0.05351641455314988 Centerline is valid? [True, True] Translation: X:141.04, Y:2.35, Z:-2.19 [[ 9.98802058e-01 -4.88714518e-02 -2.45580496e-03 1.41037736e+02] [ 4.88710162e-02 9.98805070e-01 -2.37110722e-04 2.35085562e+00] [ 2.46445839e-03 1.16808993e-04 9.99996956e-01 -2.19450601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94589822700001 meters 0.05996635236789164 Centerline is valid? [True, True] Translation: X:141.07, Y:2.35, Z:-2.20 [[ 9.98842674e-01 -4.80471690e-02 -2.18669935e-03 1.41068030e+02] [ 4.80468217e-02 9.98845062e-01 -2.11132811e-04 2.35158194e+00] [ 2.19431818e-03 1.05824508e-04 9.99997587e-01 -2.19701017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97589822700002 meters 0.05560371089328377 Centerline is valid? [True, True] Translation: X:141.10, Y:2.35, Z:-2.19 [[ 9.98903606e-01 -4.67570534e-02 -2.31586550e-03 1.41099050e+02] [ 4.67566603e-02 9.98906284e-01 -2.23620859e-04 2.34591952e+00] [ 2.32378846e-03 1.15093546e-04 9.99997293e-01 -2.19418454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.005898227 meters 0.06260527506728589 Centerline is valid? [True, True] Translation: X:141.13, Y:2.34, Z:-2.19 [[ 9.99131902e-01 -4.16246384e-02 -1.68279724e-03 1.41128841e+02] [ 4.16244235e-02 9.99133315e-01 -1.62521557e-04 2.34397905e+00] [ 1.68810368e-03 9.23350071e-05 9.99998571e-01 -2.19477350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.035898227 meters 0.06504640912027158 Centerline is valid? [True, True] Translation: X:141.16, Y:2.35, Z:-2.19 [[ 9.99265172e-01 -3.83015107e-02 -1.45278267e-03 1.41158591e+02] [ 3.83013470e-02 9.99266224e-01 -1.40322180e-04 2.34660760e+00] [ 1.45709120e-03 8.45755343e-05 9.99998935e-01 -2.19265423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.065898227 meters 0.06929879313309205 Centerline is valid? [True, True] Translation: X:141.19, Y:2.35, Z:-2.19 [[ 9.99393551e-01 -3.47614712e-02 -2.04212705e-03 1.41187671e+02] [ 3.47611404e-02 9.99395629e-01 -1.97226738e-04 2.35043967e+00] [ 2.04774874e-03 1.26120465e-04 9.99997895e-01 -2.19364304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.095898227 meters 0.0732796907430143 Centerline is valid? [True, True] Translation: X:141.22, Y:2.35, Z:-2.20 [[ 9.99507327e-01 -3.13058469e-02 -2.24664436e-03 1.41217792e+02] [ 3.13054379e-02 9.99509841e-01 -2.17002276e-04 2.35402242e+00] [ 2.25233658e-03 1.46563180e-04 9.99997453e-01 -2.19516265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.125898227 meters 0.07024206253561921 Centerline is valid? [True, True] Translation: X:141.25, Y:2.35, Z:-2.20 [[ 9.99603070e-01 -2.80536908e-02 -2.58692148e-03 1.41249295e+02] [ 2.80531377e-02 9.99606402e-01 -2.49857093e-04 2.34861049e+00] [ 2.59291269e-03 1.77186653e-04 9.99996623e-01 -2.19581908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.155898227 meters 0.08960953295703743 Centerline is valid? [True, True] Translation: X:141.28, Y:2.37, Z:-2.20 [[ 9.99750485e-01 -2.21988361e-02 -2.48603867e-03 1.41276485e+02] [ 2.21983075e-02 9.99753558e-01 -2.40004250e-04 2.36868769e+00] [ 2.49075383e-03 1.84758514e-04 9.99996881e-01 -2.19748450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.185898227 meters 0.08799607936098894 Centerline is valid? [True, True] Translation: X:141.31, Y:2.37, Z:-2.20 [[ 9.99803483e-01 -1.96600413e-02 -2.54540461e-03 1.41307703e+02] [ 1.96594789e-02 9.99806704e-01 -2.45792482e-04 2.36693249e+00] [ 2.54974489e-03 1.95702852e-04 9.99996730e-01 -2.19661335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.215898227 meters 0.08699635960151574 Centerline is valid? [True, True] Translation: X:141.34, Y:2.37, Z:-2.20 [[ 9.99850228e-01 -1.70458937e-02 -2.99324320e-03 1.41338461e+02] [ 1.70451043e-02 9.99854680e-01 -2.89050584e-04 2.36647635e+00] [ 2.99773534e-03 2.37987150e-04 9.99995478e-01 -2.19640999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.245898227 meters 0.07997736709074618 Centerline is valid? [True, True] Translation: X:141.37, Y:2.36, Z:-2.20 [[ 9.99886853e-01 -1.45944587e-02 -3.64468908e-03 1.41369360e+02] [ 1.45932719e-02 9.99893451e-01 -3.52010947e-04 2.35915808e+00] [ 3.64943815e-03 2.98783179e-04 9.99993296e-01 -2.19615551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.275898227 meters 0.08272073695779716 Centerline is valid? [True, True] Translation: X:141.40, Y:2.36, Z:-2.20 [[ 9.99916877e-01 -1.21689326e-02 -4.26090168e-03 1.41399756e+02] [ 1.21672887e-02 9.99925891e-01 -4.11509374e-04 2.36468279e+00] [ 4.26559354e-03 3.59631547e-04 9.99990838e-01 -2.19718490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.305898227 meters 0.08914449505266787 Centerline is valid? [True, True] Translation: X:141.43, Y:2.38, Z:-2.20 [[ 9.99940639e-01 -9.94222044e-03 -4.45765058e-03 1.41427967e+02] [ 9.94039898e-03 9.99950500e-01 -4.30585830e-04 2.37531891e+00] [ 4.46171091e-03 3.86249445e-04 9.99989972e-01 -2.19835405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.335898227 meters 0.09270769475070598 Centerline is valid? [True, True] Translation: X:141.46, Y:2.38, Z:-2.20 [[ 9.99973300e-01 -5.88792621e-03 -4.32809961e-03 1.41457373e+02] [ 5.88617115e-03 9.99982589e-01 -4.18130584e-04 2.38207315e+00] [ 4.33048618e-03 3.92643485e-04 9.99990546e-01 -2.19914861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.365898227 meters 0.10041017640020139 Centerline is valid? [True, False] Translation: X:141.46, Y:2.38, Z:-2.20 [[ 9.99973319e-01 -5.91673651e-03 -4.28407659e-03 1.41457237e+02] [ 5.91469544e-03 9.99982389e-01 -4.88944426e-04 2.38238958e+00] [ 4.28689410e-03 4.63592372e-04 9.99990704e-01 -2.19914916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.395898227 meters 0.0980149233443584 Centerline is valid? [False, True] Translation: X:141.46, Y:2.38, Z:-2.20 [[ 9.99977600e-01 -4.10945826e-03 -5.28319359e-03 1.41463026e+02] [ 4.11691480e-03 9.99990544e-01 1.40126991e-03 2.38004841e+00] [ 5.27738518e-03 -1.42298898e-03 9.99985062e-01 -2.20295488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.425898227 meters 0.0960425506160175 Centerline is valid? [True, True] Translation: X:141.49, Y:2.38, Z:-2.20 [[ 9.99983594e-01 -4.11353999e-03 -3.98626888e-03 1.41492038e+02] [ 4.11201728e-03 9.99991470e-01 -3.90110413e-04 2.37948363e+00] [ 3.98783961e-03 3.73712406e-04 9.99991979e-01 -2.20155921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.455898227 meters 0.09601412349732853 Centerline is valid? [True, True] Translation: X:141.52, Y:2.38, Z:-2.20 [[ 9.99983731e-01 -4.69863738e-03 -3.23412711e-03 1.41521155e+02] [ 4.69763733e-03 9.99988916e-01 -3.16742383e-04 2.38130822e+00] [ 3.23557952e-03 3.01544474e-04 9.99994720e-01 -2.20077536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.485898227 meters 0.09788851845173285 Centerline is valid? [True, True] Translation: X:141.55, Y:2.39, Z:-2.20 [[ 9.99980937e-01 -5.83471208e-03 -2.02019960e-03 1.41550419e+02] [ 5.83432418e-03 9.99982961e-01 -1.97848486e-04 2.38613623e+00] [ 2.02131957e-03 1.86058215e-04 9.99997940e-01 -2.19966149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.515898227 meters 0.09510830466872257 Centerline is valid? [True, True] Translation: X:141.58, Y:2.38, Z:-2.20 [[ 9.99975619e-01 -6.86051321e-03 -1.30186688e-03 1.41580924e+02] [ 6.86035297e-03 9.99976459e-01 -1.27516178e-04 2.38459550e+00] [ 1.30271106e-03 1.18581803e-04 9.99999144e-01 -2.19810857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.545898227 meters 0.09641132810962418 Centerline is valid? [True, True] Translation: X:141.61, Y:2.39, Z:-2.20 [[ 9.99965100e-01 -8.29052660e-03 -1.03203041e-03 1.41610381e+02] [ 8.29042665e-03 9.99965629e-01 -1.01079806e-04 2.38836244e+00] [ 1.03283294e-03 9.25203055e-05 9.99999462e-01 -2.19730552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.575898227 meters 0.09641132810962418 Centerline is valid? [True, True] Translation: X:141.64, Y:2.39, Z:-2.20 [[ 9.99965100e-01 -8.29052660e-03 -1.03203041e-03 1.41640358e+02] [ 8.29042665e-03 9.99965629e-01 -1.01079806e-04 2.39129844e+00] [ 1.03283294e-03 9.25203055e-05 9.99999462e-01 -2.19732631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.605898227 meters 0.0966575559298878 Centerline is valid? [True, True] Translation: X:141.67, Y:2.39, Z:-2.20 [[ 9.99952954e-01 -9.63826262e-03 -1.09281871e-03 1.41670115e+02] [ 9.63815135e-03 9.99953546e-01 -1.07033574e-04 2.39317390e+00] [ 1.09379956e-03 9.64957859e-05 9.99999397e-01 -2.19754567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.635898227 meters 0.09162483990305614 Centerline is valid? [True, True] Translation: X:141.70, Y:2.39, Z:-2.20 [[ 9.99920726e-01 -1.25234989e-02 -1.30530759e-03 1.41701185e+02] [ 1.25233426e-02 9.99921572e-01 -1.27847318e-04 2.38625300e+00] [ 1.30680632e-03 1.11490369e-04 9.99999140e-01 -2.19869314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.665898227 meters 0.08114409043325911 Centerline is valid? [True, True] Translation: X:141.73, Y:2.37, Z:-2.20 [[ 9.99897704e-01 -1.42851473e-02 -7.17739492e-04 1.41733324e+02] [ 1.42851005e-02 9.99897960e-01 -7.02890885e-05 2.37297623e+00] [ 7.18670344e-04 6.00289174e-05 9.99999740e-01 -2.19790196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69589822700001 meters 0.08640981720439062 Centerline is valid? [True, True] Translation: X:141.76, Y:2.38, Z:-2.20 [[ 9.99866175e-01 -1.63593656e-02 -6.38416364e-05 1.41762500e+02] [ 1.63593652e-02 9.99866177e-01 -6.25834264e-06 2.37985647e+00] [ 6.39354754e-05 5.21309647e-06 9.99999998e-01 -2.19704870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72589822700002 meters 0.08731946504413474 Centerline is valid? [True, True] Translation: X:141.79, Y:2.38, Z:-2.20 [[ 9.99826723e-01 -1.85949183e-02 8.67696233e-04 1.41792458e+02] [ 1.85948515e-02 9.99827097e-01 8.49884546e-05 2.38017956e+00] [-8.69126560e-04 -6.88390455e-05 9.99999620e-01 -2.19582875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.755898227 meters 0.08315552036244082 Centerline is valid? [True, True] Translation: X:141.82, Y:2.37, Z:-2.20 [[ 9.99780484e-01 -2.09185455e-02 1.18241723e-03 1.41823975e+02] [ 2.09184231e-02 9.99781179e-01 1.15823465e-04 2.37353991e+00] [-1.18458135e-03 -9.10637364e-05 9.99999294e-01 -2.19560202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.785898227 meters 0.08165267823050279 Centerline is valid? [True, True] Translation: X:141.86, Y:2.37, Z:-2.20 [[ 9.99734838e-01 -2.30050954e-02 1.00998688e-03 1.41855243e+02] [ 2.30050071e-02 9.99735345e-01 9.89304360e-05 2.37037706e+00] [-1.01199548e-03 -7.56694480e-05 9.99999485e-01 -2.19579314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.815898227 meters 0.07662065701837263 Centerline is valid? [True, True] Translation: X:141.89, Y:2.36, Z:-2.20 [[ 9.99679280e-01 -2.53237959e-02 -2.06834696e-04 1.41886956e+02] [ 2.53237923e-02 9.99679301e-01 -2.02562526e-05 2.36000569e+00] [ 2.07281329e-04 1.50119171e-05 9.99999978e-01 -2.19845420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.845898227 meters 0.07199950654321166 Centerline is valid? [True, True] Translation: X:141.92, Y:2.35, Z:-2.20 [[ 9.99676911e-01 -2.54011455e-02 -9.24760958e-04 1.41918183e+02] [ 2.54010725e-02 9.99677337e-01 -9.05756838e-05 2.35397910e+00] [ 9.26763298e-04 6.70564996e-05 9.99999568e-01 -2.19973234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.875898227 meters 0.08334198237267985 Centerline is valid? [True, True] Translation: X:141.95, Y:2.36, Z:-2.20 [[ 9.99690865e-01 -2.48369301e-02 -1.14108255e-03 1.41946764e+02] [ 2.48368186e-02 9.99691512e-01 -1.11774764e-04 2.36424342e+00] [ 1.14350669e-03 8.33993506e-05 9.99999343e-01 -2.20201753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.905898227 meters 0.08645541729904116 Centerline is valid? [True, True] Translation: X:141.98, Y:2.37, Z:-2.20 [[ 9.99722584e-01 -2.35201784e-02 -1.24721582e-03 1.41975687e+02] [ 2.35200441e-02 9.99723358e-01 -1.22188359e-04 2.37242094e+00] [ 1.24974468e-03 9.28198904e-05 9.99999215e-01 -2.20065454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.935898227 meters 0.08936895745148547 Centerline is valid? [True, True] Translation: X:142.00, Y:2.38, Z:-2.20 [[ 9.99756685e-01 -2.19809151e-02 -1.84662979e-03 1.42004414e+02] [ 2.19806181e-02 9.99758381e-01 -1.80956499e-04 2.37620073e+00] [ 1.85016120e-03 1.40322405e-04 9.99998279e-01 -2.20134285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.965898227 meters 0.08855865646725905 Centerline is valid? [True, True] Translation: X:142.03, Y:2.38, Z:-2.20 [[ 9.99786358e-01 -2.05176342e-02 -2.50303572e-03 1.42034618e+02] [ 2.05170840e-02 9.99789472e-01 -2.45294543e-04 2.37591771e+00] [ 2.50754163e-03 1.93887143e-04 9.99996837e-01 -2.20211278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.995898227 meters 0.08041599075828693 Centerline is valid? [True, True] Translation: X:142.07, Y:2.37, Z:-2.20 [[ 9.99842170e-01 -1.74080333e-02 -3.54889436e-03 1.42066482e+02] [ 1.74069079e-02 9.99848428e-01 -3.47773096e-04 2.36593661e+00] [ 3.55441050e-03 2.85942930e-04 9.99993642e-01 -2.20354111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.025898227 meters 0.0861890732079775 Centerline is valid? [True, True] Translation: X:142.09, Y:2.38, Z:-2.20 [[ 9.99867436e-01 -1.57901341e-02 -3.97279353e-03 1.42094418e+02] [ 1.57887107e-02 9.99875275e-01 -3.89379480e-04 2.37613281e+00] [ 3.97844638e-03 3.26602575e-04 9.99992033e-01 -2.20420267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.055898227 meters 0.10008765785280477 Centerline is valid? [True, False] Translation: X:142.10, Y:2.38, Z:-2.21 [[ 9.99975419e-01 -6.94380656e-03 9.72025036e-04 1.42095916e+02] [ 6.95334988e-03 9.99923951e-01 -1.01854013e-02 2.37815455e+00] [-9.01225658e-04 1.01919097e-02 9.99947655e-01 -2.20809500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.085898227 meters 0.09534115916049514 Centerline is valid? [False, True] Translation: X:142.06, Y:2.37, Z:-2.21 [[ 9.99998416e-01 -1.75103136e-03 3.18821710e-04 1.42055861e+02] [ 1.75208997e-03 9.99992851e-01 -3.35094801e-03 2.37137521e+00] [-3.12951815e-04 3.35150131e-03 9.99994335e-01 -2.20987101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.115898227 meters 0.09329473033067086 Centerline is valid? [True, True] Translation: X:142.09, Y:2.38, Z:-2.21 [[ 9.99999868e-01 5.12056299e-04 4.65486255e-05 1.42086005e+02] [-5.12056490e-04 9.99999869e-01 4.08824381e-06 2.37527755e+00] [-4.65465260e-05 -4.11207880e-06 9.99999999e-01 -2.20880583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.145898227 meters 0.0951954658480448 Centerline is valid? [True, True] Translation: X:142.12, Y:2.38, Z:-2.21 [[ 9.99997256e-01 2.29729190e-03 4.57795941e-04 1.42116284e+02] [-2.29731056e-03 9.99997360e-01 4.02367508e-05 2.38211433e+00] [-4.57702297e-04 -4.12883398e-05 9.99999894e-01 -2.20885480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.175898227 meters 0.09524860114118969 Centerline is valid? [True, True] Translation: X:142.15, Y:2.39, Z:-2.21 [[ 9.99982927e-01 5.60236176e-03 1.66129124e-03 1.42146252e+02] [-5.60261180e-03 9.99984295e-01 1.45895908e-04 2.38823970e+00] [-1.66044778e-03 -1.55200986e-04 9.99998609e-01 -2.20691439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.205898227 meters 0.09729789084741736 Centerline is valid? [True, True] Translation: X:142.18, Y:2.39, Z:-2.21 [[ 9.99974467e-01 6.89055301e-03 1.89353374e-03 1.42175764e+02] [-6.89088064e-03 9.99976244e-01 1.66556075e-04 2.39453043e+00] [-1.89234110e-03 -1.79599938e-04 9.99998193e-01 -2.20692199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.235898227 meters 0.09279029333025696 Centerline is valid? [True, True] Translation: X:142.21, Y:2.39, Z:-2.21 [[ 9.99970248e-01 7.49145849e-03 1.83897959e-03 1.42206826e+02] [-7.49176807e-03 9.99971923e-01 1.61512167e-04 2.39212982e+00] [-1.83771800e-03 -1.75284571e-04 9.99998296e-01 -2.20675107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.265898227 meters 0.10067956826506133 Centerline is valid? [True, False] Translation: X:142.21, Y:2.39, Z:-2.21 [[ 9.99970412e-01 7.47065712e-03 1.83419998e-03 1.42206945e+02] [-7.47087429e-03 9.99972086e-01 1.11578274e-04 2.39234289e+00] [-1.83331522e-03 -1.25278050e-04 9.99998312e-01 -2.20697242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.295898227 meters 0.09857642972675415 Centerline is valid? [False, True] Translation: X:142.20, Y:2.39, Z:-2.20 [[ 9.99982123e-01 5.23589481e-03 2.88757798e-03 1.42200189e+02] [-5.23015146e-03 9.99984337e-01 -1.99296357e-03 2.39176025e+00] [-2.89796770e-03 1.97782547e-03 9.99993845e-01 -2.20204383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.325898227 meters 0.09616523850833635 Centerline is valid? [True, True] Translation: X:142.23, Y:2.39, Z:-2.20 [[ 9.99984950e-01 3.52205523e-03 4.20654912e-03 1.42231733e+02] [-3.52365302e-03 9.99993723e-01 3.72482369e-04 2.38819237e+00] [-4.20521081e-03 -3.87299183e-04 9.99991083e-01 -2.20135921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.355898227 meters 0.08716227752747177 Centerline is valid? [True, True] Translation: X:142.26, Y:2.38, Z:-2.20 [[ 9.99981247e-01 2.20933419e-03 5.71180892e-03 1.42263223e+02] [-2.21225847e-03 9.99997425e-01 5.05704234e-04 2.38036991e+00] [-5.71067695e-03 -5.18330748e-04 9.99983560e-01 -2.19815717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.385898227 meters 0.09278242983834026 Centerline is valid? [True, True] Translation: X:142.29, Y:2.39, Z:-2.20 [[ 9.99979722e-01 1.32544653e-03 6.22885678e-03 1.42293259e+02] [-1.32890655e-03 9.99998965e-01 5.51374875e-04 2.38978375e+00] [-6.22811952e-03 -5.59641263e-04 9.99980448e-01 -2.19664630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.415898227 meters 0.09424934578877901 Centerline is valid? [True, True] Translation: X:142.32, Y:2.39, Z:-2.20 [[ 9.99978709e-01 1.30394283e-03 6.39387305e-03 1.42323797e+02] [-1.30758650e-03 9.99998985e-01 5.65723061e-04 2.39427826e+00] [-6.39312889e-03 -5.74071559e-04 9.99979399e-01 -2.19675549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44589822700001 meters 0.09091409378778517 Centerline is valid? [True, True] Translation: X:142.35, Y:2.39, Z:-2.20 [[ 9.99975295e-01 3.46385210e-03 6.11644131e-03 1.42354727e+02] [-3.46722393e-03 9.99993843e-01 5.40755572e-04 2.39398880e+00] [-6.11453055e-03 -5.61949284e-04 9.99981148e-01 -2.19789530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47589822700002 meters 0.09802507983196311 Centerline is valid? [True, True] Translation: X:142.38, Y:2.41, Z:-2.20 [[ 9.99969547e-01 4.83095953e-03 6.12926293e-03 1.42384181e+02] [-4.83437082e-03 9.99988168e-01 5.41865455e-04 2.40724895e+00] [-6.12657268e-03 -5.71480083e-04 9.99981069e-01 -2.19785190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.505898227 meters 0.10697759879892509 Centerline is valid? [True, False] Translation: X:142.38, Y:2.41, Z:-2.20 [[ 9.99970031e-01 4.68119878e-03 6.16637215e-03 1.42384045e+02] [-4.68236448e-03 9.99989022e-01 1.74618428e-04 2.40888571e+00] [-6.16548704e-03 -2.03486397e-04 9.99980973e-01 -2.19782353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.535898227 meters 0.09188973536822363 Centerline is valid? [False, True] Translation: X:142.36, Y:2.41, Z:-2.20 [[ 9.99992547e-01 2.82693786e-03 2.62951034e-03 1.42364850e+02] [-2.85065612e-03 9.99954890e-01 9.06044557e-03 2.40648301e+00] [-2.60377841e-03 -9.06787387e-03 9.99955496e-01 -2.19662434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.565898227 meters 0.09625376636749135 Centerline is valid? [True, True] Translation: X:142.39, Y:2.42, Z:-2.20 [[ 9.99994882e-01 2.20957083e-03 2.31395513e-03 1.42394291e+02] [-2.21006617e-03 9.99997535e-01 2.11531033e-04 2.41935734e+00] [-2.31348203e-03 -2.16643944e-04 9.99997300e-01 -2.19777824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.595898227 meters 0.09170913413135759 Centerline is valid? [True, True] Translation: X:142.43, Y:2.42, Z:-2.20 [[ 9.99999144e-01 1.03246580e-03 8.03697714e-04 1.42425816e+02] [-1.03252518e-03 9.99999464e-01 7.34743014e-05 2.41703283e+00] [-8.03621423e-04 -7.43040766e-05 9.99999674e-01 -2.20078893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.625898227 meters 0.09585375368422405 Centerline is valid? [True, True] Translation: X:142.46, Y:2.42, Z:-2.20 [[ 9.99995407e-01 -3.00732199e-03 -3.77603693e-04 1.42455367e+02] [ 3.00730918e-03 9.99995477e-01 -3.45033800e-05 2.42346129e+00] [ 3.77705748e-04 3.33676505e-05 9.99999928e-01 -2.20470788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.655898227 meters 0.09109643665780154 Centerline is valid? [True, True] Translation: X:142.49, Y:2.42, Z:-2.20 [[ 9.99990263e-01 -4.40515743e-03 -2.62709309e-04 1.42486136e+02] [ 4.40515127e-03 9.99990297e-01 -2.40093101e-05 2.42269671e+00] [ 2.62812525e-04 2.28518021e-05 9.99999965e-01 -2.20301856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.685898227 meters 0.08981226991356603 Centerline is valid? [True, True] Translation: X:142.52, Y:2.42, Z:-2.20 [[ 9.99981578e-01 -6.06815274e-03 1.47218738e-04 1.42516719e+02] [ 6.06815082e-03 9.99981589e-01 1.34627705e-05 2.42372428e+00] [-1.47297722e-04 -1.25691770e-05 9.99999989e-01 -2.20247677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.715898227 meters 0.08714152510835421 Centerline is valid? [True, True] Translation: X:142.55, Y:2.42, Z:-2.20 [[ 9.99973730e-01 -7.22768121e-03 5.47511864e-04 1.42547174e+02] [ 7.22765489e-03 9.99973879e-01 5.00349504e-05 2.42322918e+00] [-5.47859199e-04 -4.60764092e-05 9.99999849e-01 -2.20209440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.745898227 meters 0.10199447784969604 Centerline is valid? [True, False] Translation: X:142.57, Y:2.43, Z:-2.21 [[ 9.99972037e-01 -5.77087134e-03 4.75630334e-03 1.42567901e+02] [ 5.81431599e-03 9.99941037e-01 -9.17147653e-03 2.42939990e+00] [-4.70309549e-03 9.19887471e-03 9.99946629e-01 -2.20543639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.775898227 meters 0.08676578879659694 Centerline is valid? [False, True] Translation: X:142.53, Y:2.42, Z:-2.21 [[ 9.99992276e-01 -1.76981241e-03 3.50926174e-03 1.42529952e+02] [ 1.78401182e-03 9.99990218e-01 -4.04727522e-03 2.42447755e+00] [-3.50206449e-03 4.05350452e-03 9.99985652e-01 -2.20844374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.805898227 meters 0.08899280011577096 Centerline is valid? [True, True] Translation: X:142.56, Y:2.43, Z:-2.21 [[ 9.99995759e-01 -1.87588248e-03 2.22769048e-03 1.42560727e+02] [ 1.87546754e-03 9.99998224e-01 1.88337921e-04 2.42907682e+00] [-2.22803982e-03 -1.84159161e-04 9.99997501e-01 -2.21069405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.835898227 meters 0.0875058534762899 Centerline is valid? [True, True] Translation: X:142.59, Y:2.43, Z:-2.21 [[ 9.99995065e-01 -2.63688290e-03 1.70802273e-03 1.42591842e+02] [ 2.63664025e-03 9.99996514e-01 1.44298057e-04 2.43032322e+00] [-1.70839727e-03 -1.39793903e-04 9.99998531e-01 -2.21148344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.865898227 meters 0.08492569343562999 Centerline is valid? [True, True] Translation: X:142.62, Y:2.43, Z:-2.21 [[ 9.99990621e-01 -3.88841797e-03 1.90753161e-03 1.42622725e+02] [ 3.88811765e-03 9.99992428e-01 1.61124226e-04 2.42973021e+00] [-1.90814369e-03 -1.53706008e-04 9.99998168e-01 -2.21155885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.895898227 meters 0.08890009848054369 Centerline is valid? [True, True] Translation: X:142.65, Y:2.44, Z:-2.21 [[ 9.99983860e-01 -5.27014422e-03 2.12275360e-03 1.42651540e+02] [ 5.26977564e-03 9.99986099e-01 1.79187784e-04 2.43690305e+00] [-2.12366844e-03 -1.67998457e-04 9.99997731e-01 -2.21123898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.925898227 meters 0.08212125778185096 Centerline is valid? [True, True] Translation: X:142.68, Y:2.43, Z:-2.21 [[ 9.99957281e-01 -8.91219605e-03 2.45145374e-03 1.42683292e+02] [ 8.91171510e-03 9.99960268e-01 2.07045259e-04 2.42898836e+00] [-2.45320157e-03 -1.85189757e-04 9.99996974e-01 -2.21054088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.955898227 meters 0.08249350430254913 Centerline is valid? [True, True] Translation: X:142.71, Y:2.43, Z:-2.21 [[ 9.99942913e-01 -1.04016380e-02 2.44469117e-03 1.42712644e+02] [ 1.04011644e-02 9.99945885e-01 2.06376987e-04 2.43055585e+00] [-2.44670553e-03 -1.80937571e-04 9.99996990e-01 -2.21043356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.985898227 meters 0.08473604366477415 Centerline is valid? [True, True] Translation: X:142.74, Y:2.43, Z:-2.21 [[ 9.99933176e-01 -1.11592146e-02 3.01916662e-03 1.42743292e+02] [ 1.11584952e-02 9.99937710e-01 2.55014456e-04 2.43455999e+00] [-3.02182432e-03 -2.21308059e-04 9.99995410e-01 -2.20955230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.015898227 meters 0.07998218363888802 Centerline is valid? [True, True] Translation: X:142.78, Y:2.43, Z:-2.21 [[ 9.99931936e-01 -1.09160948e-02 4.11861521e-03 1.42775259e+02] [ 1.09147545e-02 9.99940372e-01 3.47759736e-04 2.42962222e+00] [-4.12216580e-03 -3.02782391e-04 9.99991458e-01 -2.20704480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.045898227 meters 0.08804183956319003 Centerline is valid? [True, True] Translation: X:142.80, Y:2.44, Z:-2.20 [[ 9.99939932e-01 -9.41800827e-03 5.60661928e-03 1.42804806e+02] [ 9.41550263e-03 9.99955561e-01 4.73135010e-04 2.44172354e+00] [-5.61082612e-03 -4.20317451e-04 9.99984171e-01 -2.20416452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.075898227 meters 0.09581679286128192 Centerline is valid? [True, True] Translation: X:142.83, Y:2.45, Z:-2.20 [[ 9.99955469e-01 -3.30495422e-03 8.83948574e-03 1.42833699e+02] [ 3.29848902e-03 9.99994282e-01 7.45879023e-04 2.45444587e+00] [-8.84190029e-03 -7.16688862e-04 9.99960653e-01 -2.19836027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.105898227 meters 0.09967280717077807 Centerline is valid? [True, True] Translation: X:142.86, Y:2.46, Z:-2.20 [[ 9.99957674e-01 2.73859908e-04 9.19642509e-03 1.42864004e+02] [-2.81008631e-04 9.99999659e-01 7.76054066e-04 2.46294291e+00] [-9.19620943e-03 -7.78605494e-04 9.99957411e-01 -2.19797241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.135898227 meters 0.08318621148684893 Centerline is valid? [True, True] Translation: X:142.90, Y:2.45, Z:-2.20 [[ 9.99950580e-01 3.44470353e-03 9.32589132e-03 1.42897108e+02] [-3.45219113e-03 9.99993732e-01 7.86904321e-04 2.44521507e+00] [-9.32312221e-03 -8.19060191e-04 9.99956203e-01 -2.19944169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.165898227 meters 0.08525613408543704 Centerline is valid? [True, True] Translation: X:142.93, Y:2.45, Z:-2.20 [[ 9.99940942e-01 5.72848585e-03 9.23565198e-03 1.42927239e+02] [-5.73592475e-03 9.99983246e-01 7.79167755e-04 2.45203801e+00] [-9.23103380e-03 -8.32096743e-04 9.99957047e-01 -2.20027428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19589822700001 meters 0.10989394555520698 Centerline is valid? [True, False] Translation: X:142.93, Y:2.45, Z:-2.20 [[ 9.99941622e-01 5.56202701e-03 9.26376549e-03 1.42927246e+02] [-5.56558882e-03 9.99984448e-01 3.58752440e-04 2.45389359e+00] [-9.26162602e-03 -4.10289806e-04 9.99957026e-01 -2.20050006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22589822700002 meters 0.09284316373121737 Centerline is valid? [False, True] Translation: X:142.93, Y:2.46, Z:-2.20 [[ 9.99943333e-01 5.35046727e-03 9.20348502e-03 1.42927584e+02] [-5.34917154e-03 9.99985679e-01 -1.65397643e-04 2.45620985e+00] [-9.20423817e-03 1.16157250e-04 9.99957633e-01 -2.20087470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.255898227 meters 0.09519912305768449 Centerline is valid? [True, True] Translation: X:142.96, Y:2.46, Z:-2.20 [[ 9.99958197e-01 3.92532637e-03 8.25814418e-03 1.42957339e+02] [-3.93131188e-03 9.99992021e-01 7.08692906e-04 2.46206970e+00] [-8.25529644e-03 -7.41128621e-04 9.99965650e-01 -2.20242814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.285898227 meters 0.1098238730140764 Centerline is valid? [True, False] Translation: X:142.98, Y:2.46, Z:-2.20 [[ 9.99986221e-01 -3.50245921e-04 5.23782043e-03 1.42979586e+02] [ 3.19418211e-04 9.99982631e-01 5.88527774e-03 2.46391385e+00] [-5.23979075e-03 -5.88352359e-03 9.99968964e-01 -2.19979577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.315898227 meters 0.09074582052737393 Centerline is valid? [False, True] Translation: X:142.94, Y:2.46, Z:-2.20 [[ 9.99984754e-01 -2.74043243e-03 4.79385486e-03 1.42939297e+02] [ 2.72170039e-03 9.99988653e-01 3.90967867e-03 2.46214393e+00] [-4.80451467e-03 -3.89657162e-03 9.99980867e-01 -2.20214905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.345898227 meters 0.08806944802645567 Centerline is valid? [True, True] Translation: X:142.97, Y:2.46, Z:-2.20 [[ 9.99979412e-01 -4.52164034e-03 4.55305605e-03 1.42970465e+02] [ 4.51983085e-03 9.99989702e-01 4.07635796e-04 2.46368268e+00] [-4.55485235e-03 -3.87048361e-04 9.99989552e-01 -2.20359849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.375898227 meters 0.08856096705322992 Centerline is valid? [True, True] Translation: X:143.00, Y:2.47, Z:-2.20 [[ 9.99977934e-01 -4.69744476e-03 4.69730325e-03 1.43002969e+02] [ 4.69552069e-03 9.99988888e-01 4.20556177e-04 2.46734756e+00] [-4.69922659e-03 -3.98490613e-04 9.99988879e-01 -2.20354860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.405898227 meters 0.09112978422235146 Centerline is valid? [True, True] Translation: X:143.03, Y:2.47, Z:-2.20 [[ 9.99979903e-01 -4.49789439e-03 4.46799840e-03 1.43033199e+02] [ 4.49615291e-03 9.99989812e-01 3.99734086e-04 2.47341493e+00] [-4.46975084e-03 -3.79637249e-04 9.99989939e-01 -2.20438813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.435898227 meters 0.09112978422235146 Centerline is valid? [True, True] Translation: X:143.06, Y:2.48, Z:-2.20 [[ 9.99980106e-01 -4.45252109e-03 4.46800445e-03 1.43064869e+02] [ 4.45077946e-03 9.99990015e-01 3.99666503e-04 2.47616208e+00] [-4.46973936e-03 -3.79772449e-04 9.99989939e-01 -2.20457912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.465898227 meters 0.09019004343975169 Centerline is valid? [True, True] Translation: X:143.10, Y:2.48, Z:-2.21 [[ 9.99984806e-01 -4.24652589e-03 3.51500948e-03 1.43096584e+02] [ 4.24544709e-03 9.99990939e-01 3.14318493e-04 2.47807050e+00] [-3.51631239e-03 -2.99390930e-04 9.99993773e-01 -2.20588302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.495898227 meters 0.09083844362716834 Centerline is valid? [True, True] Translation: X:143.13, Y:2.48, Z:-2.21 [[ 9.99989592e-01 -4.05468059e-03 2.09173365e-03 1.43128009e+02] [ 4.05429811e-03 9.99991764e-01 1.87061674e-04 2.48297290e+00] [-2.09247490e-03 -1.78579216e-04 9.99997795e-01 -2.20838635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.525898227 meters 0.09495848183278957 Centerline is valid? [True, True] Translation: X:143.16, Y:2.49, Z:-2.21 [[ 9.99992274e-01 -3.88923165e-03 5.70622768e-04 1.43158212e+02] [ 3.88920310e-03 9.99992436e-01 5.11415852e-05 2.49025638e+00] [-5.70817354e-04 -4.89219223e-05 9.99999836e-01 -2.21263530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.555898227 meters 0.09049849006243794 Centerline is valid? [True, True] Translation: X:143.19, Y:2.49, Z:-2.21 [[ 9.99997869e-01 -2.06085242e-03 -1.22582296e-04 1.43188585e+02] [ 2.06085109e-03 9.99997876e-01 -1.09266005e-05 2.49263888e+00] [ 1.22604553e-04 1.06739534e-05 9.99999992e-01 -2.21236019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.585898227 meters 0.09030949705152702 Centerline is valid? [True, True] Translation: X:143.22, Y:2.50, Z:-2.21 [[ 9.99998782e-01 -1.45567470e-03 5.62387107e-04 1.43218577e+02] [ 1.45564670e-03 9.99998939e-01 5.01990766e-05 2.49727192e+00] [-5.62459584e-04 -4.93803785e-05 9.99999841e-01 -2.21153163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.615898227 meters 0.091208949141417 Centerline is valid? [True, True] Translation: X:143.25, Y:2.50, Z:-2.21 [[ 9.99998174e-01 -1.33475828e-03 1.36730884e-03 1.43248726e+02] [ 1.33459257e-03 9.99999102e-01 1.22100442e-04 2.50317034e+00] [-1.36747058e-03 -1.20275418e-04 9.99999058e-01 -2.21059634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.645898227 meters 0.09847000059844349 Centerline is valid? [True, True] Translation: X:143.28, Y:2.52, Z:-2.21 [[ 9.99993872e-01 -2.03498926e-03 2.84857820e-03 1.43278204e+02] [ 2.03427304e-03 9.99997899e-01 2.54305425e-04 2.51856042e+00] [-2.84908972e-03 -2.48509081e-04 9.99995910e-01 -2.20852186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.675898227 meters 0.08988880353702448 Centerline is valid? [True, True] Translation: X:143.31, Y:2.51, Z:-2.21 [[ 9.99988985e-01 -3.22125044e-03 3.41382503e-03 1.43309707e+02] [ 3.22022909e-03 9.99994769e-01 3.04633759e-04 2.51159178e+00] [-3.41478847e-03 -2.93637105e-04 9.99994126e-01 -2.20682880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.705898227 meters 0.09068146176191122 Centerline is valid? [True, True] Translation: X:143.34, Y:2.52, Z:-2.21 [[ 9.99982039e-01 -4.80423770e-03 3.58341944e-03 1.43338795e+02] [ 4.80312282e-03 9.99988414e-01 3.19662962e-04 2.51619590e+00] [-3.58491366e-03 -3.02445617e-04 9.99993528e-01 -2.20664375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.735898227 meters 0.08602869860668132 Centerline is valid? [True, True] Translation: X:143.37, Y:2.51, Z:-2.21 [[ 9.99969149e-01 -7.13019717e-03 3.29571162e-03 1.43369535e+02] [ 7.12926646e-03 9.99974543e-01 2.94062404e-04 2.51387709e+00] [-3.29772444e-03 -2.70557325e-04 9.99994526e-01 -2.20735124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.765898227 meters 0.08549825264084368 Centerline is valid? [True, True] Translation: X:143.40, Y:2.52, Z:-2.21 [[ 9.99950513e-01 -9.37383185e-03 3.33218772e-03 1.43399049e+02] [ 9.37289290e-03 9.99956029e-01 2.97286178e-04 2.51653109e+00] [-3.33482791e-03 -2.66039228e-04 9.99994404e-01 -2.20880014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.795898227 meters 0.08291929656035461 Centerline is valid? [True, True] Translation: X:143.43, Y:2.52, Z:-2.21 [[ 9.99932673e-01 -1.09095501e-02 3.95351624e-03 1.43429872e+02] [ 1.09082399e-02 9.99940441e-01 3.52816259e-04 2.51716549e+00] [-3.95712984e-03 -3.09666602e-04 9.99992123e-01 -2.20778923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.825898227 meters 0.08438235162514623 Centerline is valid? [True, True] Translation: X:143.46, Y:2.52, Z:-2.20 [[ 9.99895512e-01 -1.29962013e-02 6.32956596e-03 1.43459062e+02] [ 1.29928852e-02 9.99915429e-01 5.64749659e-04 2.52381540e+00] [-6.33637026e-03 -4.82451326e-04 9.99979809e-01 -2.20363634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.855898227 meters 0.08219319684559971 Centerline is valid? [True, True] Translation: X:143.49, Y:2.53, Z:-2.20 [[ 9.99887602e-01 -1.31791294e-02 7.14800090e-03 1.43491290e+02] [ 1.31749050e-02 9.99913004e-01 6.37766947e-04 2.52527321e+00] [-7.15578427e-03 -5.43521031e-04 9.99974249e-01 -2.20199637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.885898227 meters 0.0863334983827077 Centerline is valid? [True, True] Translation: X:143.52, Y:2.54, Z:-2.20 [[ 9.99889852e-01 -1.28747015e-02 7.38422711e-03 1.43521742e+02] [ 1.28701874e-02 9.99916959e-01 6.58512722e-04 2.53513487e+00] [-7.39209207e-03 -5.63403801e-04 9.99972519e-01 -2.20149748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.915898227 meters 0.08355259152814994 Centerline is valid? [True, True] Translation: X:143.55, Y:2.54, Z:-2.20 [[ 9.99898760e-01 -1.23543398e-02 7.05976411e-03 1.43554044e+02] [ 1.23502025e-02 9.99923535e-01 6.29332687e-04 2.53614672e+00] [-7.06699928e-03 -5.42079457e-04 9.99974882e-01 -2.20176425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94589822700001 meters 0.08823719997817642 Centerline is valid? [True, True] Translation: X:143.58, Y:2.55, Z:-2.20 [[ 9.99906388e-01 -1.15834994e-02 7.28264901e-03 1.43584168e+02] [ 1.15790791e-02 9.99932750e-01 6.48843057e-04 2.54629429e+00] [-7.28967512e-03 -5.64455949e-04 9.99973271e-01 -2.20135205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97589822700002 meters 0.09064592221816258 Centerline is valid? [True, True] Translation: X:143.61, Y:2.55, Z:-2.20 [[ 9.99915201e-01 -1.03335956e-02 7.92513295e-03 1.43613748e+02] [ 1.03283249e-02 9.99946412e-01 7.05701614e-04 2.55381738e+00] [-7.93200070e-03 -6.23788423e-04 9.99968347e-01 -2.19997355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.005898227 meters 0.09377424929116292 Centerline is valid? [True, True] Translation: X:143.64, Y:2.57, Z:-2.20 [[ 9.99935776e-01 -7.52480490e-03 8.47473433e-03 1.43643637e+02] [ 7.51867768e-03 9.99971450e-01 7.54626717e-04 2.56551926e+00] [-8.48017079e-03 -6.90859456e-04 9.99963804e-01 -2.19929807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.035898227 meters 0.08524750378702993 Centerline is valid? [True, True] Translation: X:143.67, Y:2.56, Z:-2.20 [[ 9.99947070e-01 -6.25417586e-03 8.16955629e-03 1.43674912e+02] [ 6.24844036e-03 9.99980214e-01 7.27392818e-04 2.56014559e+00] [-8.17394389e-03 -6.76307332e-04 9.99966364e-01 -2.20085565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.065898227 meters 0.09158830845554271 Centerline is valid? [True, True] Translation: X:143.70, Y:2.57, Z:-2.20 [[ 9.99961459e-01 -5.11962531e-03 7.13225905e-03 1.43704336e+02] [ 5.11522573e-03 9.99986716e-01 6.34960850e-04 2.57372178e+00] [-7.13541506e-03 -5.98453263e-04 9.99974364e-01 -2.20264361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.095898227 meters 0.09915609043363871 Centerline is valid? [True, True] Translation: X:143.73, Y:2.59, Z:-2.20 [[ 9.99973130e-01 -4.37069746e-03 5.88531263e-03 1.43734496e+02] [ 4.36768924e-03 9.99990324e-01 5.23895577e-04 2.58915433e+00] [-5.88754547e-03 -4.98176283e-04 9.99982544e-01 -2.20492283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.125898227 meters 0.10065526088133217 Centerline is valid? [True, False] Translation: X:143.73, Y:2.59, Z:-2.20 [[ 9.99972245e-01 -2.57858153e-03 6.98994508e-03 1.43728402e+02] [ 2.56528809e-03 9.99994885e-01 1.91009413e-03 2.59422827e+00] [-6.99483466e-03 -1.89210989e-03 9.99973746e-01 -2.20112527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.155898227 meters 0.09017863403568271 Centerline is valid? [False, True] Translation: X:143.71, Y:2.60, Z:-2.20 [[ 9.99993699e-01 1.77867147e-03 3.07218611e-03 1.43709654e+02] [-1.76557364e-03 9.99989364e-01 -4.26082139e-03 2.59609411e+00] [-3.07973204e-03 4.25537037e-03 9.99986203e-01 -2.19915672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.185898227 meters 0.09247439682385311 Centerline is valid? [True, True] Translation: X:143.74, Y:2.60, Z:-2.20 [[ 9.99994890e-01 2.13797278e-03 2.37691988e-03 1.43739381e+02] [-2.13845452e-03 9.99997693e-01 2.00151295e-04 2.60284886e+00] [-2.37648648e-03 -2.05233207e-04 9.99997155e-01 -2.20020845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.215898227 meters 0.08574154537492298 Centerline is valid? [True, True] Translation: X:143.77, Y:2.60, Z:-2.20 [[ 9.99994314e-01 2.28921517e-03 2.47635175e-03 1.43770666e+02] [-2.28973857e-03 9.99997357e-01 2.08547228e-04 2.60009982e+00] [-2.47586779e-03 -2.14216240e-04 9.99996912e-01 -2.19970906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.245898227 meters 0.09387478372449432 Centerline is valid? [True, True] Translation: X:143.80, Y:2.62, Z:-2.20 [[ 9.99992348e-01 2.86442660e-03 2.66449415e-03 1.43799623e+02] [-2.86503424e-03 9.99995871e-01 2.24264256e-04 2.61629837e+00] [-2.66384076e-03 -2.31896407e-04 9.99996425e-01 -2.19986135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.275898227 meters 0.08601277619817414 Centerline is valid? [True, True] Translation: X:143.83, Y:2.61, Z:-2.20 [[ 9.99990676e-01 2.98097874e-03 3.12448238e-03 1.43831144e+02] [-2.98181485e-03 9.99995520e-01 2.62974820e-04 2.61271078e+00] [-3.12368446e-03 -2.72288996e-04 9.99995084e-01 -2.19941271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.305898227 meters 0.10220781535959696 Centerline is valid? [True, False] Translation: X:143.85, Y:2.62, Z:-2.19 [[ 9.99996374e-01 1.96522961e-03 -1.84088908e-03 1.43848683e+02] [-1.95478845e-03 9.99982091e-01 5.65653465e-03 2.61806389e+00] [ 1.85197250e-03 -5.65291559e-03 9.99982307e-01 -2.19297444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.335898227 meters 0.10468586720712428 Centerline is valid? [False, False] Translation: X:143.85, Y:2.62, Z:-2.19 [[ 9.99996697e-01 1.77707002e-03 -1.85697553e-03 1.43848801e+02] [-1.76736658e-03 9.99984845e-01 5.21403959e-03 2.62004615e+00] [ 1.86621310e-03 -5.21074041e-03 9.99984683e-01 -2.19315839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.365898227 meters 0.09420561485145933 Centerline is valid? [False, True] Translation: X:143.84, Y:2.62, Z:-2.19 [[ 9.99999556e-01 -4.86617653e-04 -8.06516951e-04 1.43842397e+02] [ 4.88787978e-04 9.99996254e-01 2.69297598e-03 2.62302566e+00] [ 8.05203480e-04 -2.69336900e-03 9.99996049e-01 -2.18860297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.395898227 meters 0.10513721612571812 Centerline is valid? [True, False] Translation: X:143.84, Y:2.63, Z:-2.19 [[ 9.99999441e-01 -6.72749739e-04 -8.16070449e-04 1.43842383e+02] [ 6.74582136e-04 9.99997248e-01 2.24719718e-03 2.62501960e+00] [ 8.14556402e-04 -2.24774643e-03 9.99997142e-01 -2.18855661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.425898227 meters 0.10779780684593418 Centerline is valid? [False, False] Translation: X:143.84, Y:2.63, Z:-2.19 [[ 9.99999232e-01 -9.63119588e-04 -7.79378532e-04 1.43842212e+02] [ 9.64313493e-04 9.99998360e-01 1.53294387e-03 2.62819566e+00] [ 7.77900845e-04 -1.53369426e-03 9.99998521e-01 -2.18849656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.455898227 meters 0.09522122913060044 Centerline is valid? [False, True] Translation: X:143.84, Y:2.63, Z:-2.19 [[ 9.99998937e-01 -1.28587616e-03 -6.87261922e-04 1.43841915e+02] [ 1.28636014e-03 9.99998925e-01 7.04238634e-04 2.63184930e+00] [ 6.86355619e-04 -7.05121952e-04 9.99999516e-01 -2.18851890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.485898227 meters 0.09933938435021979 Centerline is valid? [True, True] Translation: X:143.87, Y:2.65, Z:-2.19 [[ 9.99998778e-01 1.29992645e-03 -8.68406978e-04 1.43871257e+02] [-1.29999547e-03 9.99999152e-01 -7.89204390e-05 2.64915470e+00] [ 8.68303651e-04 8.00492677e-05 9.99999620e-01 -2.19019556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.515898227 meters 0.0975584922579311 Centerline is valid? [True, True] Translation: X:143.90, Y:2.65, Z:-2.19 [[ 9.99998275e-01 1.78952314e-03 -4.98132909e-04 1.43900676e+02] [-1.78954596e-03 9.99998398e-01 -4.53670202e-05 2.65321896e+00] [ 4.98050925e-04 4.62583736e-05 9.99999875e-01 -2.18985624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.545898227 meters 0.08964529118581022 Centerline is valid? [True, True] Translation: X:143.93, Y:2.65, Z:-2.19 [[ 9.99998517e-01 1.72153769e-03 -5.64842561e-05 1.43931286e+02] [-1.72153798e-03 9.99998518e-01 -5.22308053e-06 2.64914565e+00] [ 5.64751807e-05 5.32031258e-06 9.99999998e-01 -2.18844665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.575898227 meters 0.08941284755742197 Centerline is valid? [True, True] Translation: X:143.96, Y:2.66, Z:-2.19 [[ 9.99998689e-01 -4.50834543e-04 1.55521615e-03 1.43960692e+02] [ 4.50615140e-04 9.99999888e-01 1.41423277e-04 2.65698879e+00] [-1.55527974e-03 -1.40722288e-04 9.99998781e-01 -2.18500247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.605898227 meters 0.09355520882355488 Centerline is valid? [True, True] Translation: X:143.99, Y:2.67, Z:-2.19 [[ 9.99994828e-01 -2.78173951e-03 1.61442793e-03 1.43989654e+02] [ 2.78150615e-03 9.99996121e-01 1.46770220e-04 2.66692791e+00] [-1.61482995e-03 -1.42278920e-04 9.99998686e-01 -2.18511709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.635898227 meters 0.08561600206483796 Centerline is valid? [True, True] Translation: X:144.02, Y:2.66, Z:-2.19 [[ 9.99979538e-01 -6.24290660e-03 1.39617457e-03 1.44021066e+02] [ 6.24273537e-03 9.99980506e-01 1.26963005e-04 2.65888958e+00] [-1.39693998e-03 -1.18244459e-04 9.99999017e-01 -2.18700052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.665898227 meters 0.08219597005790114 Centerline is valid? [True, True] Translation: X:144.05, Y:2.66, Z:-2.19 [[ 9.99951530e-01 -9.73598698e-03 1.46567338e-03 1.44050912e+02] [ 9.73580201e-03 9.99952597e-01 1.33284681e-04 2.66030447e+00] [-1.46690156e-03 -1.19008715e-04 9.99998917e-01 -2.18642267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69589822700001 meters 0.08331573107992005 Centerline is valid? [True, True] Translation: X:144.08, Y:2.66, Z:-2.19 [[ 9.99908754e-01 -1.33542957e-02 2.03643500e-03 1.44079884e+02] [ 1.33539461e-02 9.99910815e-01 1.85173703e-04 2.66494721e+00] [-2.03872624e-03 -1.57962363e-04 9.99997909e-01 -2.18599799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72589822700002 meters 0.07407727986188978 Centerline is valid? [True, True] Translation: X:144.11, Y:2.66, Z:-2.18 [[ 9.99797302e-01 -1.97835846e-02 3.73695743e-03 1.44111796e+02] [ 1.97824516e-02 9.99804250e-01 3.39889788e-04 2.65599832e+00] [-3.74295016e-03 -2.65894713e-04 9.99992960e-01 -2.18278141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.755898227 meters 0.0762209740442415 Centerline is valid? [True, True] Translation: X:144.14, Y:2.66, Z:-2.18 [[ 9.99753531e-01 -2.18687475e-02 3.82550784e-03 1.44141456e+02] [ 2.18675754e-02 9.99760815e-01 3.47946232e-04 2.66153448e+00] [-3.83220199e-03 -2.64205893e-04 9.99992622e-01 -2.18187850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.785898227 meters 0.07081422095142463 Centerline is valid? [True, True] Translation: X:144.17, Y:2.66, Z:-2.18 [[ 9.99718856e-01 -2.34988363e-02 3.16456866e-03 1.44172539e+02] [ 2.34980424e-02 9.99723841e-01 2.87830999e-04 2.65738455e+00] [-3.17045844e-03 -2.13388908e-04 9.99994951e-01 -2.18273590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.815898227 meters 0.06747084653604253 Centerline is valid? [True, True] Translation: X:144.20, Y:2.66, Z:-2.18 [[ 9.99690141e-01 -2.47951248e-02 2.19651810e-03 1.44204466e+02] [ 2.47947453e-02 9.99692543e-01 1.99834794e-04 2.65544063e+00] [-2.20079769e-03 -1.45310766e-04 9.99997568e-01 -2.18437169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.845898227 meters 0.06744069293090954 Centerline is valid? [True, True] Translation: X:144.23, Y:2.66, Z:-2.19 [[ 9.99662196e-01 -2.59246483e-02 1.84556223e-03 1.44234812e+02] [ 2.59243825e-02 9.99663893e-01 1.67816190e-04 2.65780317e+00] [-1.84929250e-03 -1.19914440e-04 9.99998283e-01 -2.18541603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.875898227 meters 0.07327036263320967 Centerline is valid? [True, True] Translation: X:144.26, Y:2.67, Z:-2.19 [[ 9.99636217e-01 -2.69119513e-02 1.78326115e-03 1.44264546e+02] [ 2.69117047e-02 9.99637801e-01 1.62130610e-04 2.66818697e+00] [-1.78697851e-03 -1.14081032e-04 9.99998397e-01 -2.18640570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.905898227 meters 0.06703107935066724 Centerline is valid? [True, True] Translation: X:144.30, Y:2.66, Z:-2.19 [[ 9.99596691e-01 -2.83645956e-02 1.38026367e-03 1.44297052e+02] [ 2.83644492e-02 9.99597640e-01 1.25537669e-04 2.66395241e+00] [-1.38326914e-03 -8.63366199e-05 9.99999040e-01 -2.18720845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.935898227 meters 0.07047651121797038 Centerline is valid? [True, True] Translation: X:144.33, Y:2.67, Z:-2.19 [[ 9.99590500e-01 -2.85972853e-02 1.01404703e-03 1.44327207e+02] [ 2.85972064e-02 9.99591012e-01 9.22272595e-05 2.67171833e+00] [-1.01626974e-03 -6.31905803e-05 9.99999482e-01 -2.18859382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.965898227 meters 0.07245270434999865 Centerline is valid? [True, True] Translation: X:144.36, Y:2.68, Z:-2.19 [[ 9.99601740e-01 -2.82189718e-02 2.25615431e-04 1.44357722e+02] [ 2.82189679e-02 9.99601765e-01 2.06080530e-05 2.67734746e+00] [-2.26107121e-04 -1.42332111e-05 9.99999974e-01 -2.19005696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.995898227 meters 0.0715393535204525 Centerline is valid? [True, True] Translation: X:144.39, Y:2.68, Z:-2.19 [[ 9.99621062e-01 -2.75231677e-02 -4.56664565e-04 1.44389316e+02] [ 2.75231516e-02 9.99621165e-01 -4.13651290e-05 2.67967812e+00] [ 4.57630064e-04 2.87806061e-05 9.99999895e-01 -2.19154727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.025898227 meters 0.0757240381172068 Centerline is valid? [True, True] Translation: X:144.42, Y:2.69, Z:-2.19 [[ 9.99677827e-01 -2.53655393e-02 -9.11529415e-04 1.44419323e+02] [ 2.53654744e-02 9.99678241e-01 -8.26821826e-05 2.68704475e+00] [ 9.13333401e-04 5.95341686e-05 9.99999581e-01 -2.19438651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.055898227 meters 0.07677630857932635 Centerline is valid? [True, True] Translation: X:144.45, Y:2.70, Z:-2.19 [[ 9.99711456e-01 -2.40139188e-02 -5.79733415e-04 1.44448448e+02] [ 2.40138923e-02 9.99711624e-01 -5.25642942e-05 2.69648463e+00] [ 5.80828508e-04 3.86274713e-05 9.99999831e-01 -2.19156594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.085898227 meters 0.07092442814146187 Centerline is valid? [True, True] Translation: X:144.48, Y:2.69, Z:-2.19 [[ 9.99746894e-01 -2.24972149e-02 -1.55136444e-04 1.44480248e+02] [ 2.24972130e-02 9.99746906e-01 -1.39863210e-05 2.69352117e+00] [ 1.55411833e-04 1.04926434e-05 9.99999988e-01 -2.19103292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.115898227 meters 0.07990685691673916 Centerline is valid? [True, True] Translation: X:144.51, Y:2.71, Z:-2.19 [[ 9.99782988e-01 -2.08311151e-02 -2.01715824e-04 1.44509400e+02] [ 2.08311118e-02 9.99783009e-01 -1.82535363e-05 2.70980876e+00] [ 2.02052295e-04 1.40476102e-05 9.99999979e-01 -2.19191874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.145898227 meters 0.08697965377805066 Centerline is valid? [True, True] Translation: X:144.54, Y:2.72, Z:-2.19 [[ 9.99816753e-01 -1.91384954e-02 -4.21273436e-04 1.44538497e+02] [ 1.91384810e-02 9.99816842e-01 -3.82119659e-05 2.72362054e+00] [ 4.21927595e-04 3.01424301e-05 9.99999911e-01 -2.19290336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.175898227 meters 0.08428319083353882 Centerline is valid? [True, True] Translation: X:144.57, Y:2.73, Z:-2.19 [[ 9.99840403e-01 -1.78595583e-02 -4.51945422e-04 1.44569588e+02] [ 1.78595417e-02 9.99840505e-01 -4.09477270e-05 2.72520954e+00] [ 4.52604647e-04 3.28696538e-05 9.99999897e-01 -2.19330115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.205898227 meters 0.07857738025481775 Centerline is valid? [True, True] Translation: X:144.60, Y:2.72, Z:-2.19 [[ 9.99855083e-01 -1.70213752e-02 -2.92491808e-04 1.44601387e+02] [ 1.70213681e-02 9.99855126e-01 -2.64348101e-05 2.72464448e+00] [ 2.92899390e-04 2.14523685e-05 9.99999957e-01 -2.19257909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.235898227 meters 0.08592115827264986 Centerline is valid? [True, True] Translation: X:144.63, Y:2.74, Z:-2.19 [[ 9.99843634e-01 -1.76529861e-02 1.03883614e-03 1.44631231e+02] [ 1.76528977e-02 9.99844171e-01 9.42531331e-05 2.73813855e+00] [-1.04033811e-03 -7.58999270e-05 9.99999456e-01 -2.19159513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.265898227 meters 0.0855129268062824 Centerline is valid? [True, True] Translation: X:144.66, Y:2.74, Z:-2.19 [[ 9.99821013e-01 -1.88431551e-02 1.69643455e-03 1.44661652e+02] [ 1.88429211e-02 9.99822445e-01 1.53820572e-04 2.74095510e+00] [-1.69903180e-03 -1.21827258e-04 9.99998549e-01 -2.19041884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.295898227 meters 0.07896975949476795 Centerline is valid? [True, True] Translation: X:144.69, Y:2.73, Z:-2.19 [[ 9.99789748e-01 -2.04207899e-02 1.85771577e-03 1.44693318e+02] [ 2.04205121e-02 9.99791465e-01 1.68375875e-04 2.73387063e+00] [-1.86076674e-03 -1.30404966e-04 9.99998260e-01 -2.19225984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.325898227 meters 0.06955690585490688 Centerline is valid? [True, True] Translation: X:144.73, Y:2.73, Z:-2.19 [[ 9.99762154e-01 -2.18074912e-02 2.63894690e-04 1.44725924e+02] [ 2.18074856e-02 9.99762188e-01 2.40352278e-05 2.72567653e+00] [-2.64356081e-04 -1.82746315e-05 9.99999965e-01 -2.19187007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.355898227 meters 0.06976547403434043 Centerline is valid? [True, True] Translation: X:144.76, Y:2.73, Z:-2.20 [[ 9.99762091e-01 -2.16824324e-02 -2.37343179e-03 1.44757707e+02] [ 2.16819835e-02 9.99764895e-01 -2.14684490e-04 2.72962060e+00] [ 2.37752867e-03 1.63172706e-04 9.99997160e-01 -2.19520580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.385898227 meters 0.06976547403434043 Centerline is valid? [True, True] Translation: X:144.79, Y:2.73, Z:-2.20 [[ 9.99763146e-01 -2.16337350e-02 -2.37344233e-03 1.44789340e+02] [ 2.16332863e-02 9.99765950e-01 -2.14568052e-04 2.73239825e+00] [ 2.37752873e-03 1.63171874e-04 9.99997160e-01 -2.19532145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.415898227 meters 0.07048936601833605 Centerline is valid? [True, True] Translation: X:144.82, Y:2.74, Z:-2.19 [[ 9.99791928e-01 -2.02934201e-02 -2.06850895e-03 1.44819806e+02] [ 2.02930762e-02 9.99794057e-01 -1.87086489e-04 2.73739168e+00] [ 2.07187958e-03 1.45071151e-04 9.99997843e-01 -2.19474181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44589822700001 meters 0.07621020712739263 Centerline is valid? [True, True] Translation: X:144.85, Y:2.75, Z:-2.19 [[ 9.99831669e-01 -1.83344921e-02 -6.93023443e-04 1.44849435e+02] [ 1.83344530e-02 9.99831908e-01 -6.26430785e-05 2.74750157e+00] [ 6.94055480e-04 4.99263280e-05 9.99999758e-01 -2.19466295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47589822700002 meters 0.08650161201989827 Centerline is valid? [True, True] Translation: X:144.88, Y:2.76, Z:-2.19 [[ 9.99867306e-01 -1.62512377e-02 1.12578634e-03 1.44878021e+02] [ 1.62511332e-02 9.99867936e-01 1.01832257e-04 2.76321734e+00] [-1.12729256e-03 -8.35234406e-05 9.99999361e-01 -2.19233078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.505898227 meters 0.08492292228510877 Centerline is valid? [True, True] Translation: X:144.91, Y:2.77, Z:-2.19 [[ 9.99897658e-01 -1.41639151e-02 2.01400008e-03 1.44908874e+02] [ 1.41635768e-02 9.99899675e-01 1.82180628e-04 2.76624855e+00] [-2.01637842e-03 -1.53636538e-04 9.99997955e-01 -2.19032478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.535898227 meters 0.08039064250229408 Centerline is valid? [True, True] Translation: X:144.94, Y:2.76, Z:-2.19 [[ 9.99922004e-01 -1.23885160e-02 1.58454262e-03 1.44939988e+02] [ 1.23883043e-02 9.99923252e-01 1.43348162e-04 2.76441407e+00] [-1.58619688e-03 -1.23707186e-04 9.99998734e-01 -2.18944103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.565898227 meters 0.0829628344458933 Centerline is valid? [True, True] Translation: X:144.97, Y:2.77, Z:-2.19 [[ 9.99944882e-01 -1.04737320e-02 -7.30456909e-04 1.44970067e+02] [ 1.04736865e-02 9.99945147e-01 -6.60474342e-05 2.77031857e+00] [ 7.31108604e-04 5.83932171e-05 9.99999731e-01 -2.19454989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.595898227 meters 0.08518488260362808 Centerline is valid? [True, True] Translation: X:145.00, Y:2.78, Z:-2.20 [[ 9.99945391e-01 -1.03586237e-02 -1.38328246e-03 1.45000118e+02] [ 1.03584606e-02 9.99946342e-01 -1.25039414e-04 2.77597573e+00] [ 1.38450347e-03 1.10703909e-04 9.99999035e-01 -2.19572884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.625898227 meters 0.08666490037815401 Centerline is valid? [True, True] Translation: X:145.03, Y:2.78, Z:-2.20 [[ 9.99944910e-01 -1.04255639e-02 -1.21850647e-03 1.45030364e+02] [ 1.04254374e-02 9.99945648e-01 -1.10125522e-04 2.78048714e+00] [ 1.21958836e-03 9.74159918e-05 9.99999252e-01 -2.19556374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.655898227 meters 0.0871753390298143 Centerline is valid? [True, True] Translation: X:145.06, Y:2.78, Z:-2.19 [[ 9.99942598e-01 -1.07143216e-02 6.38987581e-05 1.45060226e+02] [ 1.07143212e-02 9.99942600e-01 5.81880930e-06 2.78408171e+00] [-6.39574349e-05 -5.13384347e-06 9.99999998e-01 -2.19387832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.685898227 meters 0.0879711917456894 Centerline is valid? [True, True] Translation: X:145.09, Y:2.79, Z:-2.19 [[ 9.99949779e-01 -9.80469450e-03 2.07542137e-03 1.45091585e+02] [ 9.80432599e-03 9.99951919e-01 1.87655681e-04 2.78821817e+00] [-2.07716149e-03 -1.67298149e-04 9.99997829e-01 -2.19055320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.715898227 meters 0.09237220719286593 Centerline is valid? [True, True] Translation: X:145.12, Y:2.80, Z:-2.19 [[ 9.99958760e-01 -8.68258485e-03 2.66275007e-03 1.45121494e+02] [ 8.68197457e-03 9.99962282e-01 2.40664019e-04 2.79706513e+00] [-2.66473922e-03 -2.17536166e-04 9.99996426e-01 -2.18957650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.745898227 meters 0.09286679673664688 Centerline is valid? [True, True] Translation: X:145.15, Y:2.80, Z:-2.19 [[ 9.99974293e-01 -6.69735784e-03 2.56090071e-03 1.45151647e+02] [ 6.69678699e-03 9.99977549e-01 2.31421393e-04 2.80107648e+00] [-2.56239312e-03 -2.14265638e-04 9.99996694e-01 -2.18983115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.775898227 meters 0.09721286097779304 Centerline is valid? [True, True] Translation: X:145.18, Y:2.81, Z:-2.19 [[ 9.99988982e-01 -4.23908823e-03 2.01633250e-03 1.45181026e+02] [ 4.23872943e-03 9.99991000e-01 1.82187842e-04 2.81040711e+00] [-2.01708666e-03 -1.73639147e-04 9.99997951e-01 -2.19078779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.805898227 meters 0.09967312557928414 Centerline is valid? [True, True] Translation: X:145.21, Y:2.82, Z:-2.19 [[ 9.99997848e-01 -1.24411928e-03 1.66018987e-03 1.45211043e+02] [ 1.24387186e-03 9.99999215e-01 1.50051555e-04 2.81842065e+00] [-1.66037525e-03 -1.47986169e-04 9.99998611e-01 -2.19139070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.835898227 meters 0.1044575967675012 Centerline is valid? [True, False] Translation: X:145.25, Y:2.82, Z:-2.19 [[ 9.99997927e-01 -4.86447030e-04 1.97721943e-03 1.45251780e+02] [ 4.85201674e-04 9.99999684e-01 6.30283243e-04 2.82472503e+00] [-1.97752540e-03 -6.29322587e-04 9.99997847e-01 -2.18965474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.865898227 meters 0.11278966878317839 Centerline is valid? [False, False] Translation: X:145.25, Y:2.83, Z:-2.19 [[ 9.99991549e-01 3.56017430e-03 2.05579138e-03 1.45251555e+02] [-3.56887964e-03 9.99984615e-01 4.24651775e-03 2.82793011e+00] [-2.04064141e-03 -4.25381874e-03 9.99988870e-01 -2.18970624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.895898227 meters 0.10279423876057742 Centerline is valid? [False, False] Translation: X:145.23, Y:2.83, Z:-2.19 [[ 9.99978416e-01 6.29369594e-03 -1.88588720e-03 1.45229897e+02] [-6.30063208e-03 9.99973325e-01 -3.69483409e-03 2.83045095e+00] [ 1.86258273e-03 3.70663662e-03 9.99991396e-01 -2.18548053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.925898227 meters 0.11940197162420038 Centerline is valid? [False, False] Translation: X:145.25, Y:2.83, Z:-2.18 [[ 9.99971259e-01 4.90774254e-03 -5.77886004e-03 1.45246929e+02] [-4.88745547e-03 9.99981863e-01 3.51947138e-03 2.83242928e+00] [ 5.79602789e-03 -3.49112630e-03 9.99977109e-01 -2.17831978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.955898227 meters 0.11499363108180106 Centerline is valid? [False, False] Translation: X:145.27, Y:2.84, Z:-2.18 [[ 9.99986690e-01 3.00225307e-03 -4.19599996e-03 1.45269004e+02] [-2.95225536e-03 9.99925174e-01 1.18713920e-02 2.83624518e+00] [ 4.23132692e-03 -1.18588463e-02 9.99920729e-01 -2.18088243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.985898227 meters 0.11744132663896094 Centerline is valid? [False, False] Translation: X:145.27, Y:2.84, Z:-2.18 [[ 9.99990421e-01 -1.79071216e-03 -3.99381175e-03 1.45268231e+02] [ 1.81565565e-03 9.99978816e-01 6.25067883e-03 2.84171170e+00] [ 3.98253398e-03 -6.25787035e-03 9.99972489e-01 -2.18061724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.015898227 meters 0.10874280536312189 Centerline is valid? [False, False] Translation: X:145.27, Y:2.84, Z:-2.18 [[ 9.99990132e-01 -2.01005758e-03 -3.96188402e-03 1.45268057e+02] [ 2.03277282e-03 9.99981473e-01 5.73777840e-03 2.84401612e+00] [ 3.95027735e-03 -5.74577539e-03 9.99975690e-01 -2.18052238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.045898227 meters 0.10465759921308335 Centerline is valid? [False, False] Translation: X:145.25, Y:2.85, Z:-2.18 [[ 9.99991703e-01 7.50902045e-04 -4.00371919e-03 1.45251216e+02] [-7.62856605e-04 9.99995253e-01 -2.98517326e-03 2.84871417e+00] [ 4.00145862e-03 2.98820276e-03 9.99987529e-01 -2.18450716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.075898227 meters 0.11731646131178758 Centerline is valid? [False, False] Translation: X:145.25, Y:2.85, Z:-2.18 [[ 9.99991705e-01 5.28220950e-04 -4.03877509e-03 1.45251321e+02] [-5.42382466e-04 9.99993707e-01 -3.50609809e-03 2.85104443e+00] [ 4.03689768e-03 3.50825957e-03 9.99985698e-01 -2.18456171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.105898227 meters 0.11835236025348769 Centerline is valid? [False, False] Translation: X:145.27, Y:2.86, Z:-2.19 [[ 9.99993247e-01 -2.13238022e-03 -2.99310333e-03 1.45274822e+02] [ 2.14468564e-03 9.99989237e-01 4.11408830e-03 2.85580846e+00] [ 2.98429832e-03 -4.12047979e-03 9.99987058e-01 -2.18768868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.135898227 meters 0.10675922819500504 Centerline is valid? [False, False] Translation: X:145.23, Y:2.86, Z:-2.19 [[ 9.99987499e-01 -3.97703071e-03 -3.03068828e-03 1.45233437e+02] [ 3.97914539e-03 9.99991844e-01 6.92045206e-04 2.85853619e+00] [ 3.02791128e-03 -7.04096104e-04 9.99995168e-01 -2.18941344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.165898227 meters 0.09451574286432397 Centerline is valid? [False, True] Translation: X:145.25, Y:2.86, Z:-2.19 [[ 9.99992449e-01 -3.32645554e-03 2.00911544e-03 1.45251794e+02] [ 3.34348602e-03 9.99957999e-01 -8.53358333e-03 2.86407049e+00] [-1.98064447e-03 8.54023635e-03 9.99961570e-01 -2.19063710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19589822700001 meters 0.09418138768874916 Centerline is valid? [True, True] Translation: X:145.28, Y:2.86, Z:-2.19 [[ 9.99972858e-01 -6.80506666e-03 2.82372701e-03 1.45281825e+02] [ 6.80431437e-03 9.99976812e-01 2.75940392e-04 2.86499105e+00] [-2.82553933e-03 -2.56719376e-04 9.99995975e-01 -2.18991141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22589822700002 meters 0.09457020139968526 Centerline is valid? [True, True] Translation: X:145.31, Y:2.87, Z:-2.19 [[ 9.99932979e-01 -1.09121578e-02 3.86814306e-03 1.45310839e+02] [ 1.09107765e-02 9.99940404e-01 3.78013907e-04 2.87024162e+00] [-3.87203749e-03 -3.35784128e-04 9.99992447e-01 -2.18759314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.255898227 meters 0.08719977556776472 Centerline is valid? [True, True] Translation: X:145.34, Y:2.86, Z:-2.19 [[ 9.99870188e-01 -1.56015124e-02 4.02498601e-03 1.45342099e+02] [ 1.56000544e-02 9.99878234e-01 3.93378154e-04 2.86151557e+00] [-4.03063320e-03 -3.30537088e-04 9.99991822e-01 -2.18951036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.285898227 meters 0.07952714050592131 Centerline is valid? [True, True] Translation: X:145.37, Y:2.86, Z:-2.19 [[ 9.99776424e-01 -2.08427127e-02 3.56150739e-03 1.45373028e+02] [ 2.08416042e-02 9.99782730e-01 3.48080254e-04 2.85680067e+00] [-3.56798851e-03 -2.73774904e-04 9.99993597e-01 -2.18806200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.315898227 meters 0.068484701773064 Centerline is valid? [True, True] Translation: X:145.40, Y:2.84, Z:-2.19 [[ 9.99530383e-01 -3.05852202e-02 1.88621445e-03 1.45404846e+02] [ 3.05849266e-02 9.99532155e-01 1.84335083e-04 2.84218378e+00] [-1.89096992e-03 -1.26558786e-04 9.99998204e-01 -2.19217480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.345898227 meters 0.06697682005517254 Centerline is valid? [True, True] Translation: X:145.44, Y:2.84, Z:-2.19 [[ 9.99404265e-01 -3.44362207e-02 2.29391958e-03 1.45435029e+02] [ 3.44357965e-02 9.99406887e-01 2.24199080e-04 2.84114524e+00] [-2.30027959e-03 -1.45072569e-04 9.99997344e-01 -2.19210261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.375898227 meters 0.0679795409347136 Centerline is valid? [True, True] Translation: X:145.46, Y:2.84, Z:-2.19 [[ 9.99285838e-01 -3.76297464e-02 3.43735426e-03 1.45464085e+02] [ 3.76288126e-02 9.99291729e-01 3.35957767e-04 2.84301899e+00] [-3.44756169e-03 -2.06374279e-04 9.99994036e-01 -2.19050129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.405898227 meters 0.059298378857256175 Centerline is valid? [True, True] Translation: X:145.50, Y:2.83, Z:-2.19 [[ 9.99190418e-01 -3.99388547e-02 4.83704575e-03 1.45495950e+02] [ 3.99370326e-02 9.99202087e-01 4.72738463e-04 2.83184409e+00] [-4.85206684e-03 -2.79178488e-04 9.99988190e-01 -2.18856852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.435898227 meters 0.06457043791907771 Centerline is valid? [True, True] Translation: X:145.53, Y:2.84, Z:-2.19 [[ 9.99130406e-01 -4.12861125e-02 5.82144551e-03 1.45525511e+02] [ 4.12834966e-02 9.99147311e-01 5.68866136e-04 2.83816631e+00] [-5.83996790e-03 -3.28041827e-04 9.99982893e-01 -2.18636486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.465898227 meters 0.06504179315920572 Centerline is valid? [True, True] Translation: X:145.56, Y:2.84, Z:-2.19 [[ 9.99097496e-01 -4.21533865e-02 5.22346479e-03 1.45556524e+02] [ 4.21512927e-02 9.99111109e-01 5.10331062e-04 2.83780525e+00] [-5.24033388e-03 -2.89694693e-04 9.99986227e-01 -2.18647840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.495898227 meters 0.05899078417491107 Centerline is valid? [True, True] Translation: X:145.59, Y:2.83, Z:-2.19 [[ 9.99136636e-01 -4.15311774e-02 1.06950325e-03 1.45589780e+02] [ 4.15310891e-02 9.99137207e-01 1.04579941e-04 2.82531866e+00] [-1.07292382e-03 -6.00720156e-05 9.99999423e-01 -2.19250607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.525898227 meters 0.06186416944298822 Centerline is valid? [True, True] Translation: X:145.62, Y:2.83, Z:-2.20 [[ 9.99206386e-01 -3.98120547e-02 -1.26405311e-03 1.45619851e+02] [ 3.98119304e-02 9.99207183e-01 -1.23350664e-04 2.82864767e+00] [ 1.26796179e-03 7.29283769e-05 9.99999193e-01 -2.19670223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.555898227 meters 0.06391402913068917 Centerline is valid? [True, True] Translation: X:145.65, Y:2.83, Z:-2.20 [[ 9.99307047e-01 -3.71410584e-02 -2.44288265e-03 1.45650921e+02] [ 3.71405862e-02 9.99310022e-01 -2.38368367e-04 2.83089648e+00] [ 2.45005037e-03 1.47473096e-04 9.99996988e-01 -2.19908339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.585898227 meters 0.06884117476365385 Centerline is valid? [True, True] Translation: X:145.68, Y:2.84, Z:-2.20 [[ 9.99432709e-01 -3.36059188e-02 -2.21403750e-03 1.45680392e+02] [ 3.36055221e-02 9.99435152e-01 -2.16147143e-04 2.83754318e+00] [ 2.22005073e-03 1.41620639e-04 9.99997526e-01 -2.19948098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.615898227 meters 0.07035608397369926 Centerline is valid? [True, True] Translation: X:145.71, Y:2.84, Z:-2.20 [[ 9.99559131e-01 -2.96591769e-02 -1.36965541e-03 1.45711200e+02] [ 2.96590216e-02 9.99560066e-01 -1.33600909e-04 2.84038413e+00] [ 1.37301534e-03 9.29193694e-05 9.99999053e-01 -2.19829930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.645898227 meters 0.07496618330119638 Centerline is valid? [True, True] Translation: X:145.74, Y:2.85, Z:-2.20 [[ 9.99662118e-01 -2.59844967e-02 -6.75555116e-04 1.45740979e+02] [ 2.59844581e-02 9.99662345e-01 -6.59006524e-05 2.84751761e+00] [ 6.77039407e-04 4.83244522e-05 9.99999770e-01 -2.19713357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.675898227 meters 0.08665995748862737 Centerline is valid? [True, True] Translation: X:145.77, Y:2.86, Z:-2.20 [[ 9.99789623e-01 -2.05111834e-02 -1.71673961e-05 1.45768993e+02] [ 2.05111834e-02 9.99789624e-01 -1.65995334e-06 2.86200881e+00] [ 1.71978321e-05 1.30748052e-06 1.00000000e+00 -2.19655253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.705898227 meters 0.08407642373587627 Centerline is valid? [True, True] Translation: X:145.80, Y:2.86, Z:-2.20 [[ 9.99820945e-01 -1.89201415e-02 -3.26532604e-04 1.45800638e+02] [ 1.89201321e-02 9.99820998e-01 -3.17750906e-05 2.86001242e+00] [ 3.27075344e-04 2.55913611e-05 9.99999946e-01 -2.19697942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.735898227 meters 0.08368378805868047 Centerline is valid? [True, True] Translation: X:145.83, Y:2.86, Z:-2.20 [[ 9.99842621e-01 -1.77028387e-02 -1.15859591e-03 1.45832184e+02] [ 1.77027196e-02 9.99843288e-01 -1.12919994e-04 2.86061841e+00] [ 1.16041335e-03 9.23919241e-05 9.99999322e-01 -2.19764637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.765898227 meters 0.08269980147141827 Centerline is valid? [True, True] Translation: X:145.86, Y:2.86, Z:-2.20 [[ 9.99854743e-01 -1.69312856e-02 -1.95558745e-03 1.45864088e+02] [ 1.69309451e-02 9.99856643e-01 -1.90539944e-04 2.86060260e+00] [ 1.95853319e-03 1.57402323e-04 9.99998070e-01 -2.19911809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.795898227 meters 0.08912907095616725 Centerline is valid? [True, True] Translation: X:145.89, Y:2.87, Z:-2.20 [[ 9.99861058e-01 -1.64381107e-02 -2.76659291e-03 1.45893605e+02] [ 1.64374274e-02 9.99864860e-01 -2.69540101e-04 2.87072711e+00] [ 2.77064976e-03 2.24026980e-04 9.99996137e-01 -2.20087735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.825898227 meters 0.08996499036809325 Centerline is valid? [True, True] Translation: X:145.92, Y:2.87, Z:-2.20 [[ 9.99871922e-01 -1.57787660e-02 -2.67786871e-03 1.45924702e+02] [ 1.57781236e-02 9.99875484e-01 -2.60857645e-04 2.87361618e+00] [ 2.68165128e-03 2.18572491e-04 9.99996380e-01 -2.20183479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.855898227 meters 0.09144305256734397 Centerline is valid? [True, True] Translation: X:145.96, Y:2.88, Z:-2.20 [[ 9.99898512e-01 -1.42442494e-02 2.59476549e-04 1.45955364e+02] [ 1.42442433e-02 9.99898545e-01 2.53203487e-05 2.87705112e+00] [-2.59810893e-04 -2.16217319e-05 9.99999966e-01 -2.19763170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.885898227 meters 0.08133804765795828 Centerline is valid? [True, True] Translation: X:145.99, Y:2.87, Z:-2.19 [[ 9.99911849e-01 -1.31762393e-02 1.63756094e-03 1.45987907e+02] [ 1.31759955e-02 9.99913180e-01 1.59591364e-04 2.86668392e+00] [-1.63952158e-03 -1.38000801e-04 9.99998646e-01 -2.19471202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.915898227 meters 0.09725422858137112 Centerline is valid? [True, True] Translation: X:146.02, Y:2.89, Z:-2.19 [[ 9.99927761e-01 -1.18079337e-02 2.24642096e-03 1.46015483e+02] [ 1.18074717e-02 9.99930265e-01 2.18814260e-04 2.88998623e+00] [-2.24884806e-03 -1.92273901e-04 9.99997453e-01 -2.19387785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94589822700001 meters 0.08532750163077787 Centerline is valid? [True, True] Translation: X:146.05, Y:2.88, Z:-2.19 [[ 9.99943223e-01 -1.05231682e-02 1.67733712e-03 1.46047728e+02] [ 1.05229088e-02 9.99944619e-01 1.63403239e-04 2.87696131e+00] [-1.67896375e-03 -1.45743496e-04 9.99998580e-01 -2.19357232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97589822700002 meters 0.0905303586317424 Centerline is valid? [True, True] Translation: X:146.08, Y:2.89, Z:-2.19 [[ 9.99956062e-01 -9.30528996e-03 1.13397704e-03 1.46077060e+02] [ 9.30517065e-03 9.99956700e-01 1.10442039e-04 2.88551289e+00] [-1.13495564e-03 -9.98853363e-05 9.99999351e-01 -2.19484379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.005898227 meters 0.09774298176048438 Centerline is valid? [True, True] Translation: X:146.11, Y:2.90, Z:-2.19 [[ 9.99964591e-01 -8.32856097e-03 1.20484535e-03 1.46106027e+02] [ 8.32842558e-03 9.99965311e-01 1.17344154e-04 2.89727015e+00] [-1.20578087e-03 -1.07305535e-04 9.99999267e-01 -2.19481047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.035898227 meters 0.09762666355955024 Centerline is valid? [True, True] Translation: X:146.14, Y:2.90, Z:-2.19 [[ 9.99973342e-01 -6.90438346e-03 2.37604713e-03 1.46137194e+02] [ 6.90385288e-03 9.99976141e-01 2.31430719e-04 2.89875686e+00] [-2.37758833e-03 -2.15020670e-04 9.99997150e-01 -2.19366401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.065898227 meters 0.09307210655660987 Centerline is valid? [True, True] Translation: X:146.17, Y:2.90, Z:-2.19 [[ 9.99970158e-01 -7.05624660e-03 3.14516451e-03 1.46169787e+02] [ 7.05531791e-03 9.99975064e-01 3.06272322e-04 2.89559838e+00] [-3.14724722e-03 -2.84073047e-04 9.99995007e-01 -2.19289212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.095898227 meters 0.09179765520880544 Centerline is valid? [True, True] Translation: X:146.20, Y:2.90, Z:-2.19 [[ 9.99960136e-01 -7.94229993e-03 4.08008103e-03 1.46201353e+02] [ 7.94074530e-03 9.99968393e-01 3.97088096e-04 2.89685496e+00] [-4.08310587e-03 -3.64673382e-04 9.99991598e-01 -2.19181588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.125898227 meters 0.08758843943666639 Centerline is valid? [True, True] Translation: X:146.23, Y:2.89, Z:-2.19 [[ 9.99919789e-01 -1.18206836e-02 4.54822646e-03 1.46232507e+02] [ 1.18187920e-02 9.99930058e-01 4.42551904e-04 2.89231436e+00] [-4.55313961e-03 -3.88761864e-04 9.99989559e-01 -2.19148478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.155898227 meters 0.08382678633439564 Centerline is valid? [True, True] Translation: X:146.26, Y:2.89, Z:-2.19 [[ 9.99884898e-01 -1.45813001e-02 4.19250241e-03 1.46264080e+02] [ 1.45797171e-02 9.99893627e-01 4.07908896e-04 2.88802253e+00] [-4.19800428e-03 -3.46736445e-04 9.99991128e-01 -2.19244336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.185898227 meters 0.08963811639240828 Centerline is valid? [True, True] Translation: X:146.29, Y:2.90, Z:-2.19 [[ 9.99844427e-01 -1.73871159e-02 2.96829138e-03 1.46293426e+02] [ 1.73863347e-02 9.99848805e-01 2.88771873e-04 2.89545810e+00] [-2.97286350e-03 -2.37119241e-04 9.99995553e-01 -2.19430891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.215898227 meters 0.07915930093108232 Centerline is valid? [True, True] Translation: X:146.33, Y:2.88, Z:-2.20 [[ 9.99807721e-01 -1.95664375e-02 1.29414692e-03 1.46325308e+02] [ 1.95662908e-02 9.99808554e-01 1.25913563e-04 2.88144587e+00] [-1.29636284e-03 -1.00567698e-04 9.99999155e-01 -2.19761783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.245898227 meters 0.07915930093108232 Centerline is valid? [True, True] Translation: X:146.36, Y:2.88, Z:-2.20 [[ 9.99808650e-01 -1.95189451e-02 1.29413892e-03 1.46356942e+02] [ 1.95187982e-02 9.99809482e-01 1.25995909e-04 2.88443800e+00] [-1.29635167e-03 -1.00711763e-04 9.99999155e-01 -2.19772641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.275898227 meters 0.0801035464815969 Centerline is valid? [True, True] Translation: X:146.39, Y:2.89, Z:-2.20 [[ 9.99781344e-01 -2.09108277e-02 -2.41296877e-05 1.46387155e+02] [ 2.09108276e-02 9.99781345e-01 -2.30545871e-06 2.88600448e+00] [ 2.41726207e-05 1.80038287e-06 1.00000000e+00 -2.19988193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.305898227 meters 0.08790237938676648 Centerline is valid? [True, True] Translation: X:146.42, Y:2.90, Z:-2.20 [[ 9.99799752e-01 -2.00084821e-02 -3.41822366e-04 1.46416520e+02] [ 2.00084719e-02 9.99799810e-01 -3.31882504e-05 2.89540498e+00] [ 3.42417983e-04 2.63422613e-05 9.99999941e-01 -2.20093602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.335898227 meters 0.07866502351152102 Centerline is valid? [True, True] Translation: X:146.45, Y:2.89, Z:-2.20 [[ 9.99820087e-01 -1.89675247e-02 -1.66199944e-04 1.46448430e+02] [ 1.89675223e-02 9.99820100e-01 -1.61131746e-05 2.88593997e+00] [ 1.66475672e-04 1.29578745e-05 9.99999986e-01 -2.19907779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.365898227 meters 0.08647572944013443 Centerline is valid? [True, True] Translation: X:146.48, Y:2.90, Z:-2.20 [[ 9.99842796e-01 -1.77288003e-02 2.71339507e-04 1.46477734e+02] [ 1.77287938e-02 9.99842832e-01 2.64547419e-05 2.89876329e+00] [-2.71765872e-04 -2.16400609e-05 9.99999963e-01 -2.19881522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.395898227 meters 0.08487814355543921 Centerline is valid? [True, True] Translation: X:146.51, Y:2.90, Z:-2.20 [[ 9.99859341e-01 -1.67704047e-02 2.27797601e-04 1.46508754e+02] [ 1.67704001e-02 9.99859367e-01 2.22384142e-05 2.89978712e+00] [-2.28138512e-04 -1.84150293e-05 9.99999974e-01 -2.19840174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.425898227 meters 0.08757388740418105 Centerline is valid? [True, True] Translation: X:146.54, Y:2.91, Z:-2.20 [[ 9.99870561e-01 -1.60785628e-02 -5.83759248e-04 1.46539822e+02] [ 1.60785325e-02 9.99870730e-01 -5.64399696e-05 2.90631906e+00] [ 5.84591260e-04 4.70466720e-05 9.99999828e-01 -2.19911569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.455898227 meters 0.0879907585629881 Centerline is valid? [True, True] Translation: X:146.57, Y:2.91, Z:-2.20 [[ 9.99868478e-01 -1.61456729e-02 -1.53127960e-03 1.46571421e+02] [ 1.61454644e-02 9.99869642e-01 -1.48415129e-04 2.90988589e+00] [ 1.53347624e-03 1.23672389e-04 9.99998817e-01 -2.20117447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.485898227 meters 0.08256204265201966 Centerline is valid? [True, True] Translation: X:146.60, Y:2.91, Z:-2.20 [[ 9.99827110e-01 -1.83314617e-02 -3.11580294e-03 1.46603001e+02] [ 1.83306082e-02 9.99831935e-01 -3.02271378e-04 2.90667400e+00] [ 3.12082036e-03 2.45104555e-04 9.99995100e-01 -2.20371184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.515898227 meters 0.08495320960532994 Centerline is valid? [True, True] Translation: X:146.63, Y:2.91, Z:-2.20 [[ 9.99807244e-01 -1.94651563e-02 -2.56562153e-03 1.46633254e+02] [ 1.94645816e-02 9.99810516e-01 -2.48773303e-04 2.91337775e+00] [ 2.56997780e-03 1.98786601e-04 9.99996678e-01 -2.20313589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.545898227 meters 0.08652322499598925 Centerline is valid? [True, True] Translation: X:146.66, Y:2.92, Z:-2.20 [[ 9.99787790e-01 -2.05542710e-02 -1.37724087e-03 1.46663748e+02] [ 2.05541065e-02 9.99788733e-01 -1.33483247e-04 2.91906812e+00] [ 1.37969356e-03 1.05146965e-04 9.99999043e-01 -2.20119114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.575898227 meters 0.07833356062359181 Centerline is valid? [True, True] Translation: X:146.70, Y:2.91, Z:-2.20 [[ 9.99782274e-01 -2.08645365e-02 2.75745315e-04 1.46696248e+02] [ 2.08645299e-02 9.99782312e-01 2.68151602e-05 2.91278615e+00] [-2.76244775e-04 -2.10560255e-05 9.99999962e-01 -2.19710442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.605898227 meters 0.07799779789765626 Centerline is valid? [True, True] Translation: X:146.73, Y:2.92, Z:-2.19 [[ 9.99784298e-01 -2.07151358e-02 1.49720069e-03 1.46727729e+02] [ 2.07149414e-02 9.99785412e-01 1.45245063e-04 2.91730591e+00] [-1.49988818e-03 -1.14199309e-04 9.99998869e-01 -2.19461129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.635898227 meters 0.07772705461042465 Centerline is valid? [True, True] Translation: X:146.76, Y:2.92, Z:-2.19 [[ 9.99801563e-01 -1.98869745e-02 1.15847351e-03 1.46759660e+02] [ 1.98868576e-02 9.99802231e-01 1.12367001e-04 2.92206036e+00] [-1.16047904e-03 -8.93063054e-05 9.99999323e-01 -2.19434655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.665898227 meters 0.08246832755700462 Centerline is valid? [True, True] Translation: X:146.79, Y:2.93, Z:-2.20 [[ 9.99841019e-01 -1.78095470e-02 -8.70241150e-04 1.46788493e+02] [ 1.78094803e-02 9.99841395e-01 -8.43273018e-05 2.93459721e+00] [ 8.71604957e-04 6.88153527e-05 9.99999618e-01 -2.19763327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69589822700001 meters 0.07838064379393314 Centerline is valid? [True, True] Translation: X:146.82, Y:2.93, Z:-2.20 [[ 9.99844574e-01 -1.75898621e-02 -1.19376840e-03 1.46821009e+02] [ 1.75897368e-02 9.99845282e-01 -1.15407577e-04 2.93345912e+00] [ 1.19561370e-03 9.43915681e-05 9.99999281e-01 -2.19884798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72589822700002 meters 0.07868843201830436 Centerline is valid? [True, True] Translation: X:146.85, Y:2.94, Z:-2.20 [[ 9.99843963e-01 -1.76417595e-02 -9.04071890e-04 1.46852716e+02] [ 1.76416877e-02 9.99844370e-01 -8.73173119e-05 2.93682926e+00] [ 9.05471620e-04 7.13543332e-05 9.99999588e-01 -2.19925217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.755898227 meters 0.08680709421576299 Centerline is valid? [True, True] Translation: X:146.88, Y:2.95, Z:-2.20 [[ 9.99836005e-01 -1.80994805e-02 6.09721817e-04 1.46882844e+02] [ 1.80994477e-02 9.99836190e-01 5.92636014e-05 2.95007317e+00] [-6.10694579e-04 -4.82182543e-05 9.99999812e-01 -2.19841890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.785898227 meters 0.08476328355545633 Centerline is valid? [True, True] Translation: X:146.91, Y:2.95, Z:-2.19 [[ 9.99793133e-01 -2.01878400e-02 2.47826844e-03 1.46913773e+02] [ 2.01873078e-02 9.99796187e-01 2.39581034e-04 2.94799157e+00] [-2.48259996e-03 -1.89501905e-04 9.99996900e-01 -2.19450140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.815898227 meters 0.08399149966179648 Centerline is valid? [True, True] Translation: X:146.95, Y:2.95, Z:-2.19 [[ 9.99774357e-01 -2.11053632e-02 2.40786968e-03 1.46945447e+02] [ 2.11048634e-02 9.99777240e-01 2.32796073e-04 2.94904193e+00] [-2.41224655e-03 -1.81925784e-04 9.99997074e-01 -2.19415570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.845898227 meters 0.0854482666346519 Centerline is valid? [True, True] Translation: X:146.98, Y:2.95, Z:-2.19 [[ 9.99768780e-01 -2.14285268e-02 1.79012103e-03 1.46975978e+02] [ 2.14282511e-02 9.99770374e-01 1.73039450e-04 2.95342577e+00] [-1.79341795e-03 -1.34640276e-04 9.99998383e-01 -2.19440180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.875898227 meters 0.07396532887237019 Centerline is valid? [True, True] Translation: X:147.01, Y:2.94, Z:-2.20 [[ 9.99789124e-01 -2.05275343e-02 5.73212276e-04 1.47008767e+02] [ 2.05275059e-02 9.99789287e-01 5.54405799e-05 2.94140669e+00] [-5.74229551e-04 -4.36622704e-05 9.99999834e-01 -2.19564860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.905898227 meters 0.08905769716147754 Centerline is valid? [True, True] Translation: X:147.04, Y:2.96, Z:-2.20 [[ 9.99824932e-01 -1.87091595e-02 2.69275470e-04 1.47036563e+02] [ 1.87091532e-02 9.99824968e-01 2.60047503e-05 2.96213319e+00] [-2.69714865e-04 -2.09622817e-05 9.99999963e-01 -2.19947164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.935898227 meters 0.08287620104426786 Centerline is valid? [True, True] Translation: X:147.07, Y:2.96, Z:-2.20 [[ 9.99867437e-01 -1.62820546e-02 5.58136892e-05 1.47067274e+02] [ 1.62820543e-02 9.99867439e-01 5.39774136e-06 2.95965972e+00] [-5.58941768e-05 -4.48826430e-06 9.99999998e-01 -2.19797286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.965898227 meters 0.08473262530333771 Centerline is valid? [True, True] Translation: X:147.10, Y:2.97, Z:-2.20 [[ 9.99930998e-01 -1.17415683e-02 -3.68076079e-04 1.47097062e+02] [ 1.17415560e-02 9.99931065e-01 -3.55325505e-05 2.96610801e+00] [ 3.68467913e-04 3.12083127e-05 9.99999932e-01 -2.19904482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.995898227 meters 0.08366208702055038 Centerline is valid? [True, True] Translation: X:147.13, Y:2.97, Z:-2.20 [[ 9.99948040e-01 -1.01485318e-02 -9.61811773e-04 1.47127715e+02] [ 1.01484472e-02 9.99948499e-01 -9.28261017e-05 2.96821977e+00] [ 9.62704288e-04 8.30603824e-05 9.99999533e-01 -2.19938695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.025898227 meters 0.1031057780465966 Centerline is valid? [True, False] Translation: X:147.15, Y:2.97, Z:-2.20 [[ 9.99981099e-01 -5.23725934e-03 3.22052164e-03 1.47147085e+02] [ 5.25388720e-03 9.99972800e-01 -5.17649666e-03 2.97062868e+00] [-3.19332338e-03 5.19331908e-03 9.99981416e-01 -2.20104478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.055898227 meters 0.09752499435077992 Centerline is valid? [False, True] Translation: X:147.15, Y:2.97, Z:-2.20 [[ 9.99994942e-01 -7.18116268e-04 3.09831351e-03 1.47147437e+02] [ 7.19085983e-04 9.99999693e-01 -3.11879026e-04 2.96833480e+00] [-3.09808860e-03 3.14105402e-04 9.99995152e-01 -2.20105793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.085898227 meters 0.09652908348476029 Centerline is valid? [True, True] Translation: X:147.18, Y:2.97, Z:-2.20 [[ 9.99993584e-01 -6.12821246e-04 3.52931693e-03 1.47179058e+02] [ 6.11721574e-04 9.99999764e-01 3.12653079e-04 2.97039865e+00] [-3.52950770e-03 -3.10492113e-04 9.99993723e-01 -2.20081430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.115898227 meters 0.10450541577742194 Centerline is valid? [True, False] Translation: X:147.16, Y:2.97, Z:-2.20 [[ 9.99998370e-01 1.36374900e-03 1.18361362e-03 1.47157063e+02] [-1.35374198e-03 9.99963680e-01 -8.41464659e-03 2.97077872e+00] [-1.19504610e-03 8.41303056e-03 9.99963896e-01 -2.19783821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.145898227 meters 0.08951868117381728 Centerline is valid? [False, True] Translation: X:147.16, Y:2.97, Z:-2.20 [[ 9.99982552e-01 5.81784222e-03 1.02429986e-03 1.47157762e+02] [-5.81397893e-03 9.99976123e-01 -3.73506019e-03 2.96931876e+00] [-1.04600540e-03 3.72903976e-03 9.99992500e-01 -2.19824807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.175898227 meters 0.08553993799962832 Centerline is valid? [True, True] Translation: X:147.19, Y:2.97, Z:-2.20 [[ 9.99988247e-01 4.82046066e-03 5.17860150e-04 1.47188006e+02] [-4.82048274e-03 9.99988381e-01 4.14082253e-05 2.96606239e+00] [-5.17654526e-04 -4.39040746e-05 9.99999865e-01 -2.19885973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.205898227 meters 0.09994154201092587 Centerline is valid? [True, True] Translation: X:147.22, Y:2.99, Z:-2.20 [[ 9.99991067e-01 4.17278938e-03 6.73912807e-04 1.47216022e+02] [-4.17282669e-03 9.99991292e-01 5.39736688e-05 2.98768575e+00] [-6.73681718e-04 -5.67853080e-05 9.99999771e-01 -2.19960209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.235898227 meters 0.09306620893686902 Centerline is valid? [True, True] Translation: X:147.25, Y:2.98, Z:-2.20 [[ 9.99993065e-01 3.69051858e-03 5.00382428e-04 1.47246254e+02] [-3.69053907e-03 9.99993189e-01 4.00281405e-05 2.97935696e+00] [-5.00231296e-04 -4.18745438e-05 9.99999874e-01 -2.20135479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.265898227 meters 0.08993362550887164 Centerline is valid? [True, True] Translation: X:147.28, Y:2.98, Z:-2.20 [[ 9.99994394e-01 3.34835380e-03 -8.42895966e-07 1.47276387e+02] [-3.34835380e-03 9.99994394e-01 -1.15641907e-07 2.98127036e+00] [ 8.42504029e-07 1.18463572e-07 1.00000000e+00 -2.19985032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.295898227 meters 0.08354287883969999 Centerline is valid? [True, True] Translation: X:147.31, Y:2.98, Z:-2.20 [[ 9.99994959e-01 2.90129798e-03 -1.28996051e-03 1.47306243e+02] [-2.90143399e-03 9.99995785e-01 -1.03583072e-04 2.97602757e+00] [ 1.28965454e-03 1.07325286e-04 9.99999163e-01 -2.20083893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.325898227 meters 0.09082509294669569 Centerline is valid? [True, True] Translation: X:147.33, Y:2.99, Z:-2.20 [[ 9.99996765e-01 7.80080849e-04 -2.42108580e-03 1.47334358e+02] [-7.80553593e-04 9.99999676e-01 -1.94322431e-04 2.98764936e+00] [ 2.42093343e-03 1.96211590e-04 9.99997050e-01 -2.20391056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.355898227 meters 0.08773868708817358 Centerline is valid? [True, True] Translation: X:147.36, Y:2.99, Z:-2.20 [[ 9.99998282e-01 -1.01813595e-03 -1.54897731e-03 1.47364700e+02] [ 1.01794451e-03 9.99999474e-01 -1.24370726e-04 2.98583204e+00] [ 1.54910312e-03 1.22793739e-04 9.99998793e-01 -2.20293384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.385898227 meters 0.07816638103988771 Centerline is valid? [True, True] Translation: X:147.40, Y:2.98, Z:-2.20 [[ 9.99995994e-01 -2.71639527e-03 -7.95541824e-04 1.47395815e+02] [ 2.71634528e-03 9.99996309e-01 -6.39037013e-05 2.97529065e+00] [ 7.95712475e-04 6.17424790e-05 9.99999682e-01 -2.20047124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.415898227 meters 0.08450992645980632 Centerline is valid? [True, True] Translation: X:147.43, Y:2.98, Z:-2.20 [[ 9.99991474e-01 -4.12820349e-03 9.43351986e-05 1.47425326e+02] [ 4.12820279e-03 9.99991479e-01 7.57175384e-06 2.98479646e+00] [-9.43656525e-05 -7.18225446e-06 9.99999996e-01 -2.19982409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44589822700001 meters 0.07566816660195154 Centerline is valid? [True, True] Translation: X:147.46, Y:2.97, Z:-2.20 [[ 9.99987594e-01 -4.97893780e-03 1.48876480e-04 1.47457236e+02] [ 4.97893606e-03 9.99987605e-01 1.19976528e-05 2.97463267e+00] [-1.48934370e-04 -1.12562575e-05 9.99999989e-01 -2.19919328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47589822700002 meters 0.07812790683011497 Centerline is valid? [True, True] Translation: X:147.49, Y:2.98, Z:-2.20 [[ 9.99986025e-01 -5.26559736e-03 -4.72231887e-04 1.47487181e+02] [ 5.26558008e-03 9.99986136e-01 -3.78423425e-05 2.97688605e+00] [ 4.72424602e-04 3.53552389e-05 9.99999888e-01 -2.20081366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.505898227 meters 0.07951666799487275 Centerline is valid? [True, True] Translation: X:147.52, Y:2.98, Z:-2.20 [[ 9.99987524e-01 -4.96676096e-03 -5.32011589e-04 1.47518320e+02] [ 4.96673901e-03 9.99987665e-01 -4.25777990e-05 2.98016122e+00] [ 5.32216500e-04 3.99349051e-05 9.99999858e-01 -2.20128463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.535898227 meters 0.08103923735774927 Centerline is valid? [True, True] Translation: X:147.55, Y:2.98, Z:-2.20 [[ 9.99990545e-01 -4.30574979e-03 -6.09281772e-04 1.47549639e+02] [ 4.30572087e-03 9.99990729e-01 -4.87611672e-05 2.98260230e+00] [ 6.09486077e-04 4.61373089e-05 9.99999813e-01 -2.20286126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.565898227 meters 0.08023423792276742 Centerline is valid? [True, True] Translation: X:147.58, Y:2.99, Z:-2.20 [[ 9.99994932e-01 -3.16589659e-03 -3.35460556e-04 1.47580097e+02] [ 3.16588776e-03 9.99994988e-01 -2.68482906e-05 2.98700833e+00] [ 3.35543873e-04 2.57861241e-05 9.99999943e-01 -2.20010941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.595898227 meters 0.07904070010930288 Centerline is valid? [True, True] Translation: X:147.61, Y:2.99, Z:-2.20 [[ 9.99998857e-01 -1.50684213e-03 -1.21054251e-04 1.47610665e+02] [ 1.50684097e-03 9.99998865e-01 -9.65463141e-06 2.98974231e+00] [ 1.21068662e-04 9.47221087e-06 9.99999993e-01 -2.19934692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.625898227 meters 0.08230952198258557 Centerline is valid? [True, True] Translation: X:147.64, Y:3.00, Z:-2.20 [[ 9.99999785e-01 4.76021274e-04 -4.51241501e-04 1.47640055e+02] [-4.76037642e-04 9.99999886e-01 -3.61659398e-05 2.99850610e+00] [ 4.51224234e-04 3.63807400e-05 9.99999898e-01 -2.19971225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.655898227 meters 0.09429066887142627 Centerline is valid? [True, True] Translation: X:147.67, Y:3.02, Z:-2.20 [[ 9.99982710e-01 5.17193108e-03 -2.79846562e-03 1.47667839e+02] [-5.17257912e-03 9.99986597e-01 -2.24378655e-04 3.02123007e+00] [ 2.79726764e-03 2.38850060e-04 9.99996059e-01 -2.20424402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.685898227 meters 0.09495203185287808 Centerline is valid? [True, True] Translation: X:147.70, Y:3.03, Z:-2.21 [[ 9.99974470e-01 6.27420532e-03 -3.41965065e-03 1.47696947e+02] [-6.27518017e-03 9.99980273e-01 -2.74418591e-04 3.02694651e+00] [ 3.41786143e-03 2.95870509e-04 9.99994115e-01 -2.20586840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.715898227 meters 0.09609801538167628 Centerline is valid? [True, True] Translation: X:147.72, Y:3.03, Z:-2.21 [[ 9.99976899e-01 6.09572759e-03 -3.00732388e-03 1.47724195e+02] [-6.09648158e-03 9.99981387e-01 -2.41615681e-04 3.03244934e+00] [ 3.00579508e-03 2.59944194e-04 9.99995449e-01 -2.20539435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.745898227 meters 0.09580091918678349 Centerline is valid? [True, True] Translation: X:147.75, Y:3.04, Z:-2.20 [[ 9.99988575e-01 4.55539272e-03 -1.44825962e-03 1.47753268e+02] [-4.55556600e-03 9.99989617e-01 -1.16369084e-04 3.03681254e+00] [ 1.44771448e-03 1.22965397e-04 9.99998945e-01 -2.20288367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.775898227 meters 0.08666270124839653 Centerline is valid? [True, True] Translation: X:147.78, Y:3.03, Z:-2.20 [[ 9.99998608e-01 -8.31583390e-04 1.44655146e-03 1.47784478e+02] [ 8.31416239e-04 9.99999648e-01 1.16148614e-04 3.03154579e+00] [-1.44664754e-03 -1.14945766e-04 9.99998947e-01 -2.19733608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.805898227 meters 0.08479980667864422 Centerline is valid? [True, True] Translation: X:147.81, Y:3.03, Z:-2.20 [[ 9.99989454e-01 -4.32295981e-03 1.55067734e-03 1.47814036e+02] [ 4.32277198e-03 9.99990649e-01 1.24459906e-04 3.03273083e+00] [-1.55120088e-03 -1.17755369e-04 9.99998790e-01 -2.19810607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.835898227 meters 0.07959604237283593 Centerline is valid? [True, True] Translation: X:147.85, Y:3.03, Z:-2.20 [[ 9.99968996e-01 -7.86771097e-03 -3.26292687e-04 1.47845237e+02] [ 7.86770286e-03 9.99969049e-01 -2.61517958e-05 3.02862468e+00] [ 3.26488343e-04 2.35838110e-05 9.99999946e-01 -2.20152263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.865898227 meters 0.08182584513194431 Centerline is valid? [True, True] Translation: X:147.87, Y:3.03, Z:-2.21 [[ 9.99936617e-01 -1.10269971e-02 -2.27305683e-03 1.47874585e+02] [ 1.10266104e-02 9.99939188e-01 -1.82566004e-04 3.03315035e+00] [ 2.27493175e-03 1.57490321e-04 9.99997400e-01 -2.20682290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.895898227 meters 0.06937950749402604 Centerline is valid? [True, True] Translation: X:147.91, Y:3.02, Z:-2.21 [[ 9.99904201e-01 -1.32814122e-02 -3.89786427e-03 1.47906502e+02] [ 1.32802930e-02 9.99911764e-01 -3.12885808e-04 3.01806192e+00] [ 3.90167590e-03 2.61091054e-04 9.99992354e-01 -2.20816488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.925898227 meters 0.07510979282783671 Centerline is valid? [True, True] Translation: X:147.94, Y:3.03, Z:-2.21 [[ 9.99896949e-01 -1.38670474e-02 -3.71430631e-03 1.47936152e+02] [ 1.38660353e-02 9.99903817e-01 -2.98104117e-04 3.02586818e+00] [ 3.71808288e-03 2.46570694e-04 9.99993058e-01 -2.20861130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.955898227 meters 0.07222125861751191 Centerline is valid? [True, True] Translation: X:147.97, Y:3.02, Z:-2.20 [[ 9.99919190e-01 -1.26373129e-02 -1.38278772e-03 1.47967356e+02] [ 1.26371716e-02 9.99920142e-01 -1.10933134e-04 3.02109463e+00] [ 1.38407919e-03 9.34496435e-05 9.99999038e-01 -2.20268009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.985898227 meters 0.07519700172254078 Centerline is valid? [True, True] Translation: X:148.00, Y:3.02, Z:-2.20 [[ 9.99933207e-01 -1.15277001e-02 -8.32406254e-04 1.47997999e+02] [ 1.15276485e-02 9.99933552e-01 -6.67499325e-05 3.02420602e+00] [ 8.33120416e-04 5.71497874e-05 9.99999651e-01 -2.20301166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.015898227 meters 0.08066408775403397 Centerline is valid? [True, True] Translation: X:148.03, Y:3.03, Z:-2.20 [[ 9.99947465e-01 -1.01477713e-02 -1.44585023e-03 1.48027480e+02] [ 1.01476142e-02 9.99948505e-01 -1.15961007e-04 3.03418155e+00] [ 1.44695252e-03 1.01282984e-04 9.99998948e-01 -2.20276150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.045898227 meters 0.07569654892530019 Centerline is valid? [True, True] Translation: X:148.06, Y:3.03, Z:-2.20 [[ 9.99958977e-01 -8.70707409e-03 -2.49607958e-03 1.48058940e+02] [ 8.70660135e-03 9.99962077e-01 -2.00197041e-04 3.02928583e+00] [ 2.49772805e-03 1.78456459e-04 9.99996865e-01 -2.20470407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.075898227 meters 0.07274344926176687 Centerline is valid? [True, True] Translation: X:148.09, Y:3.03, Z:-2.21 [[ 9.99971386e-01 -7.00081910e-03 -2.86644992e-03 1.48089506e+02] [ 7.00018859e-03 9.99975472e-01 -2.29933899e-04 3.02689727e+00] [ 2.86798934e-03 2.09861630e-04 9.99995865e-01 -2.20545525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.105898227 meters 0.07749506430179506 Centerline is valid? [True, True] Translation: X:148.12, Y:3.03, Z:-2.20 [[ 9.99986285e-01 -5.04032104e-03 -1.42282156e-03 1.48118457e+02] [ 5.04016367e-03 9.99987292e-01 -1.14168446e-04 3.03400433e+00] [ 1.42337893e-03 1.06995627e-04 9.99998981e-01 -2.20467701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.135898227 meters 0.08900784880543802 Centerline is valid? [True, True] Translation: X:148.15, Y:3.05, Z:-2.20 [[ 9.99995592e-01 -6.31841382e-04 2.90124136e-03 1.48147264e+02] [ 6.31168751e-04 9.99999774e-01 2.32751966e-04 3.04974685e+00] [-2.90138777e-03 -2.30919767e-04 9.99995764e-01 -2.19713671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.165898227 meters 0.09008839084351646 Centerline is valid? [True, True] Translation: X:148.18, Y:3.05, Z:-2.20 [[ 9.99992155e-01 2.04584406e-03 3.39180490e-03 1.48177719e+02] [-2.04677873e-03 9.99997868e-01 2.72119341e-04 3.05427185e+00] [-3.39124095e-03 -2.79059480e-04 9.99994211e-01 -2.19599135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19589822700001 meters 0.09008839084351646 Centerline is valid? [True, True] Translation: X:148.21, Y:3.06, Z:-2.20 [[ 9.99992108e-01 2.06880006e-03 3.39180419e-03 1.48208568e+02] [-2.06973489e-03 9.99997821e-01 2.72128208e-04 3.05670277e+00] [-3.39123382e-03 -2.79146195e-04 9.99994211e-01 -2.19611929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22589822700002 meters 0.09587265862179607 Centerline is valid? [True, True] Translation: X:148.24, Y:3.07, Z:-2.20 [[ 9.99987126e-01 4.67788917e-03 1.96592318e-03 1.48237693e+02] [-4.67820808e-03 9.99989045e-01 1.57652530e-04 3.06767071e+00] [-1.96516416e-03 -1.66847498e-04 9.99998055e-01 -2.19895287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.255898227 meters 0.09053535477265118 Centerline is valid? [True, True] Translation: X:148.27, Y:3.06, Z:-2.20 [[ 9.99975144e-01 7.04208871e-03 -3.47189961e-04 1.48268194e+02] [-7.04209880e-03 9.99975204e-01 -2.78425682e-05 3.06457262e+00] [ 3.46985282e-04 3.02868221e-05 9.99999939e-01 -2.20325878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.285898227 meters 0.09174240553020506 Centerline is valid? [True, True] Translation: X:148.30, Y:3.07, Z:-2.21 [[ 9.99962397e-01 8.45738400e-03 -1.91755992e-03 1.48297908e+02] [-8.45769452e-03 9.99964221e-01 -1.53881124e-04 3.07003270e+00] [ 1.91618988e-03 1.70093473e-04 9.99998150e-01 -2.20715722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.315898227 meters 0.09285068053348149 Centerline is valid? [True, True] Translation: X:148.33, Y:3.08, Z:-2.21 [[ 9.99956493e-01 9.05498727e-03 -2.24050396e-03 1.48327028e+02] [-9.05541288e-03 9.99958983e-01 -1.79890365e-04 3.07568284e+00] [ 2.23878315e-03 2.00171227e-04 9.99997474e-01 -2.20847280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.345898227 meters 0.0886165377260823 Centerline is valid? [True, True] Translation: X:148.36, Y:3.08, Z:-2.21 [[ 9.99974559e-01 7.12650286e-03 -3.08555588e-04 1.48357903e+02] [-7.12651084e-03 9.99974606e-01 -2.47714577e-05 3.07604502e+00] [ 3.08371219e-04 2.69697522e-05 9.99999952e-01 -2.20628968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.375898227 meters 0.09191670838263441 Centerline is valid? [True, True] Translation: X:148.39, Y:3.08, Z:-2.21 [[ 9.99988322e-01 4.83250808e-03 6.04472355e-05 1.48386506e+02] [-4.83250838e-03 9.99988323e-01 4.84270051e-06 3.08301719e+00] [-6.04231273e-05 -5.13475572e-06 9.99999998e-01 -2.20622474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.405898227 meters 0.09032219398986346 Centerline is valid? [True, True] Translation: X:148.42, Y:3.08, Z:-2.21 [[ 9.99999182e-01 1.19398438e-03 -4.59227805e-04 1.48416173e+02] [-1.19400142e-03 9.99999287e-01 -3.68328612e-05 3.08253021e+00] [ 4.59183499e-04 3.73811497e-05 9.99999894e-01 -2.20742113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.435898227 meters 0.08728003107532568 Centerline is valid? [True, True] Translation: X:148.45, Y:3.08, Z:-2.21 [[ 9.99994791e-01 -2.91510573e-03 -1.38551734e-03 1.48447064e+02] [ 2.91495436e-03 9.99995745e-01 -1.11264847e-04 3.07967381e+00] [ 1.38583580e-03 1.07225548e-04 9.99999034e-01 -2.20986683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.465898227 meters 0.08222553090158276 Centerline is valid? [True, True] Translation: X:148.48, Y:3.07, Z:-2.21 [[ 9.99971171e-01 -7.25991431e-03 -2.22496985e-03 1.48478492e+02] [ 7.25953494e-03 9.99973633e-01 -1.78537027e-04 3.07408217e+00] [ 2.22620734e-03 1.62379634e-04 9.99997509e-01 -2.21130937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.495898227 meters 0.07494927679175803 Centerline is valid? [True, True] Translation: X:148.51, Y:3.06, Z:-2.21 [[ 9.99901495e-01 -1.39246226e-02 -1.76221614e-03 1.48509869e+02] [ 1.39243949e-02 9.99903041e-01 -1.41368408e-04 3.06479587e+00] [ 1.76401378e-03 1.16816689e-04 9.99998437e-01 -2.21126856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.525898227 meters 0.07356047939458411 Centerline is valid? [True, True] Translation: X:148.54, Y:3.06, Z:-2.21 [[ 9.99878597e-01 -1.55305412e-02 -1.26271346e-03 1.48540277e+02] [ 1.55304256e-02 9.99879391e-01 -1.01326367e-04 3.06444255e+00] [ 1.26413482e-03 8.17035880e-05 9.99999198e-01 -2.21091177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.555898227 meters 0.06995321518076181 Centerline is valid? [True, True] Translation: X:148.57, Y:3.06, Z:-2.21 [[ 9.99860989e-01 -1.66315279e-02 -1.18138930e-03 1.48572084e+02] [ 1.66314276e-02 9.99861684e-01 -9.46747123e-05 3.06201325e+00] [ 1.18280048e-03 7.50133608e-05 9.99999298e-01 -2.21065794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.585898227 meters 0.07456673634013157 Centerline is valid? [True, True] Translation: X:148.60, Y:3.07, Z:-2.21 [[ 9.99851221e-01 -1.71666793e-02 -1.68547111e-03 1.48601591e+02] [ 1.71664758e-02 9.99852636e-01 -1.35142193e-04 3.07000272e+00] [ 1.68754267e-03 1.06188488e-04 9.99998570e-01 -2.21243758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.615898227 meters 0.06355297149624038 Centerline is valid? [True, True] Translation: X:148.63, Y:3.06, Z:-2.21 [[ 9.99837229e-01 -1.78423164e-02 -2.67735204e-03 1.48634184e+02] [ 1.78418055e-02 9.99840799e-01 -2.14581902e-04 3.05757796e+00] [ 2.68075444e-03 1.66778180e-04 9.99996393e-01 -2.21248733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.645898227 meters 0.07110092117933263 Centerline is valid? [True, True] Translation: X:148.66, Y:3.07, Z:-2.22 [[ 9.99825627e-01 -1.83934833e-02 -3.22418291e-03 1.48663951e+02] [ 1.83927451e-02 9.99830806e-01 -2.58440964e-04 3.06888919e+00] [ 3.22839102e-03 1.99094324e-04 9.99994769e-01 -2.21542107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.675898227 meters 0.0701790638415639 Centerline is valid? [True, True] Translation: X:148.70, Y:3.07, Z:-2.22 [[ 9.99806804e-01 -1.94400367e-02 -2.90495779e-03 1.48695020e+02] [ 1.94394420e-02 9.99811009e-01 -2.32817222e-04 3.06667378e+00] [ 2.90893476e-03 1.76301484e-04 9.99995753e-01 -2.21500092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.705898227 meters 0.0682510001099463 Centerline is valid? [True, True] Translation: X:148.73, Y:3.07, Z:-2.21 [[ 9.99794963e-01 -2.01474639e-02 -2.02755446e-03 1.48726970e+02] [ 2.01471760e-02 9.99797012e-01 -1.62316486e-04 3.06509340e+00] [ 2.03041315e-03 1.21433709e-04 9.99997931e-01 -2.21336628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.735898227 meters 0.06351192562103002 Centerline is valid? [True, True] Translation: X:148.76, Y:3.06, Z:-2.21 [[ 9.99781109e-01 -2.09077208e-02 -7.75543999e-04 1.48758710e+02] [ 2.09076790e-02 9.99781409e-01 -6.20237744e-05 3.06044626e+00] [ 7.76671248e-04 4.57953730e-05 9.99999697e-01 -2.21141462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.765898227 meters 0.06312862296525092 Centerline is valid? [True, True] Translation: X:148.79, Y:3.06, Z:-2.21 [[ 9.99780563e-01 -2.09410468e-02 -5.46624865e-04 1.48791254e+02] [ 2.09410261e-02 9.99780712e-01 -4.35616492e-05 3.06164948e+00] [ 5.47417223e-04 3.21052046e-05 9.99999850e-01 -2.21041055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.795898227 meters 0.07372846579929389 Centerline is valid? [True, True] Translation: X:148.82, Y:3.08, Z:-2.21 [[ 9.99796795e-01 -2.01546775e-02 -3.96076311e-04 1.48820887e+02] [ 2.01546665e-02 9.99796874e-01 -3.15992737e-05 3.07684698e+00] [ 3.96632730e-04 2.36100666e-05 9.99999921e-01 -2.21126917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.825898227 meters 0.06096710656371078 Centerline is valid? [True, True] Translation: X:148.85, Y:3.06, Z:-2.21 [[ 9.99822512e-01 -1.88321120e-02 -5.43844359e-04 1.48853465e+02] [ 1.88320912e-02 9.99822660e-01 -4.34083269e-05 3.06250575e+00] [ 5.44565384e-04 3.31588959e-05 9.99999851e-01 -2.21026243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.855898227 meters 0.06558303718347076 Centerline is valid? [True, True] Translation: X:148.88, Y:3.07, Z:-2.21 [[ 9.99899556e-01 -1.41484357e-02 8.36701103e-04 1.48884123e+02] [ 1.41483845e-02 9.99899904e-01 6.70101816e-05 3.07093767e+00] [-8.37565442e-04 -5.51654819e-05 9.99999648e-01 -2.20772874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.885898227 meters 0.07610569018523654 Centerline is valid? [True, True] Translation: X:148.91, Y:3.09, Z:-2.21 [[ 9.99932069e-01 -1.14249385e-02 2.30847409e-03 1.48912371e+02] [ 1.14245425e-02 9.99934721e-01 1.84623431e-04 3.08755930e+00] [-2.31043270e-03 -1.58237629e-04 9.99997318e-01 -2.20600017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.915898227 meters 0.08676171088232189 Centerline is valid? [True, True] Translation: X:148.94, Y:3.10, Z:-2.20 [[ 9.99956033e-01 -8.89010734e-03 2.98310567e-03 1.48941108e+02] [ 8.88943484e-03 9.99960460e-01 2.38620508e-04 3.10484978e+00] [-2.98510908e-03 -2.12091893e-04 9.99995522e-01 -2.20475710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94589822700001 meters 0.07341553293880569 Centerline is valid? [True, True] Translation: X:148.97, Y:3.09, Z:-2.20 [[ 9.99971532e-01 -6.94384878e-03 2.95274003e-03 1.48972904e+02] [ 6.94318130e-03 9.99975868e-01 2.36243933e-04 3.09150026e+00] [-2.95430921e-03 -2.15735798e-04 9.99995613e-01 -2.20418347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97589822700002 meters 0.07545801295680442 Centerline is valid? [True, True] Translation: X:149.00, Y:3.10, Z:-2.21 [[ 9.99982173e-01 -5.48434791e-03 2.36139439e-03 1.49003604e+02] [ 5.48391701e-03 9.99984945e-01 1.88912737e-04 3.09771935e+00] [-2.36239490e-03 -1.75959679e-04 9.99997194e-01 -2.20677854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.005898227 meters 0.07877440071353897 Centerline is valid? [True, True] Translation: X:149.03, Y:3.11, Z:-2.21 [[ 9.99992042e-01 -3.79277460e-03 1.23743618e-03 1.49032596e+02] [ 3.79265502e-03 9.99992803e-01 9.89694135e-05 3.10870356e+00] [-1.23780265e-03 -9.42754573e-05 9.99999229e-01 -2.20772905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.035898227 meters 0.07911382348401348 Centerline is valid? [True, True] Translation: X:149.06, Y:3.11, Z:-2.21 [[ 9.99992315e-01 -3.65042251e-03 1.42966838e-03 1.49063796e+02] [ 3.65026265e-03 9.99993331e-01 1.14408293e-04 3.11391244e+00] [-1.43007649e-03 -1.09188749e-04 9.99998971e-01 -2.20708918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.065898227 meters 0.07906399884465555 Centerline is valid? [True, True] Translation: X:149.10, Y:3.12, Z:-2.21 [[ 9.99992732e-01 -3.47891537e-03 1.55984960e-03 1.49095225e+02] [ 3.47872489e-03 9.99993941e-01 1.24810712e-04 3.11845906e+00] [-1.56027436e-03 -1.19383517e-04 9.99998776e-01 -2.20606222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.095898227 meters 0.08130623372286831 Centerline is valid? [True, True] Translation: X:149.13, Y:3.13, Z:-2.21 [[ 9.99992662e-01 -3.41836494e-03 1.72943551e-03 1.49125814e+02] [ 3.41813066e-03 9.99994149e-01 1.38408007e-04 3.12501248e+00] [-1.72989852e-03 -1.32495554e-04 9.99998495e-01 -2.20695583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.125898227 meters 0.0824754311750583 Centerline is valid? [True, True] Translation: X:149.16, Y:3.13, Z:-2.21 [[ 9.99994324e-01 -3.20052759e-03 1.05258755e-03 1.49156481e+02] [ 3.20044078e-03 9.99994875e-01 8.41470818e-05 3.13203178e+00] [-1.05285147e-03 -8.07778601e-05 9.99999442e-01 -2.20622048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.155898227 meters 0.08256667851512597 Centerline is valid? [True, True] Translation: X:149.19, Y:3.14, Z:-2.21 [[ 9.99995473e-01 -3.00805095e-03 -7.63267704e-05 1.49187563e+02] [ 3.00805050e-03 9.99995476e-01 -5.99262577e-06 3.13666306e+00] [ 7.63444512e-05 5.76300386e-06 9.99999997e-01 -2.20773597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.185898227 meters 0.08652391267726602 Centerline is valid? [True, True] Translation: X:149.22, Y:3.15, Z:-2.21 [[ 9.99998066e-01 -1.34240235e-03 -1.43718292e-03 1.49216465e+02] [ 1.34223894e-03 9.99999093e-01 -1.14658560e-04 3.14842926e+00] [ 1.43733553e-03 1.12729295e-04 9.99998961e-01 -2.21052238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.215898227 meters 0.09038354335003927 Centerline is valid? [True, True] Translation: X:149.25, Y:3.16, Z:-2.21 [[ 9.99999468e-01 4.96731954e-04 -9.03623869e-04 1.49245494e+02] [-4.96797265e-04 9.99999874e-01 -7.20538394e-05 3.15824791e+00] [ 9.03587964e-04 7.25027190e-05 9.99999589e-01 -2.20978718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.245898227 meters 0.08983440754126479 Centerline is valid? [True, True] Translation: X:149.27, Y:3.16, Z:-2.21 [[ 9.99997837e-01 2.06788675e-03 -2.25168098e-04 1.49274938e+02] [-2.06789086e-03 9.99997862e-01 -1.80327774e-05 3.16320111e+00] [ 2.25130327e-04 1.84983614e-05 9.99999974e-01 -2.20806463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.275898227 meters 0.09307919715579983 Centerline is valid? [True, True] Translation: X:149.30, Y:3.17, Z:-2.21 [[ 9.99992923e-01 3.75887880e-03 1.55091837e-04 1.49303753e+02] [-3.75888076e-03 9.99992935e-01 1.23290311e-05 3.17335255e+00] [-1.55044398e-04 -1.29119156e-05 9.99999988e-01 -2.20777353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.305898227 meters 0.09801660486615249 Centerline is valid? [True, True] Translation: X:149.33, Y:3.19, Z:-2.21 [[ 9.99974793e-01 7.04729909e-03 -8.65979717e-04 1.49333066e+02] [-7.04736156e-03 9.99975165e-01 -6.91003937e-05 3.19123333e+00] [ 8.65471239e-04 7.52015241e-05 9.99999623e-01 -2.20840622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.335898227 meters 0.09801660486615249 Centerline is valid? [True, True] Translation: X:149.36, Y:3.19, Z:-2.21 [[ 9.99975111e-01 7.00194856e-03 -8.65961329e-04 1.49361393e+02] [-7.00201120e-03 9.99975483e-01 -6.93307578e-05 3.19358314e+00] [ 8.65454648e-04 7.53925031e-05 9.99999623e-01 -2.20852373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.365898227 meters 0.10017156231561347 Centerline is valid? [True, False] Translation: X:149.38, Y:3.20, Z:-2.21 [[ 9.99976865e-01 6.66638940e-03 -1.35262963e-03 1.49381293e+02] [-6.65335088e-03 9.99933447e-01 9.42518149e-03 3.20233790e+00] [ 1.41537153e-03 -9.41596391e-03 9.99954667e-01 -2.20667000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.395898227 meters 0.0998643464984075 Centerline is valid? [False, True] Translation: X:149.34, Y:3.21, Z:-2.21 [[ 9.99995709e-01 2.89240315e-03 -4.65061824e-04 1.49337738e+02] [-2.89091291e-03 9.99990785e-01 3.17373592e-03 3.20732271e+00] [ 4.74237262e-04 -3.17237785e-03 9.99994856e-01 -2.20727863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.425898227 meters 0.09991429538753316 Centerline is valid? [True, True] Translation: X:149.37, Y:3.22, Z:-2.21 [[ 9.99997084e-01 2.35354401e-03 5.40994474e-04 1.49367046e+02] [-2.35356963e-03 9.99997229e-01 4.67164261e-05 3.21568768e+00] [-5.40883025e-04 -4.79895580e-05 9.99999853e-01 -2.20555547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.455898227 meters 0.09165934266173342 Centerline is valid? [True, True] Translation: X:149.40, Y:3.21, Z:-2.21 [[ 9.99999273e-01 1.20236620e-03 -9.63665231e-05 1.49398089e+02] [-1.20236700e-03 9.99999277e-01 -8.32876573e-06 3.21153877e+00] [ 9.63564393e-05 8.44462759e-06 9.99999995e-01 -2.20753648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.485898227 meters 0.0981228643026665 Centerline is valid? [True, True] Translation: X:149.43, Y:3.23, Z:-2.21 [[ 9.99998864e-01 -3.68593573e-04 -1.46136661e-03 1.49426759e+02] [ 3.68409389e-04 9.99999924e-01 -1.26302991e-04 3.22622753e+00] [ 1.46141305e-03 1.25764466e-04 9.99998924e-01 -2.21091707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.515898227 meters 0.08912420824768646 Centerline is valid? [True, True] Translation: X:149.46, Y:3.22, Z:-2.21 [[ 9.99993224e-01 -2.66912689e-03 -2.53516794e-03 1.49457701e+02] [ 2.66857984e-03 9.99996415e-01 -2.19145309e-04 3.22019484e+00] [ 2.53574377e-03 2.12378526e-04 9.99996762e-01 -2.21303313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.545898227 meters 0.07966049092884403 Centerline is valid? [True, True] Translation: X:149.49, Y:3.22, Z:-2.21 [[ 9.99960020e-01 -8.70992077e-03 -2.02361677e-03 1.49488482e+02] [ 8.70958460e-03 9.99962056e-01 -1.74874974e-04 3.21564315e+00] [ 2.02506313e-03 1.57243122e-04 9.99997937e-01 -2.21272161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.575898227 meters 0.09073547775325166 Centerline is valid? [True, True] Translation: X:149.52, Y:3.23, Z:-2.21 [[ 9.99923476e-01 -1.23207511e-02 -1.11405138e-03 1.49516721e+02] [ 1.23206514e-02 9.99924093e-01 -9.62863869e-05 3.23394224e+00] [ 1.11515314e-03 8.25531800e-05 9.99999375e-01 -2.21290892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.605898227 meters 0.0735979701526519 Centerline is valid? [True, True] Translation: X:149.55, Y:3.22, Z:-2.21 [[ 9.99869454e-01 -1.61268102e-02 -1.00081512e-03 1.49548842e+02] [ 1.61267316e-02 9.99869952e-01 -8.65004131e-05 3.21522815e+00] [ 1.00207994e-03 7.03492440e-05 9.99999495e-01 -2.21203818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.635898227 meters 0.07166809876130648 Centerline is valid? [True, True] Translation: X:149.58, Y:3.22, Z:-2.21 [[ 9.99811239e-01 -1.93671630e-02 -1.54896158e-03 1.49578654e+02] [ 1.93669786e-02 9.99812434e-01 -1.33915122e-04 3.21557998e+00] [ 1.55126460e-03 1.03891138e-04 9.99998791e-01 -2.21325691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.665898227 meters 0.06865375872313392 Centerline is valid? [True, True] Translation: X:149.61, Y:3.21, Z:-2.21 [[ 9.99754557e-01 -2.20456443e-02 -2.19432242e-03 1.49609745e+02] [ 2.20452809e-02 9.99756955e-01 -1.89661382e-04 3.21471243e+00] [ 2.19797031e-03 1.41240377e-04 9.99997574e-01 -2.21495525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69589822700001 meters 0.08062131059226131 Centerline is valid? [True, True] Translation: X:149.64, Y:3.23, Z:-2.22 [[ 9.99708885e-01 -2.40123688e-02 -2.35601856e-03 1.49637909e+02] [ 2.40119553e-02 9.99711651e-01 -2.03645437e-04 3.23317205e+00] [ 2.36022921e-03 1.47013541e-04 9.99997204e-01 -2.21668820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72589822700002 meters 0.06313723324873646 Centerline is valid? [True, True] Translation: X:149.67, Y:3.21, Z:-2.21 [[ 9.99646505e-01 -2.65773805e-02 -7.12750724e-04 1.49670845e+02] [ 2.65773433e-02 9.99646758e-01 -6.15644714e-05 3.21446374e+00] [ 7.14135173e-04 4.25996880e-05 9.99999744e-01 -2.21249420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.755898227 meters 0.06873694002932629 Centerline is valid? [True, True] Translation: X:149.70, Y:3.22, Z:-2.21 [[ 9.99629161e-01 -2.72226106e-02 -6.85277531e-04 1.49701791e+02] [ 2.72225764e-02 9.99629395e-01 -5.91015646e-05 3.22386370e+00] [ 6.86632462e-04 4.04246275e-05 9.99999763e-01 -2.21263560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.785898227 meters 0.05842911627958655 Centerline is valid? [True, True] Translation: X:149.73, Y:3.21, Z:-2.21 [[ 9.99612221e-01 -2.77937724e-02 -1.70704275e-03 1.49734902e+02] [ 2.77935613e-02 9.99613674e-01 -1.47262681e-04 3.21249014e+00] [ 1.71047626e-03 9.97607783e-05 9.99998532e-01 -2.21338879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.815898227 meters 0.061646853653464055 Centerline is valid? [True, True] Translation: X:149.77, Y:3.22, Z:-2.22 [[ 9.99582362e-01 -2.85579905e-02 -4.42061216e-03 1.49766093e+02] [ 2.85565823e-02 9.99592105e-01 -3.81355576e-04 3.21799091e+00] [ 4.42969977e-03 2.54958733e-04 9.99990156e-01 -2.21781032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.845898227 meters 0.062481118079352936 Centerline is valid? [True, True] Translation: X:149.80, Y:3.22, Z:-2.22 [[ 9.99557024e-01 -2.94084285e-02 -4.57175349e-03 1.49797364e+02] [ 2.94069319e-02 9.99567445e-01 -3.94232066e-04 3.22174950e+00] [ 4.58136970e-03 2.59616186e-04 9.99989472e-01 -2.21730362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.875898227 meters 0.05934287386830074 Centerline is valid? [True, True] Translation: X:149.83, Y:3.22, Z:-2.21 [[ 9.99525197e-01 -3.06162785e-02 -3.46765928e-03 1.49829198e+02] [ 3.06154250e-02 9.99531193e-01 -2.98944874e-04 3.22005111e+00] [ 3.47518620e-03 1.92639071e-04 9.99993943e-01 -2.21478656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.905898227 meters 0.06257812490436587 Centerline is valid? [True, True] Translation: X:149.86, Y:3.23, Z:-2.21 [[ 9.99494781e-01 -3.17011485e-02 -2.28471766e-03 1.49859190e+02] [ 3.17007809e-02 9.99497385e-01 -1.96943678e-04 3.22612805e+00] [ 2.28981266e-03 1.24416844e-04 9.99997371e-01 -2.21239535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.935898227 meters 0.05473885328216665 Centerline is valid? [True, True] Translation: X:149.89, Y:3.22, Z:-2.21 [[ 9.99481544e-01 -3.21746692e-02 -1.19764748e-03 1.49892499e+02] [ 3.21745687e-02 9.99482259e-01 -1.03099444e-04 3.21708883e+00] [ 1.20034460e-03 6.45122009e-05 9.99999278e-01 -2.20979212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.965898227 meters 0.05976934511783851 Centerline is valid? [True, True] Translation: X:149.92, Y:3.22, Z:-2.21 [[ 9.99482260e-01 -3.21557412e-02 -1.10462881e-03 1.49923628e+02] [ 3.21556558e-02 9.99482869e-01 -9.49286475e-05 3.22260927e+00] [ 1.10711007e-03 5.93594355e-05 9.99999385e-01 -2.21114121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.995898227 meters 0.0599424102220425 Centerline is valid? [True, True] Translation: X:149.95, Y:3.22, Z:-2.21 [[ 9.99569605e-01 -2.93069835e-02 -1.30622537e-03 1.49954029e+02] [ 2.93068616e-02 9.99570455e-01 -1.12408556e-04 3.22439480e+00] [ 1.30895864e-03 7.40788097e-05 9.99999141e-01 -2.20978082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.025898227 meters 0.06582905255660093 Centerline is valid? [True, True] Translation: X:149.98, Y:3.23, Z:-2.21 [[ 9.99623716e-01 -2.74052993e-02 -1.17272457e-03 1.49983593e+02] [ 2.74051997e-02 9.99624402e-01 -1.00896722e-04 3.23484217e+00] [ 1.17504921e-03 6.87200051e-05 9.99999307e-01 -2.20985054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.055898227 meters 0.06582905255660093 Centerline is valid? [True, True] Translation: X:150.02, Y:3.24, Z:-2.21 [[ 9.99625002e-01 -2.73583592e-02 -1.17273467e-03 1.50015221e+02] [ 2.73582597e-02 9.99625688e-01 -1.00779366e-04 3.23747354e+00] [ 1.17505286e-03 6.86575938e-05 9.99999307e-01 -2.20990735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.085898227 meters 0.06518679974703588 Centerline is valid? [True, True] Translation: X:150.05, Y:3.24, Z:-2.21 [[ 9.99676704e-01 -2.54029889e-02 -1.08411230e-03 1.50045873e+02] [ 2.54029027e-02 9.99677290e-01 -9.32066861e-05 3.23920682e+00] [ 1.08613017e-03 6.56369536e-05 9.99999408e-01 -2.21022900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.115898227 meters 0.07208229812707886 Centerline is valid? [True, True] Translation: X:150.07, Y:3.25, Z:-2.21 [[ 9.99733480e-01 -2.30771118e-02 -6.45018566e-04 1.50074854e+02] [ 2.30770808e-02 9.99733687e-01 -5.54684612e-05 3.25246366e+00] [ 6.46126841e-04 4.05685322e-05 9.99999790e-01 -2.20882076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.145898227 meters 0.07007381081847829 Centerline is valid? [True, True] Translation: X:150.11, Y:3.25, Z:-2.21 [[ 9.99788123e-01 -2.05654349e-02 -8.78245539e-04 1.50105422e+02] [ 2.05653765e-02 9.99788507e-01 -7.55162455e-05 3.25350507e+00] [ 8.79612821e-04 5.74387952e-05 9.99999611e-01 -2.20881281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.175898227 meters 0.08573910791200465 Centerline is valid? [True, True] Translation: X:150.13, Y:3.28, Z:-2.21 [[ 9.99877195e-01 -1.55182651e-02 -2.18587766e-03 1.50133123e+02] [ 1.55178912e-02 9.99879573e-01 -1.87908028e-04 3.27798659e+00] [ 2.18853043e-03 1.53964740e-04 9.99997593e-01 -2.21262348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.205898227 meters 0.08055019000227315 Centerline is valid? [True, True] Translation: X:150.16, Y:3.28, Z:-2.21 [[ 9.99905087e-01 -1.35924077e-02 -2.25011624e-03 1.50164472e+02] [ 1.35920067e-02 9.99907606e-01 -1.93410852e-04 3.27524528e+00] [ 2.25253727e-03 1.62808900e-04 9.99997450e-01 -2.21257470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.235898227 meters 0.07758263654293135 Centerline is valid? [True, True] Translation: X:150.20, Y:3.28, Z:-2.21 [[ 9.99917710e-01 -1.27183707e-02 -1.67811563e-03 1.50195869e+02] [ 1.27181465e-02 9.99919111e-01 -1.44176807e-04 3.27566467e+00] [ 1.67981358e-03 1.22822423e-04 9.99998582e-01 -2.21136801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.265898227 meters 0.0782129676228959 Centerline is valid? [True, True] Translation: X:150.23, Y:3.28, Z:-2.21 [[ 9.99918609e-01 -1.27365790e-02 -7.44364453e-04 1.50228215e+02] [ 1.27365350e-02 9.99918885e-01 -6.38508165e-05 3.28025704e+00] [ 7.45117315e-04 5.43649958e-05 9.99999721e-01 -2.21063777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.295898227 meters 0.07991203551035504 Centerline is valid? [True, True] Translation: X:150.26, Y:3.29, Z:-2.21 [[ 9.99905671e-01 -1.37349413e-02 -1.68940333e-05 1.50258162e+02] [ 1.37349413e-02 9.99905671e-01 -1.42950756e-06 3.28516216e+00] [ 1.69120739e-05 1.19733416e-06 1.00000000e+00 -2.20982870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.325898227 meters 0.07439714875461323 Centerline is valid? [True, True] Translation: X:150.29, Y:3.28, Z:-2.21 [[ 9.99883811e-01 -1.52432788e-02 -8.57888928e-05 1.50289689e+02] [ 1.52432782e-02 9.99883814e-01 -7.34319655e-06 3.28018220e+00] [ 8.58908598e-05 6.03463939e-06 9.99999996e-01 -2.21006148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.355898227 meters 0.0757449599832868 Centerline is valid? [True, True] Translation: X:150.32, Y:3.28, Z:-2.21 [[ 9.99835586e-01 -1.81182329e-02 -7.27831043e-04 1.50319032e+02] [ 1.81181921e-02 9.99835850e-01 -6.25260346e-05 3.28200099e+00] [ 7.28844431e-04 4.93287718e-05 9.99999733e-01 -2.21202178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.385898227 meters 0.07411333487950282 Centerline is valid? [True, True] Translation: X:150.35, Y:3.28, Z:-2.21 [[ 9.99813718e-01 -1.91876917e-02 -2.08847013e-03 1.50351179e+02] [ 1.91873591e-02 9.99815890e-01 -1.79220683e-04 3.28127665e+00] [ 2.09152445e-03 1.39115071e-04 9.99997803e-01 -2.21387193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.415898227 meters 0.0771398133579641 Centerline is valid? [True, True] Translation: X:150.38, Y:3.29, Z:-2.22 [[ 9.99811192e-01 -1.91233637e-02 -3.44623737e-03 1.50381784e+02] [ 1.91224577e-02 9.99817105e-01 -2.95656588e-04 3.28624482e+00] [ 3.45126102e-03 2.29700237e-04 9.99994018e-01 -2.21535647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44589822700001 meters 0.077837107856187 Centerline is valid? [True, True] Translation: X:150.41, Y:3.29, Z:-2.22 [[ 9.99820886e-01 -1.84645972e-02 -4.15385045e-03 1.50413412e+02] [ 1.84632756e-02 9.99829476e-01 -3.56302069e-04 3.28747335e+00] [ 4.15972110e-03 2.79544565e-04 9.99991309e-01 -2.21652762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47589822700002 meters 0.08079853407077185 Centerline is valid? [True, True] Translation: X:150.44, Y:3.29, Z:-2.21 [[ 9.99855885e-01 -1.66946472e-02 -3.08175820e-03 1.50443046e+02] [ 1.66939113e-02 9.99860612e-01 -2.64372456e-04 3.28974891e+00] [ 3.08574224e-03 2.12887759e-04 9.99995216e-01 -2.21433799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.505898227 meters 0.07820978794222168 Centerline is valid? [True, True] Translation: X:150.47, Y:3.28, Z:-2.22 [[ 9.99875228e-01 -1.56270754e-02 -2.30710484e-03 1.50474896e+02] [ 1.56266603e-02 9.99877877e-01 -1.97819758e-04 3.28373935e+00] [ 2.30991443e-03 1.61742732e-04 9.99997319e-01 -2.21566925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.535898227 meters 0.07513431265717468 Centerline is valid? [True, True] Translation: X:150.51, Y:3.28, Z:-2.21 [[ 9.99898576e-01 -1.40476365e-02 -2.34573552e-03 1.50506055e+02] [ 1.40472031e-02 9.99901313e-01 -2.01125718e-04 3.28499873e+00] [ 2.34832937e-03 1.68154296e-04 9.99997229e-01 -2.21241062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.565898227 meters 0.0869953710093233 Centerline is valid? [True, True] Translation: X:150.53, Y:3.30, Z:-2.21 [[ 9.99923399e-01 -1.21421961e-02 -2.40086072e-03 1.50534997e+02] [ 1.21417367e-02 9.99926265e-01 -2.05824029e-04 3.30196312e+00] [ 2.40318285e-03 1.76657644e-04 9.99997097e-01 -2.21329076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.595898227 meters 0.08285781287256326 Centerline is valid? [True, True] Translation: X:150.57, Y:3.30, Z:-2.21 [[ 9.99943529e-01 -1.02791100e-02 -2.69779476e-03 1.50566148e+02] [ 1.02785234e-02 9.99947148e-01 -2.31222829e-04 3.29881117e+00] [ 2.70002895e-03 2.03480425e-04 9.99996334e-01 -2.21294516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.625898227 meters 0.08326989860121317 Centerline is valid? [True, True] Translation: X:150.60, Y:3.30, Z:-2.21 [[ 9.99959830e-01 -8.51010633e-03 -2.81370413e-03 1.50597253e+02] [ 8.50946131e-03 9.99963765e-01 -2.41136566e-04 3.30207011e+00] [ 2.81565428e-03 2.17183773e-04 9.99996012e-01 -2.21330057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.655898227 meters 0.09737060977667444 Centerline is valid? [True, True] Translation: X:150.63, Y:3.32, Z:-2.21 [[ 9.99978566e-01 -5.36831669e-03 -3.74809758e-03 1.50625065e+02] [ 5.36715092e-03 9.99985545e-01 -3.21018769e-04 3.32397154e+00] [ 3.74976673e-03 3.00895283e-04 9.99992924e-01 -2.21491275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.685898227 meters 0.09762957560732526 Centerline is valid? [True, True] Translation: X:150.66, Y:3.33, Z:-2.22 [[ 9.99980946e-01 -4.81400195e-03 -3.86423916e-03 1.50655435e+02] [ 4.81275841e-03 9.99988364e-01 -3.31040620e-04 3.32876710e+00] [ 3.86578783e-03 3.12436663e-04 9.99992479e-01 -2.21532647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.715898227 meters 0.09968046871418876 Centerline is valid? [True, True] Translation: X:150.68, Y:3.34, Z:-2.22 [[ 9.99981281e-01 -4.55321795e-03 -4.08723917e-03 1.50684580e+02] [ 4.55182432e-03 9.99989579e-01 -3.50209521e-04 3.33541951e+00] [ 4.08879116e-03 3.31598571e-04 9.99991586e-01 -2.21547340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.745898227 meters 0.07795732155251836 Centerline is valid? [True, True] Translation: X:150.72, Y:3.31, Z:-2.21 [[ 9.99981116e-01 -4.93528604e-03 -3.66205374e-03 1.50716103e+02] [ 4.93416939e-03 9.99987778e-01 -3.13896207e-04 3.31095177e+00] [ 3.66355815e-03 2.95821086e-04 9.99993245e-01 -2.21282177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.775898227 meters 0.0817934397654597 Centerline is valid? [True, True] Translation: X:150.75, Y:3.32, Z:-2.21 [[ 9.99977275e-01 -6.34390800e-03 -2.28147248e-03 1.50745407e+02] [ 6.34347830e-03 9.99979861e-01 -1.95530737e-04 3.31929062e+00] [ 2.28266697e-03 1.81053822e-04 9.99997378e-01 -2.21147019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.805898227 meters 0.0794954659982808 Centerline is valid? [True, True] Translation: X:150.78, Y:3.32, Z:-2.21 [[ 9.99937592e-01 -1.10449899e-02 1.67916373e-03 1.50775257e+02] [ 1.10447638e-02 9.99938994e-01 1.43909541e-04 3.31875694e+00] [-1.68065077e-03 -1.25354593e-04 9.99998580e-01 -2.20556912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.835898227 meters 0.07428943384554998 Centerline is valid? [True, True] Translation: X:150.81, Y:3.31, Z:-2.20 [[ 9.99900486e-01 -1.37883221e-02 2.98336641e-03 1.50806219e+02] [ 1.37876202e-02 9.99904914e-01 2.55715744e-04 3.31348894e+00] [-2.98660862e-03 -2.14556773e-04 9.99995517e-01 -2.20392378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.865898227 meters 0.0774923177329773 Centerline is valid? [True, True] Translation: X:150.84, Y:3.32, Z:-2.20 [[ 9.99862215e-01 -1.62907514e-02 3.18778576e-03 1.50835692e+02] [ 1.62899626e-02 9.99867272e-01 2.73248345e-04 3.31795003e+00] [-3.19181407e-03 -2.21281785e-04 9.99994882e-01 -2.20452141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.895898227 meters 0.06932530780463317 Centerline is valid? [True, True] Translation: X:150.87, Y:3.31, Z:-2.21 [[ 9.99829900e-01 -1.83679055e-02 1.67074950e-03 1.50868026e+02] [ 1.83676917e-02 9.99831289e-01 1.43221593e-04 3.30742615e+00] [-1.67309831e-03 -1.12509419e-04 9.99998594e-01 -2.20723477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.925898227 meters 0.07850488093381995 Centerline is valid? [True, True] Translation: X:150.90, Y:3.32, Z:-2.21 [[ 9.99810705e-01 -1.94560850e-02 -1.22796488e-04 1.50897339e+02] [ 1.94560838e-02 9.99810712e-01 -1.05016474e-05 3.31923232e+00] [ 1.22977565e-04 8.11052076e-06 9.99999992e-01 -2.21029300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.955898227 meters 0.07022148534431433 Centerline is valid? [True, True] Translation: X:150.93, Y:3.31, Z:-2.21 [[ 9.99811846e-01 -1.93286686e-02 -1.63557217e-03 1.50930326e+02] [ 1.93284654e-02 9.99813178e-01 -1.39999388e-04 3.30736185e+00] [ 1.63797261e-03 1.08359947e-04 9.99998653e-01 -2.21191344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.985898227 meters 0.06586473463039431 Centerline is valid? [True, True] Translation: X:150.96, Y:3.30, Z:-2.21 [[ 9.99823025e-01 -1.87454601e-02 -1.58969092e-03 1.50962978e+02] [ 1.87452674e-02 9.99824283e-01 -1.35987690e-04 3.30277671e+00] [ 1.59196074e-03 1.06164442e-04 9.99998727e-01 -2.21133055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.015898227 meters 0.07135967350418501 Centerline is valid? [True, True] Translation: X:150.99, Y:3.31, Z:-2.21 [[ 9.99832045e-01 -1.82520948e-02 -1.65595600e-03 1.50993149e+02] [ 1.82518854e-02 9.99833410e-01 -1.41451388e-04 3.31051683e+00] [ 1.65826192e-03 1.11203311e-04 9.99998619e-01 -2.21211206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.045898227 meters 0.0743920239630064 Centerline is valid? [True, True] Translation: X:151.02, Y:3.31, Z:-2.21 [[ 9.99840425e-01 -1.77397590e-02 -2.10388092e-03 1.51023696e+02] [ 1.77394198e-02 9.99842628e-01 -1.79768509e-04 3.31484254e+00] [ 2.10673888e-03 1.42418196e-04 9.99997771e-01 -2.21275185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.075898227 meters 0.07268774123626907 Centerline is valid? [True, True] Translation: X:151.06, Y:3.31, Z:-2.21 [[ 9.99846545e-01 -1.73785986e-02 -2.20691269e-03 1.51055753e+02] [ 1.73782248e-02 9.99848969e-01 -1.88448555e-04 3.31276129e+00] [ 2.20985435e-03 1.50067412e-04 9.99997547e-01 -2.21321506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.105898227 meters 0.07327926342057037 Centerline is valid? [True, True] Translation: X:151.09, Y:3.31, Z:-2.21 [[ 9.99820824e-01 -1.88846288e-02 -1.30035680e-03 1.51086175e+02] [ 1.88845002e-02 9.99821666e-01 -1.11088014e-04 3.31130949e+00] [ 1.30222276e-03 8.65115210e-05 9.99999148e-01 -2.21183305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.135898227 meters 0.0708597782078334 Centerline is valid? [True, True] Translation: X:151.12, Y:3.31, Z:-2.21 [[ 9.99784490e-01 -2.07246662e-02 -1.20917758e-03 1.51117060e+02] [ 2.07245564e-02 9.99785218e-01 -1.03298675e-04 3.30734056e+00] [ 1.21105870e-03 7.82167446e-05 9.99999264e-01 -2.21151281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.165898227 meters 0.07128231360088554 Centerline is valid? [True, True] Translation: X:151.15, Y:3.31, Z:-2.21 [[ 9.99724414e-01 -2.34620296e-02 -7.92631024e-04 1.51146361e+02] [ 2.34619833e-02 9.99724727e-01 -6.77359395e-05 3.30689365e+00] [ 7.94002057e-04 4.91205766e-05 9.99999684e-01 -2.21138683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19589822700001 meters 0.06905584331951567 Centerline is valid? [True, True] Translation: X:151.18, Y:3.30, Z:-2.21 [[ 9.99646280e-01 -2.65837806e-02 -7.86338819e-04 1.51176101e+02] [ 2.65837360e-02 9.99646588e-01 -6.72104163e-05 3.30233325e+00] [ 7.87847625e-04 4.62828191e-05 9.99999689e-01 -2.21135909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22589822700002 meters 0.06528809576852602 Centerline is valid? [True, True] Translation: X:151.21, Y:3.30, Z:-2.21 [[ 9.99558198e-01 -2.97149088e-02 -6.58396949e-04 1.51207590e+02] [ 2.97148782e-02 9.99558414e-01 -5.62550203e-05 3.29556758e+00] [ 6.59777823e-04 3.66659815e-05 9.99999782e-01 -2.21154396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.255898227 meters 0.0629263678097264 Centerline is valid? [True, True] Translation: X:151.24, Y:3.29, Z:-2.21 [[ 9.99463412e-01 -3.27301418e-02 -1.27549284e-03 1.51238022e+02] [ 3.27300293e-02 9.99464223e-01 -1.09005587e-04 3.28973243e+00] [ 1.27837723e-03 6.72001775e-05 9.99999181e-01 -2.21264942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.285898227 meters 0.054261521229844456 Centerline is valid? [True, True] Translation: X:151.27, Y:3.27, Z:-2.22 [[ 9.99292698e-01 -3.74236145e-02 -3.68480604e-03 1.51270619e+02] [ 3.74227073e-02 9.99299476e-01 -3.14854370e-04 3.26880769e+00] [ 3.69400773e-03 1.76736255e-04 9.99993162e-01 -2.21706278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.315898227 meters 0.05309525328290273 Centerline is valid? [True, True] Translation: X:151.30, Y:3.26, Z:-2.22 [[ 9.99253679e-01 -3.82855034e-02 -5.12895438e-03 1.51303003e+02] [ 3.82837583e-02 9.99266812e-01 -4.38015848e-04 3.26312075e+00] [ 5.14196355e-03 2.41333297e-04 9.99986751e-01 -2.21951029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.345898227 meters 0.0576324323316133 Centerline is valid? [True, True] Translation: X:151.33, Y:3.26, Z:-2.22 [[ 9.99261193e-01 -3.79590712e-02 -6.01478916e-03 1.51333444e+02] [ 3.79566655e-02 9.99279254e-01 -5.13649073e-04 3.26488801e+00] [ 6.02995166e-03 2.84968245e-04 9.99981779e-01 -2.22186738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.375898227 meters 0.05444012890101651 Centerline is valid? [True, True] Translation: X:151.36, Y:3.26, Z:-2.22 [[ 9.99312107e-01 -3.65272747e-02 -6.40859225e-03 1.51364954e+02] [ 3.65245148e-02 9.99332607e-01 -5.47203571e-04 3.25716757e+00] [ 6.42430306e-03 3.12756431e-04 9.99979315e-01 -2.22140411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.405898227 meters 0.0621825906494599 Centerline is valid? [True, True] Translation: X:151.39, Y:3.26, Z:-2.22 [[ 9.99397986e-01 -3.42579224e-02 -5.48266726e-03 1.51394779e+02] [ 3.42558691e-02 9.99412986e-01 -4.68008764e-04 3.26395263e+00] [ 5.49548187e-03 2.79913485e-04 9.99984861e-01 -2.22101232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.435898227 meters 0.05658603651086807 Centerline is valid? [True, True] Translation: X:151.43, Y:3.25, Z:-2.22 [[ 9.99486607e-01 -3.16842718e-02 -4.75694542e-03 1.51426982e+02] [ 3.16826972e-02 9.99497895e-01 -4.06012757e-04 3.25388562e+00] [ 4.76742115e-03 2.55091452e-04 9.99988603e-01 -2.21763694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.465898227 meters 0.06337622629343756 Centerline is valid? [True, True] Translation: X:151.46, Y:3.26, Z:-2.22 [[ 9.99580445e-01 -2.87236458e-02 -3.72637548e-03 1.51456575e+02] [ 2.87226588e-02 9.99587369e-01 -3.18108924e-04 3.25991687e+00] [ 3.73397511e-03 2.10944048e-04 9.99993006e-01 -2.21615500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.495898227 meters 0.06808566752904617 Centerline is valid? [True, True] Translation: X:151.49, Y:3.26, Z:-2.21 [[ 9.99749789e-01 -2.22787473e-02 -2.00438258e-03 1.51487757e+02] [ 2.22784488e-02 9.99751790e-01 -1.71110904e-04 3.25772354e+00] [ 2.00769721e-03 1.26413555e-04 9.99997977e-01 -2.21441862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.525898227 meters 0.06736566918424072 Centerline is valid? [True, True] Translation: X:151.52, Y:3.25, Z:-2.21 [[ 9.99810201e-01 -1.94572500e-02 -9.88637706e-04 1.51518862e+02] [ 1.94571760e-02 9.99810688e-01 -8.43892838e-05 3.25421211e+00] [ 9.90092528e-04 6.51371689e-05 9.99999508e-01 -2.21357179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.555898227 meters 0.06915916008217783 Centerline is valid? [True, True] Translation: X:151.55, Y:3.25, Z:-2.21 [[ 9.99852134e-01 -1.71945641e-02 -2.40802480e-04 1.51549935e+02] [ 1.71945597e-02 9.99852162e-01 -2.05327217e-05 3.25496562e+00] [ 2.41119932e-04 1.63891929e-05 9.99999971e-01 -2.21335732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.585898227 meters 0.08275756672508854 Centerline is valid? [True, True] Translation: X:151.58, Y:3.27, Z:-2.21 [[ 9.99879423e-01 -1.55278646e-02 -1.57461333e-04 1.51578677e+02] [ 1.55278626e-02 9.99879435e-01 -1.34396711e-05 3.27119253e+00] [ 1.57651039e-04 1.09930127e-05 9.99999988e-01 -2.21456223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.615898227 meters 0.07763507938992427 Centerline is valid? [True, True] Translation: X:151.61, Y:3.26, Z:-2.21 [[ 9.99896843e-01 -1.43461114e-02 -7.02016435e-04 1.51610541e+02] [ 1.43460728e-02 9.99897088e-01 -5.98899681e-05 3.26367537e+00] [ 7.02803377e-04 4.98126111e-05 9.99999752e-01 -2.21482246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.645898227 meters 0.08103982318089435 Centerline is valid? [True, True] Translation: X:151.64, Y:3.26, Z:-2.22 [[ 9.99905051e-01 -1.35882126e-02 -2.29133150e-03 1.51640721e+02] [ 1.35878002e-02 9.99907662e-01 -1.95432193e-04 3.26471738e+00] [ 2.29377550e-03 1.64279482e-04 9.99997356e-01 -2.21674154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.675898227 meters 0.08037566055724762 Centerline is valid? [True, True] Translation: X:151.67, Y:3.26, Z:-2.22 [[ 9.99905321e-01 -1.34847166e-02 -2.74068122e-03 1.51672665e+02] [ 1.34841264e-02 9.99909058e-01 -2.33712967e-04 3.26458179e+00] [ 2.74358353e-03 1.96735147e-04 9.99996217e-01 -2.21774702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.705898227 meters 0.07775700393803457 Centerline is valid? [True, True] Translation: X:151.70, Y:3.26, Z:-2.22 [[ 9.99905805e-01 -1.33969294e-02 -2.98383546e-03 1.51704044e+02] [ 1.33962296e-02 9.99910234e-01 -2.54381917e-04 3.26263790e+00] [ 2.98697555e-03 2.14385811e-04 9.99995516e-01 -2.21750689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.735898227 meters 0.08624621078938124 Centerline is valid? [True, True] Translation: X:151.73, Y:3.28, Z:-2.22 [[ 9.99911791e-01 -1.30927743e-02 -2.23392340e-03 1.51733472e+02] [ 1.30923813e-02 9.99914273e-01 -1.90434046e-04 3.27536239e+00] [ 2.23622520e-03 1.61169871e-04 9.99997487e-01 -2.21706883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.765898227 meters 0.07670761416362301 Centerline is valid? [True, True] Translation: X:151.77, Y:3.26, Z:-2.22 [[ 9.99920200e-01 -1.25508942e-02 -1.43861927e-03 1.51765603e+02] [ 1.25507307e-02 9.99921229e-01 -1.22575136e-04 3.26496537e+00] [ 1.44004437e-03 1.04509631e-04 9.99998958e-01 -2.21508211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.795898227 meters 0.08245692544025317 Centerline is valid? [True, True] Translation: X:151.79, Y:3.27, Z:-2.21 [[ 9.99925674e-01 -1.21781260e-02 -5.82208377e-04 1.51794997e+02] [ 1.21780991e-02 9.99925843e-01 -4.95953298e-05 3.27458049e+00] [ 5.82769180e-04 4.25014522e-05 9.99999829e-01 -2.21399051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.825898227 meters 0.0754228999756894 Centerline is valid? [True, True] Translation: X:151.83, Y:3.26, Z:-2.22 [[ 9.99917427e-01 -1.27746359e-02 -1.39546741e-03 1.51827154e+02] [ 1.27744824e-02 9.99918396e-01 -1.18846297e-04 3.26482654e+00] [ 1.39687175e-03 1.01010109e-04 9.99999019e-01 -2.21623812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.855898227 meters 0.0754228999756894 Centerline is valid? [True, True] Translation: X:151.86, Y:3.27, Z:-2.22 [[ 9.99917732e-01 -1.27507821e-02 -1.39547025e-03 1.51857966e+02] [ 1.27506286e-02 9.99918700e-01 -1.18812953e-04 3.26740969e+00] [ 1.39687175e-03 1.01010056e-04 9.99999019e-01 -2.21629347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.885898227 meters 0.07841585396355694 Centerline is valid? [True, True] Translation: X:151.89, Y:3.28, Z:-2.22 [[ 9.99905316e-01 -1.30680597e-02 -4.31109467e-03 1.51887715e+02] [ 1.30665977e-02 9.99914561e-01 -3.67114247e-04 3.27575501e+00] [ 4.31552381e-03 3.10748147e-04 9.99990640e-01 -2.21887192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.915898227 meters 0.08137427081079948 Centerline is valid? [True, True] Translation: X:151.92, Y:3.28, Z:-2.22 [[ 9.99895129e-01 -1.35729075e-02 -5.05037348e-03 1.51916800e+02] [ 1.35709077e-02 9.99907819e-01 -4.30034255e-04 3.27869196e+00] [ 5.05574474e-03 3.61451004e-04 9.99987154e-01 -2.22220589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94589822700001 meters 0.07800820948263672 Centerline is valid? [True, True] Translation: X:151.95, Y:3.28, Z:-2.22 [[ 9.99896009e-01 -1.34505433e-02 -5.20142232e-03 1.51946733e+02] [ 1.34484195e-02 9.99909468e-01 -4.43073695e-04 3.27781628e+00] [ 5.20691100e-03 3.73076709e-04 9.99986374e-01 -2.21966786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97589822700002 meters 0.07167422218054777 Centerline is valid? [True, True] Translation: X:151.98, Y:3.27, Z:-2.22 [[ 9.99897217e-01 -1.36262687e-02 -4.45865931e-03 1.51976899e+02] [ 1.36247093e-02 9.99907107e-01 -3.79917992e-04 3.27142362e+00] [ 4.46342200e-03 3.19131006e-04 9.99989988e-01 -2.21822204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.005898227 meters 0.07167422218054777 Centerline is valid? [True, True] Translation: X:152.01, Y:3.27, Z:-2.22 [[ 9.99897217e-01 -1.36262688e-02 -4.45866295e-03 1.52006868e+02] [ 1.36247096e-02 9.99907107e-01 -3.79875246e-04 3.27397690e+00] [ 4.46342506e-03 3.19088213e-04 9.99989988e-01 -2.21827590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.035898227 meters 0.0854193926107436 Centerline is valid? [True, True] Translation: X:152.04, Y:3.29, Z:-2.22 [[ 9.99898531e-01 -1.38576539e-02 -3.30059832e-03 1.52035055e+02] [ 1.38568006e-02 9.99903950e-01 -2.81270111e-04 3.29351541e+00] [ 3.30417904e-03 2.35505838e-04 9.99994513e-01 -2.21856863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.065898227 meters 0.07156919665784113 Centerline is valid? [True, True] Translation: X:152.07, Y:3.28, Z:-2.22 [[ 9.99894289e-01 -1.43283078e-02 -2.47178993e-03 1.52066686e+02] [ 1.43278307e-02 9.99897329e-01 -2.10624697e-04 3.27749746e+00] [ 2.47455404e-03 1.75187044e-04 9.99996923e-01 -2.21653646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.095898227 meters 0.07353127007676945 Centerline is valid? [True, True] Translation: X:152.10, Y:3.28, Z:-2.21 [[ 9.99874384e-01 -1.58408831e-02 -5.32193535e-04 1.52096744e+02] [ 1.58408612e-02 9.99874525e-01 -4.53489599e-05 3.28014472e+00] [ 5.32845125e-04 3.69128594e-05 9.99999857e-01 -2.21379075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.125898227 meters 0.06886335094975572 Centerline is valid? [True, True] Translation: X:152.13, Y:3.28, Z:-2.21 [[ 9.99857059e-01 -1.68715994e-02 1.10064174e-03 1.52128330e+02] [ 1.68715063e-02 9.99857662e-01 9.38036958e-05 3.27543036e+00] [-1.10206769e-03 -7.52208033e-05 9.99999390e-01 -2.21121461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.155898227 meters 0.06646105942458073 Centerline is valid? [True, True] Translation: X:152.16, Y:3.27, Z:-2.21 [[ 9.99835208e-01 -1.80117415e-02 2.26581168e-03 1.52160213e+02] [ 1.80113502e-02 9.99837764e-01 1.93000858e-04 3.27341200e+00] [-2.26892036e-03 -1.52158725e-04 9.99997414e-01 -2.20925812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.185898227 meters 0.07133006735274688 Centerline is valid? [True, True] Translation: X:152.19, Y:3.28, Z:-2.21 [[ 9.99815674e-01 -1.89817722e-02 2.88285203e-03 1.52190045e+02] [ 1.89811432e-02 9.99819812e-01 2.45416326e-04 3.28086530e+00] [-2.88699101e-03 -1.90651263e-04 9.99995814e-01 -2.20808442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.215898227 meters 0.07034739345281328 Centerline is valid? [True, True] Translation: X:152.22, Y:3.28, Z:-2.21 [[ 9.99799337e-01 -1.98912298e-02 2.37161916e-03 1.52221436e+02] [ 1.98908068e-02 9.99802138e-01 2.01799872e-04 3.28090079e+00] [-2.37516395e-03 -1.54585960e-04 9.99997167e-01 -2.20898439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.245898227 meters 0.06647746075212105 Centerline is valid? [True, True] Translation: X:152.25, Y:3.28, Z:-2.21 [[ 9.99786587e-01 -2.05753535e-02 1.85328481e-03 1.52253598e+02] [ 2.05750965e-02 9.99788298e-01 1.57660038e-04 3.27678312e+00] [-1.85613637e-03 -1.19494877e-04 9.99998270e-01 -2.21011307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.275898227 meters 0.0659455527149942 Centerline is valid? [True, True] Translation: X:152.28, Y:3.28, Z:-2.21 [[ 9.99769164e-01 -2.14191206e-02 1.68533763e-03 1.52284762e+02] [ 2.14189094e-02 9.99770579e-01 1.43316868e-04 3.27731098e+00] [-1.68802069e-03 -1.07185692e-04 9.99998570e-01 -2.21106645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.305898227 meters 0.06939707092975132 Centerline is valid? [True, True] Translation: X:152.32, Y:3.28, Z:-2.21 [[ 9.99759705e-01 -2.18515600e-02 1.74404879e-03 1.52315259e+02] [ 2.18513344e-02 9.99761220e-01 1.48266507e-04 3.28274572e+00] [-1.74687220e-03 -1.10121086e-04 9.99998468e-01 -2.21150131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.335898227 meters 0.06375054336111634 Centerline is valid? [True, True] Translation: X:152.35, Y:3.28, Z:-2.21 [[ 9.99715871e-01 -2.37813915e-02 1.61955742e-03 1.52346461e+02] [ 2.37811996e-02 9.99717178e-01 1.37644194e-04 3.27536037e+00] [-1.62237275e-03 -9.90900666e-05 9.99998679e-01 -2.21215995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.365898227 meters 0.06311968137375419 Centerline is valid? [True, True] Translation: X:152.38, Y:3.28, Z:-2.21 [[ 9.99688389e-01 -2.49470869e-02 8.76683739e-04 1.52377980e+02] [ 2.49470311e-02 9.99688772e-01 7.45298135e-05 3.27561248e+00] [-8.78270192e-04 -5.26359327e-05 9.99999613e-01 -2.21326199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.395898227 meters 0.05928954525123489 Centerline is valid? [True, True] Translation: X:152.41, Y:3.27, Z:-2.21 [[ 9.99658684e-01 -2.61249901e-02 2.48606178e-05 1.52410339e+02] [ 2.61249901e-02 9.99658684e-01 2.17630062e-06 3.27169640e+00] [-2.49089883e-05 -1.52607443e-06 1.00000000e+00 -2.21424900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.425898227 meters 0.06627493927911161 Centerline is valid? [True, True] Translation: X:152.44, Y:3.28, Z:-2.22 [[ 9.99643225e-01 -2.67000600e-02 -7.27641966e-04 1.52440118e+02] [ 2.67000221e-02 9.99643489e-01 -6.17674429e-05 3.28199055e+00] [ 7.29031748e-04 4.23173493e-05 9.99999733e-01 -2.21602449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.455898227 meters 0.06888789537800735 Centerline is valid? [True, True] Translation: X:152.47, Y:3.29, Z:-2.22 [[ 9.99644836e-01 -2.65935344e-02 -1.72804913e-03 1.52470449e+02] [ 2.65933204e-02 9.99646324e-01 -1.46700297e-04 3.28693548e+00] [ 1.73133924e-03 1.00693630e-04 9.99998496e-01 -2.21762363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.485898227 meters 0.062056041749077286 Centerline is valid? [True, True] Translation: X:152.50, Y:3.28, Z:-2.22 [[ 9.99663190e-01 -2.57784859e-02 -2.99606943e-03 1.52501527e+02] [ 2.57778389e-02 9.99667664e-01 -2.54382130e-04 3.27962985e+00] [ 3.00163131e-03 1.77064256e-04 9.99995479e-01 -2.21908654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.515898227 meters 0.06358249733133513 Centerline is valid? [True, True] Translation: X:152.53, Y:3.28, Z:-2.22 [[ 9.99753513e-01 -2.18751095e-02 -3.79373392e-03 1.52532016e+02] [ 2.18740441e-02 9.99760683e-01 -3.22103923e-04 3.28189362e+00] [ 3.79987207e-03 2.39040226e-04 9.99992752e-01 -2.22028443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.545898227 meters 0.07327188880861396 Centerline is valid? [True, True] Translation: X:152.56, Y:3.30, Z:-2.22 [[ 9.99794486e-01 -1.99906933e-02 -3.37021595e-03 1.52560102e+02] [ 1.99898414e-02 9.99800142e-01 -2.86270631e-04 3.29528027e+00] [ 3.37526513e-03 2.18841716e-04 9.99994280e-01 -2.22081418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.575898227 meters 0.07261457216155413 Centerline is valid? [True, True] Translation: X:152.59, Y:3.29, Z:-2.22 [[ 9.99820447e-01 -1.87063942e-02 -3.02411581e-03 1.52590405e+02] [ 1.87057024e-02 9.99825000e-01 -2.56889894e-04 3.29458717e+00] [ 3.02839208e-03 2.00275558e-04 9.99995394e-01 -2.22136130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.605898227 meters 0.07383795434201532 Centerline is valid? [True, True] Translation: X:152.62, Y:3.30, Z:-2.22 [[ 9.99854504e-01 -1.68002723e-02 -2.95317303e-03 1.52620200e+02] [ 1.67996042e-02 9.99858845e-01 -2.50898299e-04 3.29749482e+00] [ 2.95697133e-03 2.01249657e-04 9.99995608e-01 -2.21949302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.635898227 meters 0.07763835875213296 Centerline is valid? [True, True] Translation: X:152.65, Y:3.30, Z:-2.22 [[ 9.99886136e-01 -1.47943977e-02 -2.97351921e-03 1.52649250e+02] [ 1.47937113e-02 9.99890535e-01 -2.52716614e-04 3.30238041e+00] [ 2.97693251e-03 2.08698454e-04 9.99995547e-01 -2.21927587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.665898227 meters 0.08587322317179444 Centerline is valid? [True, True] Translation: X:152.68, Y:3.31, Z:-2.22 [[ 9.99916522e-01 -1.25305399e-02 -3.15196808e-03 1.52677739e+02] [ 1.25297573e-02 9.99921464e-01 -2.67907978e-04 3.31230652e+00] [ 3.15507757e-03 2.28392218e-04 9.99994997e-01 -2.22000351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69589822700001 meters 0.08024910626516157 Centerline is valid? [True, True] Translation: X:152.71, Y:3.30, Z:-2.22 [[ 9.99942006e-01 -1.03382880e-02 -3.01732550e-03 1.52709145e+02] [ 1.03375609e-02 9.99946533e-01 -2.56483241e-04 3.30464472e+00] [ 3.01981577e-03 2.25276581e-04 9.99995415e-01 -2.21883518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72589822700002 meters 0.08049320719592154 Centerline is valid? [True, True] Translation: X:152.74, Y:3.31, Z:-2.22 [[ 9.99962255e-01 -8.26155061e-03 -2.68992568e-03 1.52738938e+02] [ 8.26096515e-03 9.99965851e-01 -2.28688244e-04 3.30517854e+00] [ 2.69172314e-03 2.06458230e-04 9.99996356e-01 -2.21763942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.755898227 meters 0.08513732684687088 Centerline is valid? [True, True] Translation: X:152.77, Y:3.31, Z:-2.21 [[ 9.99986343e-01 -5.21311050e-03 3.69406540e-04 1.52768126e+02] [ 5.21309926e-03 9.99986411e-01 3.13915974e-05 3.30937173e+00] [-3.69565168e-04 -2.94654157e-05 9.99999931e-01 -2.21347539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.785898227 meters 0.08757156107198147 Centerline is valid? [True, True] Translation: X:152.80, Y:3.31, Z:-2.21 [[ 9.99986412e-01 -4.52257139e-03 2.59267091e-03 1.52798120e+02] [ 4.52201503e-03 9.99989751e-01 2.20412559e-04 3.31236738e+00] [-2.59364117e-03 -2.08685467e-04 9.99996615e-01 -2.21026370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.815898227 meters 0.08720425944999481 Centerline is valid? [True, True] Translation: X:152.83, Y:3.31, Z:-2.21 [[ 9.99983576e-01 -4.07983752e-03 4.02535916e-03 1.52829775e+02] [ 4.07849315e-03 9.99991624e-01 3.42128042e-04 3.31090227e+00] [-4.02672128e-03 -3.25705023e-04 9.99991840e-01 -2.20841742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.845898227 meters 0.08676564370031278 Centerline is valid? [True, True] Translation: X:152.86, Y:3.31, Z:-2.21 [[ 9.99983161e-01 -4.00970381e-03 4.19523168e-03 1.52862020e+02] [ 4.00824360e-03 9.99991903e-01 3.56413528e-04 3.30872825e+00] [-4.19662683e-03 -3.39592016e-04 9.99991136e-01 -2.20830509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.875898227 meters 0.087832060472378 Centerline is valid? [True, True] Translation: X:152.89, Y:3.31, Z:-2.21 [[ 9.99983769e-01 -4.22931999e-03 3.81771218e-03 1.52893395e+02] [ 4.22811290e-03 9.99991009e-01 3.24197159e-04 3.30897537e+00] [-3.81904899e-03 -3.08050179e-04 9.99992660e-01 -2.20908163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.905898227 meters 0.08847143088953344 Centerline is valid? [True, True] Translation: X:152.93, Y:3.30, Z:-2.21 [[ 9.99982697e-01 -4.87710527e-03 3.28917668e-03 1.52925191e+02] [ 4.87621303e-03 9.99988072e-01 2.79227923e-04 3.30492513e+00] [-3.29049927e-03 -2.63184366e-04 9.99994552e-01 -2.21049219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.935898227 meters 0.08887803341578938 Centerline is valid? [True, True] Translation: X:152.96, Y:3.30, Z:-2.21 [[ 9.99982006e-01 -5.05993247e-03 3.22262895e-03 1.52956472e+02] [ 5.05907721e-03 9.99987165e-01 2.73490411e-04 3.30499356e+00] [-3.22397143e-03 -2.57181961e-04 9.99994770e-01 -2.21076371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.965898227 meters 0.08804460302705765 Centerline is valid? [True, True] Translation: X:152.99, Y:3.30, Z:-2.21 [[ 9.99980326e-01 -5.24688601e-03 3.43769169e-03 1.52988653e+02] [ 5.24591436e-03 9.99986198e-01 2.91603467e-04 3.30364895e+00] [-3.43917425e-03 -2.73563894e-04 9.99994049e-01 -2.21088248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.995898227 meters 0.08876930773291396 Centerline is valid? [True, True] Translation: X:153.02, Y:3.30, Z:-2.21 [[ 9.99979690e-01 -5.52327462e-03 3.18005772e-03 1.53021047e+02] [ 5.52244497e-03 9.99984715e-01 2.69613478e-04 3.30425468e+00] [-3.18149826e-03 -2.52046309e-04 9.99994907e-01 -2.21107884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.025898227 meters 0.0911840418606875 Centerline is valid? [True, True] Translation: X:153.05, Y:3.31, Z:-2.21 [[ 9.99983613e-01 -5.20236774e-03 2.38936507e-03 1.53051678e+02] [ 5.20189865e-03 9.99986450e-01 2.02496662e-04 3.30711421e+00] [-2.39038615e-03 -1.90064109e-04 9.99997125e-01 -2.21301343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.055898227 meters 0.09280764139175715 Centerline is valid? [True, True] Translation: X:153.08, Y:3.31, Z:-2.22 [[ 9.99989718e-01 -4.40647452e-03 1.07090976e-03 1.53081684e+02] [ 4.40637985e-03 9.99990288e-01 9.07502396e-05 3.30923856e+00] [-1.07129925e-03 -8.60304713e-05 9.99999422e-01 -2.21558274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.085898227 meters 0.09410675086420114 Centerline is valid? [True, True] Translation: X:153.11, Y:3.31, Z:-2.22 [[ 9.99993939e-01 -3.47395532e-03 -2.31028612e-04 1.53112755e+02] [ 3.47395090e-03 9.99993966e-01 -1.95238615e-05 3.31093923e+00] [ 2.31095043e-04 1.87211611e-05 9.99999973e-01 -2.21842207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.115898227 meters 0.0960505149828715 Centerline is valid? [True, True] Translation: X:153.14, Y:3.31, Z:-2.22 [[ 9.99992532e-01 -2.94240809e-03 -2.50548546e-03 1.53143674e+02] [ 2.94188600e-03 9.99995650e-01 -2.12037141e-04 3.30907501e+00] [ 2.50609846e-03 2.04664705e-04 9.99996839e-01 -2.22370019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.145898227 meters 0.09641404839141707 Centerline is valid? [True, True] Translation: X:153.17, Y:3.31, Z:-2.23 [[ 9.99987274e-01 -3.81784820e-03 -3.29788418e-03 1.53174089e+02] [ 3.81694799e-03 9.99992676e-01 -2.79217445e-04 3.30824868e+00] [ 3.29892604e-03 2.66626039e-04 9.99994523e-01 -2.22502259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.175898227 meters 0.08551473244367382 Centerline is valid? [True, True] Translation: X:153.21, Y:3.29, Z:-2.22 [[ 9.99981871e-01 -5.18309259e-03 -3.06495087e-03 1.53205006e+02] [ 5.18232114e-03 9.99986538e-01 -2.59588355e-04 3.29287008e+00] [ 3.06625508e-03 2.43700089e-04 9.99995269e-01 -2.22352117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.205898227 meters 0.08235252397428056 Centerline is valid? [True, True] Translation: X:153.24, Y:3.29, Z:-2.22 [[ 9.99972180e-01 -7.06717474e-03 -2.38606988e-03 1.53235486e+02] [ 7.06671256e-03 9.99975010e-01 -2.02074543e-04 3.28821449e+00] [ 2.38743835e-03 1.85207252e-04 9.99997133e-01 -2.22196022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.235898227 meters 0.08313693457482406 Centerline is valid? [True, True] Translation: X:153.27, Y:3.29, Z:-2.22 [[ 9.99959565e-01 -8.74605699e-03 -2.09139070e-03 1.53265044e+02] [ 8.74570595e-03 9.99961740e-01 -1.76935950e-04 3.28860629e+00] [ 2.09285818e-03 1.58638108e-04 9.99997797e-01 -2.22094270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.265898227 meters 0.08015583273841521 Centerline is valid? [True, True] Translation: X:153.30, Y:3.28, Z:-2.22 [[ 9.99943833e-01 -1.04124051e-02 -1.97828895e-03 1.53295860e+02] [ 1.04120940e-02 9.99945779e-01 -1.67487058e-04 3.28480515e+00] [ 1.97992563e-03 1.46879520e-04 9.99998029e-01 -2.22076845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.295898227 meters 0.07676101085051736 Centerline is valid? [True, True] Translation: X:153.33, Y:3.28, Z:-2.22 [[ 9.99929048e-01 -1.17062635e-02 -2.20496387e-03 1.53325917e+02] [ 1.17058801e-02 9.99931466e-01 -1.86747658e-04 3.28020662e+00] [ 2.20699887e-03 1.60923366e-04 9.99997552e-01 -2.22141577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.325898227 meters 0.07351355841583976 Centerline is valid? [True, True] Translation: X:153.36, Y:3.27, Z:-2.22 [[ 9.99911349e-01 -1.31184253e-02 -2.28048612e-03 1.53356199e+02] [ 1.31180187e-02 9.99913936e-01 -1.93196434e-04 3.27302768e+00] [ 2.28282429e-03 1.63263847e-04 9.99997381e-01 -2.22198363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.355898227 meters 0.07398781994132415 Centerline is valid? [True, True] Translation: X:153.39, Y:3.27, Z:-2.22 [[ 9.99914538e-01 -1.29721328e-02 -1.62513140e-03 1.53386384e+02] [ 1.29719260e-02 9.99915852e-01 -1.37726241e-04 3.27316349e+00] [ 1.62678125e-03 1.16633386e-04 9.99998670e-01 -2.22064891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.385898227 meters 0.08505285478966866 Centerline is valid? [True, True] Translation: X:153.41, Y:3.29, Z:-2.22 [[ 9.99921315e-01 -1.25166578e-02 -8.34361115e-04 1.53414749e+02] [ 1.25166031e-02 9.99921662e-01 -7.07191455e-05 3.28730641e+00] [ 8.35180920e-04 6.02702141e-05 9.99999649e-01 -2.21946127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.415898227 meters 0.07869179341394217 Centerline is valid? [True, True] Translation: X:153.45, Y:3.28, Z:-2.22 [[ 9.99928978e-01 -1.19176186e-02 -9.96510063e-05 1.53446175e+02] [ 1.19176178e-02 9.99928983e-01 -8.44380215e-06 3.27744248e+00] [ 9.97445594e-05 7.25559984e-06 9.99999995e-01 -2.22037703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44589822700001 meters 0.07868093419972226 Centerline is valid? [True, True] Translation: X:153.48, Y:3.28, Z:-2.22 [[ 9.99941972e-01 -1.07720904e-02 1.24511862e-04 1.53475977e+02] [ 1.07720892e-02 9.99941979e-01 1.06265177e-05 3.28103911e+00] [-1.24619108e-04 -9.28464818e-06 9.99999992e-01 -2.21844668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47589822700002 meters 0.08013927273719036 Centerline is valid? [True, True] Translation: X:153.51, Y:3.28, Z:-2.22 [[ 9.99952607e-01 -9.73408896e-03 1.77726413e-04 1.53505797e+02] [ 9.73408644e-03 9.99952623e-01 1.50328864e-05 3.28445729e+00] [-1.77864324e-04 -1.33021697e-05 9.99999984e-01 -2.21898196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.505898227 meters 0.0825305066426457 Centerline is valid? [True, True] Translation: X:153.54, Y:3.29, Z:-2.22 [[ 9.99969597e-01 -7.74081067e-03 9.40976897e-04 1.53535947e+02] [ 7.74073909e-03 9.99970037e-01 7.96929956e-05 3.28820004e+00] [-9.41565591e-04 -7.24067160e-05 9.99999554e-01 -2.21864584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.535898227 meters 0.0835645546317387 Centerline is valid? [True, True] Translation: X:153.57, Y:3.29, Z:-2.22 [[ 9.99977093e-01 -6.60528040e-03 1.47804287e-03 1.53566598e+02] [ 6.60510252e-03 9.99978178e-01 1.25201575e-04 3.29078796e+00] [-1.47883760e-03 -1.15436083e-04 9.99998900e-01 -2.21723015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.565898227 meters 0.08563684312081907 Centerline is valid? [True, True] Translation: X:153.60, Y:3.30, Z:-2.22 [[ 9.99980863e-01 -5.61712035e-03 2.59272141e-03 1.53596331e+02] [ 5.61656967e-03 9.99984203e-01 2.19623403e-04 3.29504067e+00] [-2.59391410e-03 -2.05057000e-04 9.99996615e-01 -2.21551575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.595898227 meters 0.0900259201602816 Centerline is valid? [True, True] Translation: X:153.63, Y:3.30, Z:-2.21 [[ 9.99984825e-01 -4.76198691e-03 2.77017778e-03 1.53626366e+02] [ 4.76135505e-03 9.99988637e-01 2.34644288e-04 3.30252277e+00] [-2.77126367e-03 -2.21450928e-04 9.99996136e-01 -2.21457183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.625898227 meters 0.08698103380692965 Centerline is valid? [True, True] Translation: X:153.66, Y:3.30, Z:-2.21 [[ 9.99986331e-01 -4.27455363e-03 3.01105655e-03 1.53657804e+02] [ 4.27380506e-03 9.99990835e-01 2.54998292e-04 3.30078218e+00] [-3.01211896e-03 -2.42126138e-04 9.99995434e-01 -2.21415992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.655898227 meters 0.09093920757747272 Centerline is valid? [True, True] Translation: X:153.69, Y:3.31, Z:-2.22 [[ 9.99988105e-01 -4.26284441e-03 2.37003918e-03 1.53688556e+02] [ 4.26238073e-03 9.99990896e-01 2.00660894e-04 3.30747933e+00] [-2.37087299e-03 -1.90556497e-04 9.99997171e-01 -2.21521002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.685898227 meters 0.08522282017402957 Centerline is valid? [True, True] Translation: X:153.72, Y:3.30, Z:-2.22 [[ 9.99984354e-01 -5.22309166e-03 2.00284593e-03 1.53720702e+02] [ 5.22276255e-03 9.99986347e-01 1.69516489e-04 3.30157473e+00] [-2.00370398e-03 -1.59053448e-04 9.99997980e-01 -2.21669535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.715898227 meters 0.09060213881773653 Centerline is valid? [True, True] Translation: X:153.75, Y:3.31, Z:-2.22 [[ 9.99976886e-01 -6.67751648e-03 1.28025391e-03 1.53749878e+02] [ 6.67738322e-03 9.99977700e-01 1.08332036e-04 3.30915580e+00] [-1.28094875e-03 -9.97807864e-05 9.99999175e-01 -2.21752251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.745898227 meters 0.07453867451330992 Centerline is valid? [True, True] Translation: X:153.78, Y:3.29, Z:-2.22 [[ 9.99952242e-01 -9.74654325e-03 7.19824883e-04 1.53782164e+02] [ 9.74650192e-03 9.99952500e-01 6.09091600e-05 3.28742965e+00] [-7.20384345e-04 -5.38904765e-05 9.99999739e-01 -2.21913673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.775898227 meters 0.08783566425063707 Centerline is valid? [True, True] Translation: X:153.81, Y:3.31, Z:-2.22 [[ 9.99946086e-01 -1.03838148e-02 -2.78405476e-05 1.53811280e+02] [ 1.03838148e-02 9.99946087e-01 -2.33454143e-06 3.30594688e+00] [ 2.78632881e-05 2.04532447e-06 1.00000000e+00 -2.22035762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.805898227 meters 0.07429401384824576 Centerline is valid? [True, True] Translation: X:153.84, Y:3.29, Z:-2.22 [[ 9.99946696e-01 -1.02770846e-02 -9.93297082e-04 1.53843557e+02] [ 1.02770062e-02 9.99947187e-01 -8.40394277e-05 3.29036933e+00] [ 9.94108303e-04 7.38268278e-05 9.99999503e-01 -2.22178921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.835898227 meters 0.07928143091840574 Centerline is valid? [True, True] Translation: X:153.87, Y:3.30, Z:-2.22 [[ 9.99957167e-01 -9.10695106e-03 -1.65126116e-03 1.53872419e+02] [ 9.10673263e-03 9.99958523e-01 -1.39749598e-04 3.29954711e+00] [ 1.65246537e-03 1.24706019e-04 9.99998627e-01 -2.22175974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.865898227 meters 0.07928143091840574 Centerline is valid? [True, True] Translation: X:153.90, Y:3.30, Z:-2.22 [[ 9.99956959e-01 -9.12976533e-03 -1.65125637e-03 1.53901559e+02] [ 9.12954684e-03 9.99958315e-01 -1.39806263e-04 3.30205475e+00] [ 1.65246393e-03 1.24725023e-04 9.99998627e-01 -2.22181210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.895898227 meters 0.09377938106299494 Centerline is valid? [True, True] Translation: X:153.93, Y:3.32, Z:-2.22 [[ 9.99971783e-01 -7.20800934e-03 -2.11614960e-03 1.53928523e+02] [ 7.20764615e-03 9.99974009e-01 -1.79203492e-04 3.32335173e+00] [ 2.11738630e-03 1.63945978e-04 9.99997745e-01 -2.22344125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.925898227 meters 0.0799184630694327 Centerline is valid? [True, True] Translation: X:153.96, Y:3.31, Z:-2.22 [[ 9.99983732e-01 -5.29349541e-03 -2.12464948e-03 1.53959859e+02] [ 5.29312499e-03 9.99985975e-01 -1.79928091e-04 3.30863013e+00] [ 2.12557213e-03 1.68679129e-04 9.99997727e-01 -2.22261904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.955898227 meters 0.08404075756095528 Centerline is valid? [True, True] Translation: X:153.99, Y:3.32, Z:-2.22 [[ 9.99994452e-01 -2.46694076e-03 -2.23836054e-03 1.53988374e+02] [ 2.46652255e-03 9.99996940e-01 -1.89580833e-04 3.31820094e+00] [ 2.23882138e-03 1.84058815e-04 9.99997477e-01 -2.22361868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.985898227 meters 0.08675619562990479 Centerline is valid? [True, True] Translation: X:154.02, Y:3.33, Z:-2.22 [[ 9.99995146e-01 -1.77497904e-03 -2.56079603e-03 1.54016881e+02] [ 1.77442921e-03 9.99998402e-01 -2.16966935e-04 3.32529384e+00] [ 2.56117705e-03 2.12421931e-04 9.99996698e-01 -2.22491517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.015898227 meters 0.0853748334753641 Centerline is valid? [True, True] Translation: X:154.05, Y:3.33, Z:-2.23 [[ 9.99994051e-01 -1.62945045e-03 -3.04029771e-03 1.54046105e+02] [ 1.62867458e-03 9.99998641e-01 -2.57655666e-04 3.32720716e+00] [ 3.04071341e-03 2.52702478e-04 9.99995345e-01 -2.22548018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.045898227 meters 0.0861467367460708 Centerline is valid? [True, True] Translation: X:154.08, Y:3.33, Z:-2.23 [[ 9.99993857e-01 -1.95317032e-03 -2.91055043e-03 1.54075080e+02] [ 1.95245955e-03 9.99998063e-01 -2.47026746e-04 3.33191769e+00] [ 2.91102728e-03 2.41342496e-04 9.99995734e-01 -2.22629131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.075898227 meters 0.07888093364370298 Centerline is valid? [True, True] Translation: X:154.11, Y:3.33, Z:-2.22 [[ 9.99992599e-01 -2.86943043e-03 -2.56303108e-03 1.54105045e+02] [ 2.86888233e-03 9.99995861e-01 -2.17499345e-04 3.32639254e+00] [ 2.56364458e-03 2.10144701e-04 9.99996692e-01 -2.22485379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.105898227 meters 0.09161301972543713 Centerline is valid? [True, True] Translation: X:154.13, Y:3.35, Z:-2.23 [[ 9.99989028e-01 -4.16992559e-03 -2.13447253e-03 1.54132277e+02] [ 4.16954826e-03 9.99991291e-01 -1.81200057e-04 3.34658381e+00] [ 2.13520953e-03 1.72298283e-04 9.99997706e-01 -2.22519247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.135898227 meters 0.08028416206556284 Centerline is valid? [True, True] Translation: X:154.16, Y:3.34, Z:-2.23 [[ 9.99970338e-01 -7.21782259e-03 -2.68799191e-03 1.54162751e+02] [ 7.21723506e-03 9.99973929e-01 -2.28210347e-04 3.33798031e+00] [ 2.68956902e-03 2.08803708e-04 9.99996361e-01 -2.22518278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.165898227 meters 0.08466491427993014 Centerline is valid? [True, True] Translation: X:154.19, Y:3.35, Z:-2.23 [[ 9.99962027e-01 -8.12421692e-03 -3.15298038e-03 1.54191292e+02] [ 8.12341278e-03 9.99966969e-01 -2.67764235e-04 3.34715392e+00] [ 3.15505161e-03 2.42141106e-04 9.99994993e-01 -2.22632702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19589822700001 meters 0.08745235223265826 Centerline is valid? [True, True] Translation: X:154.22, Y:3.35, Z:-2.23 [[ 9.99956958e-01 -8.74528865e-03 -3.09886630e-03 1.54219094e+02] [ 8.74451445e-03 9.99961731e-01 -2.63292529e-04 3.35399025e+00] [ 3.10105028e-03 2.36183116e-04 9.99995164e-01 -2.22646852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22589822700002 meters 0.07208347529695965 Centerline is valid? [True, True] Translation: X:154.25, Y:3.34, Z:-2.22 [[ 9.99954814e-01 -9.17123145e-03 -2.50171786e-03 1.54249999e+02] [ 9.17072807e-03 9.99957925e-01 -2.12611347e-04 3.33735350e+00] [ 2.50356251e-03 1.89659166e-04 9.99996848e-01 -2.22415909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.255898227 meters 0.08054918857789456 Centerline is valid? [True, True] Translation: X:154.28, Y:3.35, Z:-2.22 [[ 9.99958292e-01 -9.00016799e-03 -1.55298430e-03 1.54277411e+02] [ 8.99997366e-03 9.99959491e-01 -1.32075814e-04 3.35129253e+00] [ 1.55411010e-03 1.18093488e-04 9.99998785e-01 -2.22284836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.285898227 meters 0.08253735017907503 Centerline is valid? [True, True] Translation: X:154.31, Y:3.36, Z:-2.22 [[ 9.99965449e-01 -8.29538356e-03 -5.36946408e-04 1.54306022e+02] [ 8.29536021e-03 9.99965592e-01 -4.56960371e-05 3.35697118e+00] [ 5.37306999e-04 4.12402944e-05 9.99999855e-01 -2.22123619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.315898227 meters 0.07714426872644199 Centerline is valid? [True, True] Translation: X:154.34, Y:3.35, Z:-2.22 [[ 9.99975582e-01 -6.96800446e-03 5.30693924e-04 1.54337085e+02] [ 6.96798149e-03 9.99975722e-01 4.51237371e-05 3.35297264e+00] [-5.30995462e-04 -4.14247699e-05 9.99999858e-01 -2.21994124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.345898227 meters 0.08271406538884507 Centerline is valid? [True, True] Translation: X:154.37, Y:3.36, Z:-2.22 [[ 9.99977050e-01 -6.75057310e-03 5.74346882e-04 1.54366483e+02] [ 6.75054615e-03 9.99977214e-01 4.88496118e-05 3.36218135e+00] [-5.74663557e-04 -4.49713355e-05 9.99999834e-01 -2.22060577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.375898227 meters 0.07938669637338205 Centerline is valid? [True, True] Translation: X:154.40, Y:3.36, Z:-2.22 [[ 9.99973433e-01 -7.23208283e-03 9.11111724e-04 1.54397907e+02] [ 7.23201524e-03 9.99973846e-01 7.74555387e-05 3.35889267e+00] [-9.11648060e-04 -7.08643070e-05 9.99999582e-01 -2.22252233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.405898227 meters 0.08204757557676326 Centerline is valid? [True, True] Translation: X:154.43, Y:3.37, Z:-2.22 [[ 9.99966696e-01 -8.06896262e-03 1.22437170e-03 1.54427569e+02] [ 8.06884118e-03 9.99967441e-01 1.04096381e-04 3.36543250e+00] [-1.22517178e-03 -9.42136529e-05 9.99999245e-01 -2.22075594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.435898227 meters 0.07735043204666583 Centerline is valid? [True, True] Translation: X:154.46, Y:3.36, Z:-2.22 [[ 9.99948158e-01 -1.00797247e-02 1.44264655e-03 1.54459203e+02] [ 1.00795582e-02 9.99949192e-01 1.22657365e-04 3.35862178e+00] [-1.44380961e-03 -1.08109766e-04 9.99998952e-01 -2.22280394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.465898227 meters 0.09155689510582016 Centerline is valid? [True, True] Translation: X:154.49, Y:3.38, Z:-2.22 [[ 9.99923095e-01 -1.23323484e-02 1.31075677e-03 1.54487371e+02] [ 1.23322128e-02 9.99923949e-01 1.11425434e-04 3.37861785e+00] [-1.31203122e-03 -9.52523333e-05 9.99999135e-01 -2.22337098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.495898227 meters 0.070369423249827 Centerline is valid? [True, True] Translation: X:154.52, Y:3.35, Z:-2.22 [[ 9.99851780e-01 -1.72162634e-02 1.34799298e-04 1.54521014e+02] [ 1.72162620e-02 9.99851789e-01 1.14640191e-05 3.34926889e+00] [-1.34976687e-04 -9.14157985e-06 9.99999991e-01 -2.22270349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.525898227 meters 0.06860266701246401 Centerline is valid? [True, True] Translation: X:154.55, Y:3.35, Z:-2.22 [[ 9.99812246e-01 -1.93765832e-02 -1.44542529e-04 1.54551662e+02] [ 1.93765816e-02 9.99812256e-01 -1.23106145e-05 3.34675384e+00] [ 1.44753929e-04 9.50756301e-06 9.99999989e-01 -2.22347393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.555898227 meters 0.06773606581774946 Centerline is valid? [True, True] Translation: X:154.58, Y:3.35, Z:-2.22 [[ 9.99781982e-01 -2.08773559e-02 -3.51746891e-04 1.54581810e+02] [ 2.08773467e-02 9.99782044e-01 -2.99775704e-05 3.34549089e+00] [ 3.52296078e-04 2.26274930e-05 9.99999938e-01 -2.22408722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.585898227 meters 0.06783794243624261 Centerline is valid? [True, True] Translation: X:154.61, Y:3.35, Z:-2.22 [[ 9.99771584e-01 -2.13623273e-02 -6.55906443e-04 1.54610522e+02] [ 2.13622952e-02 9.99771799e-01 -5.58920429e-05 3.34576367e+00] [ 6.56950749e-04 4.18676092e-05 9.99999783e-01 -2.22466228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.615898227 meters 0.06988205039429794 Centerline is valid? [True, True] Translation: X:154.64, Y:3.35, Z:-2.23 [[ 9.99783103e-01 -2.07963193e-02 -1.12219267e-03 1.54639124e+02] [ 2.07962251e-02 9.99783731e-01 -9.55990968e-05 3.34827019e+00] [ 1.12393808e-03 7.22409903e-05 9.99999366e-01 -2.22568821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.645898227 meters 0.07452957100807611 Centerline is valid? [True, True] Translation: X:154.67, Y:3.35, Z:-2.23 [[ 9.99797798e-01 -2.00539526e-02 -1.48368429e-03 1.54667277e+02] [ 2.00537870e-02 9.99798895e-01 -1.26467920e-04 3.35428361e+00] [ 1.48592209e-03 9.66888595e-05 9.99998891e-01 -2.22642275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.675898227 meters 0.0695431673023169 Centerline is valid? [True, True] Translation: X:154.70, Y:3.35, Z:-2.23 [[ 9.99813752e-01 -1.92022263e-02 -1.93280101e-03 1.54697362e+02] [ 1.92019436e-02 9.99815612e-01 -1.64726492e-04 3.34854905e+00] [ 1.93560774e-03 1.27582276e-04 9.99998119e-01 -2.22691018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.705898227 meters 0.07455753056893845 Centerline is valid? [True, True] Translation: X:154.73, Y:3.36, Z:-2.23 [[ 9.99835358e-01 -1.80083727e-02 -2.22611777e-03 1.54725497e+02] [ 1.80079945e-02 9.99837825e-01 -1.89816025e-04 3.35608909e+00] [ 2.22917503e-03 1.49696856e-04 9.99997504e-01 -2.22787380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.735898227 meters 0.0717814924279373 Centerline is valid? [True, True] Translation: X:154.76, Y:3.35, Z:-2.23 [[ 9.99871400e-01 -1.54649779e-02 -4.24466932e-03 1.54756415e+02] [ 1.54635805e-02 9.99880366e-01 -3.61824681e-04 3.35341547e+00] [ 4.24975712e-03 2.96140365e-04 9.99990926e-01 -2.23009054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.765898227 meters 0.08186922325366773 Centerline is valid? [True, True] Translation: X:154.78, Y:3.37, Z:-2.23 [[ 9.99887434e-01 -1.43585316e-02 -4.35331299e-03 1.54784169e+02] [ 1.43570501e-02 9.99896863e-01 -3.71392644e-04 3.36767336e+00] [ 4.35819666e-03 3.08850105e-04 9.99990455e-01 -2.23188097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.795898227 meters 0.07889000322464236 Centerline is valid? [True, True] Translation: X:154.81, Y:3.37, Z:-2.23 [[ 9.99895569e-01 -1.37625058e-02 -4.40970401e-03 1.54813102e+02] [ 1.37609759e-02 9.99905242e-01 -3.77089157e-04 3.36531390e+00] [ 4.41447585e-03 3.16367946e-04 9.99990206e-01 -2.23094361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.825898227 meters 0.07797864095771119 Centerline is valid? [True, True] Translation: X:154.84, Y:3.37, Z:-2.23 [[ 9.99904386e-01 -1.32784365e-02 -3.86042944e-03 1.54841939e+02] [ 1.32772579e-02 9.99911799e-01 -3.30773451e-04 3.36580964e+00] [ 3.86448110e-03 2.79485907e-04 9.99992494e-01 -2.22993260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.855898227 meters 0.07777107778308674 Centerline is valid? [True, True] Translation: X:154.87, Y:3.37, Z:-2.23 [[ 9.99914553e-01 -1.27433799e-02 -2.91422739e-03 1.54871064e+02] [ 1.27427044e-02 9.99918777e-01 -2.50241165e-04 3.36748028e+00] [ 2.91717961e-03 2.13084645e-04 9.99995722e-01 -2.22831763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.885898227 meters 0.07671167308676645 Centerline is valid? [True, True] Translation: X:154.90, Y:3.37, Z:-2.23 [[ 9.99928104e-01 -1.19086499e-02 -1.40392005e-03 1.54900506e+02] [ 1.19084923e-02 9.99929084e-01 -1.20525679e-04 3.36636679e+00] [ 1.40525578e-03 1.03798443e-04 9.99999007e-01 -2.22553839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.915898227 meters 0.07637117763790442 Centerline is valid? [True, True] Translation: X:154.93, Y:3.36, Z:-2.23 [[ 9.99920510e-01 -1.25761186e-02 -9.02334325e-04 1.54930355e+02] [ 1.25760534e-02 9.99920915e-01 -7.78420420e-05 3.36107498e+00] [ 9.03241915e-04 6.64880496e-05 9.99999590e-01 -2.22680330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94589822700001 meters 0.07799763872145941 Centerline is valid? [True, True] Translation: X:154.96, Y:3.37, Z:-2.22 [[ 9.99912294e-01 -1.32383323e-02 -3.89021346e-04 1.54959347e+02] [ 1.32383203e-02 9.99912369e-01 -3.34661738e-05 3.36921884e+00] [ 3.89430292e-04 2.83132494e-05 9.99999924e-01 -2.22451725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97589822700002 meters 0.07442049272143841 Centerline is valid? [True, True] Translation: X:154.99, Y:3.36, Z:-2.22 [[ 9.99891103e-01 -1.47569993e-02 1.16344247e-04 1.54989588e+02] [ 1.47569982e-02 9.99891110e-01 9.96394389e-06 3.36456319e+00] [-1.16478616e-04 -8.24596700e-06 9.99999993e-01 -2.22329246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.005898227 meters 0.07522980165818169 Centerline is valid? [True, True] Translation: X:155.02, Y:3.37, Z:-2.22 [[ 9.99863524e-01 -1.65004472e-02 8.17676120e-04 1.55018577e+02] [ 1.65003952e-02 9.99863857e-01 7.02942026e-05 3.36500276e+00] [-8.18724685e-04 -5.67926300e-05 9.99999663e-01 -2.22210536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.035898227 meters 0.06939814088227327 Centerline is valid? [True, True] Translation: X:155.05, Y:3.36, Z:-2.22 [[ 9.99840680e-01 -1.77326162e-02 2.04191702e-03 1.55049343e+02] [ 1.77322943e-02 9.99842755e-01 1.75645000e-04 3.35657148e+00] [-2.04471058e-03 -1.39409143e-04 9.99997900e-01 -2.21993300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.065898227 meters 0.0706104333652806 Centerline is valid? [True, True] Translation: X:155.08, Y:3.35, Z:-2.22 [[ 9.99821331e-01 -1.86516479e-02 3.06939726e-03 1.55078858e+02] [ 1.86509247e-02 9.99826021e-01 2.64089641e-04 3.35417054e+00] [-3.07378896e-03 -2.06795360e-04 9.99995255e-01 -2.21838541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.095898227 meters 0.07105043238742786 Centerline is valid? [True, True] Translation: X:155.11, Y:3.35, Z:-2.22 [[ 9.99821932e-01 -1.87097955e-02 2.45937273e-03 1.55109310e+02] [ 1.87093312e-02 9.99824943e-01 2.11636508e-04 3.35460867e+00] [-2.46290187e-03 -1.65585603e-04 9.99996953e-01 -2.21999808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.125898227 meters 0.08147625317876164 Centerline is valid? [True, True] Translation: X:155.14, Y:3.37, Z:-2.22 [[ 9.99831842e-01 -1.82711273e-02 1.56642301e-03 1.55137907e+02] [ 1.82709384e-02 9.99833063e-01 1.34792984e-04 3.36737875e+00] [-1.56862434e-03 -1.06150299e-04 9.99998764e-01 -2.22212152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.155898227 meters 0.07193561124733153 Centerline is valid? [True, True] Translation: X:155.17, Y:3.35, Z:-2.22 [[ 9.99832776e-01 -1.82792636e-02 5.36856779e-04 1.55168808e+02] [ 1.82792415e-02 9.99832920e-01 4.61757277e-05 3.35388336e+00] [-5.37611139e-04 -3.63546713e-05 9.99999855e-01 -2.22367566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.185898227 meters 0.07139937666231343 Centerline is valid? [True, True] Translation: X:155.20, Y:3.35, Z:-2.22 [[ 9.99828412e-01 -1.85231426e-02 1.99609968e-04 1.55198676e+02] [ 1.85231395e-02 9.99828432e-01 1.71477829e-05 3.35164305e+00] [-1.99893352e-04 -1.34474373e-05 9.99999980e-01 -2.22427864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.215898227 meters 0.07198145691189918 Centerline is valid? [True, True] Translation: X:155.23, Y:3.35, Z:-2.22 [[ 9.99813931e-01 -1.92890625e-02 1.90604084e-04 1.55227313e+02] [ 1.92890597e-02 9.99813949e-01 1.61612935e-05 3.35073247e+00] [-1.90880358e-04 -1.24817128e-05 9.99999982e-01 -2.22410646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.245898227 meters 0.0666955664167667 Centerline is valid? [True, True] Translation: X:155.26, Y:3.34, Z:-2.22 [[ 9.99767908e-01 -2.15288254e-02 8.00087937e-04 1.55258936e+02] [ 2.15287770e-02 9.99768227e-01 6.90111667e-05 3.33671004e+00] [-8.01388227e-04 -5.17702349e-05 9.99999678e-01 -2.22308800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.275898227 meters 0.06540644650173866 Centerline is valid? [True, True] Translation: X:155.29, Y:3.33, Z:-2.22 [[ 9.99731608e-01 -2.31228688e-02 1.42973216e-03 1.55289057e+02] [ 2.31227160e-02 9.99732627e-01 1.23348038e-04 3.33217777e+00] [-1.43220205e-03 -9.02556414e-05 9.99998970e-01 -2.22213565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.305898227 meters 0.06904281564305847 Centerline is valid? [True, True] Translation: X:155.32, Y:3.33, Z:-2.22 [[ 9.99698581e-01 -2.45065010e-02 1.47580365e-03 1.55317884e+02] [ 2.45063396e-02 9.99699666e-01 1.27354682e-04 3.33388141e+00] [-1.47848144e-03 -9.11497493e-05 9.99998903e-01 -2.22162683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.335898227 meters 0.06396409714008573 Centerline is valid? [True, True] Translation: X:155.35, Y:3.33, Z:-2.22 [[ 9.99673273e-01 -2.55425497e-02 9.61918017e-04 1.55348061e+02] [ 2.55424817e-02 9.99673734e-01 8.29262143e-05 3.32558806e+00] [-9.63722323e-04 -5.83293467e-05 9.99999534e-01 -2.22225359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.365898227 meters 0.06511234836897742 Centerline is valid? [True, True] Translation: X:155.38, Y:3.33, Z:-2.22 [[ 9.99680612e-01 -2.52719899e-02 -3.22270722e-05 1.55375434e+02] [ 2.52719898e-02 9.99680612e-01 -2.91163406e-06 3.32589624e+00] [ 3.22903620e-05 2.09626188e-06 9.99999999e-01 -2.22346876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.395898227 meters 0.066859665216716 Centerline is valid? [True, True] Translation: X:155.41, Y:3.33, Z:-2.23 [[ 9.99766032e-01 -2.14678162e-02 -2.64830293e-03 1.55406251e+02] [ 2.14672840e-02 9.99769525e-01 -2.29219782e-04 3.32591338e+00] [ 2.65261341e-03 1.72314281e-04 9.99996467e-01 -2.22668270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.425898227 meters 0.06922813245421391 Centerline is valid? [True, True] Translation: X:155.44, Y:3.33, Z:-2.23 [[ 9.99812625e-01 -1.89495846e-02 -3.95330913e-03 1.55436186e+02] [ 1.89483790e-02 9.99820405e-01 -3.42198792e-04 3.32942742e+00] [ 3.95908366e-03 2.67225873e-04 9.99992127e-01 -2.22880674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.455898227 meters 0.0711712724735556 Centerline is valid? [True, True] Translation: X:155.47, Y:3.33, Z:-2.23 [[ 9.99850642e-01 -1.67282921e-02 -4.34246249e-03 1.55466092e+02] [ 1.67268163e-02 9.99860026e-01 -3.75943767e-04 3.33272728e+00] [ 4.34814356e-03 3.03252045e-04 9.99990501e-01 -2.22960457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.485898227 meters 0.07223064609322286 Centerline is valid? [True, True] Translation: X:155.50, Y:3.34, Z:-2.23 [[ 9.99877362e-01 -1.52773485e-02 -3.44432699e-03 1.55495647e+02] [ 1.52764111e-02 9.99883264e-01 -2.98293597e-04 3.33501930e+00] [ 3.44848205e-03 2.45640060e-04 9.99994024e-01 -2.22888204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.515898227 meters 0.07555940256361933 Centerline is valid? [True, True] Translation: X:155.52, Y:3.34, Z:-2.23 [[ 9.99889231e-01 -1.47481082e-02 -2.00488952e-03 1.55523730e+02] [ 1.47477890e-02 9.99891230e-01 -1.73940409e-04 3.33834678e+00] [ 2.00723674e-03 1.44353454e-04 9.99997975e-01 -2.22800720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.545898227 meters 0.07735299509613679 Centerline is valid? [True, True] Translation: X:155.55, Y:3.34, Z:-2.22 [[ 9.99891246e-01 -1.47474633e-02 -9.25545567e-05 1.55551598e+02] [ 1.47474626e-02 9.99891250e-01 -8.12986988e-06 3.34344418e+00] [ 9.26643864e-05 6.76404085e-06 9.99999996e-01 -2.22381896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.575898227 meters 0.07325430234116556 Centerline is valid? [True, True] Translation: X:155.58, Y:3.34, Z:-2.22 [[ 9.99872156e-01 -1.59897305e-02 -3.02521635e-05 1.55582398e+02] [ 1.59897304e-02 9.99872156e-01 -2.68144165e-06 3.33674237e+00] [ 3.02911715e-05 2.19737490e-06 1.00000000e+00 -2.22401428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.605898227 meters 0.07464173423221764 Centerline is valid? [True, True] Translation: X:155.61, Y:3.34, Z:-2.23 [[ 9.99866801e-01 -1.63025397e-02 -7.79797632e-04 1.55609675e+02] [ 1.63024917e-02 9.99867103e-01 -6.78810167e-05 3.33957681e+00] [ 7.80800633e-04 5.51593305e-05 9.99999694e-01 -2.22509555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.635898227 meters 0.07333136959504817 Centerline is valid? [True, True] Translation: X:155.64, Y:3.34, Z:-2.23 [[ 9.99861201e-01 -1.66264456e-02 -1.06815359e-03 1.55638840e+02] [ 1.66263554e-02 9.99861768e-01 -9.32269410e-05 3.33826200e+00] [ 1.06955597e-03 7.54545000e-05 9.99999425e-01 -2.22647890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.665898227 meters 0.07614885073620495 Centerline is valid? [True, True] Translation: X:155.67, Y:3.34, Z:-2.23 [[ 9.99866966e-01 -1.62861357e-02 -9.00790916e-04 1.55666848e+02] [ 1.62860715e-02 9.99867370e-01 -7.86115289e-05 3.34139625e+00] [ 9.01951723e-04 6.39307257e-05 9.99999591e-01 -2.22650578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69589822700001 meters 0.07134852757590947 Centerline is valid? [True, True] Translation: X:155.70, Y:3.33, Z:-2.23 [[ 9.99875115e-01 -1.57951156e-02 -5.18562727e-04 1.55696709e+02] [ 1.57950941e-02 9.99875249e-01 -4.55399633e-05 3.33424125e+00] [ 5.19217344e-04 3.73435290e-05 9.99999865e-01 -2.22543825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72589822700002 meters 0.07337132540705389 Centerline is valid? [True, True] Translation: X:155.72, Y:3.34, Z:-2.22 [[ 9.99882200e-01 -1.53461387e-02 -2.88111847e-04 1.55724402e+02] [ 1.53461321e-02 9.99882241e-01 -2.52601275e-05 3.33544462e+00] [ 2.88465564e-04 2.08357494e-05 9.99999958e-01 -2.22477167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.755898227 meters 0.0822244456837963 Centerline is valid? [True, True] Translation: X:155.75, Y:3.34, Z:-2.23 [[ 9.99909517e-01 -1.34355713e-02 -6.66061877e-04 1.55752990e+02] [ 1.34355355e-02 9.99909737e-01 -5.81941860e-05 3.34188078e+00] [ 6.66783628e-04 4.92400224e-05 9.99999776e-01 -2.22593028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.785898227 meters 0.0822244456837963 Centerline is valid? [True, True] Translation: X:155.78, Y:3.34, Z:-2.23 [[ 9.99907458e-01 -1.35879613e-02 -6.66031413e-04 1.55781287e+02] [ 1.35879253e-02 9.99907678e-01 -5.85426814e-05 3.34447819e+00] [ 6.66765399e-04 4.94872787e-05 9.99999776e-01 -2.22598115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.815898227 meters 0.07581573255939826 Centerline is valid? [True, True] Translation: X:155.81, Y:3.33, Z:-2.23 [[ 9.99918858e-01 -1.26852822e-02 -1.16696523e-03 1.55812225e+02] [ 1.26851716e-02 9.99919535e-01 -1.02162002e-04 3.33357917e+00] [ 1.16816728e-03 8.73505582e-05 9.99999314e-01 -2.22813668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.845898227 meters 0.07512519071680344 Centerline is valid? [True, True] Translation: X:155.84, Y:3.33, Z:-2.23 [[ 9.99932092e-01 -1.15438160e-02 -1.59734840e-03 1.55841859e+02] [ 1.15436071e-02 9.99933361e-01 -1.39900968e-04 3.33295806e+00] [ 1.59885694e-03 1.21452306e-04 9.99998714e-01 -2.22738270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.875898227 meters 0.07804092584866722 Centerline is valid? [True, True] Translation: X:155.87, Y:3.34, Z:-2.23 [[ 9.99944224e-01 -1.03399895e-02 -2.15259655e-03 1.55870284e+02] [ 1.03396074e-02 9.99946527e-01 -1.88584176e-04 3.33553668e+00] [ 2.15443140e-03 1.66316655e-04 9.99997665e-01 -2.22758327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.905898227 meters 0.07717851123613821 Centerline is valid? [True, True] Translation: X:155.90, Y:3.33, Z:-2.23 [[ 9.99955757e-01 -9.01753541e-03 -2.67749648e-03 1.55900686e+02] [ 9.01693952e-03 9.99959319e-01 -2.34544334e-04 3.33379409e+00] [ 2.67950257e-03 2.10391133e-04 9.99996388e-01 -2.22797884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.935898227 meters 0.08825094038804579 Centerline is valid? [True, True] Translation: X:155.93, Y:3.35, Z:-2.23 [[ 9.99966208e-01 -7.66065349e-03 -2.98289628e-03 1.55928704e+02] [ 7.65990791e-03 9.99970628e-01 -2.61295126e-04 3.34775509e+00] [ 2.98481036e-03 2.38437586e-04 9.99995517e-01 -2.22885178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.965898227 meters 0.082870511217563 Centerline is valid? [True, True] Translation: X:155.96, Y:3.34, Z:-2.23 [[ 9.99976123e-01 -6.01232242e-03 -3.40672645e-03 1.55960241e+02] [ 6.01134023e-03 9.99981887e-01 -2.98473283e-04 3.33579069e+00] [ 3.40845926e-03 2.77987164e-04 9.99994153e-01 -2.23054222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.995898227 meters 0.08909927393405255 Centerline is valid? [True, True] Translation: X:155.99, Y:3.35, Z:-2.23 [[ 9.99983944e-01 -4.58788727e-03 -3.32604544e-03 1.55988842e+02] [ 4.58694311e-03 9.99989437e-01 -2.91443377e-04 3.34818472e+00] [ 3.32734742e-03 2.76182317e-04 9.99994426e-01 -2.22956836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.025898227 meters 0.08340022755059612 Centerline is valid? [True, True] Translation: X:156.02, Y:3.34, Z:-2.23 [[ 9.99989624e-01 -3.33566367e-03 -3.10260375e-03 1.56019771e+02] [ 3.33483600e-03 9.99994402e-01 -2.71901054e-04 3.34081091e+00] [ 3.10349335e-03 2.61551558e-04 9.99995150e-01 -2.22822262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.055898227 meters 0.08604211720787762 Centerline is valid? [True, True] Translation: X:156.05, Y:3.34, Z:-2.23 [[ 9.99994671e-01 -2.13890822e-03 -2.46648353e-03 1.56048641e+02] [ 2.13838122e-03 9.99997690e-01 -2.16280766e-04 3.34260041e+00] [ 2.46694044e-03 2.11005331e-04 9.99996935e-01 -2.22721799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.085898227 meters 0.08594149793606554 Centerline is valid? [True, True] Translation: X:156.08, Y:3.34, Z:-2.23 [[ 9.99995358e-01 -2.57692144e-03 -1.62607796e-03 1.56078013e+02] [ 2.57669256e-03 9.99996670e-01 -1.42832827e-04 3.34289038e+00] [ 1.62644061e-03 1.38642261e-04 9.99998668e-01 -2.22600767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.115898227 meters 0.09062691822494381 Centerline is valid? [True, True] Translation: X:156.11, Y:3.34, Z:-2.23 [[ 9.99993277e-01 -3.59817016e-03 -7.06975602e-04 1.56106682e+02] [ 3.59812713e-03 9.99993525e-01 -6.21191476e-05 3.34362674e+00] [ 7.07194539e-04 5.95749418e-05 9.99999748e-01 -2.22697540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.145898227 meters 0.08599490476654666 Centerline is valid? [True, True] Translation: X:156.14, Y:3.34, Z:-2.22 [[ 9.99987344e-01 -5.02497409e-03 2.48823086e-04 1.56136309e+02] [ 5.02496882e-03 9.99987375e-01 2.18076467e-05 3.34196623e+00] [-2.48929527e-04 -2.05570424e-05 9.99999969e-01 -2.22287403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.175898227 meters 0.08003663871039772 Centerline is valid? [True, True] Translation: X:156.17, Y:3.33, Z:-2.22 [[ 9.99981581e-01 -5.97608077e-03 1.05983329e-03 1.56167232e+02] [ 5.97598548e-03 9.99982139e-01 9.30484822e-05 3.33383195e+00] [-1.06037043e-03 -8.67132200e-05 9.99999434e-01 -2.22149754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.205898227 meters 0.08744277967343064 Centerline is valid? [True, True] Translation: X:156.20, Y:3.34, Z:-2.22 [[ 9.99981589e-01 -6.05993855e-03 -3.15613534e-04 1.56196236e+02] [ 6.05993009e-03 9.99981638e-01 -2.77394765e-05 3.34097861e+00] [ 3.15775839e-04 2.58263699e-05 9.99999950e-01 -2.22337661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.235898227 meters 0.09373082185463864 Centerline is valid? [True, True] Translation: X:156.22, Y:3.34, Z:-2.23 [[ 9.99985935e-01 -5.15131904e-03 -1.26233786e-03 1.56224636e+02] [ 5.15118304e-03 9.99986726e-01 -1.10966880e-04 3.34499616e+00] [ 1.26289273e-03 1.04462786e-04 9.99999197e-01 -2.22742550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.265898227 meters 0.0921008032966456 Centerline is valid? [True, True] Translation: X:156.25, Y:3.35, Z:-2.23 [[ 9.99991833e-01 -3.66165487e-03 -1.71088620e-03 1.56254556e+02] [ 3.66140293e-03 9.99993286e-01 -1.50369763e-04 3.34686244e+00] [ 1.71142531e-03 1.44104291e-04 9.99998525e-01 -2.22797496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.295898227 meters 0.09429710594068241 Centerline is valid? [True, True] Translation: X:156.28, Y:3.35, Z:-2.23 [[ 9.99997336e-01 -2.04836549e-03 -1.06389656e-03 1.56283575e+02] [ 2.04826711e-03 9.99997898e-01 -9.35516360e-05 3.35223185e+00] [ 1.06408595e-03 9.13722425e-05 9.99999430e-01 -2.22685018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.325898227 meters 0.09671999694864117 Centerline is valid? [True, True] Translation: X:156.31, Y:3.36, Z:-2.22 [[ 9.99999947e-01 -2.80274559e-04 -1.66026360e-04 1.56312901e+02] [ 2.80272135e-04 9.99999961e-01 -1.46239377e-05 3.35850048e+00] [ 1.66030452e-04 1.45774043e-05 9.99999986e-01 -2.22425057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.355898227 meters 0.09978599369793124 Centerline is valid? [True, True] Translation: X:156.34, Y:3.36, Z:-2.22 [[ 9.99997772e-01 2.05688098e-03 4.74134215e-04 1.56343235e+02] [-2.05690097e-03 9.99997884e-01 4.16825151e-05 3.36477735e+00] [-4.74047475e-04 -4.26576694e-05 9.99999887e-01 -2.22370679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.385898227 meters 0.1050674253272996 Centerline is valid? [True, False] Translation: X:156.34, Y:3.37, Z:-2.22 [[ 9.99998021e-01 1.92589522e-03 4.98040009e-04 1.56343311e+02] [-1.92575859e-03 9.99998108e-01 -2.74664698e-04 3.36614264e+00] [-4.98568043e-04 2.73705049e-04 9.99999838e-01 -2.22401162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.415898227 meters 0.10630324745855681 Centerline is valid? [False, False] Translation: X:156.32, Y:3.36, Z:-2.22 [[ 9.99992096e-01 -2.68349289e-04 -3.96695731e-03 1.56323063e+02] [ 3.02667015e-04 9.99962518e-01 8.65282599e-03 3.36216134e+00] [ 3.96448664e-03 -8.65395827e-03 9.99954695e-01 -2.21996993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44589822700001 meters 0.1067408875677795 Centerline is valid? [False, False] Translation: X:156.34, Y:3.37, Z:-2.22 [[ 9.99998380e-01 1.79924094e-03 6.08436061e-05 1.56342801e+02] [-1.79920507e-03 9.99998211e-01 -5.84402930e-04 3.36627029e+00] [-6.18949789e-05 5.84292513e-04 9.99999827e-01 -2.22309323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47589822700002 meters 0.10708845200760089 Centerline is valid? [False, False] Translation: X:156.33, Y:3.36, Z:-2.22 [[ 9.99989751e-01 -3.31220279e-03 -3.08655885e-03 1.56325792e+02] [ 3.33015382e-03 9.99977466e-01 5.82899469e-03 3.36499572e+00] [ 3.06718249e-03 -5.83921366e-03 9.99978248e-01 -2.22322526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.505898227 meters 0.10626939164963835 Centerline is valid? [False, False] Translation: X:156.35, Y:3.37, Z:-2.23 [[ 9.99996635e-01 -2.05581820e-03 1.58209270e-03 1.56346572e+02] [ 2.06191008e-03 9.99990430e-01 -3.85856752e-03 3.36962085e+00] [-1.57414504e-03 3.86181667e-03 9.99991304e-01 -2.22794653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.535898227 meters 0.10441257026842081 Centerline is valid? [False, False] Translation: X:156.35, Y:3.37, Z:-2.23 [[ 9.99996837e-01 -1.96039933e-03 1.57556867e-03 1.56346456e+02] [ 1.96610878e-03 9.99991477e-01 -3.63039528e-03 3.36862336e+00] [-1.56843822e-03 3.63348154e-03 9.99992169e-01 -2.22765105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.565898227 meters 0.10297175581291075 Centerline is valid? [False, False] Translation: X:156.35, Y:3.37, Z:-2.23 [[ 9.99997119e-01 -1.83882494e-03 1.54294657e-03 1.56346384e+02] [ 1.84395563e-03 9.99992754e-01 -3.33044392e-03 3.36731797e+00] [-1.53681128e-03 3.33327945e-03 9.99993264e-01 -2.22726954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.595898227 meters 0.10225221366061198 Centerline is valid? [False, False] Translation: X:156.35, Y:3.37, Z:-2.23 [[ 9.99997406e-01 -1.73320417e-03 1.47757466e-03 1.56346444e+02] [ 1.73773849e-03 9.99993768e-01 -3.07301946e-03 3.36618597e+00] [-1.47223928e-03 3.07557912e-03 9.99994187e-01 -2.22695971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.625898227 meters 0.08723695995640929 Centerline is valid? [False, True] Translation: X:156.35, Y:3.36, Z:-2.23 [[ 9.99999552e-01 8.30210479e-04 4.54977279e-04 1.56352624e+02] [-8.30047277e-04 9.99999591e-01 -3.58775946e-04 3.36397481e+00] [-4.55274952e-04 3.58398133e-04 9.99999832e-01 -2.23118969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.655898227 meters 0.07897558231808298 Centerline is valid? [True, True] Translation: X:156.38, Y:3.36, Z:-2.23 [[ 9.99999981e-01 -1.67970185e-04 9.49413289e-05 1.56384343e+02] [ 1.67969456e-04 9.99999986e-01 7.68471596e-06 3.35688889e+00] [-9.49426184e-05 -7.66876857e-06 9.99999995e-01 -2.23074640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.685898227 meters 0.08444661354637135 Centerline is valid? [True, True] Translation: X:156.41, Y:3.36, Z:-2.23 [[ 9.99999968e-01 2.45162866e-04 -5.95130933e-05 1.56413764e+02] [-2.45163153e-04 9.99999970e-01 -4.81636860e-06 3.36280879e+00] [ 5.95119107e-05 4.83095887e-06 9.99999998e-01 -2.23247268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.715898227 meters 0.08643786424497589 Centerline is valid? [True, True] Translation: X:156.44, Y:3.37, Z:-2.23 [[ 9.99999630e-01 7.72086235e-04 -3.79780265e-04 1.56442946e+02] [-7.72097958e-04 9.99999701e-01 -3.07219226e-05 3.37195839e+00] [ 3.79756432e-04 3.10151388e-05 9.99999927e-01 -2.23090796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.745898227 meters 0.10480237368239721 Centerline is valid? [True, False] Translation: X:156.48, Y:3.38, Z:-2.23 [[ 9.99998388e-01 1.77875300e-03 -2.44229382e-04 1.56484138e+02] [-1.77922090e-03 9.99996556e-01 -1.92918613e-03 3.37700489e+00] [ 2.40796995e-04 1.92961755e-03 9.99998109e-01 -2.22996929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.775898227 meters 0.08065126163180546 Centerline is valid? [False, True] Translation: X:156.44, Y:3.37, Z:-2.23 [[ 9.99998897e-01 1.33666690e-03 -6.46852296e-04 1.56443503e+02] [-1.33662996e-03 9.99999105e-01 5.75402029e-05 3.37424328e+00] [ 6.46928630e-04 -5.66755373e-05 9.99999789e-01 -2.23134302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.805898227 meters 0.08735271173300381 Centerline is valid? [True, True] Translation: X:156.47, Y:3.39, Z:-2.23 [[ 9.99998162e-01 1.90040730e-03 -2.55011071e-04 1.56472343e+02] [-1.90041267e-03 9.99998194e-01 -2.08194234e-05 3.38643434e+00] [ 2.54971045e-04 2.13040114e-05 9.99999967e-01 -2.23072121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.835898227 meters 0.09099616264055342 Centerline is valid? [True, True] Translation: X:156.50, Y:3.39, Z:-2.23 [[ 9.99995936e-01 2.43333759e-03 1.48553550e-03 1.56501737e+02] [-2.43352042e-03 9.99997032e-01 1.21280979e-04 3.39484701e+00] [-1.48523597e-03 -1.24895567e-04 9.99998889e-01 -2.22787336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.865898227 meters 0.0799637718769976 Centerline is valid? [True, True] Translation: X:156.53, Y:3.38, Z:-2.23 [[ 9.99996832e-01 2.09715115e-03 1.39196641e-03 1.56534346e+02] [-2.09731135e-03 9.99997794e-01 1.13632767e-04 3.38375510e+00] [-1.39172503e-03 -1.16551793e-04 9.99999025e-01 -2.22744497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.895898227 meters 0.08145095164784986 Centerline is valid? [True, True] Translation: X:156.56, Y:3.39, Z:-2.23 [[ 9.99998307e-01 1.31402534e-03 1.28814962e-03 1.56564171e+02] [-1.31416185e-03 9.99999131e-01 1.05133084e-04 3.38875669e+00] [-1.28801036e-03 -1.06825743e-04 9.99999165e-01 -2.22782123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.925898227 meters 0.08119552102977316 Centerline is valid? [True, True] Translation: X:156.60, Y:3.39, Z:-2.23 [[ 9.99999780e-01 3.45470045e-04 5.65443117e-04 1.56595542e+02] [-3.45496197e-04 9.99999939e-01 4.61538053e-05 3.39127697e+00] [-5.65427138e-04 -4.63491536e-05 9.99999839e-01 -2.22897781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.955898227 meters 0.08838107582891659 Centerline is valid? [True, True] Translation: X:156.63, Y:3.40, Z:-2.23 [[ 9.99999973e-01 -2.19983652e-04 7.16217587e-05 1.56625373e+02] [ 2.19983234e-04 9.99999976e-01 5.85367169e-06 3.40227392e+00] [-7.16230447e-05 -5.83791594e-06 9.99999997e-01 -2.22993549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.985898227 meters 0.07779866228517653 Centerline is valid? [True, True] Translation: X:156.66, Y:3.39, Z:-2.23 [[ 9.99999989e-01 1.46918027e-04 -2.35613702e-05 1.56656858e+02] [-1.46918072e-04 9.99999989e-01 -1.92195915e-06 3.38978212e+00] [ 2.35610875e-05 1.92542072e-06 1.00000000e+00 -2.22855519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.015898227 meters 0.08354826063643686 Centerline is valid? [True, True] Translation: X:156.69, Y:3.40, Z:-2.23 [[ 9.99998141e-01 1.77598118e-03 -7.51436849e-04 1.56686374e+02] [-1.77602774e-03 9.99998421e-01 -6.12989479e-05 3.39875020e+00] [ 7.51326796e-04 6.26334066e-05 9.99999716e-01 -2.22890589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.045898227 meters 0.08628205903401134 Centerline is valid? [True, True] Translation: X:156.72, Y:3.40, Z:-2.23 [[ 9.99991525e-01 3.80700933e-03 -1.56739266e-03 1.56716399e+02] [-3.80721438e-03 9.99992744e-01 -1.27861251e-04 3.40372635e+00] [ 1.56689452e-03 1.33827568e-04 9.99998763e-01 -2.23021276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.075898227 meters 0.08074114704891011 Centerline is valid? [True, True] Translation: X:156.75, Y:3.40, Z:-2.23 [[ 9.99980113e-01 5.69795747e-03 -2.70308185e-03 1.56747567e+02] [-5.69857418e-03 9.99983739e-01 -2.20505011e-04 3.39841010e+00] [ 2.70178147e-03 2.35904339e-04 9.99996322e-01 -2.23126028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.105898227 meters 0.09531041219648519 Centerline is valid? [True, True] Translation: X:156.78, Y:3.42, Z:-2.23 [[ 9.99966880e-01 7.54225169e-03 -3.05823527e-03 1.56775851e+02] [-7.54304972e-03 9.99971520e-01 -2.49493728e-04 3.41840001e+00] [ 3.05626643e-03 2.72553885e-04 9.99995292e-01 -2.23291451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.135898227 meters 0.0964565831434675 Centerline is valid? [True, True] Translation: X:156.81, Y:3.42, Z:-2.23 [[ 9.99956072e-01 8.86218551e-03 -3.05230338e-03 1.56805857e+02] [-8.86298667e-03 9.99960692e-01 -2.49049984e-04 3.42123559e+00] [ 3.04997628e-03 2.76091568e-04 9.99995311e-01 -2.23272749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.165898227 meters 0.08801569561940467 Centerline is valid? [True, True] Translation: X:156.84, Y:3.41, Z:-2.23 [[ 9.99957319e-01 8.90913063e-03 -2.44694375e-03 1.56837531e+02] [-8.90964563e-03 9.99960288e-01 -1.99647436e-04 3.40953373e+00] [ 2.44506789e-03 2.21440316e-04 9.99996986e-01 -2.23176307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19589822700001 meters 0.08803170172073 Centerline is valid? [True, True] Translation: X:156.87, Y:3.41, Z:-2.23 [[ 9.99966081e-01 7.85143249e-03 -2.48823787e-03 1.56868384e+02] [-7.85196168e-03 9.99969152e-01 -2.02977083e-04 3.40947881e+00] [ 2.48656745e-03 2.22507747e-04 9.99996884e-01 -2.23159581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22589822700002 meters 0.08334210797601967 Centerline is valid? [True, True] Translation: X:156.90, Y:3.40, Z:-2.23 [[ 9.99974995e-01 6.56325129e-03 -2.63305664e-03 1.56899919e+02] [-6.56383935e-03 9.99978435e-01 -2.14760571e-04 3.40277099e+00] [ 2.63159033e-03 2.32038162e-04 9.99996510e-01 -2.23127016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.255898227 meters 0.09456400640147909 Centerline is valid? [True, True] Translation: X:156.93, Y:3.42, Z:-2.23 [[ 9.99981910e-01 5.45043982e-03 -2.54424071e-03 1.56928408e+02] [-5.45098495e-03 9.99985122e-01 -2.07375233e-04 3.41655890e+00] [ 2.54307257e-03 2.21240099e-04 9.99996742e-01 -2.23152628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.285898227 meters 0.0809053555217013 Centerline is valid? [True, True] Translation: X:156.96, Y:3.40, Z:-2.23 [[ 9.99986608e-01 4.68124845e-03 -2.20678313e-03 1.56960134e+02] [-4.68165678e-03 9.99989025e-01 -1.79907044e-04 3.39882386e+00] [ 2.20591672e-03 1.90236036e-04 9.99997549e-01 -2.23053102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.315898227 meters 0.09817644885820277 Centerline is valid? [True, True] Translation: X:156.99, Y:3.42, Z:-2.23 [[ 9.99987648e-01 4.79223717e-03 -1.31865602e-03 1.56988104e+02] [-4.79238310e-03 9.99988511e-01 -1.07529624e-04 3.42065805e+00] [ 1.31812556e-03 1.13847801e-04 9.99999125e-01 -2.23031668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.345898227 meters 0.09358373958559513 Centerline is valid? [True, True] Translation: X:157.02, Y:3.42, Z:-2.23 [[ 9.99984703e-01 5.44746740e-03 -9.58511473e-04 1.57019565e+02] [-5.44754472e-03 9.99985159e-01 -7.80732461e-05 3.41506130e+00] [ 9.58071946e-04 8.32935860e-05 9.99999538e-01 -2.22922832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.375898227 meters 0.08678579643901956 Centerline is valid? [True, True] Translation: X:157.05, Y:3.40, Z:-2.23 [[ 9.99968657e-01 7.77470123e-03 -1.49626630e-03 1.57050529e+02] [-7.77489231e-03 9.99969768e-01 -1.21927496e-04 3.40471625e+00] [ 1.49527311e-03 1.33556984e-04 9.99998873e-01 -2.22987521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.405898227 meters 0.10504507754957651 Centerline is valid? [True, False] Translation: X:157.05, Y:3.41, Z:-2.23 [[ 9.99993614e-01 3.26135061e-03 -1.46124351e-03 1.57050709e+02] [-3.26846679e-03 9.99982681e-01 -4.89431803e-03 3.40649050e+00] [ 1.44525611e-03 4.89906280e-03 9.99986955e-01 -2.23069841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.435898227 meters 0.10691284994430458 Centerline is valid? [False, False] Translation: X:157.07, Y:3.40, Z:-2.22 [[ 9.99981170e-01 3.06497974e-03 -5.31646483e-03 1.57067938e+02] [-3.05050746e-03 9.99991626e-01 2.72813736e-03 3.40369544e+00] [ 5.32478200e-03 -2.71186808e-03 9.99982146e-01 -2.22244474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.465898227 meters 0.0915222903523174 Centerline is valid? [False, True] Translation: X:157.03, Y:3.40, Z:-2.22 [[ 9.99985448e-01 -1.45033930e-05 -5.39480088e-03 1.57027057e+02] [ 2.77414731e-05 9.99996989e-01 2.45379215e-03 3.39991400e+00] [ 5.39474905e-03 -2.45390611e-03 9.99982437e-01 -2.22444114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.495898227 meters 0.09212029212859739 Centerline is valid? [True, True] Translation: X:157.06, Y:3.40, Z:-2.23 [[ 9.99987081e-01 -6.34665186e-05 -5.08264771e-03 1.57055352e+02] [ 6.10810862e-05 9.99999888e-01 -4.69482553e-04 3.40267073e+00] [ 5.08267694e-03 4.69166034e-04 9.99986973e-01 -2.22507864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.525898227 meters 0.09298164572612412 Centerline is valid? [True, True] Translation: X:157.08, Y:3.40, Z:-2.22 [[ 9.99990302e-01 -4.89980410e-04 -4.37674041e-03 1.57084381e+02] [ 4.88214824e-04 9.99999799e-01 -4.04461201e-04 3.40460560e+00] [ 4.37693770e-03 4.02320489e-04 9.99990340e-01 -2.22452459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.555898227 meters 0.093303838046967 Centerline is valid? [True, True] Translation: X:157.11, Y:3.40, Z:-2.22 [[ 9.99988572e-01 -3.19392970e-03 -3.55747025e-03 1.57113238e+02] [ 3.19277986e-03 9.99994849e-01 -3.28852354e-04 3.40309227e+00] [ 3.55850226e-03 3.17490376e-04 9.99993618e-01 -2.22380860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.585898227 meters 0.09331766958067593 Centerline is valid? [True, True] Translation: X:157.14, Y:3.40, Z:-2.23 [[ 9.99978890e-01 -5.58125139e-03 -3.32701607e-03 1.57142536e+02] [ 5.58025864e-03 9.99984383e-01 -3.07600798e-04 3.40162856e+00] [ 3.32868091e-03 2.89028694e-04 9.99994418e-01 -2.22558020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.615898227 meters 0.09038160386887534 Centerline is valid? [True, True] Translation: X:157.17, Y:3.40, Z:-2.22 [[ 9.99960972e-01 -8.10493819e-03 -3.51644658e-03 1.57172411e+02] [ 8.10384447e-03 9.99967110e-01 -3.25166174e-04 3.39989142e+00] [ 3.51896638e-03 2.96656747e-04 9.99993764e-01 -2.22487528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.645898227 meters 0.08786813579592397 Centerline is valid? [True, True] Translation: X:157.20, Y:3.40, Z:-2.23 [[ 9.99935415e-01 -1.07430815e-02 -3.70839760e-03 1.57203060e+02] [ 1.07418829e-02 9.99942245e-01 -3.42958680e-04 3.39706443e+00] [ 3.71186786e-03 3.03101357e-04 9.99993065e-01 -2.22549302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.675898227 meters 0.08639779074521967 Centerline is valid? [True, True] Translation: X:157.23, Y:3.39, Z:-2.23 [[ 9.99909632e-01 -1.30060554e-02 -3.40143189e-03 1.57234084e+02] [ 1.30050600e-02 9.99915381e-01 -3.14582375e-04 3.39498130e+00] [ 3.40523554e-03 2.70318121e-04 9.99994166e-01 -2.22541735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.705898227 meters 0.08639779074521967 Centerline is valid? [True, True] Translation: X:157.26, Y:3.40, Z:-2.23 [[ 9.99907370e-01 -1.31788678e-02 -3.40140922e-03 1.57261561e+02] [ 1.31778726e-02 9.99913119e-01 -3.14827343e-04 3.39768213e+00] [ 3.40526276e-03 2.69974843e-04 9.99994166e-01 -2.22536177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.735898227 meters 0.08419169803607028 Centerline is valid? [True, True] Translation: X:157.29, Y:3.39, Z:-2.22 [[ 9.99879739e-01 -1.51738402e-02 -3.20357696e-03 1.57292648e+02] [ 1.51729665e-02 9.99884840e-01 -2.96848423e-04 3.39454209e+00] [ 3.20771237e-03 2.48204957e-04 9.99994824e-01 -2.22454476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.765898227 meters 0.0749687762145437 Centerline is valid? [True, True] Translation: X:157.32, Y:3.38, Z:-2.23 [[ 9.99837768e-01 -1.75406394e-02 -4.09429132e-03 1.57324624e+02] [ 1.75392320e-02 9.99846104e-01 -3.79395560e-04 3.37693336e+00] [ 4.10031607e-03 3.07523284e-04 9.99991546e-01 -2.22688773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.795898227 meters 0.07137578706405362 Centerline is valid? [True, True] Translation: X:157.35, Y:3.37, Z:-2.23 [[ 9.99822524e-01 -1.82190318e-02 -4.79460030e-03 1.57354452e+02] [ 1.82171076e-02 9.99833956e-01 -4.44715385e-04 3.37270124e+00] [ 4.80190647e-03 3.57292709e-04 9.99988407e-01 -2.22670314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.825898227 meters 0.0860599479570235 Centerline is valid? [True, True] Translation: X:157.38, Y:3.39, Z:-2.23 [[ 9.99816492e-01 -1.84913921e-02 -5.00500671e-03 1.57380392e+02] [ 1.84892962e-02 9.99828950e-01 -4.64718638e-04 3.38986579e+00] [ 5.01274390e-03 3.72094308e-04 9.99987367e-01 -2.22819697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.855898227 meters 0.08601322364641602 Centerline is valid? [True, True] Translation: X:157.41, Y:3.39, Z:-2.23 [[ 9.99809585e-01 -1.87728266e-02 -5.32680762e-03 1.57409315e+02] [ 1.87704532e-02 9.99823697e-01 -4.95216025e-04 3.38784452e+00] [ 5.33516509e-03 3.95135136e-04 9.99985690e-01 -2.22811526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.885898227 meters 0.0866487984919127 Centerline is valid? [True, True] Translation: X:157.44, Y:3.39, Z:-2.23 [[ 9.99815026e-01 -1.85396049e-02 -5.11828150e-03 1.57437934e+02] [ 1.85374083e-02 9.99828054e-01 -4.76281822e-04 3.38627682e+00] [ 5.12623151e-03 3.81314048e-04 9.99986788e-01 -2.22728040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.915898227 meters 0.08807611513077715 Centerline is valid? [True, True] Translation: X:157.47, Y:3.39, Z:-2.23 [[ 9.99821494e-01 -1.83648814e-02 -4.43973415e-03 1.57466706e+02] [ 1.83632249e-02 9.99831296e-01 -4.13590623e-04 3.38583787e+00] [ 4.44658069e-03 3.31988958e-04 9.99990059e-01 -2.22617244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94589822700001 meters 0.09209319272708665 Centerline is valid? [True, True] Translation: X:157.50, Y:3.38, Z:-2.22 [[ 9.99843119e-01 -1.75926438e-02 -2.05828125e-03 1.57495816e+02] [ 1.75922859e-02 9.99845225e-01 -1.91881833e-04 3.38294719e+00] [ 2.06133839e-03 1.55641858e-04 9.99997863e-01 -2.22282102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.975898227 meters 0.09184558395626431 Centerline is valid? [True, True] Translation: X:157.53, Y:3.38, Z:-2.22 [[ 9.99851380e-01 -1.71939291e-02 -1.25953734e-03 1.57525081e+02] [ 1.71937949e-02 9.99852169e-01 -1.17363766e-04 3.38254843e+00] [ 1.26136909e-03 9.56900966e-05 9.99999200e-01 -2.22047994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.005898227 meters 0.093169782731705 Centerline is valid? [True, True] Translation: X:157.55, Y:3.38, Z:-2.22 [[ 9.99861733e-01 -1.65945758e-02 -1.06558531e-03 1.57553667e+02] [ 1.65944792e-02 9.99862297e-01 -9.95085491e-05 3.38227338e+00] [ 1.06708987e-03 8.18119571e-05 9.99999427e-01 -2.22029874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.035898227 meters 0.09541305753340656 Centerline is valid? [True, True] Translation: X:157.58, Y:3.38, Z:-2.22 [[ 9.99875528e-01 -1.57180135e-02 -1.36853373e-03 1.57583301e+02] [ 1.57178531e-02 9.99876459e-01 -1.27865601e-04 3.38291754e+00] [ 1.37037445e-03 1.06339274e-04 9.99999055e-01 -2.22013084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.065898227 meters 0.08373830246722025 Centerline is valid? [True, True] Translation: X:157.61, Y:3.37, Z:-2.22 [[ 9.99890524e-01 -1.46969435e-02 -1.71462817e-03 1.57614453e+02] [ 1.46966902e-02 9.99891985e-01 -1.60244029e-04 3.36616096e+00] [ 1.71679807e-03 1.35027127e-04 9.99998517e-01 -2.22044102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.095898227 meters 0.09873874237417778 Centerline is valid? [True, True] Translation: X:157.64, Y:3.38, Z:-2.22 [[ 9.99902948e-01 -1.37403504e-02 -2.30156424e-03 1.57641192e+02] [ 1.37398913e-02 9.99905580e-01 -2.15200718e-04 3.38371672e+00] [ 2.30430386e-03 1.83556590e-04 9.99997328e-01 -2.22091739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.125898227 meters 0.10424019314100846 Centerline is valid? [True, False] Translation: X:157.66, Y:3.38, Z:-2.22 [[ 9.99970689e-01 -7.56188719e-03 1.19951670e-03 1.57661549e+02] [ 7.56743754e-03 9.99960358e-01 -4.69214764e-03 3.37822602e+00] [-1.16398766e-03 4.70108738e-03 9.99988272e-01 -2.22398116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.155898227 meters 0.07841560060641249 Centerline is valid? [False, True] Translation: X:157.66, Y:3.37, Z:-2.22 [[ 9.99995663e-01 -2.76534027e-03 1.01336381e-03 1.57661427e+02] [ 2.76445478e-03 9.99995797e-01 8.74171581e-04 3.37307905e+00] [-1.01577693e-03 -8.71366392e-04 9.99999104e-01 -2.22258990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.185898227 meters 0.10541929550651187 Centerline is valid? [True, False] Translation: X:157.66, Y:3.37, Z:-2.22 [[ 9.99996148e-01 -2.59355647e-03 9.88232343e-04 1.57661459e+02] [ 2.59228942e-03 9.99995819e-01 1.28126811e-03 3.37125873e+00] [-9.91551253e-04 -1.27870139e-03 9.99998691e-01 -2.22249082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.215898227 meters 0.08224478191835949 Centerline is valid? [False, True] Translation: X:157.70, Y:3.37, Z:-2.22 [[ 9.99997827e-01 -1.48544089e-03 1.46243491e-03 1.57700329e+02] [ 1.48672139e-03 9.99998512e-01 -8.74895481e-04 3.37309295e+00] [-1.46113313e-03 8.77067814e-04 9.99998548e-01 -2.21998472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.245898227 meters 0.11011019108982141 Centerline is valid? [True, False] Translation: X:157.68, Y:3.37, Z:-2.23 [[ 9.99986170e-01 -1.00541812e-03 5.16232531e-03 1.57683064e+02] [ 1.04513705e-03 9.99969831e-01 -7.69707527e-03 3.37242326e+00] [-5.15443079e-03 7.70236415e-03 9.99957052e-01 -2.22835139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.275898227 meters 0.08129176443019386 Centerline is valid? [False, True] Translation: X:157.66, Y:3.37, Z:-2.22 [[ 9.99995930e-01 -2.83222615e-03 3.43523292e-04 1.57663746e+02] [ 2.83154680e-03 9.99994066e-01 1.96223168e-03 3.36729759e+00] [-3.49078737e-04 -1.96125099e-03 9.99998016e-01 -2.22388067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.305898227 meters 0.11674746208104236 Centerline is valid? [True, False] Translation: X:157.68, Y:3.37, Z:-2.22 [[ 9.99995199e-01 2.77583307e-03 1.37701749e-03 1.57680839e+02] [-2.76949432e-03 9.99985658e-01 -4.58398674e-03 3.36865004e+00] [-1.38972213e-03 4.58015109e-03 9.99988545e-01 -2.22200129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.335898227 meters 0.08624016140464359 Centerline is valid? [False, True] Translation: X:157.68, Y:3.37, Z:-2.22 [[ 9.99995342e-01 2.72822139e-03 1.36819583e-03 1.57680918e+02] [-2.72176846e-03 9.99985268e-01 -4.69626832e-03 3.36914490e+00] [-1.38098813e-03 4.69252254e-03 9.99988036e-01 -2.22210874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.365898227 meters 0.08058485916189519 Centerline is valid? [True, True] Translation: X:157.71, Y:3.36, Z:-2.22 [[ 9.99995361e-01 2.87462500e-03 1.00702112e-03 1.57712948e+02] [-2.87471462e-03 9.99995864e-01 8.75539869e-05 3.36265898e+00] [-1.00676527e-03 -9.04484791e-05 9.99999489e-01 -2.22055744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.395898227 meters 0.1008358495850361 Centerline is valid? [True, False] Translation: X:157.75, Y:3.37, Z:-2.22 [[ 9.99993577e-01 3.39424412e-03 1.15154407e-03 1.57753602e+02] [-3.39050029e-03 9.99989011e-01 -3.23765612e-03 3.36683386e+00] [-1.16252081e-03 3.23373102e-03 9.99994096e-01 -2.21982811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.425898227 meters 0.08319452760005652 Centerline is valid? [False, True] Translation: X:157.71, Y:3.36, Z:-2.22 [[ 9.99996273e-01 2.37266692e-03 1.35084979e-03 1.57711974e+02] [-2.37249998e-03 9.99997178e-01 -1.25165198e-04 3.36159322e+00] [-1.35114295e-03 1.21959840e-04 9.99999080e-01 -2.21974520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.455898227 meters 0.08785874584626202 Centerline is valid? [True, True] Translation: X:157.74, Y:3.37, Z:-2.22 [[ 9.99998248e-01 1.26795413e-03 1.37700568e-03 1.57742241e+02] [-1.26811831e-03 9.99999189e-01 1.18361256e-04 3.37053229e+00] [-1.37685448e-03 -1.20107254e-04 9.99999045e-01 -2.22032736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.485898227 meters 0.0868353652052703 Centerline is valid? [True, True] Translation: X:157.77, Y:3.37, Z:-2.22 [[ 9.99998633e-01 -1.30973147e-03 1.00965731e-03 1.57772209e+02] [ 1.30964454e-03 9.99999139e-01 8.67542369e-05 3.37228489e+00] [-1.00977007e-03 -8.54318261e-05 9.99999487e-01 -2.22228826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.515898227 meters 0.07816266288966345 Centerline is valid? [True, True] Translation: X:157.80, Y:3.36, Z:-2.22 [[ 9.99995536e-01 -2.86887259e-03 8.35652482e-04 1.57804205e+02] [ 2.86881357e-03 9.99995882e-01 7.18154299e-05 3.36361691e+00] [-8.35855070e-04 -6.94177781e-05 9.99999648e-01 -2.22301261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.545898227 meters 0.0759897604740918 Centerline is valid? [True, True] Translation: X:157.84, Y:3.36, Z:-2.22 [[ 9.99986745e-01 -5.03658942e-03 1.06927567e-03 1.57835241e+02] [ 5.03649405e-03 9.99987313e-01 9.18641925e-05 3.36273667e+00] [-1.06972479e-03 -8.64775742e-05 9.99999424e-01 -2.22315692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.575898227 meters 0.08236386577183995 Centerline is valid? [True, True] Translation: X:157.86, Y:3.37, Z:-2.22 [[ 9.99973163e-01 -7.09362324e-03 1.83124531e-03 1.57864550e+02] [ 7.09334694e-03 9.99974830e-01 1.57333729e-04 3.36956056e+00] [-1.83231528e-03 -1.44339849e-04 9.99998311e-01 -2.22386790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.605898227 meters 0.07074959020187657 Centerline is valid? [True, True] Translation: X:157.90, Y:3.36, Z:-2.22 [[ 9.99955403e-01 -9.15467020e-03 2.32055482e-03 1.57896298e+02] [ 9.15423201e-03 9.99958079e-01 1.99379800e-04 3.35805031e+00] [-2.32228279e-03 -1.78128011e-04 9.99997288e-01 -2.22212418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.635898227 meters 0.08366089139698912 Centerline is valid? [True, True] Translation: X:157.92, Y:3.37, Z:-2.22 [[ 9.99932746e-01 -1.12397705e-02 2.85841163e-03 1.57924038e+02] [ 1.12391141e-02 9.99936809e-01 2.45613258e-04 3.37476660e+00] [-2.86099164e-03 -2.13470726e-04 9.99995885e-01 -2.22133530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.665898227 meters 0.07505580633252175 Centerline is valid? [True, True] Translation: X:157.96, Y:3.36, Z:-2.22 [[ 9.99891667e-01 -1.46777801e-02 1.10304608e-03 1.57955295e+02] [ 1.46776844e-02 9.99892272e-01 9.47776977e-05 3.36075830e+00] [-1.10431838e-03 -7.85772679e-05 9.99999387e-01 -2.22234241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69589822700001 meters 0.07247507299197281 Centerline is valid? [True, True] Translation: X:157.98, Y:3.36, Z:-2.22 [[ 9.99879210e-01 -1.55415810e-02 1.57433373e-04 1.57984470e+02] [ 1.55415791e-02 9.99879222e-01 1.34565402e-05 3.35750300e+00] [-1.57623494e-04 -1.10081516e-05 9.99999988e-01 -2.22304635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.725898227 meters 0.07449905316821512 Centerline is valid? [True, True] Translation: X:158.01, Y:3.36, Z:-2.22 [[ 9.99884427e-01 -1.52007097e-02 -2.67966685e-04 1.58011892e+02] [ 1.52007041e-02 9.99884462e-01 -2.31622011e-05 3.36057959e+00] [ 2.68287807e-04 1.90862418e-05 9.99999964e-01 -2.22350404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.755898227 meters 0.07024358041425785 Centerline is valid? [True, True] Translation: X:158.04, Y:3.36, Z:-2.22 [[ 9.99900198e-01 -1.41247798e-02 2.92297673e-04 1.58041467e+02] [ 1.41247731e-02 9.99900240e-01 2.51000641e-05 3.35638267e+00] [-2.92623046e-04 -2.09689208e-05 9.99999957e-01 -2.22282387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.785898227 meters 0.07264246351714133 Centerline is valid? [True, True] Translation: X:158.07, Y:3.36, Z:-2.22 [[ 9.99931190e-01 -1.17071396e-02 7.47724311e-04 1.58071790e+02] [ 1.17070947e-02 9.99931468e-01 6.43687903e-05 3.36113900e+00] [-7.48426642e-04 -5.56106818e-05 9.99999718e-01 -2.22121108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.815898227 meters 0.08106035841513012 Centerline is valid? [True, True] Translation: X:158.10, Y:3.37, Z:-2.22 [[ 9.99985092e-01 -5.29542441e-03 1.33194616e-03 1.58099750e+02] [ 5.29527634e-03 9.99985973e-01 1.14668000e-04 3.37317547e+00] [-1.33253469e-03 -1.07613268e-04 9.99999106e-01 -2.21837252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.845898227 meters 0.0847880415169729 Centerline is valid? [True, True] Translation: X:158.13, Y:3.38, Z:-2.22 [[ 9.99996586e-01 -2.56742512e-03 4.86397743e-04 1.58128900e+02] [ 2.56740506e-03 9.99996703e-01 4.18589882e-05 3.38081231e+00] [-4.86503610e-04 -4.06100652e-05 9.99999881e-01 -2.21891883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.875898227 meters 0.08521133768851355 Centerline is valid? [True, True] Translation: X:158.16, Y:3.38, Z:-2.22 [[ 9.99999350e-01 -8.81199402e-04 -7.23074296e-04 1.58158372e+02] [ 8.81154595e-04 9.99999610e-01 -6.22840003e-05 3.38487956e+00] [ 7.23128899e-04 6.16468196e-05 9.99999737e-01 -2.22047811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.905898227 meters 0.08231325055018257 Centerline is valid? [True, True] Translation: X:158.19, Y:3.38, Z:-2.22 [[ 9.99998799e-01 -5.41993732e-04 -1.45175125e-03 1.58188608e+02] [ 5.41812761e-04 9.99999845e-01 -1.25047297e-04 3.38434518e+00] [ 1.45181880e-03 1.24260569e-04 9.99998938e-01 -2.22157694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.935898227 meters 0.08701402233547363 Centerline is valid? [True, True] Translation: X:158.22, Y:3.39, Z:-2.22 [[ 9.99998329e-01 -1.50240889e-03 -1.04161830e-03 1.58217348e+02] [ 1.50231623e-03 9.99998867e-01 -8.97377786e-05 3.39289607e+00] [ 1.04175194e-03 8.81727886e-05 9.99999453e-01 -2.22160358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.965898227 meters 0.0866323375743908 Centerline is valid? [True, True] Translation: X:158.25, Y:3.39, Z:-2.22 [[ 9.99992956e-01 -3.73371764e-03 3.84136669e-04 1.58247072e+02] [ 3.73370521e-03 9.99993029e-01 3.30677632e-05 3.39391977e+00] [-3.84257457e-04 -3.16332772e-05 9.99999926e-01 -2.21951921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.995898227 meters 0.0825167369595923 Centerline is valid? [True, True] Translation: X:158.28, Y:3.39, Z:-2.22 [[ 9.99969041e-01 -7.65132516e-03 1.83709401e-03 1.58278376e+02] [ 7.65104726e-03 9.99970718e-01 1.58256506e-04 3.39031442e+00] [-1.83825108e-03 -1.44195914e-04 9.99998300e-01 -2.21737373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.025898227 meters 0.07879079096212341 Centerline is valid? [True, True] Translation: X:158.31, Y:3.39, Z:-2.22 [[ 9.99922764e-01 -1.20041440e-02 3.21977955e-03 1.58309575e+02] [ 1.20033128e-02 9.99927919e-01 2.77375580e-04 3.38699337e+00] [-3.22287713e-03 -2.38706135e-04 9.99994778e-01 -2.21551135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.055898227 meters 0.07304912152217587 Centerline is valid? [True, True] Translation: X:158.34, Y:3.38, Z:-2.21 [[ 9.99803009e-01 -1.94449682e-02 3.97940085e-03 1.58339676e+02] [ 1.94437570e-02 9.99810894e-01 3.42825812e-04 3.37921974e+00] [-3.98531455e-03 -2.65383775e-04 9.99992023e-01 -2.21476330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.085898227 meters 0.07091350527155395 Centerline is valid? [True, True] Translation: X:158.37, Y:3.38, Z:-2.22 [[ 9.99754060e-01 -2.18181277e-02 3.97343099e-03 1.58369743e+02] [ 2.18169387e-02 9.99761924e-01 3.42344984e-04 3.37731651e+00] [-3.97995434e-03 -2.55572688e-04 9.99992047e-01 -2.21510812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.115898227 meters 0.07021749805184271 Centerline is valid? [True, True] Translation: X:158.40, Y:3.38, Z:-2.21 [[ 9.99731451e-01 -2.28123828e-02 4.07700111e-03 1.58398551e+02] [ 2.28111387e-02 9.99739730e-01 3.51388868e-04 3.37708625e+00] [-4.08395601e-03 -2.58293464e-04 9.99991627e-01 -2.21465491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.145898227 meters 0.07111211646554942 Centerline is valid? [True, True] Translation: X:158.43, Y:3.38, Z:-2.21 [[ 9.99738826e-01 -2.25157515e-02 3.91427801e-03 1.58427031e+02] [ 2.25146010e-02 9.99746457e-01 3.37748563e-04 3.37934811e+00] [-3.92089024e-03 -2.49531944e-04 9.99992282e-01 -2.21485747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.175898227 meters 0.06807887125499353 Centerline is valid? [True, True] Translation: X:158.46, Y:3.38, Z:-2.22 [[ 9.99810194e-01 -1.91851342e-02 3.39218434e-03 1.58457541e+02] [ 1.91842502e-02 9.99815922e-01 2.92939749e-04 3.37725036e+00] [-3.39718001e-03 -2.27807634e-04 9.99994204e-01 -2.21667465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.205898227 meters 0.0709749946280311 Centerline is valid? [True, True] Translation: X:158.49, Y:3.38, Z:-2.22 [[ 9.99852020e-01 -1.69277800e-02 3.06410340e-03 1.58487680e+02] [ 1.69270482e-02 9.99856692e-01 2.64618032e-04 3.38327177e+00] [-3.06814369e-03 -2.12712648e-04 9.99995271e-01 -2.21765040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.235898227 meters 0.08181237588262984 Centerline is valid? [True, True] Translation: X:158.52, Y:3.40, Z:-2.22 [[ 9.99879943e-01 -1.51050985e-02 3.45475893e-03 1.58515828e+02] [ 1.51041572e-02 9.99885881e-01 2.98409819e-04 3.39916191e+00] [-3.45887219e-03 -2.46192771e-04 9.99993988e-01 -2.21682080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.265898227 meters 0.08450633107626389 Centerline is valid? [True, True] Translation: X:158.55, Y:3.41, Z:-2.21 [[ 9.99894590e-01 -1.37931042e-02 4.53421515e-03 1.58545041e+02] [ 1.37914688e-02 9.99904816e-01 3.91731321e-04 3.40506997e+00] [-4.53918676e-03 -3.29156541e-04 9.99989644e-01 -2.21489181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.295898227 meters 0.09023000845960953 Centerline is valid? [True, True] Translation: X:158.57, Y:3.41, Z:-2.21 [[ 9.99898635e-01 -1.30811346e-02 5.62171423e-03 1.58574091e+02] [ 1.30786088e-02 9.99914353e-01 4.85826202e-04 3.40980664e+00] [-5.62758791e-03 -4.12252755e-04 9.99984080e-01 -2.21381051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.325898227 meters 0.06790038506541479 Centerline is valid? [True, True] Translation: X:158.60, Y:3.39, Z:-2.21 [[ 9.99888097e-01 -1.37921706e-02 5.79384778e-03 1.58604881e+02] [ 1.37894956e-02 9.99904795e-01 5.01394517e-04 3.38888597e+00] [-5.80021150e-03 -4.21444171e-04 9.99983090e-01 -2.21471789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.355898227 meters 0.08627347795711879 Centerline is valid? [True, True] Translation: X:158.63, Y:3.41, Z:-2.22 [[ 9.99879438e-01 -1.46809577e-02 5.05750640e-03 1.58630748e+02] [ 1.46789284e-02 9.99892163e-01 4.38115662e-04 3.41401703e+00] [-5.06339297e-03 -3.63824067e-04 9.99987115e-01 -2.21547467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.385898227 meters 0.066897210284324 Centerline is valid? [True, True] Translation: X:158.66, Y:3.39, Z:-2.22 [[ 9.99859125e-01 -1.62145023e-02 4.33819104e-03 1.58662646e+02] [ 1.62130230e-02 9.99868490e-01 3.75951106e-04 3.39027177e+00] [-4.34371639e-03 -3.05562953e-04 9.99990519e-01 -2.21765772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.415898227 meters 0.06578839130582645 Centerline is valid? [True, True] Translation: X:158.69, Y:3.39, Z:-2.22 [[ 9.99829795e-01 -1.79742141e-02 4.16028909e-03 1.58693230e+02] [ 1.79728685e-02 9.99838410e-01 3.60600856e-04 3.38943993e+00] [-4.16609835e-03 -2.85767151e-04 9.99991281e-01 -2.21769711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44589822700001 meters 0.07418881611989374 Centerline is valid? [True, True] Translation: X:158.72, Y:3.40, Z:-2.22 [[ 9.99795432e-01 -1.98907294e-02 3.66796673e-03 1.58721728e+02] [ 1.98896960e-02 9.99802130e-01 3.17987757e-04 3.40072776e+00] [-3.67356596e-03 -2.44967964e-04 9.99993222e-01 -2.21736288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.475898227 meters 0.06084803669235355 Centerline is valid? [True, True] Translation: X:158.75, Y:3.38, Z:-2.22 [[ 9.99761913e-01 -2.16563071e-02 2.66866119e-03 1.58753589e+02] [ 2.16557663e-02 9.99765460e-01 2.31394895e-04 3.38416758e+00] [-2.67304644e-03 -1.73547900e-04 9.99996412e-01 -2.21816272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.505898227 meters 0.057114171318917384 Centerline is valid? [True, True] Translation: X:158.78, Y:3.38, Z:-2.22 [[ 9.99705995e-01 -2.42417621e-02 5.09904448e-04 1.58784284e+02] [ 2.42417426e-02 9.99706125e-01 4.42133610e-05 3.37794111e+00] [-5.10826409e-04 -3.18393896e-05 9.99999869e-01 -2.22045023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.535898227 meters 0.06422536101237675 Centerline is valid? [True, True] Translation: X:158.81, Y:3.39, Z:-2.22 [[ 9.99704716e-01 -2.42984503e-02 2.58610342e-04 1.58810691e+02] [ 2.42984453e-02 9.99704749e-01 2.22959850e-05 3.38793770e+00] [-2.59075745e-04 -1.60055720e-05 9.99999966e-01 -2.22112480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.565898227 meters 0.06535078913245723 Centerline is valid? [True, True] Translation: X:158.84, Y:3.39, Z:-2.22 [[ 9.99721611e-01 -2.35916173e-02 3.68926237e-04 1.58839169e+02] [ 2.35916071e-02 9.99721679e-01 3.17921315e-05 3.39074539e+00] [-3.69573584e-04 -2.30797181e-05 9.99999931e-01 -2.22036907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.595898227 meters 0.06535078913245723 Centerline is valid? [True, True] Translation: X:158.87, Y:3.39, Z:-2.22 [[ 9.99717422e-01 -2.37684835e-02 3.68924320e-04 1.58866659e+02] [ 2.37684733e-02 9.99717489e-01 3.18144392e-05 3.39328637e+00] [-3.69576276e-04 -2.30366812e-05 9.99999931e-01 -2.22042046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.625898227 meters 0.060685866878199456 Centerline is valid? [True, True] Translation: X:158.90, Y:3.39, Z:-2.22 [[ 9.99750594e-01 -2.23242481e-02 6.14575910e-04 1.58896507e+02] [ 2.23242194e-02 9.99750782e-01 5.35070411e-05 3.38999741e+00] [-6.15617251e-04 -3.97737687e-05 9.99999810e-01 -2.22049859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.655898227 meters 0.06748711863915348 Centerline is valid? [True, True] Translation: X:158.92, Y:3.40, Z:-2.22 [[ 9.99795355e-01 -2.02213667e-02 5.87410139e-04 1.58924292e+02] [ 2.02213401e-02 9.99795526e-01 5.11744034e-05 3.40157891e+00] [-5.88324846e-04 -3.92857107e-05 9.99999826e-01 -2.22108080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.685898227 meters 0.06452039758394207 Centerline is valid? [True, True] Translation: X:158.95, Y:3.40, Z:-2.22 [[ 9.99834680e-01 -1.81794454e-02 3.47277361e-04 1.58954394e+02] [ 1.81794360e-02 9.99834740e-01 3.02622155e-05 3.40077854e+00] [-3.47770120e-04 -2.39439060e-05 9.99999939e-01 -2.22171585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.715898227 meters 0.07396612225423461 Centerline is valid? [True, True] Translation: X:158.98, Y:3.42, Z:-2.22 [[ 9.99876650e-01 -1.56975280e-02 -5.21784842e-04 1.58983131e+02] [ 1.56975064e-02 9.99876786e-01 -4.54974195e-05 3.41565432e+00] [ 5.22434748e-04 3.73010865e-05 9.99999863e-01 -2.22377364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.745898227 meters 0.06455233685485035 Centerline is valid? [True, True] Translation: X:159.01, Y:3.41, Z:-2.22 [[ 9.99873599e-01 -1.58763495e-02 -8.53476853e-04 1.59011712e+02] [ 1.58762913e-02 9.99873961e-01 -7.49314338e-05 3.40625584e+00] [ 8.54558919e-04 6.13719153e-05 9.99999633e-01 -2.22423969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.775898227 meters 0.06802004533234235 Centerline is valid? [True, True] Translation: X:159.04, Y:3.41, Z:-2.22 [[ 9.99870120e-01 -1.60943776e-02 -8.44613817e-04 1.59038826e+02] [ 1.60943208e-02 9.99870475e-01 -7.40355708e-05 3.41319374e+00] [ 8.45695975e-04 6.04324694e-05 9.99999641e-01 -2.22457888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.805898227 meters 0.06549022099277418 Centerline is valid? [True, True] Translation: X:159.07, Y:3.41, Z:-2.22 [[ 9.99856863e-01 -1.69117463e-02 -4.96876672e-04 1.59068438e+02] [ 1.69117266e-02 9.99856986e-01 -4.38159113e-05 3.41280781e+00] [ 4.97546615e-04 3.54065972e-05 9.99999876e-01 -2.22386160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.835898227 meters 0.06942606887993007 Centerline is valid? [True, True] Translation: X:159.10, Y:3.42, Z:-2.22 [[ 9.99850318e-01 -1.72944809e-02 4.92223309e-04 1.59096124e+02] [ 1.72944618e-02 9.99850439e-01 4.30127814e-05 3.42059467e+00] [-4.92893575e-04 -3.44936060e-05 9.99999878e-01 -2.22273643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.865898227 meters 0.06944534377668313 Centerline is valid? [True, True] Translation: X:159.13, Y:3.42, Z:-2.22 [[ 9.99839530e-01 -1.78703691e-02 1.25081394e-03 1.59125214e+02] [ 1.78702458e-02 9.99840308e-01 1.09610130e-04 3.42343614e+00] [-1.25257297e-03 -8.72401884e-05 9.99999212e-01 -2.22166186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.895898227 meters 0.06410091258538769 Centerline is valid? [True, True] Translation: X:159.16, Y:3.42, Z:-2.22 [[ 9.99827304e-01 -1.83984777e-02 2.61884541e-03 1.59155047e+02] [ 1.83979374e-02 9.99830717e-01 2.30227247e-04 3.41803423e+00] [-2.62263791e-03 -1.82006134e-04 9.99996544e-01 -2.22048874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.925898227 meters 0.06263430574678265 Centerline is valid? [True, True] Translation: X:159.18, Y:3.42, Z:-2.22 [[ 9.99817054e-01 -1.89012206e-02 2.93288850e-03 1.59184139e+02] [ 1.89005437e-02 9.99821335e-01 2.58348407e-04 3.41764572e+00] [-2.93724760e-03 -2.02867956e-04 9.99995666e-01 -2.22000478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.955898227 meters 0.06395079575883676 Centerline is valid? [True, True] Translation: X:159.21, Y:3.42, Z:-2.22 [[ 9.99806533e-01 -1.94799530e-02 2.72556814e-03 1.59212415e+02] [ 1.94793694e-02 9.99810230e-01 2.40509155e-04 3.42064558e+00] [-2.72973601e-03 -1.87370276e-04 9.99996257e-01 -2.22000446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.985898227 meters 0.06510671950878247 Centerline is valid? [True, True] Translation: X:159.24, Y:3.42, Z:-2.22 [[ 9.99792562e-01 -2.02099928e-02 2.52765976e-03 1.59241721e+02] [ 2.02094922e-02 9.99795742e-01 2.23434604e-04 3.41902077e+00] [-2.53165908e-03 -1.72305535e-04 9.99996781e-01 -2.22045516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.015898227 meters 0.07093284054982896 Centerline is valid? [True, True] Translation: X:159.27, Y:3.43, Z:-2.22 [[ 9.99794056e-01 -2.01976361e-02 1.97532093e-03 1.59268266e+02] [ 2.01973299e-02 9.99795998e-01 1.74857600e-04 3.43191264e+00] [-1.97844967e-03 -1.34925380e-04 9.99998034e-01 -2.22040416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.045898227 meters 0.06357947555775796 Centerline is valid? [True, True] Translation: X:159.30, Y:3.42, Z:-2.22 [[ 9.99783111e-01 -2.07316241e-02 1.98285093e-03 1.59297812e+02] [ 2.07313162e-02 9.99785068e-01 1.75704275e-04 3.42438453e+00] [-1.98606739e-03 -1.34559057e-04 9.99998019e-01 -2.21990932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.075898227 meters 0.06736318729525062 Centerline is valid? [True, True] Translation: X:159.33, Y:3.43, Z:-2.22 [[ 9.99753035e-01 -2.19975862e-02 3.15832188e-03 1.59326365e+02] [ 2.19968098e-02 9.99758002e-01 2.80372772e-04 3.43118880e+00] [-3.16372510e-03 -2.10830524e-04 9.99994973e-01 -2.21829060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.105898227 meters 0.060938392179586645 Centerline is valid? [True, True] Translation: X:159.36, Y:3.42, Z:-2.22 [[ 9.99718804e-01 -2.34784380e-02 3.32790127e-03 1.59356752e+02] [ 2.34775838e-02 9.99724320e-01 2.95505646e-04 3.42495063e+00] [-3.33392185e-03 -2.17291470e-04 9.99994419e-01 -2.21836995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.135898227 meters 0.06037399978815903 Centerline is valid? [True, True] Translation: X:159.39, Y:3.43, Z:-2.22 [[ 9.99674435e-01 -2.53386827e-02 2.99581408e-03 1.59386006e+02] [ 2.53379987e-02 9.99678906e-01 2.66082335e-04 3.42557770e+00] [-3.00159431e-03 -1.90087775e-04 9.99995477e-01 -2.21842869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.165898227 meters 0.06150238173493116 Centerline is valid? [True, True] Translation: X:159.42, Y:3.43, Z:-2.22 [[ 9.99605842e-01 -2.79120564e-02 3.01303721e-03 1.59415392e+02] [ 2.79113759e-02 9.99610366e-01 2.67671596e-04 3.42719760e+00] [-3.01933449e-03 -1.83468077e-04 9.99995425e-01 -2.21853820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19589822700001 meters 0.0583336384336227 Centerline is valid? [True, True] Translation: X:159.45, Y:3.42, Z:-2.22 [[ 9.99501484e-01 -3.14442991e-02 2.83544298e-03 1.59446061e+02] [ 3.14437105e-02 9.99505493e-01 2.51921607e-04 3.42317705e+00] [-2.84196233e-03 -1.62639172e-04 9.99995948e-01 -2.21895851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.225898227 meters 0.0603652376906971 Centerline is valid? [True, True] Translation: X:159.47, Y:3.43, Z:-2.22 [[ 9.99364868e-01 -3.55469742e-02 2.50450603e-03 1.59474708e+02] [ 3.55465279e-02 9.99367998e-01 2.22540443e-04 3.42514100e+00] [-2.51083381e-03 -1.33372607e-04 9.99996839e-01 -2.21960983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.255898227 meters 0.04308721787706277 Centerline is valid? [True, True] Translation: X:159.51, Y:3.40, Z:-2.22 [[ 9.99077773e-01 -4.29190104e-02 1.25004729e-03 1.59507931e+02] [ 4.29189049e-02 9.99078553e-01 1.11098955e-04 3.39797794e+00] [-1.25366369e-03 -5.73458356e-05 9.99999213e-01 -2.22151401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.285898227 meters 0.04073020077767375 Centerline is valid? [True, True] Translation: X:159.54, Y:3.39, Z:-2.22 [[ 9.98949163e-01 -4.58309793e-02 3.01473389e-04 1.59537996e+02] [ 4.58309733e-02 9.98949209e-01 2.67583122e-05 3.39357720e+00] [-3.02382963e-04 -1.29133747e-05 9.99999954e-01 -2.22229803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.315898227 meters 0.038988131632932785 Centerline is valid? [True, True] Translation: X:159.57, Y:3.39, Z:-2.22 [[ 9.98844469e-01 -4.80573681e-02 -4.65784995e-04 1.59568586e+02] [ 4.80573540e-02 9.98844577e-01 -4.14367235e-05 3.39051954e+00] [ 4.67238156e-04 1.90044477e-05 9.99999891e-01 -2.22295456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.345898227 meters 0.045728904699584974 Centerline is valid? [True, True] Translation: X:159.60, Y:3.40, Z:-2.22 [[ 9.98789979e-01 -4.91747704e-02 -6.48298413e-04 1.59596263e+02] [ 4.91747431e-02 9.98790189e-01 -5.80517523e-05 3.39848165e+00] [ 6.50368776e-04 2.61016006e-05 9.99999788e-01 -2.22472449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.375898227 meters 0.04139723909404693 Centerline is valid? [True, True] Translation: X:159.63, Y:3.39, Z:-2.22 [[ 9.98774928e-01 -4.94784140e-02 -7.27334850e-04 1.59625077e+02] [ 4.94783796e-02 9.98775193e-01 -6.52564651e-05 3.39221729e+00] [ 7.29672792e-04 2.91891714e-05 9.99999733e-01 -2.22485683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.405898227 meters 0.04217586445099616 Centerline is valid? [True, True] Translation: X:159.65, Y:3.39, Z:-2.22 [[ 9.98810757e-01 -4.87540620e-02 -3.37773815e-04 1.59653859e+02] [ 4.87540545e-02 9.98810814e-01 -3.04967541e-05 3.39213440e+00] [ 3.38858979e-04 1.39926431e-05 9.99999942e-01 -2.22474903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.435898227 meters 0.05045093876269742 Centerline is valid? [True, True] Translation: X:159.68, Y:3.40, Z:-2.23 [[ 9.98924876e-01 -4.63533018e-02 -6.80172208e-04 1.59682233e+02] [ 4.63532710e-02 9.98925108e-01 -6.09031130e-05 3.39707580e+00] [ 6.82264157e-04 2.93094279e-05 9.99999767e-01 -2.22506228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.465898227 meters 0.04484278550701083 Centerline is valid? [True, True] Translation: X:159.71, Y:3.39, Z:-2.22 [[ 9.98962756e-01 -4.55294899e-02 -6.91278295e-04 1.59711680e+02] [ 4.55294577e-02 9.98962995e-01 -6.22391020e-05 3.38858147e+00] [ 6.93395150e-04 3.07010190e-05 9.99999759e-01 -2.22415925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.495898227 meters 0.04629443147126452 Centerline is valid? [True, True] Translation: X:159.74, Y:3.39, Z:-2.22 [[ 9.99004459e-01 -4.46102601e-02 1.21738117e-04 1.59739396e+02] [ 4.46102592e-02 9.99004467e-01 1.08109386e-05 3.38898001e+00] [-1.22099202e-04 -5.36940691e-06 9.99999993e-01 -2.22332239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.525898227 meters 0.047424781929336926 Centerline is valid? [True, True] Translation: X:159.77, Y:3.39, Z:-2.22 [[ 9.99024922e-01 -4.41273344e-02 1.40867265e-03 1.59766834e+02] [ 4.41272001e-02 9.99025913e-01 1.26278104e-04 3.38916180e+00] [-1.41287280e-03 -6.39941927e-05 9.99999000e-01 -2.22130176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.555898227 meters 0.04742621747058764 Centerline is valid? [True, True] Translation: X:159.79, Y:3.39, Z:-2.22 [[ 9.99011422e-01 -4.43600921e-02 2.89153264e-03 1.59794753e+02] [ 4.43595260e-02 9.99015598e-01 2.59647318e-04 3.38785993e+00] [-2.90020419e-03 -1.31123619e-04 9.99995786e-01 -2.21957672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.585898227 meters 0.047166322033444764 Centerline is valid? [True, True] Translation: X:159.82, Y:3.39, Z:-2.22 [[ 9.98975592e-01 -4.51004159e-02 3.70384335e-03 1.59824235e+02] [ 4.50994895e-02 9.98982445e-01 3.33302086e-04 3.38602432e+00] [-3.71510655e-03 -1.65919204e-04 9.99993085e-01 -2.21764633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.615898227 meters 0.04328251169462736 Centerline is valid? [True, True] Translation: X:159.85, Y:3.38, Z:-2.22 [[ 9.98914783e-01 -4.64735815e-02 3.07601401e-03 1.59854723e+02] [ 4.64729478e-02 9.98919510e-01 2.77226176e-04 3.37538004e+00] [-3.08557410e-03 -1.33973887e-04 9.99995231e-01 -2.21727110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.645898227 meters 0.04303001706250806 Centerline is valid? [True, True] Translation: X:159.88, Y:3.37, Z:-2.22 [[ 9.98891723e-01 -4.69867602e-02 2.75136902e-03 1.59883511e+02] [ 4.69862540e-02 9.98895505e-01 2.48357303e-04 3.37416470e+00] [-2.75999965e-03 -1.18805531e-04 9.99996184e-01 -2.21819132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.675898227 meters 0.04781394370323989 Centerline is valid? [True, True] Translation: X:159.91, Y:3.38, Z:-2.22 [[ 9.98875417e-01 -4.73401837e-02 2.60924890e-03 1.59911032e+02] [ 4.73397288e-02 9.98878819e-01 2.35853159e-04 3.37901053e+00] [-2.61748879e-03 -1.12066787e-04 9.99996568e-01 -2.21824692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.705898227 meters 0.045077811756241655 Centerline is valid? [True, True] Translation: X:159.94, Y:3.37, Z:-2.22 [[ 9.98846126e-01 -4.79393784e-02 2.86924882e-03 1.59940242e+02] [ 4.79388300e-02 9.98850240e-01 2.59628248e-04 3.37392075e+00] [-2.87839628e-03 -1.21780238e-04 9.99995850e-01 -2.21805900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.735898227 meters 0.04293783140632966 Centerline is valid? [True, True] Translation: X:159.97, Y:3.37, Z:-2.22 [[ 9.98794941e-01 -4.89512343e-02 3.52751269e-03 1.59969906e+02] [ 4.89504095e-02 9.98801159e-01 3.19810905e-04 3.37027115e+00] [-3.53893890e-03 -1.46752323e-04 9.99993727e-01 -2.21682078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.765898227 meters 0.046118695325642285 Centerline is valid? [True, True] Translation: X:160.00, Y:3.37, Z:-2.22 [[ 9.98724379e-01 -5.02831745e-02 4.60617718e-03 1.59997951e+02] [ 5.02817787e-02 9.98734984e-01 4.18415132e-04 3.37378817e+00] [-4.62138953e-03 -1.86274611e-04 9.99989304e-01 -2.21523621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.795898227 meters 0.04458861981810725 Centerline is valid? [True, True] Translation: X:160.03, Y:3.37, Z:-2.21 [[ 9.98634348e-01 -5.19392322e-02 5.63511045e-03 1.60027130e+02] [ 5.19371665e-02 9.98650223e-01 5.12396671e-04 3.37172498e+00] [-5.65411779e-03 -2.19025246e-04 9.99983991e-01 -2.21447698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.825898227 meters 0.037943669493168845 Centerline is valid? [True, True] Translation: X:160.06, Y:3.36, Z:-2.22 [[ 9.98438970e-01 -5.55776355e-02 5.54519140e-03 1.60058535e+02] [ 5.55756905e-02 9.98454350e-01 5.04339365e-04 3.36115566e+00] [-5.56465046e-03 -1.95374235e-04 9.99984498e-01 -2.21703179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.855898227 meters 0.036104525144366746 Centerline is valid? [True, True] Translation: X:160.09, Y:3.36, Z:-2.22 [[ 9.98357820e-01 -5.70976234e-02 4.63943969e-03 1.60087922e+02] [ 5.70962777e-02 9.98368588e-01 4.22101720e-04 3.35926913e+00] [-4.65597186e-03 -1.56513816e-04 9.99989149e-01 -2.21933805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.885898227 meters 0.030956479981033198 Centerline is valid? [True, True] Translation: X:160.12, Y:3.35, Z:-2.22 [[ 9.98270725e-01 -5.86578734e-02 3.84893715e-03 1.60117134e+02] [ 5.86569573e-02 9.98278137e-01 3.50577506e-04 3.35334224e+00] [-3.86287394e-03 -1.24204319e-04 9.99992531e-01 -2.22048415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.915898227 meters 0.03169705044345162 Centerline is valid? [True, True] Translation: X:160.15, Y:3.35, Z:-2.22 [[ 9.98194865e-01 -5.99625310e-02 3.39197895e-03 1.60145757e+02] [ 5.99618252e-02 9.98200623e-01 3.09477840e-04 3.35381425e+00] [-3.40443257e-03 -1.05529942e-04 9.99994199e-01 -2.22139802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94589822700001 meters 0.029516655135078944 Centerline is valid? [True, True] Translation: X:160.18, Y:3.36, Z:-2.22 [[ 9.98149602e-01 -6.07180085e-02 3.27033374e-03 1.60175100e+02] [ 6.07173551e-02 9.98154955e-01 2.98790183e-04 3.35508694e+00] [-3.28244177e-03 -9.96712871e-05 9.99994608e-01 -2.22159376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.975898227 meters 0.02953660944345944 Centerline is valid? [True, True] Translation: X:160.20, Y:3.36, Z:-2.22 [[ 9.98090784e-01 -6.16479685e-02 3.78350804e-03 1.60202985e+02] [ 6.16470994e-02 9.98097949e-01 3.46020842e-04 3.35776279e+00] [-3.79764309e-03 -1.12117917e-04 9.99992783e-01 -2.22138320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.005898227 meters 0.031015904093871276 Centerline is valid? [True, True] Translation: X:160.23, Y:3.36, Z:-2.22 [[ 9.98067982e-01 -6.19699588e-02 4.47517543e-03 1.60230243e+02] [ 6.19687445e-02 9.98078006e-01 4.09620681e-04 3.36220790e+00] [-4.49195835e-03 -1.31508284e-04 9.99989902e-01 -2.22026693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.035898227 meters 0.029582133876004522 Centerline is valid? [True, True] Translation: X:160.26, Y:3.36, Z:-2.22 [[ 9.98067113e-01 -6.19114448e-02 5.38615202e-03 1.60259551e+02] [ 6.19096812e-02 9.98081634e-01 4.93707300e-04 3.36266970e+00] [-5.40638554e-03 -1.59298066e-04 9.99985373e-01 -2.21921321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.065898227 meters 0.04650267417061336 Centerline is valid? [True, True] Translation: X:160.29, Y:3.37, Z:-2.22 [[ 9.98091685e-01 -6.15468130e-02 4.99790316e-03 1.60288310e+02] [ 6.15452859e-02 9.98104187e-01 4.58916978e-04 3.36517360e+00] [-5.01667295e-03 -1.50443840e-04 9.99987405e-01 -2.21995400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.095898227 meters 0.03281203684783519 Centerline is valid? [True, True] Translation: X:160.32, Y:3.37, Z:-2.22 [[ 9.98218497e-01 -5.94394337e-02 5.17542407e-03 1.60315944e+02] [ 5.94377655e-02 9.98231900e-01 4.75690639e-04 3.37164312e+00] [-5.19454818e-03 -1.67227553e-04 9.99986494e-01 -2.21904061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.125898227 meters 0.03725299332195416 Centerline is valid? [True, True] Translation: X:160.34, Y:3.38, Z:-2.22 [[ 9.98422965e-01 -5.58248231e-02 5.93053372e-03 1.60344119e+02] [ 5.58225677e-02 9.98440556e-01 5.45288450e-04 3.38099662e+00] [-5.95172601e-03 -2.13370892e-04 9.99982266e-01 -2.21630278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.155898227 meters 0.035701515245664936 Centerline is valid? [True, True] Translation: X:160.37, Y:3.38, Z:-2.22 [[ 9.98512913e-01 -5.42068075e-02 5.79528923e-03 1.60373498e+02] [ 5.42046258e-02 9.98529706e-01 5.32986961e-04 3.38257286e+00] [-5.81565998e-03 -2.18062879e-04 9.99983065e-01 -2.21668731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.185898227 meters 0.040822839445304564 Centerline is valid? [True, True] Translation: X:160.40, Y:3.39, Z:-2.22 [[ 9.98579645e-01 -5.30376127e-02 5.06999296e-03 1.60402336e+02] [ 5.30359250e-02 9.98592496e-01 4.66846393e-04 3.38856399e+00] [-5.08761734e-03 -1.97291539e-04 9.99987039e-01 -2.21768767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.215898227 meters 0.04075559191831983 Centerline is valid? [True, True] Translation: X:160.43, Y:3.40, Z:-2.22 [[ 9.98665408e-01 -5.14084327e-02 4.95747557e-03 1.60429973e+02] [ 5.14067968e-02 9.98677692e-01 4.56927549e-04 3.39617781e+00] [-4.97441019e-03 -2.01469797e-04 9.99987607e-01 -2.21812143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.245898227 meters 0.04575139223802394 Centerline is valid? [True, True] Translation: X:160.46, Y:3.40, Z:-2.22 [[ 9.98724632e-01 -5.02775677e-02 4.61258678e-03 1.60458516e+02] [ 5.02761370e-02 9.98735265e-01 4.25666646e-04 3.39867627e+00] [-4.62815456e-03 -1.93220719e-04 9.99989271e-01 -2.21827397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.275898227 meters 0.04463675947149325 Centerline is valid? [True, True] Translation: X:160.49, Y:3.40, Z:-2.22 [[ 9.98865749e-01 -4.73550015e-02 4.97182299e-03 1.60487581e+02] [ 4.73533014e-02 9.98878098e-01 4.59178933e-04 3.40499026e+00] [-4.98798951e-03 -2.23225877e-04 9.99987535e-01 -2.21786983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.305898227 meters 0.04784303408568256 Centerline is valid? [True, True] Translation: X:160.51, Y:3.41, Z:-2.22 [[ 9.98911807e-01 -4.63234945e-02 5.41620323e-03 1.60514330e+02] [ 4.63214597e-02 9.98926460e-01 5.00600923e-04 3.41284599e+00] [-5.43357830e-03 -2.49169733e-04 9.99985207e-01 -2.21796911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.335898227 meters 0.04410052221637599 Centerline is valid? [True, True] Translation: X:160.54, Y:3.41, Z:-2.22 [[ 9.98976566e-01 -4.48485807e-02 5.86739347e-03 1.60544136e+02] [ 4.48461656e-02 9.98993757e-01 5.42598265e-04 3.41004203e+00] [-5.88582421e-03 -2.78912851e-04 9.99982639e-01 -2.21824080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.365898227 meters 0.050385149680188056 Centerline is valid? [True, True] Translation: X:160.57, Y:3.42, Z:-2.22 [[ 9.99043339e-01 -4.31853087e-02 6.88730467e-03 1.60571526e+02] [ 4.31819393e-02 9.99067022e-01 6.37241161e-04 3.41951761e+00] [-6.90839842e-03 -3.39224365e-04 9.99976079e-01 -2.21651500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.395898227 meters 0.047344563604603485 Centerline is valid? [True, True] Translation: X:160.60, Y:3.42, Z:-2.22 [[ 9.99102224e-01 -4.17369550e-02 7.26444674e-03 1.60600982e+02] [ 4.17331656e-02 9.99128566e-01 6.72510795e-04 3.41691055e+00] [-7.28618481e-03 -3.68738672e-04 9.99973387e-01 -2.21636756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.425898227 meters 0.0593942153388009 Centerline is valid? [True, True] Translation: X:160.63, Y:3.43, Z:-2.22 [[ 9.99137950e-01 -4.08346981e-02 7.47560365e-03 1.60628366e+02] [ 4.08306569e-02 9.99165841e-01 6.92477361e-04 3.42599457e+00] [-7.49764492e-03 -3.86646603e-04 9.99971818e-01 -2.21610786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.455898227 meters 0.04678277979716918 Centerline is valid? [True, True] Translation: X:160.66, Y:3.42, Z:-2.22 [[ 9.99173954e-01 -4.00158406e-02 7.08110959e-03 1.60657575e+02] [ 4.00121901e-02 9.99198976e-01 6.56498734e-04 3.41843709e+00] [-7.10170780e-03 -3.72625732e-04 9.99974713e-01 -2.21812017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.485898227 meters 0.05507013839718931 Centerline is valid? [True, True] Translation: X:160.68, Y:3.42, Z:-2.22 [[ 9.99169358e-01 -4.01306221e-02 7.08010603e-03 1.60683970e+02] [ 4.01269690e-02 9.99194373e-01 6.57333919e-04 3.42144316e+00] [-7.10078132e-03 -3.72684714e-04 9.99974720e-01 -2.21873661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.515898227 meters 0.05507013839718931 Centerline is valid? [True, True] Translation: X:160.71, Y:3.42, Z:-2.22 [[ 9.99161900e-01 -4.03158877e-02 7.07999099e-03 1.60711458e+02] [ 4.03122304e-02 9.99186915e-01 6.58571575e-04 3.42412361e+00] [-7.10078525e-03 -3.72609399e-04 9.99974720e-01 -2.21878799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.545898227 meters 0.05335209401532616 Centerline is valid? [True, True] Translation: X:160.74, Y:3.43, Z:-2.22 [[ 9.99168111e-01 -4.00664771e-02 7.60021966e-03 1.60738439e+02] [ 4.00622501e-02 9.99196935e-01 7.07668918e-04 3.43211661e+00] [-7.62246999e-03 -4.02598316e-04 9.99970868e-01 -2.21753645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.575898227 meters 0.05245347829912743 Centerline is valid? [True, True] Translation: X:160.77, Y:3.43, Z:-2.22 [[ 9.99163385e-01 -4.00614486e-02 8.22258849e-03 1.60767266e+02] [ 4.00564915e-02 9.99197122e-01 7.66740476e-04 3.43243239e+00] [-8.24670349e-03 -4.36730963e-04 9.99965900e-01 -2.21674542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.605898227 meters 0.05036478153409867 Centerline is valid? [True, True] Translation: X:160.80, Y:3.43, Z:-2.22 [[ 9.99169265e-01 -3.98293202e-02 8.62587125e-03 1.60796539e+02] [ 3.98238440e-02 9.99206391e-01 8.05755933e-04 3.43089458e+00] [-8.65111840e-03 -4.61571212e-04 9.99962472e-01 -2.21641343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.635898227 meters 0.05400395690136648 Centerline is valid? [True, True] Translation: X:160.82, Y:3.44, Z:-2.22 [[ 9.99187322e-01 -3.93092061e-02 8.91525634e-03 1.60823150e+02] [ 3.93033265e-02 9.99226978e-01 8.33815956e-04 3.43950649e+00] [-8.94114129e-03 -4.82739102e-04 9.99959911e-01 -2.21554477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.665898227 meters 0.05188246833787654 Centerline is valid? [True, True] Translation: X:160.85, Y:3.44, Z:-2.22 [[ 9.99201092e-01 -3.90318639e-02 8.58437621e-03 1.60852528e+02] [ 3.90263916e-02 9.99237857e-01 8.04126876e-04 3.44036788e+00] [-8.60922025e-03 -4.68467225e-04 9.99962830e-01 -2.21668749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69589822700001 meters 0.0531895934562556 Centerline is valid? [True, True] Translation: X:160.88, Y:3.45, Z:-2.22 [[ 9.99224225e-01 -3.86113484e-02 7.75320199e-03 1.60880072e+02] [ 3.86068659e-02 9.99254213e-01 7.27035659e-04 3.44771637e+00] [-7.77549158e-03 -4.27144813e-04 9.99969679e-01 -2.21836812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.725898227 meters 0.05338041395768457 Centerline is valid? [True, True] Translation: X:160.91, Y:3.45, Z:-2.22 [[ 9.99217183e-01 -3.87383781e-02 8.02237038e-03 1.60907626e+02] [ 3.87335727e-02 9.99249289e-01 7.53559918e-04 3.45227098e+00] [-8.04553959e-03 -4.42234952e-04 9.99967536e-01 -2.21776991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.755898227 meters 0.05477580403377774 Centerline is valid? [True, True] Translation: X:160.93, Y:3.46, Z:-2.22 [[ 9.99208901e-01 -3.88543731e-02 8.47999101e-03 1.60934365e+02] [ 3.88490005e-02 9.99244774e-01 7.97426677e-04 3.45839627e+00] [-8.50457022e-03 -4.67356658e-04 9.99963726e-01 -2.21654461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.785898227 meters 0.05834404615556123 Centerline is valid? [True, True] Translation: X:160.96, Y:3.46, Z:-2.22 [[ 9.99166534e-01 -3.99247944e-02 8.49992215e-03 1.60962271e+02] [ 3.99194314e-02 9.99202582e-01 7.99744567e-04 3.46452694e+00] [-8.52507379e-03 -4.59765948e-04 9.99963555e-01 -2.21655932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.815898227 meters 0.04977473175254516 Centerline is valid? [True, True] Translation: X:160.99, Y:3.46, Z:-2.22 [[ 9.99103152e-01 -4.16115317e-02 7.83409026e-03 1.60992887e+02] [ 4.16070256e-02 9.99133781e-01 7.37358018e-04 3.46124391e+00] [-7.85798682e-03 -4.10743525e-04 9.99969041e-01 -2.21825862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.845898227 meters 0.05204382511087919 Centerline is valid? [True, True] Translation: X:161.02, Y:3.47, Z:-2.22 [[ 9.99009361e-01 -4.39365306e-02 7.06243981e-03 1.61021350e+02] [ 4.39329252e-02 9.99034262e-01 6.64909697e-04 3.46886795e+00] [-7.08483316e-03 -3.53977372e-04 9.99974840e-01 -2.21982051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.875898227 meters 0.0513099775616005 Centerline is valid? [True, True] Translation: X:161.05, Y:3.48, Z:-2.22 [[ 9.98788780e-01 -4.87815810e-02 6.42884352e-03 1.61049899e+02] [ 4.87786925e-02 9.98809428e-01 6.05431954e-04 3.47500798e+00] [-6.45072345e-03 -2.91108061e-04 9.99979151e-01 -2.22167143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.905898227 meters 0.04078316847285275 Centerline is valid? [True, True] Translation: X:161.08, Y:3.47, Z:-2.22 [[ 9.98649199e-01 -5.14200853e-02 7.46676581e-03 1.61080759e+02] [ 5.14162614e-02 9.98677062e-01 7.03304701e-04 3.46602643e+00] [-7.49305173e-03 -3.18441494e-04 9.99971876e-01 -2.22167078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.935898227 meters 0.04902188668831505 Centerline is valid? [True, True] Translation: X:161.11, Y:3.47, Z:-2.22 [[ 9.98495286e-01 -5.41634671e-02 8.57223378e-03 1.61108917e+02] [ 5.41585258e-02 9.98532023e-01 8.07687222e-04 3.47402512e+00] [-8.60339708e-03 -3.42212339e-04 9.99962932e-01 -2.21849625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.965898227 meters 0.03676169253563059 Centerline is valid? [True, True] Translation: X:161.14, Y:3.47, Z:-2.22 [[ 9.98364217e-01 -5.62743108e-02 1.01040254e-02 1.61138642e+02] [ 5.62675403e-02 9.98415272e-01 9.53336513e-04 3.47059818e+00] [-1.01416617e-02 -3.83248404e-04 9.99948499e-01 -2.21728638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.995898227 meters 0.03998583999130312 Centerline is valid? [True, True] Translation: X:161.17, Y:3.48, Z:-2.21 [[ 9.98211956e-01 -5.86944410e-02 1.13072389e-02 1.61165610e+02] [ 5.86861046e-02 9.98275914e-01 1.06794154e-03 3.48058275e+00] [-1.13504265e-02 -4.02454205e-04 9.99935501e-01 -2.21419623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.025898227 meters 0.03839482953714626 Centerline is valid? [True, True] Translation: X:161.19, Y:3.48, Z:-2.21 [[ 9.98093984e-01 -6.05649750e-02 1.18441050e-02 1.61194438e+02] [ 6.05559526e-02 9.98164177e-01 1.11923955e-03 3.48471897e+00] [-1.18901480e-02 -3.99875203e-04 9.99929230e-01 -2.21341802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.055898227 meters 0.03154128461429334 Centerline is valid? [True, True] Translation: X:161.22, Y:3.48, Z:-2.22 [[ 9.97907092e-01 -6.35744627e-02 1.18204595e-02 1.61224307e+02] [ 6.35656835e-02 9.97977032e-01 1.11731555e-03 3.48483136e+00] [-1.18675799e-02 -3.63601525e-04 9.99929512e-01 -2.21523353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.085898227 meters 0.03491488387235382 Centerline is valid? [True, True] Translation: X:161.25, Y:3.49, Z:-2.21 [[ 9.97800324e-01 -6.51393743e-02 1.23034639e-02 1.61251167e+02] [ 6.51299738e-02 9.97876111e-01 1.16361694e-03 3.49487024e+00] [-1.23531300e-02 -3.59733075e-04 9.99923632e-01 -2.21243817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.115898227 meters 0.0331380988463347 Centerline is valid? [True, True] Translation: X:161.28, Y:3.49, Z:-2.21 [[ 9.97653393e-01 -6.72188258e-02 1.30129759e-02 1.61280173e+02] [ 6.72084784e-02 9.97738194e-01 1.23133631e-03 3.49476241e+00] [-1.30663121e-02 -3.53864540e-04 9.99914569e-01 -2.21187327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.145898227 meters 0.026738875879814265 Centerline is valid? [True, True] Translation: X:161.31, Y:3.50, Z:-2.21 [[ 9.97546255e-01 -6.86814123e-02 1.35768960e-02 1.61308731e+02] [ 6.86702565e-02 9.97638582e-01 1.28671714e-03 3.49537335e+00] [-1.36332089e-02 -3.51230933e-04 9.99907002e-01 -2.21173655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.175898227 meters 0.026851879754686815 Centerline is valid? [True, True] Translation: X:161.34, Y:3.50, Z:-2.21 [[ 9.97386997e-01 -7.09034609e-02 1.38519690e-02 1.61337482e+02] [ 7.08920306e-02 9.97483128e-01 1.31508331e-03 3.49917653e+00] [-1.39103493e-02 -3.29652783e-04 9.99903192e-01 -2.21120406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.205898227 meters 0.02070407552221005 Centerline is valid? [True, True] Translation: X:161.37, Y:3.50, Z:-2.21 [[ 9.97008776e-01 -7.61606301e-02 1.31551572e-02 1.61367405e+02] [ 7.61507725e-02 9.97095532e-01 1.24935461e-03 3.50107252e+00] [-1.32121001e-02 -2.43842132e-04 9.99912687e-01 -2.21303754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.235898227 meters 0.019367704251679763 Centerline is valid? [True, True] Translation: X:161.40, Y:3.50, Z:-2.21 [[ 9.96744863e-01 -7.95940192e-02 1.28246119e-02 1.61395605e+02] [ 7.95849279e-02 9.96827344e-01 1.21850228e-03 3.50399364e+00] [-1.28809094e-02 -1.93890074e-04 9.99917019e-01 -2.21338694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.265898227 meters 0.015559007019947595 Centerline is valid? [True, True] Translation: X:161.42, Y:3.50, Z:-2.22 [[ 9.96410634e-01 -8.36797019e-02 1.27888604e-02 1.61424463e+02] [ 8.36709897e-02 9.96492693e-01 1.21571089e-03 3.50243298e+00] [-1.28457363e-02 -1.41290645e-04 9.99917480e-01 -2.21536713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.295898227 meters 0.012848984934777947 Centerline is valid? [True, True] Translation: X:161.45, Y:3.50, Z:-2.22 [[ 9.96041368e-01 -8.79909251e-02 1.26170801e-02 1.61453918e+02] [ 8.79827671e-02 9.96121273e-01 1.20128017e-03 3.50090919e+00] [-1.26738437e-02 -8.64391217e-05 9.99919680e-01 -2.21620153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.325898227 meters 0.011458138931055822 Centerline is valid? [True, True] Translation: X:161.48, Y:3.50, Z:-2.22 [[ 9.95650161e-01 -9.22616631e-02 1.29823628e-02 1.61482428e+02] [ 9.22533758e-02 9.95734796e-01 1.23704765e-03 3.49870551e+00] [-1.30411225e-02 -3.39998942e-05 9.99914960e-01 -2.21611006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.355898227 meters 0.011235250655276774 Centerline is valid? [True, True] Translation: X:161.51, Y:3.50, Z:-2.21 [[ 9.95297740e-01 -9.59533412e-02 1.32425412e-02 1.61509595e+02] [ 9.59450238e-02 9.95385833e-01 1.26343071e-03 3.49647776e+00] [-1.33026683e-02 1.30661976e-05 9.99911516e-01 -2.21436246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.385898227 meters 0.012167207152914467 Centerline is valid? [True, True] Translation: X:161.54, Y:3.50, Z:-2.21 [[ 9.94902057e-01 -9.99020448e-02 1.37651181e-02 1.61537928e+02] [ 9.98934229e-02 9.94997275e-01 1.31421967e-03 3.49507111e+00] [-1.38275482e-02 6.75249155e-05 9.99904393e-01 -2.21361827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.415898227 meters 0.011968257153195773 Centerline is valid? [True, True] Translation: X:161.57, Y:3.50, Z:-2.21 [[ 9.94864218e-01 -1.00203505e-01 1.42984654e-02 1.61566550e+02] [ 1.00194202e-01 9.94966960e-01 1.36732589e-03 3.49984784e+00] [-1.43635115e-02 7.23197274e-05 9.99896837e-01 -2.21475221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44589822700001 meters 0.011821802401291114 Centerline is valid? [True, True] Translation: X:161.59, Y:3.51, Z:-2.21 [[ 9.94909213e-01 -9.96784061e-02 1.48281507e-02 1.61594680e+02] [ 9.96683005e-02 9.95019704e-01 1.42079739e-03 3.50585453e+00] [-1.48959249e-02 6.43321714e-05 9.99889047e-01 -2.21479687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.475898227 meters 0.01191651802136639 Centerline is valid? [True, True] Translation: X:161.62, Y:3.51, Z:-2.21 [[ 9.95015567e-01 -9.85124441e-02 1.54699681e-02 1.61622384e+02] [ 9.85012854e-02 9.95135818e-01 1.48347786e-03 3.51232299e+00] [-1.55408604e-02 4.77281854e-05 9.99879232e-01 -2.21309372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.505898227 meters 0.01174422542656565 Centerline is valid? [True, True] Translation: X:161.65, Y:3.52, Z:-2.21 [[ 9.95109563e-01 -9.74472355e-02 1.61553246e-02 1.61650867e+02] [ 9.74348854e-02 9.95240692e-01 1.55168455e-03 3.52010769e+00] [-1.62296438e-02 2.99960702e-05 9.99868290e-01 -2.21339796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.535898227 meters 0.012038604819357665 Centerline is valid? [True, True] Translation: X:161.68, Y:3.53, Z:-2.21 [[ 9.95171736e-01 -9.67745053e-02 1.63680030e-02 1.61677024e+02] [ 9.67617120e-02 9.95306332e-01 1.57361848e-03 3.52747970e+00] [-1.64434632e-02 1.77753581e-05 9.99864797e-01 -2.21220851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.565898227 meters 0.01193112382018506 Centerline is valid? [True, True] Translation: X:161.70, Y:3.54, Z:-2.21 [[ 9.95154803e-01 -9.68881914e-02 1.67211111e-02 1.61704029e+02] [ 9.68748060e-02 9.95295272e-01 1.61054957e-03 3.53864615e+00] [-1.67984861e-02 1.71082612e-05 9.99858895e-01 -2.21390255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.595898227 meters 0.02441727548741351 Centerline is valid? [True, True] Translation: X:161.73, Y:3.54, Z:-2.21 [[ 9.95044072e-01 -9.80797893e-02 1.63600194e-02 1.61731511e+02] [ 9.80670858e-02 9.95178554e-01 1.57888181e-03 3.54489810e+00] [-1.64359968e-02 3.33224390e-05 9.99864919e-01 -2.21385818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.625898227 meters 0.011923983196347188 Centerline is valid? [True, True] Translation: X:161.76, Y:3.55, Z:-2.22 [[ 9.94929404e-01 -9.92649693e-02 1.61847495e-02 1.61758729e+02] [ 9.92526431e-02 9.95061035e-01 1.56505681e-03 3.54996566e+00] [-1.62601689e-02 4.92581310e-05 9.99867794e-01 -2.21512172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.655898227 meters 0.02744268259312036 Centerline is valid? [True, True] Translation: X:161.79, Y:3.55, Z:-2.22 [[ 9.94741037e-01 -1.01217024e-01 1.56647252e-02 1.61785009e+02] [ 1.01205696e-01 9.94864367e-01 1.51626172e-03 3.55487318e+00] [-1.57377484e-02 7.70716617e-05 9.99876151e-01 -2.21503450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.685898227 meters 0.013263633851736923 Centerline is valid? [True, True] Translation: X:161.81, Y:3.56, Z:-2.22 [[ 9.94618431e-01 -1.02451745e-01 1.54212903e-02 1.61812422e+02] [ 1.02440900e-01 9.94737971e-01 1.49365400e-03 3.55958239e+00] [-1.54931705e-02 9.41550557e-05 9.99879969e-01 -2.21512950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.715898227 meters 0.013910908662955473 Centerline is valid? [True, True] Translation: X:161.84, Y:3.57, Z:-2.22 [[ 9.94335766e-01 -1.05213917e-01 1.50470954e-02 1.61840551e+02] [ 1.05203873e-01 9.94449604e-01 1.45973937e-03 3.56919787e+00] [-1.51171630e-02 1.31541652e-04 9.99885721e-01 -2.21945697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.745898227 meters 0.014414896564394795 Centerline is valid? [True, True] Translation: X:161.87, Y:3.57, Z:-2.22 [[ 9.94233416e-01 -1.06280774e-01 1.42937749e-02 1.61868094e+02] [ 1.06271782e-01 9.94336149e-01 1.38933836e-03 3.57455991e+00] [-1.43604771e-02 1.37698307e-04 9.99896874e-01 -2.22088514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.775898227 meters 0.015231835287461831 Centerline is valid? [True, True] Translation: X:161.89, Y:3.58, Z:-2.22 [[ 9.94134597e-01 -1.07280571e-01 1.36851006e-02 1.61894819e+02] [ 1.07272404e-01 9.94228776e-01 1.33150293e-03 3.57916791e+00] [-1.37489652e-02 1.44340521e-04 9.99905468e-01 -2.22122670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.805898227 meters 0.024494999689850836 Centerline is valid? [True, True] Translation: X:161.92, Y:3.58, Z:-2.22 [[ 9.94018204e-01 -1.08401517e-01 1.33012054e-02 1.61922681e+02] [ 1.08393888e-01 9.94107181e-01 1.29531346e-03 3.58439240e+00] [-1.33632377e-02 1.54204204e-04 9.99910696e-01 -2.22162866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.835898227 meters 0.01589922343317911 Centerline is valid? [True, True] Translation: X:161.95, Y:3.59, Z:-2.22 [[ 9.93975870e-01 -1.08814288e-01 1.30927853e-02 1.61950556e+02] [ 1.08806902e-01 9.94062084e-01 1.27731750e-03 3.59118283e+00] [-1.31540319e-02 1.54962627e-04 9.99913470e-01 -2.22420787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.865898227 meters 0.01488359281584434 Centerline is valid? [True, True] Translation: X:161.98, Y:3.60, Z:-2.23 [[ 9.93982413e-01 -1.08824563e-01 1.24971161e-02 1.61978930e+02] [ 1.08817806e-01 9.94060961e-01 1.22139233e-03 3.59882707e+00] [-1.25558127e-02 1.45866258e-04 9.99921162e-01 -2.22710377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.895898227 meters 0.014310852488433211 Centerline is valid? [True, True] Translation: X:162.01, Y:3.61, Z:-2.23 [[ 9.94186394e-01 -1.07052495e-01 1.15402759e-02 1.62006254e+02] [ 1.07046603e-01 9.94253363e-01 1.12877151e-03 3.60736788e+00] [-1.15947959e-02 1.13138061e-04 9.99932772e-01 -2.22794413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.925898227 meters 0.01313023987419451 Centerline is valid? [True, True] Translation: X:162.03, Y:3.62, Z:-2.23 [[ 9.94414698e-01 -1.04907107e-01 1.15718695e-02 1.62033271e+02] [ 1.04901027e-01 9.94482022e-01 1.13283407e-03 3.61515911e+00] [-1.16268585e-02 8.73941485e-05 9.99932402e-01 -2.22756446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.955898227 meters 0.011534776504646587 Centerline is valid? [True, True] Translation: X:162.06, Y:3.63, Z:-2.23 [[ 9.94728738e-01 -1.01885179e-01 1.15822158e-02 1.62061421e+02] [ 1.01878862e-01 9.94796164e-01 1.13565786e-03 3.62578307e+00] [-1.16376505e-02 5.03114533e-05 9.99932279e-01 -2.22855149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.985898227 meters 0.01103524718640308 Centerline is valid? [True, True] Translation: X:162.09, Y:3.64, Z:-2.23 [[ 9.95130767e-01 -9.78447404e-02 1.18811844e-02 1.62088174e+02] [ 9.78377780e-02 9.95201692e-01 1.16723354e-03 3.63716563e+00] [-1.19383825e-02 8.78674839e-07 9.99928735e-01 -2.22783309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.015898227 meters 0.017645964982877023 Centerline is valid? [True, True] Translation: X:162.12, Y:3.65, Z:-2.23 [[ 9.95554688e-01 -9.34360106e-02 1.18564646e-02 1.62115013e+02] [ 9.34287530e-02 9.95625285e-01 1.16576149e-03 3.64927440e+00] [-1.19135201e-02 -5.28446077e-05 9.99929030e-01 -2.22674920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.045898227 meters 0.014797626762400014 Centerline is valid? [True, True] Translation: X:162.14, Y:3.66, Z:-2.23 [[ 9.96009997e-01 -8.84485577e-02 1.18717863e-02 1.62141457e+02] [ 8.84409184e-02 9.96080740e-01 1.16797375e-03 3.66165010e+00] [-1.19285633e-02 -1.13361851e-04 9.99928846e-01 -2.22657206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.075898227 meters 0.023170782182317166 Centerline is valid? [True, True] Translation: X:162.17, Y:3.69, Z:-2.23 [[ 9.96747383e-01 -7.95937751e-02 1.26287476e-02 1.62168385e+02] [ 7.95844166e-02 9.96827355e-01 1.24267001e-03 3.68660794e+00] [-1.26875899e-02 -2.33576573e-04 9.99919482e-01 -2.22560004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.105898227 meters 0.024638559328550965 Centerline is valid? [True, True] Translation: X:162.20, Y:3.70, Z:-2.23 [[ 9.97058890e-01 -7.55196050e-02 1.30521693e-02 1.62197295e+02] [ 7.55092555e-02 9.97144273e-01 1.28462069e-03 3.69694997e+00] [-1.31119099e-02 -2.95282896e-04 9.99913992e-01 -2.22716119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.135898227 meters 0.03057815471631618 Centerline is valid? [True, True] Translation: X:162.22, Y:3.71, Z:-2.23 [[ 9.97338755e-01 -7.16178716e-02 1.36487769e-02 1.62224363e+02] [ 7.16061793e-02 9.97432077e-01 1.34405772e-03 3.71257895e+00] [-1.37099864e-02 -3.63144084e-04 9.99905948e-01 -2.22559249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.165898227 meters 0.03126486386391316 Centerline is valid? [True, True] Translation: X:162.25, Y:3.72, Z:-2.23 [[ 9.97529282e-01 -6.88352419e-02 1.40370959e-02 1.62253027e+02] [ 6.88225892e-02 9.97627956e-01 1.38301919e-03 3.72111369e+00] [-1.40989997e-02 -4.13532856e-04 9.99900519e-01 -2.22647338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19589822700001 meters 0.03489795070812173 Centerline is valid? [True, True] Translation: X:162.28, Y:3.73, Z:-2.22 [[ 9.97658798e-01 -6.68322747e-02 1.45041064e-02 1.62280808e+02] [ 6.68185440e-02 9.97764119e-01 1.42975696e-03 3.73330731e+00] [-1.45672309e-02 -4.57266335e-04 9.99893788e-01 -2.22491332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.225898227 meters 0.03730087536278023 Centerline is valid? [True, True] Translation: X:162.31, Y:3.74, Z:-2.22 [[ 9.97695644e-01 -6.62263741e-02 1.47468385e-02 1.62308123e+02] [ 6.62121017e-02 9.97804511e-01 1.45451070e-03 3.74404431e+00] [-1.48107889e-02 -4.74739821e-04 9.99890202e-01 -2.22369069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.255898227 meters 0.03325744855800345 Centerline is valid? [True, True] Translation: X:162.34, Y:3.75, Z:-2.22 [[ 9.97554770e-01 -6.80437900e-02 1.59538140e-02 1.62336744e+02] [ 6.80272788e-02 9.97682217e-01 1.57597177e-03 3.75086209e+00] [-1.60240716e-02 -4.86823601e-04 9.99871488e-01 -2.22496332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.285898227 meters 0.03150518788679225 Centerline is valid? [True, True] Translation: X:162.37, Y:3.76, Z:-2.22 [[ 9.97393403e-01 -7.01649460e-02 1.68309230e-02 1.62365887e+02] [ 7.01468448e-02 9.97535288e-01 1.66416151e-03 3.75527802e+00] [-1.69062055e-02 -4.79187569e-04 9.99856965e-01 -2.22469784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.315898227 meters 0.029500705952907196 Centerline is valid? [True, True] Translation: X:162.39, Y:3.76, Z:-2.22 [[ 9.97233808e-01 -7.22419808e-02 1.74879678e-02 1.62394865e+02] [ 7.22227100e-02 9.97387027e-01 1.73183668e-03 3.75854583e+00] [-1.75673835e-02 -4.64017656e-04 9.99845574e-01 -2.22429914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.345898227 meters 0.026923569117398245 Centerline is valid? [True, True] Translation: X:162.42, Y:3.76, Z:-2.23 [[ 9.97053173e-01 -7.49429891e-02 1.63865181e-02 1.62424426e+02] [ 7.49264266e-02 9.97187743e-01 1.62321348e-03 3.76414376e+00] [-1.64620835e-02 -3.90646902e-04 9.99864414e-01 -2.22710589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.375898227 meters 0.026504616930915794 Centerline is valid? [True, True] Translation: X:162.45, Y:3.77, Z:-2.23 [[ 9.96998951e-01 -7.57891555e-02 1.57827453e-02 1.62452445e+02] [ 7.57738607e-02 9.97123799e-01 1.56570170e-03 3.76946551e+00] [-1.58560142e-02 -3.65083407e-04 9.99874219e-01 -2.22865186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.405898227 meters 0.026504616930915794 Centerline is valid? [True, True] Translation: X:162.48, Y:3.77, Z:-2.23 [[ 9.96984952e-01 -7.59731489e-02 1.57824603e-02 1.62479853e+02] [ 7.59578317e-02 9.97109797e-01 1.56857185e-03 3.77234210e+00] [-1.58560151e-02 -3.65041068e-04 9.99874219e-01 -2.22870317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.435898227 meters 0.025546851832498753 Centerline is valid? [True, True] Translation: X:162.51, Y:3.78, Z:-2.23 [[ 9.96915351e-01 -7.69338144e-02 1.55232311e-02 1.62508767e+02] [ 7.69190723e-02 9.97036142e-01 1.54539219e-03 3.77683483e+00] [-1.55961153e-02 -3.46592667e-04 9.99878313e-01 -2.22984790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.465898227 meters 0.024273625754563533 Centerline is valid? [True, True] Translation: X:162.54, Y:3.78, Z:-2.23 [[ 9.96879383e-01 -7.74598918e-02 1.52138169e-02 1.62537447e+02] [ 7.74457540e-02 9.96995413e-01 1.51713115e-03 3.78067099e+00] [-1.52856225e-02 -3.34151243e-04 9.99883112e-01 -2.23150598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.495898227 meters 0.02555253274391774 Centerline is valid? [True, True] Translation: X:162.56, Y:3.79, Z:-2.23 [[ 9.96873542e-01 -7.76379383e-02 1.46796072e-02 1.62564873e+02] [ 7.76247795e-02 9.96981568e-01 1.46492656e-03 3.78757150e+00] [-1.47490317e-02 -3.20845254e-04 9.99891176e-01 -2.23154614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.525898227 meters 0.03351453656322922 Centerline is valid? [True, True] Translation: X:162.59, Y:3.79, Z:-2.23 [[ 9.96887714e-01 -7.76862893e-02 1.34061709e-02 1.62593399e+02] [ 7.76752924e-02 9.96977810e-01 1.33981973e-03 3.79317064e+00] [-1.34697406e-02 -2.94321577e-04 9.99909236e-01 -2.23311135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.555898227 meters 0.035968535623803075 Centerline is valid? [True, True] Translation: X:162.62, Y:3.80, Z:-2.24 [[ 9.97071663e-01 -7.55669048e-02 1.17363198e-02 1.62621748e+02] [ 7.55583077e-02 9.97140693e-01 1.17484346e-03 3.80022259e+00] [-1.17915413e-02 -2.84626665e-04 9.99930437e-01 -2.23694710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.585898227 meters 0.034816190417247275 Centerline is valid? [True, True] Translation: X:162.65, Y:3.81, Z:-2.24 [[ 9.97195102e-01 -7.39627855e-02 1.14645066e-02 1.62648799e+02] [ 7.39544627e-02 9.97260958e-01 1.14879192e-03 3.80840466e+00] [-1.15180727e-02 -2.97718253e-04 9.99933620e-01 -2.23705460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.615898227 meters 0.03206135012649764 Centerline is valid? [True, True] Translation: X:162.68, Y:3.82, Z:-2.24 [[ 9.97296892e-01 -7.25433663e-02 1.16777355e-02 1.62675823e+02] [ 7.25346217e-02 9.97365207e-01 1.17118705e-03 3.81741784e+00] [-1.17319289e-02 -3.20981080e-04 9.99931127e-01 -2.23737296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.645898227 meters 0.030939816699499627 Centerline is valid? [True, True] Translation: X:162.70, Y:3.82, Z:-2.24 [[ 9.97372869e-01 -7.14587547e-02 1.18746370e-02 1.62704461e+02] [ 7.14496143e-02 9.97443497e-01 1.19274178e-03 3.82029571e+00] [-1.19295113e-02 -3.41170055e-04 9.99928783e-01 -2.23911944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.675898227 meters 0.03362158430416905 Centerline is valid? [True, True] Translation: X:162.73, Y:3.83, Z:-2.24 [[ 9.97400741e-01 -7.10358627e-02 1.20692684e-02 1.62732091e+02] [ 7.10263784e-02 9.97473700e-01 1.21319439e-03 3.82809947e+00] [-1.21249582e-02 -3.52804560e-04 9.99926428e-01 -2.23903422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.705898227 meters 0.03363832952903153 Centerline is valid? [True, True] Translation: X:162.76, Y:3.83, Z:-2.24 [[ 9.97423707e-01 -7.07437429e-02 1.18857876e-02 1.62760872e+02] [ 7.07345037e-02 9.97494460e-01 1.19645561e-03 3.83127252e+00] [-1.19406490e-02 -3.52637906e-04 9.99928646e-01 -2.23975237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.735898227 meters 0.035637072766015444 Centerline is valid? [True, True] Translation: X:162.79, Y:3.83, Z:-2.24 [[ 9.97477239e-01 -7.01422762e-02 1.09187739e-02 1.62788241e+02] [ 7.01344347e-02 9.97536942e-01 1.09989879e-03 3.83497631e+00] [-1.09690297e-02 -3.31341968e-04 9.99939783e-01 -2.24184738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.765898227 meters 0.03268722801679023 Centerline is valid? [True, True] Translation: X:162.82, Y:3.83, Z:-2.24 [[ 9.97487224e-01 -7.00852772e-02 1.03582090e-02 1.62816749e+02] [ 7.00781995e-02 9.97540953e-01 1.04511736e-03 3.83284355e+00] [-1.04059850e-02 -3.16606578e-04 9.99945806e-01 -2.24404052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.795898227 meters 0.032975080794675544 Centerline is valid? [True, True] Translation: X:162.85, Y:3.84, Z:-2.24 [[ 9.97512271e-01 -6.97466696e-02 1.02309296e-02 1.62845407e+02] [ 6.97397294e-02 9.97564685e-01 1.03398530e-03 3.83500492e+00] [-1.02781311e-02 -3.17910761e-04 9.99947128e-01 -2.24455009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.825898227 meters 0.034325621227399024 Centerline is valid? [True, True] Translation: X:162.87, Y:3.84, Z:-2.24 [[ 9.97555992e-01 -6.91058787e-02 1.03160170e-02 1.62873246e+02] [ 6.90987801e-02 9.97609277e-01 1.04337966e-03 3.83874304e+00] [-1.03634579e-02 -3.28005446e-04 9.99946244e-01 -2.24446858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.855898227 meters 0.03553934943155413 Centerline is valid? [True, True] Translation: X:162.90, Y:3.84, Z:-2.24 [[ 9.97632271e-01 -6.79829404e-02 1.04005821e-02 1.62901604e+02] [ 6.79756485e-02 9.97686424e-01 1.05342401e-03 3.84248394e+00] [-1.04481344e-02 -3.43943477e-04 9.99945358e-01 -2.24432789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.885898227 meters 0.039343358730077396 Centerline is valid? [True, True] Translation: X:162.93, Y:3.85, Z:-2.24 [[ 9.97891813e-01 -6.39977415e-02 1.07804477e-02 1.62930891e+02] [ 6.39896703e-02 9.97949963e-01 1.09231327e-03 3.84949005e+00] [-1.08282530e-02 -4.00173175e-04 9.99941293e-01 -2.24466408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.915898227 meters 0.0408825707389211 Centerline is valid? [True, True] Translation: X:162.96, Y:3.85, Z:-2.25 [[ 9.98047738e-01 -6.16076085e-02 1.02574481e-02 1.62960382e+02] [ 6.16001732e-02 9.98100365e-01 1.03953622e-03 3.85464217e+00] [-1.03020060e-02 -4.05646190e-04 9.99946851e-01 -2.24594971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94589822700001 meters 0.04533899406172004 Centerline is valid? [True, True] Translation: X:162.99, Y:3.86, Z:-2.25 [[ 9.98193668e-01 -5.93248754e-02 9.48479387e-03 1.62987916e+02] [ 5.93184115e-02 9.98238649e-01 9.61622695e-04 3.86354078e+00] [-9.52513597e-03 -3.97262779e-04 9.99954556e-01 -2.24726250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.975898227 meters 0.0471988334657277 Centerline is valid? [True, True] Translation: X:163.02, Y:3.87, Z:-2.25 [[ 9.98303422e-01 -5.75786475e-02 8.65887352e-03 1.63016957e+02] [ 5.75731928e-02 9.98340902e-01 8.78117580e-04 3.86931499e+00] [-8.69506842e-03 -3.78108791e-04 9.99962126e-01 -2.24959214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.005898227 meters 0.04603389631765809 Centerline is valid? [True, True] Translation: X:163.05, Y:3.87, Z:-2.25 [[ 9.98378761e-01 -5.63949203e-02 7.71123631e-03 1.63045864e+02] [ 5.63905513e-02 9.98408480e-01 7.83002938e-04 3.87145317e+00] [-7.74312111e-03 -3.46892636e-04 9.99969961e-01 -2.25213237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.035898227 meters 0.0529898671931593 Centerline is valid? [True, True] Translation: X:163.07, Y:3.87, Z:-2.25 [[ 9.98409369e-01 -5.59980362e-02 6.55383519e-03 1.63074518e+02] [ 5.59948650e-02 9.98430834e-01 6.66512734e-04 3.87355865e+00] [-6.58087454e-03 -2.98471442e-04 9.99978301e-01 -2.25378029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.065898227 meters 0.047428662488365865 Centerline is valid? [True, True] Translation: X:163.10, Y:3.88, Z:-2.25 [[ 9.98388623e-01 -5.63501619e-02 6.69448779e-03 1.63101221e+02] [ 5.63468570e-02 9.98411021e-01 6.81414001e-04 3.88324541e+00] [-6.72224818e-03 -3.03102640e-04 9.99977359e-01 -2.25414174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.095898227 meters 0.05410861669914884 Centerline is valid? [True, True] Translation: X:163.13, Y:3.89, Z:-2.25 [[ 9.98302803e-01 -5.78141723e-02 7.00255352e-03 1.63128637e+02] [ 5.78105893e-02 9.98327315e-01 7.13177589e-04 3.88864693e+00] [-7.03207223e-03 -3.07145440e-04 9.99975228e-01 -2.25236600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.125898227 meters 0.04392694780360564 Centerline is valid? [True, True] Translation: X:163.16, Y:3.89, Z:-2.25 [[ 9.98211254e-01 -5.92425225e-02 8.03843041e-03 1.63157554e+02] [ 5.92378382e-02 9.98243561e-01 8.19801316e-04 3.88857043e+00] [-8.07287849e-03 -3.42155660e-04 9.99967355e-01 -2.25140250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.155898227 meters 0.04178230358692872 Centerline is valid? [True, True] Translation: X:163.19, Y:3.89, Z:-2.25 [[ 9.98106671e-01 -6.07949382e-02 9.33001292e-03 1.63186292e+02] [ 6.07886886e-02 9.98150203e-01 9.52222339e-04 3.89054876e+00] [-9.37064460e-03 -3.83260218e-04 9.99956021e-01 -2.25048401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.185898227 meters 0.04890421920665592 Centerline is valid? [True, True] Translation: X:163.21, Y:3.90, Z:-2.25 [[ 9.97992115e-01 -6.25387378e-02 1.00321412e-02 1.63213948e+02] [ 6.25315945e-02 9.98042459e-01 1.02444909e-03 3.89542338e+00] [-1.00765707e-02 -3.95066326e-04 9.99949152e-01 -2.24924902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.215898227 meters 0.04123038908174102 Centerline is valid? [True, True] Translation: X:163.24, Y:3.90, Z:-2.25 [[ 9.97903214e-01 -6.38650320e-02 1.05087381e-02 1.63241400e+02] [ 6.38572584e-02 9.97958465e-01 1.07395813e-03 3.89912568e+00] [-1.05558725e-02 -4.00647064e-04 9.99944205e-01 -2.24974111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.245898227 meters 0.04181932944817423 Centerline is valid? [True, True] Translation: X:163.27, Y:3.90, Z:-2.25 [[ 9.97778123e-01 -6.59213658e-02 9.65356947e-03 1.63269443e+02] [ 6.59148981e-02 9.97824760e-01 9.86971613e-04 3.90498170e+00] [-9.69763316e-03 -3.48464635e-04 9.99952916e-01 -2.25172770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.275898227 meters 0.04302515193775923 Centerline is valid? [True, True] Translation: X:163.30, Y:3.91, Z:-2.25 [[ 9.97702534e-01 -6.70460388e-02 9.72023499e-03 1.63297343e+02] [ 6.70395223e-02 9.97749825e-01 9.95058813e-04 3.91048405e+00] [-9.76507750e-03 -3.41132789e-04 9.99952262e-01 -2.25132925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.305898227 meters 0.040585827036901966 Centerline is valid? [True, True] Translation: X:163.33, Y:3.91, Z:-2.25 [[ 9.97670781e-01 -6.74873163e-02 9.92348855e-03 1.63325976e+02] [ 6.74805309e-02 9.97720072e-01 1.01740638e-03 3.91145996e+00] [-9.96952574e-03 -3.45394342e-04 9.99950243e-01 -2.25123907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.335898227 meters 0.04038365453019567 Centerline is valid? [True, True] Translation: X:163.35, Y:3.92, Z:-2.25 [[ 9.97676912e-01 -6.74765511e-02 9.36451702e-03 1.63353567e+02] [ 6.74704930e-02 9.97720806e-01 9.61701103e-04 3.91574317e+00] [-9.40806574e-03 -3.27638407e-04 9.99955689e-01 -2.25181985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.365898227 meters 0.03787082727784234 Centerline is valid? [True, True] Translation: X:163.38, Y:3.92, Z:-2.25 [[ 9.97723948e-01 -6.68472247e-02 8.85276998e-03 1.63382616e+02] [ 6.68417730e-02 9.97763172e-01 9.10591734e-04 3.91796201e+00] [-8.89383839e-03 -3.16784339e-04 9.99960399e-01 -2.25382150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.395898227 meters 0.039834596835560024 Centerline is valid? [True, True] Translation: X:163.41, Y:3.93, Z:-2.26 [[ 9.97812835e-01 -6.56186794e-02 7.98340727e-03 1.63409732e+02] [ 6.56142017e-02 9.97844728e-01 8.21794331e-04 3.92583228e+00] [-8.02012591e-03 -2.96172036e-04 9.99967794e-01 -2.25518824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.425898227 meters 0.04460835587531583 Centerline is valid? [True, True] Translation: X:163.44, Y:3.94, Z:-2.26 [[ 9.98011599e-01 -6.25762280e-02 7.55413321e-03 1.63437305e+02] [ 6.25721301e-02 9.98040141e-01 7.77837170e-04 3.94092377e+00] [-7.58800229e-03 -3.03612312e-04 9.99971165e-01 -2.25649831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.455898227 meters 0.043776765870144264 Centerline is valid? [True, True] Translation: X:163.47, Y:3.95, Z:-2.26 [[ 9.98101651e-01 -6.10906029e-02 7.81236236e-03 1.63466632e+02] [ 6.10861732e-02 9.98132172e-01 8.04608068e-04 3.94608814e+00] [-7.84692420e-03 -3.25853321e-04 9.99969159e-01 -2.25718302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.485898227 meters 0.044180809112855955 Centerline is valid? [True, True] Translation: X:163.50, Y:3.95, Z:-2.26 [[ 9.98194920e-01 -5.95058082e-02 8.12156941e-03 1.63495489e+02] [ 5.95009656e-02 9.98227897e-01 8.36809905e-04 3.95268030e+00] [-8.15697220e-03 -3.52058175e-04 9.99966669e-01 -2.25712847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.515898227 meters 0.04609090441269444 Centerline is valid? [True, True] Translation: X:163.52, Y:3.96, Z:-2.26 [[ 9.98263766e-01 -5.82666244e-02 8.62866096e-03 1.63524810e+02] [ 5.82611097e-02 9.98300983e-01 8.89313333e-04 3.96091841e+00] [-8.66581800e-03 -3.85053915e-04 9.99962377e-01 -2.25664753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.545898227 meters 0.047685208018976 Centerline is valid? [True, True] Translation: X:163.55, Y:3.97, Z:-2.26 [[ 9.98323958e-01 -5.72376450e-02 8.55146082e-03 1.63551690e+02] [ 5.72321872e-02 9.98360506e-01 8.81787118e-04 3.96886252e+00] [-8.58791217e-03 -3.90890399e-04 9.99963047e-01 -2.25677155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.575898227 meters 0.05084881368198468 Centerline is valid? [True, True] Translation: X:163.58, Y:3.98, Z:-2.26 [[ 9.98365249e-01 -5.66035241e-02 7.92908865e-03 1.63578487e+02] [ 5.65988083e-02 9.98396667e-01 8.18059007e-04 3.97860742e+00] [-7.96268070e-03 -3.67944715e-04 9.99968230e-01 -2.25765966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.605898227 meters 0.04927212968871094 Centerline is valid? [True, True] Translation: X:163.61, Y:3.99, Z:-2.26 [[ 9.98363304e-01 -5.68170844e-02 6.52161315e-03 1.63606693e+02] [ 5.68138933e-02 9.98384559e-01 6.73677648e-04 3.98508844e+00] [-6.54935427e-03 -3.02056809e-04 9.99978507e-01 -2.26144817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.635898227 meters 0.04954324604314408 Centerline is valid? [True, True] Translation: X:163.63, Y:3.99, Z:-2.26 [[ 9.98326513e-01 -5.74743088e-02 6.39349631e-03 1.63633883e+02] [ 5.74712518e-02 9.98346943e-01 6.60989807e-04 3.99079332e+00] [-6.42091743e-03 -2.92441413e-04 9.99979343e-01 -2.26214315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.665898227 meters 0.04617111858863219 Centerline is valid? [True, True] Translation: X:163.66, Y:3.99, Z:-2.26 [[ 9.98262170e-01 -5.86345913e-02 5.88429539e-03 1.63663028e+02] [ 5.86320176e-02 9.98279478e-01 6.09093798e-04 3.99163086e+00] [-5.90988530e-03 -2.63027186e-04 9.99982502e-01 -2.26345441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69589822700001 meters 0.04841735364418921 Centerline is valid? [True, True] Translation: X:163.69, Y:4.00, Z:-2.26 [[ 9.98220963e-01 -5.93870683e-02 5.29957029e-03 1.63690831e+02] [ 5.93849869e-02 9.98235003e-01 5.49392798e-04 3.99878600e+00] [-5.32284339e-03 -2.33700496e-04 9.99985806e-01 -2.26342164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.725898227 meters 0.04895815069316455 Centerline is valid? [True, True] Translation: X:163.72, Y:4.00, Z:-2.26 [[ 9.98179322e-01 -6.01456866e-02 4.53174152e-03 1.63718671e+02] [ 6.01441705e-02 9.98189590e-01 4.70200378e-04 4.00246171e+00] [-4.55181773e-03 -1.96786460e-04 9.99989621e-01 -2.26445969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.755898227 meters 0.048804006397182326 Centerline is valid? [True, True] Translation: X:163.75, Y:4.01, Z:-2.27 [[ 9.98195360e-01 -5.99543476e-02 3.39104173e-03 1.63747471e+02] [ 5.99534966e-02 9.98201109e-01 3.52164019e-04 4.00680850e+00] [-3.40605538e-03 -1.48223681e-04 9.99994188e-01 -2.26522869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.785898227 meters 0.04764020235151766 Centerline is valid? [True, True] Translation: X:163.78, Y:4.01, Z:-2.27 [[ 9.98323123e-01 -5.78288927e-02 2.60024850e-03 1.63776069e+02] [ 5.78283845e-02 9.98326502e-01 2.70288507e-04 4.01190220e+00] [-2.61152748e-03 -1.19467096e-04 9.99996583e-01 -2.26735505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.815898227 meters 0.04764020235151766 Centerline is valid? [True, True] Translation: X:163.80, Y:4.01, Z:-2.27 [[ 9.98312518e-01 -5.80116879e-02 2.60022768e-03 1.63803462e+02] [ 5.80111798e-02 9.98315897e-01 2.70488699e-04 4.01490890e+00] [-2.61154013e-03 -1.19189979e-04 9.99996583e-01 -2.26740644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.845898227 meters 0.05614747735079191 Centerline is valid? [True, True] Translation: X:163.83, Y:4.03, Z:-2.27 [[ 9.98556390e-01 -5.36470478e-02 2.67023823e-03 1.63832255e+02] [ 5.36464954e-02 9.98559951e-01 2.78124289e-04 4.02920412e+00] [-2.68131351e-03 -1.34473863e-04 9.99996396e-01 -2.26751678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.875898227 meters 0.0648454450666542 Centerline is valid? [True, True] Translation: X:163.86, Y:4.05, Z:-2.27 [[ 9.98699739e-01 -5.09363938e-02 2.07720499e-03 1.63859521e+02] [ 5.09360536e-02 9.98701893e-01 2.16360856e-04 4.04587378e+00] [-2.08552920e-03 -1.10274906e-04 9.99997819e-01 -2.26828273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.905898227 meters 0.06271906495013724 Centerline is valid? [True, True] Translation: X:163.89, Y:4.06, Z:-2.27 [[ 9.98855068e-01 -4.78198634e-02 1.34686313e-03 1.63888819e+02] [ 4.78197175e-02 9.98855973e-01 1.40315660e-04 4.05581934e+00] [-1.35203216e-03 -7.57483932e-05 9.99999083e-01 -2.26994408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.935898227 meters 0.056816794375643555 Centerline is valid? [True, True] Translation: X:163.92, Y:4.06, Z:-2.27 [[ 9.98983579e-01 -4.50736559e-02 4.17361808e-04 1.63919063e+02] [ 4.50736417e-02 9.98983666e-01 4.34675563e-05 4.05503373e+00] [-4.18896871e-04 -2.46113584e-05 9.99999912e-01 -2.27044572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.965898227 meters 0.06316353352516339 Centerline is valid? [True, True] Translation: X:163.95, Y:4.07, Z:-2.27 [[ 9.99109749e-01 -4.21854591e-02 -3.11971734e-04 1.63947088e+02] [ 4.21854510e-02 9.99109797e-01 -3.25355505e-05 4.07034167e+00] [ 3.13066543e-04 1.93459174e-05 9.99999951e-01 -2.27171107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.995898227 meters 0.06400993779032467 Centerline is valid? [True, True] Translation: X:163.98, Y:4.08, Z:-2.27 [[ 9.99219311e-01 -3.95036775e-02 -4.76862378e-04 1.63976369e+02] [ 3.95036582e-02 9.99219425e-01 -4.97037955e-05 4.07936813e+00] [ 4.78453633e-04 3.08271839e-05 9.99999885e-01 -2.27241352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.025898227 meters 0.0685149449752558 Centerline is valid? [True, True] Translation: X:164.00, Y:4.10, Z:-2.27 [[ 9.99344525e-01 -3.61973440e-02 5.23088298e-04 1.64004116e+02] [ 3.61973204e-02 9.99344661e-01 5.44966075e-05 4.09868032e+00] [-5.24718130e-04 -3.55264916e-05 9.99999862e-01 -2.27192675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.055898227 meters 0.0691817185962358 Centerline is valid? [True, True] Translation: X:164.03, Y:4.11, Z:-2.27 [[ 9.99348720e-01 -3.60390535e-02 1.82269317e-03 1.64032081e+02] [ 3.60387667e-02 9.99350375e-01 1.89959925e-04 4.10829947e+00] [-1.82835508e-03 -1.24148594e-04 9.99998321e-01 -2.26985001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.085898227 meters 0.0747928690672859 Centerline is valid? [True, True] Translation: X:164.06, Y:4.12, Z:-2.27 [[ 9.99337897e-01 -3.62630470e-02 2.95961391e-03 1.64057967e+02] [ 3.62622902e-02 9.99342259e-01 3.08997060e-04 4.12390967e+00] [-2.96887243e-03 -2.01470093e-04 9.99995573e-01 -2.26752678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.115898227 meters 0.08027378874951294 Centerline is valid? [True, True] Translation: X:164.08, Y:4.14, Z:-2.27 [[ 9.99294148e-01 -3.73732286e-02 3.80112052e-03 1.64084776e+02] [ 3.73719873e-02 9.99301344e-01 3.97075168e-04 4.14017049e+00] [-3.81330483e-03 -2.54739463e-04 9.99992697e-01 -2.26602656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.145898227 meters 0.07068997308851716 Centerline is valid? [True, True] Translation: X:164.12, Y:4.13, Z:-2.27 [[ 9.99223849e-01 -3.92364062e-02 3.49332191e-03 1.64115282e+02] [ 3.92353688e-02 9.99229930e-01 3.65033568e-04 4.13316656e+00] [-3.50495441e-03 -2.27688474e-04 9.99993832e-01 -2.26652049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.175898227 meters 0.06663852665530806 Centerline is valid? [True, True] Translation: X:164.14, Y:4.14, Z:-2.27 [[ 9.99151568e-01 -4.11019443e-02 2.60278104e-03 1.64143726e+02] [ 4.11013745e-02 9.99154944e-01 2.72025471e-04 4.14183398e+00] [-2.61176232e-03 -1.64816797e-04 9.99996576e-01 -2.26800366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.205898227 meters 0.06161407434556313 Centerline is valid? [True, True] Translation: X:164.17, Y:4.15, Z:-2.27 [[ 9.98919263e-01 -4.64745940e-02 6.46021353e-04 1.64173234e+02] [ 4.64745600e-02 9.98919472e-01 6.75266387e-05 4.14754667e+00] [-6.48461581e-04 -3.74301021e-05 9.99999789e-01 -2.27192416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.235898227 meters 0.05596206194517073 Centerline is valid? [True, True] Translation: X:164.20, Y:4.15, Z:-2.27 [[ 9.98784057e-01 -4.92979131e-02 3.50222904e-04 1.64203607e+02] [ 4.92979033e-02 9.98784119e-01 3.66044626e-05 4.14619946e+00] [-3.51601598e-04 -1.92946988e-05 9.99999938e-01 -2.27223696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.265898227 meters 0.05340088768730221 Centerline is valid? [True, True] Translation: X:164.23, Y:4.15, Z:-2.27 [[ 9.98635981e-01 -5.22068658e-02 7.88417031e-04 1.64233812e+02] [ 5.22068170e-02 9.98636291e-01 8.24074897e-05 4.14875550e+00] [-7.91644097e-04 -4.11343406e-05 9.99999686e-01 -2.27122982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.295898227 meters 0.05044461256091406 Centerline is valid? [True, True] Translation: X:164.26, Y:4.15, Z:-2.27 [[ 9.98467867e-01 -5.53171027e-02 1.39144782e-03 1.64263938e+02] [ 5.53169536e-02 9.98468835e-01 1.45462205e-04 4.15117664e+00] [-1.39736383e-03 -6.82686826e-05 9.99999021e-01 -2.27065712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.325898227 meters 0.05044461256091406 Centerline is valid? [True, True] Translation: X:164.29, Y:4.15, Z:-2.27 [[ 9.98457616e-01 -5.55018324e-02 1.39145532e-03 1.64291319e+02] [ 5.55016836e-02 9.98458583e-01 1.45390563e-04 4.15419896e+00] [-1.39737995e-03 -6.79382024e-05 9.99999021e-01 -2.27070851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.355898227 meters 0.04760222272566661 Centerline is valid? [True, True] Translation: X:164.32, Y:4.16, Z:-2.27 [[ 9.98285965e-01 -5.85132415e-02 1.15405267e-03 1.64321413e+02] [ 5.85131407e-02 9.98286631e-01 1.20872686e-04 4.15622128e+00] [-1.15914800e-03 -5.31382597e-05 9.99999327e-01 -2.27132370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.385898227 meters 0.04530229415090755 Centerline is valid? [True, True] Translation: X:164.35, Y:4.16, Z:-2.27 [[ 9.98130669e-01 -6.11115465e-02 7.39530139e-04 1.64351679e+02] [ 6.11115059e-02 9.98130942e-01 7.74434125e-05 4.15897671e+00] [-7.42880601e-04 -3.21048446e-05 9.99999724e-01 -2.27204670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.415898227 meters 0.04774622208833676 Centerline is valid? [True, True] Translation: X:164.38, Y:4.17, Z:-2.27 [[ 9.98013361e-01 -6.30024693e-02 -1.38530864e-04 1.64379880e+02] [ 6.30024679e-02 9.98013371e-01 -1.45576469e-05 4.16897316e+00] [ 1.39172823e-04 5.80093983e-06 9.99999990e-01 -2.27267001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44589822700001 meters 0.04385508688990721 Centerline is valid? [True, True] Translation: X:164.41, Y:4.17, Z:-2.27 [[ 9.98048428e-01 -6.24445771e-02 1.04582355e-04 1.64408559e+02] [ 6.24445763e-02 9.98048433e-01 1.06672409e-05 4.16928297e+00] [-1.05044366e-04 -4.11582223e-06 9.99999994e-01 -2.27108793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.475898227 meters 0.05114151031667945 Centerline is valid? [True, True] Translation: X:164.44, Y:4.18, Z:-2.27 [[ 9.98127497e-01 -6.11584657e-02 1.06810637e-03 1.64436328e+02] [ 6.11583808e-02 9.98128068e-01 1.12057554e-04 4.17900594e+00] [-1.07296022e-03 -4.65240694e-05 9.99999423e-01 -2.27053673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.505898227 meters 0.04848969080563796 Centerline is valid? [True, True] Translation: X:164.47, Y:4.19, Z:-2.27 [[ 9.98261399e-01 -5.89349883e-02 9.19894501e-04 1.64465550e+02] [ 5.89349243e-02 9.98261822e-01 9.65428994e-05 4.18675193e+00] [-9.23985315e-04 -4.21611370e-05 9.99999572e-01 -2.26986289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.535898227 meters 0.052283931885449664 Centerline is valid? [True, True] Translation: X:164.49, Y:4.20, Z:-2.27 [[ 9.98417013e-01 -5.62445948e-02 -1.20820215e-04 1.64493732e+02] [ 5.62445937e-02 9.98417020e-01 -1.27314410e-05 4.19744868e+00] [ 1.21345034e-04 5.91580343e-06 9.99999993e-01 -2.27162256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.565898227 meters 0.05629952275964286 Centerline is valid? [True, True] Translation: X:164.52, Y:4.21, Z:-2.27 [[ 9.98615551e-01 -5.25965148e-02 -7.66976763e-04 1.64523570e+02] [ 5.25964684e-02 9.98615845e-01 -8.05505042e-05 4.20850355e+00] [ 7.70151823e-04 4.00987171e-05 9.99999703e-01 -2.27376751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.595898227 meters 0.06819941336177221 Centerline is valid? [True, True] Translation: X:164.55, Y:4.23, Z:-2.28 [[ 9.98980745e-01 -4.50754289e-02 -2.38243921e-03 1.64552384e+02] [ 4.50749598e-02 9.98983576e-01 -2.50226884e-04 4.22753808e+00] [ 2.39129672e-03 1.42583488e-04 9.99997131e-01 -2.27705133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.625898227 meters 0.07211343244008184 Centerline is valid? [True, True] Translation: X:164.58, Y:4.24, Z:-2.28 [[ 9.99122882e-01 -4.17602899e-02 -3.08947659e-03 1.64580704e+02] [ 4.17594854e-02 9.99127640e-01 -3.24478611e-04 4.24272787e+00] [ 3.10033177e-03 1.95179053e-04 9.99995175e-01 -2.27843305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.655898227 meters 0.08011800566464163 Centerline is valid? [True, True] Translation: X:164.61, Y:4.26, Z:-2.28 [[ 9.99224924e-01 -3.92310530e-02 -3.23667959e-03 1.64608051e+02] [ 3.92301568e-02 9.99230143e-01 -3.39933854e-04 4.26345495e+00] [ 3.24752378e-03 2.12694932e-04 9.99994704e-01 -2.27964530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.685898227 meters 0.06387646294987323 Centerline is valid? [True, True] Translation: X:164.64, Y:4.25, Z:-2.28 [[ 9.99286115e-01 -3.76437650e-02 -3.19482434e-03 1.64639520e+02] [ 3.76428833e-02 9.99291199e-01 -3.35657544e-04 4.24998603e+00] [ 3.20519526e-03 2.15155523e-04 9.99994840e-01 -2.27763126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.715898227 meters 0.07380520864023059 Centerline is valid? [True, True] Translation: X:164.67, Y:4.27, Z:-2.28 [[ 9.99318771e-01 -3.68197006e-02 -2.51082087e-03 1.64666500e+02] [ 3.68191532e-02 9.99321910e-01 -2.63916115e-04 4.26959987e+00] [ 2.51883562e-03 1.71290029e-04 9.99996813e-01 -2.27815836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.745898227 meters 0.07121125963474129 Centerline is valid? [True, True] Translation: X:164.69, Y:4.27, Z:-2.28 [[ 9.99299530e-01 -3.73538892e-02 -2.26645687e-03 1.64694992e+02] [ 3.73534431e-02 9.99302088e-01 -2.38831462e-04 4.27349384e+00] [ 2.27379636e-03 1.54004200e-04 9.99997403e-01 -2.27745182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.775898227 meters 0.0729452961740128 Centerline is valid? [True, True] Translation: X:164.72, Y:4.29, Z:-2.28 [[ 9.99227176e-01 -3.90871715e-02 -4.15250089e-03 1.64722253e+02] [ 3.90856905e-02 9.99235767e-01 -4.37236402e-04 4.28733127e+00] [ 4.16641775e-03 2.74595130e-04 9.99991283e-01 -2.28119050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.805898227 meters 0.06853280999936288 Centerline is valid? [True, True] Translation: X:164.75, Y:4.29, Z:-2.28 [[ 9.99196623e-01 -3.97731977e-02 -4.91943310e-03 1.64750841e+02] [ 3.97711224e-02 9.99208681e-01 -5.19010767e-04 4.28897028e+00] [ 4.93618298e-03 3.22942430e-04 9.99987765e-01 -2.28282218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.835898227 meters 0.06966083408119884 Centerline is valid? [True, True] Translation: X:164.78, Y:4.30, Z:-2.28 [[ 9.99198102e-01 -3.96733870e-02 -5.40139097e-03 1.64777500e+02] [ 3.96708832e-02 9.99212638e-01 -5.69946032e-04 4.29748866e+00] [ 5.41974981e-03 3.55211043e-04 9.99985250e-01 -2.28366833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.865898227 meters 0.06949741251866523 Centerline is valid? [True, True] Translation: X:164.81, Y:4.30, Z:-2.28 [[ 9.99217803e-01 -3.91754567e-02 -5.39129653e-03 1.64805965e+02] [ 3.91729492e-02 9.99232283e-01 -5.69947775e-04 4.30412129e+00] [ 5.40948550e-03 3.58308978e-04 9.99985304e-01 -2.28344390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.895898227 meters 0.07130923252367259 Centerline is valid? [True, True] Translation: X:164.83, Y:4.31, Z:-2.28 [[ 9.99249779e-01 -3.83689142e-02 -5.26361941e-03 1.64833239e+02] [ 3.83665127e-02 9.99263579e-01 -5.56509185e-04 4.31322488e+00] [ 5.28109583e-03 3.54144960e-04 9.99985992e-01 -2.28265819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.925898227 meters 0.07134530627535095 Centerline is valid? [True, True] Translation: X:164.86, Y:4.32, Z:-2.28 [[ 9.99298374e-01 -3.71022796e-02 -5.11661789e-03 1.64862552e+02] [ 3.70999935e-02 9.99311412e-01 -5.41038964e-04 4.32038175e+00] [ 5.13316842e-03 3.50832867e-04 9.99986764e-01 -2.28220182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.955898227 meters 0.07950790987743135 Centerline is valid? [True, True] Translation: X:164.89, Y:4.34, Z:-2.28 [[ 9.99335775e-01 -3.60209036e-02 -5.52297305e-03 1.64889211e+02] [ 3.60182223e-02 9.99350963e-01 -5.84214941e-04 4.34336769e+00] [ 5.54043239e-03 3.84899219e-04 9.99984578e-01 -2.28405608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.985898227 meters 0.07369946194064128 Centerline is valid? [True, True] Translation: X:164.92, Y:4.34, Z:-2.28 [[ 9.99297782e-01 -3.70435729e-02 -5.63180215e-03 1.64918536e+02] [ 3.70407951e-02 9.99313576e-01 -5.96776049e-04 4.34468934e+00] [ 5.65004306e-03 3.87750553e-04 9.99983963e-01 -2.28399712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.015898227 meters 0.08618306401917686 Centerline is valid? [True, True] Translation: X:164.94, Y:4.37, Z:-2.29 [[ 9.99218967e-01 -3.90589472e-02 -5.98780733e-03 1.64944858e+02] [ 3.90558432e-02 9.99236828e-01 -6.34475776e-04 4.36841600e+00] [ 6.00801956e-03 4.00121366e-04 9.99981872e-01 -2.28746043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.045898227 meters 0.0699073968021354 Centerline is valid? [True, True] Translation: X:164.98, Y:4.35, Z:-2.29 [[ 9.99112681e-01 -4.16839469e-02 -6.02493646e-03 1.64976424e+02] [ 4.16808520e-02 9.99130772e-01 -6.38377763e-04 4.35497639e+00] [ 6.04630952e-03 3.86686832e-04 9.99981646e-01 -2.28559366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.075898227 meters 0.0694543840517736 Centerline is valid? [True, True] Translation: X:165.01, Y:4.36, Z:-2.29 [[ 9.98986007e-01 -4.46328000e-02 -5.90515776e-03 1.65005011e+02] [ 4.46298777e-02 9.99003395e-01 -6.25783099e-04 4.36096246e+00] [ 5.92720310e-03 3.61602090e-04 9.99982369e-01 -2.28588337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.105898227 meters 0.06037092814042024 Centerline is valid? [True, True] Translation: X:165.04, Y:4.36, Z:-2.28 [[ 9.98664576e-01 -5.13858052e-02 -5.34442980e-03 1.65035673e+02] [ 5.13835079e-02 9.98678834e-01 -5.66364512e-04 4.35880620e+00] [ 5.36647202e-03 2.90992624e-04 9.99985558e-01 -2.28399362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.135898227 meters 0.056817831289315036 Centerline is valid? [True, True] Translation: X:165.07, Y:4.36, Z:-2.28 [[ 9.98466577e-01 -5.51156499e-02 -5.17300407e-03 1.65065833e+02] [ 5.51135475e-02 9.98479943e-01 -5.48205894e-04 4.36017453e+00] [ 5.19535553e-03 2.62262658e-04 9.99986470e-01 -2.28426082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.165898227 meters 0.05110932736044101 Centerline is valid? [True, True] Translation: X:165.10, Y:4.36, Z:-2.28 [[ 9.98254169e-01 -5.88594893e-02 -4.91684844e-03 1.65096815e+02] [ 5.88576352e-02 9.98266251e-01 -5.21070261e-04 4.35841031e+00] [ 4.93899379e-03 2.30766488e-04 9.99987776e-01 -2.28399058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19589822700001 meters 0.04654013789273556 Centerline is valid? [True, True] Translation: X:165.13, Y:4.36, Z:-2.28 [[ 9.98069645e-01 -6.18958455e-02 -5.08811748e-03 1.65127354e+02] [ 6.18938990e-02 9.98082589e-01 -5.39299244e-04 4.35722638e+00] [ 5.11174185e-03 2.23334775e-04 9.99986910e-01 -2.28337577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.225898227 meters 0.04507596295595652 Centerline is valid? [True, True] Translation: X:165.16, Y:4.36, Z:-2.28 [[ 9.97902385e-01 -6.45142849e-02 -5.36072952e-03 1.65155808e+02] [ 6.45121606e-02 9.97916759e-01 -5.68427135e-04 4.35967068e+00] [ 5.38623350e-03 2.21402550e-04 9.99985470e-01 -2.28371954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.255898227 meters 0.047392672575199135 Centerline is valid? [True, True] Translation: X:165.18, Y:4.37, Z:-2.28 [[ 9.97779311e-01 -6.63487457e-02 -5.85574461e-03 1.65183341e+02] [ 6.63462408e-02 9.97796467e-01 -6.21205100e-04 4.36653554e+00] [ 5.88405747e-03 2.31318955e-04 9.99982662e-01 -2.28492177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.285898227 meters 0.041849528287908326 Centerline is valid? [True, True] Translation: X:165.21, Y:4.36, Z:-2.28 [[ 9.97598106e-01 -6.90502517e-02 -5.48462049e-03 1.65213636e+02] [ 6.90480946e-02 9.97613163e-01 -5.81923416e-04 4.36337907e+00] [ 5.51171156e-03 2.01823103e-04 9.99984790e-01 -2.28333003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.315898227 meters 0.041101489560407024 Centerline is valid? [True, True] Translation: X:165.24, Y:4.37, Z:-2.28 [[ 9.97536310e-01 -6.99824769e-02 -4.87476041e-03 1.65242028e+02] [ 6.99807787e-02 9.97548205e-01 -5.18276887e-04 4.36592709e+00] [ 4.89907880e-03 1.75860484e-04 9.99987984e-01 -2.28217047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.345898227 meters 0.04116216800191841 Centerline is valid? [True, True] Translation: X:165.27, Y:4.37, Z:-2.28 [[ 9.97508232e-01 -7.04510404e-02 -3.73874353e-03 1.65269677e+02] [ 7.04500445e-02 9.97515230e-01 -3.97591004e-04 4.36919343e+00] [ 3.75746431e-03 1.33205652e-04 9.99992932e-01 -2.28110879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.375898227 meters 0.04130060754278164 Centerline is valid? [True, True] Translation: X:165.30, Y:4.37, Z:-2.28 [[ 9.97536365e-01 -7.00865505e-02 -3.01274975e-03 1.65298177e+02] [ 7.00858999e-02 9.97540908e-01 -3.21089597e-04 4.37262621e+00] [ 3.02784518e-03 1.09147271e-04 9.99995410e-01 -2.27947828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.405898227 meters 0.04349910034019828 Centerline is valid? [True, True] Translation: X:165.33, Y:4.38, Z:-2.28 [[ 9.97619893e-01 -6.89055199e-02 -2.56466641e-03 1.65325745e+02] [ 6.89050446e-02 9.97623185e-01 -2.73332215e-04 4.37891579e+00] [ 2.57740477e-03 9.59632016e-05 9.99996674e-01 -2.27926566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.435898227 meters 0.04483657208453751 Centerline is valid? [True, True] Translation: X:165.35, Y:4.38, Z:-2.28 [[ 9.97729865e-01 -6.72821791e-02 -2.86798967e-03 1.65354672e+02] [ 6.72815779e-02 9.97733980e-01 -3.05702509e-04 4.38417679e+00] [ 2.88205908e-03 1.12045653e-04 9.99995841e-01 -2.27913287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.465898227 meters 0.054940195916033184 Centerline is valid? [True, True] Translation: X:165.38, Y:4.39, Z:-2.28 [[ 9.97957522e-01 -6.37708032e-02 -3.75073280e-03 1.65382789e+02] [ 6.37697502e-02 9.97964558e-01 -3.99784977e-04 4.39450957e+00] [ 3.76859301e-03 1.59785131e-04 9.99992886e-01 -2.28080053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.495898227 meters 0.052420699602088325 Centerline is valid? [True, True] Translation: X:165.41, Y:4.40, Z:-2.28 [[ 9.98126351e-01 -6.10752600e-02 -3.68780462e-03 1.65412240e+02] [ 6.10742236e-02 9.98133150e-01 -3.93116940e-04 4.39988444e+00] [ 3.70492976e-03 1.67150573e-04 9.99993123e-01 -2.28130661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.525898227 meters 0.0560659640532632 Centerline is valid? [True, True] Translation: X:165.44, Y:4.41, Z:-2.28 [[ 9.98274186e-01 -5.86160437e-02 -3.57884460e-03 1.65440841e+02] [ 5.86150514e-02 9.98280587e-01 -3.81604163e-04 4.40747937e+00] [ 3.59505922e-03 1.71171425e-04 9.99993523e-01 -2.28141201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.555898227 meters 0.058802012568377075 Centerline is valid? [True, True] Translation: X:165.47, Y:4.41, Z:-2.28 [[ 9.98400527e-01 -5.64514658e-02 -3.10154109e-03 1.65470372e+02] [ 5.64507101e-02 9.98405332e-01 -3.30729583e-04 4.41389352e+00] [ 3.11526533e-03 1.55116393e-04 9.99995136e-01 -2.28043267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.585898227 meters 0.05794540784243943 Centerline is valid? [True, True] Translation: X:165.50, Y:4.42, Z:-2.28 [[ 9.98510409e-01 -5.44964079e-02 -2.66527994e-03 1.65499535e+02] [ 5.44958425e-02 9.98513957e-01 -2.84347025e-04 4.41567770e+00] [ 2.67681511e-03 1.38676789e-04 9.99996408e-01 -2.27899558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.615898227 meters 0.06368297785640002 Centerline is valid? [True, True] Translation: X:165.53, Y:4.43, Z:-2.28 [[ 9.98727598e-01 -5.04067694e-02 -1.53071655e-03 1.65527565e+02] [ 5.04065783e-02 9.98728767e-01 -1.63188486e-04 4.42673584e+00] [ 1.53699646e-03 8.58226606e-05 9.99998815e-01 -2.27858130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.645898227 meters 0.07000756455454615 Centerline is valid? [True, True] Translation: X:165.56, Y:4.44, Z:-2.28 [[ 9.98823614e-01 -4.84637955e-02 -1.62774695e-03 1.65555366e+02] [ 4.84635768e-02 9.98824935e-01 -1.73603343e-04 4.43798431e+00] [ 1.63424772e-03 9.45126797e-05 9.99998660e-01 -2.27956209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.675898227 meters 0.0728164304850755 Centerline is valid? [True, True] Translation: X:165.58, Y:4.45, Z:-2.28 [[ 9.98917865e-01 -4.64660156e-02 -2.00211383e-03 1.65584514e+02] [ 4.64656805e-02 9.98919864e-01 -2.13556965e-04 4.44510358e+00] [ 2.00987441e-03 1.20296286e-04 9.99997973e-01 -2.28045017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.705898227 meters 0.06534482372710788 Centerline is valid? [True, True] Translation: X:165.62, Y:4.44, Z:-2.28 [[ 9.98983363e-01 -4.49733580e-02 -3.10452470e-03 1.65615161e+02] [ 4.49725450e-02 9.98988168e-01 -3.31230359e-04 4.43873675e+00] [ 3.11627999e-03 1.91275241e-04 9.99995126e-01 -2.28122462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.735898227 meters 0.07156001544581536 Centerline is valid? [True, True] Translation: X:165.64, Y:4.45, Z:-2.28 [[ 9.98998195e-01 -4.45056143e-02 -4.67516800e-03 1.65641973e+02] [ 4.45037630e-02 9.99009092e-01 -4.99337053e-04 4.44934010e+00] [ 4.69275864e-03 2.90774246e-04 9.99988947e-01 -2.28485222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.765898227 meters 0.07156001544581536 Centerline is valid? [True, True] Translation: X:165.67, Y:4.45, Z:-2.28 [[ 9.98990299e-01 -4.46825034e-02 -4.67506229e-03 1.65669337e+02] [ 4.46806493e-02 9.99001196e-01 -5.00326117e-04 4.45244306e+00] [ 4.69274864e-03 2.90936118e-04 9.99988947e-01 -2.28490360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.795898227 meters 0.06497847583704358 Centerline is valid? [True, True] Translation: X:165.70, Y:4.45, Z:-2.28 [[ 9.98912599e-01 -4.64787607e-02 -3.65293305e-03 1.65700139e+02] [ 4.64776414e-02 9.98919254e-01 -3.90741812e-04 4.44660887e+00] [ 3.66714635e-03 2.20537207e-04 9.99993252e-01 -2.28258303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.825898227 meters 0.06365997433622145 Centerline is valid? [True, True] Translation: X:165.73, Y:4.45, Z:-2.28 [[ 9.98847650e-01 -4.78954726e-02 -3.06533213e-03 1.65729599e+02] [ 4.78946888e-02 9.98852337e-01 -3.28609921e-04 4.44760371e+00] [ 3.07755309e-03 1.81418119e-04 9.99995248e-01 -2.28101989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.855898227 meters 0.0669876549593807 Centerline is valid? [True, True] Translation: X:165.76, Y:4.45, Z:-2.28 [[ 9.98780941e-01 -4.92860117e-02 -2.74257077e-03 1.65757704e+02] [ 4.92853899e-02 9.98784693e-01 -2.93918468e-04 4.45201405e+00] [ 2.75372377e-03 1.58391494e-04 9.99996196e-01 -2.28032088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.885898227 meters 0.06251562653814474 Centerline is valid? [True, True] Translation: X:165.79, Y:4.45, Z:-2.28 [[ 9.98718195e-01 -5.05247721e-02 -3.03559684e-03 1.65786548e+02] [ 5.05240155e-02 9.98722793e-01 -3.25474895e-04 4.45274941e+00] [ 3.04816430e-03 1.71687158e-04 9.99995340e-01 -2.28024476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.915898227 meters 0.06040678351701383 Centerline is valid? [True, True] Translation: X:165.82, Y:4.45, Z:-2.28 [[ 9.98566637e-01 -5.33978684e-02 -3.65223816e-03 1.65817078e+02] [ 5.33967926e-02 9.98573297e-01 -3.91505631e-04 4.45426932e+00] [ 3.66793307e-03 1.95926658e-04 9.99993254e-01 -2.28214734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94589822700001 meters 0.05884679385471584 Centerline is valid? [True, True] Translation: X:165.85, Y:4.45, Z:-2.28 [[ 9.98505419e-01 -5.45618913e-02 -3.15081626e-03 1.65846224e+02] [ 5.45610957e-02 9.98510377e-01 -3.37979859e-04 4.45481268e+00] [ 3.16456355e-03 1.65562733e-04 9.99994979e-01 -2.28184368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.975898227 meters 0.05703029653245641 Centerline is valid? [True, True] Translation: X:165.88, Y:4.45, Z:-2.28 [[ 9.98441689e-01 -5.57339302e-02 -2.81478308e-03 1.65875469e+02] [ 5.57332995e-02 9.98445646e-01 -3.02073467e-04 4.45453546e+00] [ 2.82724366e-03 1.44725594e-04 9.99995993e-01 -2.28120152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.005898227 meters 0.05738908850083376 Centerline is valid? [True, True] Translation: X:165.90, Y:4.46, Z:-2.28 [[ 9.98365112e-01 -5.70906591e-02 -2.78560398e-03 1.65903823e+02] [ 5.70900464e-02 9.98368988e-01 -2.99070168e-04 4.45675301e+00] [ 2.79813474e-03 1.39550962e-04 9.99996075e-01 -2.28095061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.035898227 meters 0.05241458303898627 Centerline is valid? [True, True] Translation: X:165.93, Y:4.45, Z:-2.28 [[ 9.98274380e-01 -5.86088684e-02 -3.64172068e-03 1.65933219e+02] [ 5.86078306e-02 9.98281007e-01 -3.91132836e-04 4.45240880e+00] [ 3.65838444e-03 1.77024541e-04 9.99993292e-01 -2.28142564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.065898227 meters 0.0499020416498748 Centerline is valid? [True, True] Translation: X:165.96, Y:4.45, Z:-2.28 [[ 9.98162000e-01 -6.04183125e-02 -4.71689141e-03 1.65962037e+02] [ 6.04165906e-02 9.98173121e-01 -5.06804547e-04 4.45148870e+00] [ 4.73889450e-03 2.20894543e-04 9.99988747e-01 -2.28227793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.095898227 meters 0.051478546397551186 Centerline is valid? [True, True] Translation: X:165.99, Y:4.45, Z:-2.29 [[ 9.97896753e-01 -6.46211481e-02 -5.11645785e-03 1.65991361e+02] [ 6.46191773e-02 9.97909845e-01 -5.49739660e-04 4.45300042e+00] [ 5.14128847e-03 2.17962125e-04 9.99986760e-01 -2.28523272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.125898227 meters 0.04212167947484252 Centerline is valid? [True, True] Translation: X:166.02, Y:4.44, Z:-2.28 [[ 9.97763712e-01 -6.66395661e-02 -5.17147319e-03 1.66022786e+02] [ 6.66375786e-02 9.97777091e-01 -5.55874775e-04 4.44223232e+00] [ 5.19702073e-03 2.10017228e-04 9.99986473e-01 -2.28307026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.155898227 meters 0.04913517827294787 Centerline is valid? [True, True] Translation: X:166.05, Y:4.45, Z:-2.28 [[ 9.97701124e-01 -6.75947611e-02 -4.83904168e-03 1.66049309e+02] [ 6.75930295e-02 9.97712840e-01 -5.20687570e-04 4.45304580e+00] [ 4.86316977e-03 1.92405087e-04 9.99988156e-01 -2.28418045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.185898227 meters 0.04901396565729353 Centerline is valid? [True, True] Translation: X:166.08, Y:4.45, Z:-2.28 [[ 9.97688628e-01 -6.77518719e-02 -5.20431245e-03 1.66077429e+02] [ 6.77498651e-02 9.97702180e-01 -5.61147974e-04 4.44994914e+00] [ 5.23037270e-03 2.07259486e-04 9.99986300e-01 -2.28269894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.215898227 meters 0.04901396565729353 Centerline is valid? [True, True] Translation: X:166.10, Y:4.45, Z:-2.28 [[ 9.97675946e-01 -6.79383769e-02 -5.20420757e-03 1.66104768e+02] [ 6.79363675e-02 9.97689498e-01 -5.62120105e-04 4.45307153e+00] [ 5.23037276e-03 2.07258749e-04 9.99986300e-01 -2.28275026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.245898227 meters 0.044287292943766696 Centerline is valid? [True, True] Translation: X:166.13, Y:4.46, Z:-2.28 [[ 9.97823010e-01 -6.56591475e-02 -6.17395260e-03 1.66133701e+02] [ 6.56562767e-02 9.97842076e-01 -6.66737383e-04 4.45796045e+00] [ 6.20440709e-03 2.59927161e-04 9.99980719e-01 -2.28421996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.275898227 meters 0.04825088711454524 Centerline is valid? [True, True] Translation: X:166.16, Y:4.47, Z:-2.28 [[ 9.98228825e-01 -5.90641505e-02 -7.11610747e-03 1.66163163e+02] [ 5.90601700e-02 9.98254129e-01 -7.68394535e-04 4.46880408e+00] [ 7.14906823e-03 3.46755057e-04 9.99974385e-01 -2.28491879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.305898227 meters 0.05687524401597781 Centerline is valid? [True, True] Translation: X:166.19, Y:4.48, Z:-2.28 [[ 9.98396575e-01 -5.63078602e-02 -5.80543827e-03 1.66190773e+02] [ 5.63051641e-02 9.98413409e-01 -6.26923062e-04 4.48414954e+00] [ 5.83152811e-03 2.99041683e-04 9.99982952e-01 -2.28459045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.335898227 meters 0.05687524401597781 Centerline is valid? [True, True] Translation: X:166.22, Y:4.49, Z:-2.28 [[ 9.98386262e-01 -5.64904529e-02 -5.80528820e-03 1.66218122e+02] [ 5.64877519e-02 9.98403094e-01 -6.28311495e-04 4.48728013e+00] [ 5.83151131e-03 2.99369884e-04 9.99982952e-01 -2.28464181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.365898227 meters 0.0575953547867313 Centerline is valid? [True, True] Translation: X:166.25, Y:4.49, Z:-2.28 [[ 9.98502477e-01 -5.46652577e-02 -2.12461356e-03 1.66246853e+02] [ 5.46648918e-02 9.98504730e-01 -2.29962253e-04 4.49439463e+00] [ 2.13400763e-03 1.13476109e-04 9.99997717e-01 -2.27834116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.395898227 meters 0.057922984735663444 Centerline is valid? [True, True] Translation: X:166.28, Y:4.50, Z:-2.28 [[ 9.98486316e-01 -5.49942572e-02 -8.42187375e-04 1.66275620e+02] [ 5.49941995e-02 9.98486670e-01 -9.15673868e-05 4.49899568e+00] [ 8.45948548e-04 4.51133621e-05 9.99999641e-01 -2.27668156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.425898227 meters 0.06105986874406583 Centerline is valid? [True, True] Translation: X:166.30, Y:4.51, Z:-2.28 [[ 9.98459105e-01 -5.54899961e-02 -5.25618143e-04 1.66302963e+02] [ 5.54899737e-02 9.98459243e-01 -5.70975197e-05 4.50612299e+00] [ 5.27976634e-04 2.78430015e-05 9.99999860e-01 -2.27668761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.455898227 meters 0.053890797595534196 Centerline is valid? [True, True] Translation: X:166.33, Y:4.50, Z:-2.28 [[ 9.98394000e-01 -5.66509130e-02 -3.06395259e-04 1.66332777e+02] [ 5.66509054e-02 9.98394047e-01 -3.33236945e-05 4.49944384e+00] [ 3.07791020e-04 1.59126078e-05 9.99999953e-01 -2.27672229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.485898227 meters 0.05593394431097173 Centerline is valid? [True, True] Translation: X:166.36, Y:4.50, Z:-2.28 [[ 9.98314527e-01 -5.80351710e-02 -1.57096144e-04 1.66360340e+02] [ 5.80351690e-02 9.98314539e-01 -1.71597309e-05 4.50425814e+00] [ 1.57827232e-04 8.01370740e-06 9.99999988e-01 -2.27716417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.515898227 meters 0.05346317453306493 Centerline is valid? [True, True] Translation: X:166.39, Y:4.50, Z:-2.28 [[ 9.98242005e-01 -5.92689429e-02 3.03715955e-04 1.66389455e+02] [ 5.92689356e-02 9.98242051e-01 3.28912629e-05 4.50306471e+00] [-3.05131468e-04 -1.48325188e-05 9.99999953e-01 -2.27664682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.545898227 meters 0.049050455915077014 Centerline is valid? [True, True] Translation: X:166.42, Y:4.50, Z:-2.28 [[ 9.98163878e-01 -6.05671605e-02 7.01154012e-04 1.66418926e+02] [ 6.05671220e-02 9.98164124e-01 7.60753935e-05 4.49770081e+00] [-7.04474450e-04 -3.34688293e-05 9.99999751e-01 -2.27573894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.575898227 meters 0.052803336712677666 Centerline is valid? [True, True] Translation: X:166.45, Y:4.50, Z:-2.28 [[ 9.98165527e-01 -6.05415987e-02 5.43711502e-04 1.66446581e+02] [ 6.05415756e-02 9.98165675e-01 5.89836210e-05 4.50370763e+00] [-5.46285121e-04 -2.59582662e-05 9.99999850e-01 -2.27555660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.605898227 meters 0.05192816737791408 Centerline is valid? [True, True] Translation: X:166.48, Y:4.50, Z:-2.28 [[ 9.98184570e-01 -6.02292640e-02 -1.52608826e-05 1.66475272e+02] [ 6.02292640e-02 9.98184570e-01 -1.96547892e-06 4.50394218e+00] [ 1.53515569e-05 1.04275901e-06 1.00000000e+00 -2.27577755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.635898227 meters 0.05147353747305423 Centerline is valid? [True, True] Translation: X:166.50, Y:4.50, Z:-2.28 [[ 9.98218987e-01 -5.96549398e-02 -3.76885617e-04 1.66504164e+02] [ 5.96549284e-02 9.98219058e-01 -4.13954881e-05 4.50495030e+00] [ 3.78683851e-04 1.88386777e-05 9.99999928e-01 -2.27682954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.665898227 meters 0.05205785219855626 Centerline is valid? [True, True] Translation: X:166.53, Y:4.51, Z:-2.28 [[ 9.98276485e-01 -5.86811451e-02 -7.63615545e-04 1.66533099e+02] [ 5.86810982e-02 9.98276776e-01 -8.36837324e-05 4.50749315e+00] [ 7.67210321e-04 3.87297034e-05 9.99999705e-01 -2.27754543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69589822700001 meters 0.053189046590239396 Centerline is valid? [True, True] Translation: X:166.56, Y:4.51, Z:-2.28 [[ 9.98346398e-01 -5.74833636e-02 -3.65346067e-04 1.66562917e+02] [ 5.74833529e-02 9.98346464e-01 -3.99427026e-05 4.51089951e+00] [ 3.67037995e-04 1.88753363e-05 9.99999932e-01 -2.27725424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.725898227 meters 0.05959187050180544 Centerline is valid? [True, True] Translation: X:166.59, Y:4.51, Z:-2.28 [[ 9.98491126e-01 -5.48960184e-02 1.37788197e-03 1.66592903e+02] [ 5.48958629e-02 9.98492074e-01 1.50469534e-04 4.51376930e+00] [-1.38406440e-03 -7.46024743e-05 9.99999039e-01 -2.27523561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.755898227 meters 0.05986810678803359 Centerline is valid? [True, True] Translation: X:166.62, Y:4.52, Z:-2.28 [[ 9.98579249e-01 -5.32770322e-02 1.02011391e-03 1.66621105e+02] [ 5.32769462e-02 9.98579769e-01 1.11386625e-04 4.52043564e+00] [-1.02459946e-03 -5.68798184e-05 9.99999473e-01 -2.27528203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.785898227 meters 0.06186189767673085 Centerline is valid? [True, True] Translation: X:166.65, Y:4.52, Z:-2.28 [[ 9.98614048e-01 -5.26304295e-02 -1.43445377e-04 1.66648170e+02] [ 5.26304278e-02 9.98614058e-01 -1.58793450e-05 4.52478905e+00] [ 1.44082307e-04 8.30774541e-06 9.99999990e-01 -2.27715324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.815898227 meters 0.062427340253960364 Centerline is valid? [True, True] Translation: X:166.68, Y:4.53, Z:-2.28 [[ 9.98644084e-01 -5.20350325e-02 -1.53244111e-03 1.66677023e+02] [ 5.20348355e-02 9.98645256e-01 -1.68132818e-04 4.52735119e+00] [ 1.53911384e-03 8.81645228e-05 9.99998812e-01 -2.27944618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.845898227 meters 0.06406803062881981 Centerline is valid? [True, True] Translation: X:166.71, Y:4.53, Z:-2.28 [[ 9.98677292e-01 -5.13664004e-02 -2.27128113e-03 1.66705869e+02] [ 5.13659656e-02 9.98679866e-01 -2.49414344e-04 4.53126346e+00] [ 2.28109425e-03 1.32417894e-04 9.99997390e-01 -2.28127703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.875898227 meters 0.065103094749698 Centerline is valid? [True, True] Translation: X:166.74, Y:4.53, Z:-2.28 [[ 9.98750669e-01 -4.99074707e-02 -2.51898267e-03 1.66735476e+02] [ 4.99069318e-02 9.98753834e-01 -2.76385109e-04 4.53429774e+00] [ 2.52963728e-03 1.50325117e-04 9.99996789e-01 -2.28139486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.905898227 meters 0.07060325886303266 Centerline is valid? [True, True] Translation: X:166.76, Y:4.54, Z:-2.28 [[ 9.98951015e-01 -4.57318936e-02 -2.33758735e-03 1.66763816e+02] [ 4.57314180e-02 9.98953738e-01 -2.56534201e-04 4.54390145e+00] [ 2.34687341e-03 1.49363917e-04 9.99997235e-01 -2.28016074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.935898227 meters 0.06830494764777542 Centerline is valid? [True, True] Translation: X:166.79, Y:4.55, Z:-2.28 [[ 9.99053226e-01 -4.34335135e-02 -2.48646368e-03 1.66793469e+02] [ 4.34329683e-02 9.99056306e-01 -2.72880273e-04 4.54570264e+00] [ 2.49596937e-03 1.64627419e-04 9.99996872e-01 -2.28041911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.965898227 meters 0.07337102540838773 Centerline is valid? [True, True] Translation: X:166.82, Y:4.56, Z:-2.28 [[ 9.99166888e-01 -4.07025764e-02 -2.97161445e-03 1.66821767e+02] [ 4.07017857e-02 9.99171286e-01 -3.26092125e-04 4.55720762e+00] [ 2.98242462e-03 2.04870439e-04 9.99995532e-01 -2.28203654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.995898227 meters 0.07289214244693877 Centerline is valid? [True, True] Translation: X:166.85, Y:4.56, Z:-2.28 [[ 9.99255195e-01 -3.84792671e-02 -2.89833842e-03 1.66851503e+02] [ 3.84785055e-02 9.99259377e-01 -3.18107114e-04 4.56179710e+00] [ 2.90843237e-03 2.06346456e-04 9.99995749e-01 -2.28235319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.025898227 meters 0.07653685236331367 Centerline is valid? [True, True] Translation: X:166.88, Y:4.57, Z:-2.28 [[ 9.99325050e-01 -3.66283092e-02 -2.79478346e-03 1.66879611e+02] [ 3.66275936e-02 9.99328937e-01 -3.06829724e-04 4.57132966e+00] [ 2.80414664e-03 2.04256437e-04 9.99996048e-01 -2.28231932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.055898227 meters 0.07840123679489137 Centerline is valid? [True, True] Translation: X:166.91, Y:4.58, Z:-2.28 [[ 9.99385866e-01 -3.48796881e-02 -3.36138178e-03 1.66909467e+02] [ 3.48786433e-02 9.99391487e-01 -3.68982540e-04 4.58033511e+00] [ 3.37220634e-03 2.51515499e-04 9.99994282e-01 -2.28297908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.085898227 meters 0.08440069870286768 Centerline is valid? [True, True] Translation: X:166.94, Y:4.59, Z:-2.28 [[ 9.99370915e-01 -3.52985231e-02 -3.43348294e-03 1.66935882e+02] [ 3.52974343e-02 9.99376780e-01 -3.77199339e-04 4.59214564e+00] [ 3.44465770e-03 2.55768910e-04 9.99994034e-01 -2.28404542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.115898227 meters 0.0822676987428652 Centerline is valid? [True, True] Translation: X:166.97, Y:4.59, Z:-2.28 [[ 9.99319446e-01 -3.66956427e-02 -3.75150206e-03 1.66965476e+02] [ 3.66943527e-02 9.99326450e-01 -4.12145993e-04 4.59304402e+00] [ 3.76409920e-03 2.74206566e-04 9.99992878e-01 -2.28458970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.145898227 meters 0.07547006945877614 Centerline is valid? [True, True] Translation: X:167.00, Y:4.59, Z:-2.28 [[ 9.99238904e-01 -3.88180521e-02 -3.84335542e-03 1.66996723e+02] [ 3.88167137e-02 9.99246258e-01 -4.22251859e-04 4.58841228e+00] [ 3.85684952e-03 2.72744058e-04 9.99992525e-01 -2.28423946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.175898227 meters 0.07542590136329395 Centerline is valid? [True, True] Translation: X:167.03, Y:4.59, Z:-2.28 [[ 9.99147397e-01 -4.11131916e-02 -3.76627930e-03 1.67025341e+02] [ 4.11119220e-02 9.99154462e-01 -4.13912048e-04 4.59272376e+00] [ 3.78011201e-03 2.58720164e-04 9.99992822e-01 -2.28465609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.205898227 meters 0.06748797226571379 Centerline is valid? [True, True] Translation: X:167.06, Y:4.59, Z:-2.28 [[ 9.99046220e-01 -4.34971821e-02 -3.82702301e-03 1.67056719e+02] [ 4.34958889e-02 9.99053517e-01 -4.20555807e-04 4.58701953e+00] [ 3.84169379e-03 2.53694922e-04 9.99992588e-01 -2.28450549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.235898227 meters 0.065016299656635 Centerline is valid? [True, True] Translation: X:167.09, Y:4.59, Z:-2.28 [[ 9.98805033e-01 -4.87413172e-02 -3.57619065e-03 1.67085858e+02] [ 4.87402212e-02 9.98811412e-01 -3.93058893e-04 4.58946525e+00] [ 3.59109824e-03 2.18284878e-04 9.99993528e-01 -2.28475145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.265898227 meters 0.06554079697473877 Centerline is valid? [True, True] Translation: X:167.11, Y:4.59, Z:-2.28 [[ 9.98668433e-01 -5.14889206e-02 -3.20179536e-03 1.67114638e+02] [ 5.14880559e-02 9.98673548e-01 -3.51958096e-04 4.59438858e+00] [ 3.21567028e-03 1.86635222e-04 9.99994812e-01 -2.28482447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.295898227 meters 0.05912607234867798 Centerline is valid? [True, True] Translation: X:167.15, Y:4.59, Z:-2.28 [[ 9.98514650e-01 -5.43891636e-02 -3.21131620e-03 1.67145911e+02] [ 5.43883087e-02 9.98519798e-01 -3.52991568e-04 4.58986573e+00] [ 3.22576172e-03 1.77809195e-04 9.99994781e-01 -2.28444414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.325898227 meters 0.05604687009157434 Centerline is valid? [True, True] Translation: X:167.18, Y:4.59, Z:-2.28 [[ 9.98361386e-01 -5.71163003e-02 -3.50315402e-03 1.67176091e+02] [ 5.71152996e-02 9.98367515e-01 -3.85127200e-04 4.58897500e+00] [ 3.51943221e-03 1.84412433e-04 9.99993790e-01 -2.28463519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.355898227 meters 0.05403791537330951 Centerline is valid? [True, True] Translation: X:167.21, Y:4.59, Z:-2.28 [[ 9.98204859e-01 -5.97974613e-02 -3.36509621e-03 1.67205469e+02] [ 5.97965528e-02 9.98210517e-01 -3.70050562e-04 4.58933959e+00] [ 3.38120251e-03 1.68165116e-04 9.99994270e-01 -2.28477769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.385898227 meters 0.051058775030393036 Centerline is valid? [True, True] Translation: X:167.24, Y:4.59, Z:-2.28 [[ 9.98035829e-01 -6.25598349e-02 -3.27896339e-03 1.67236138e+02] [ 6.25589870e-02 9.98041203e-01 -3.60596596e-04 4.58782912e+00] [ 3.29509943e-03 1.54759694e-04 9.99994559e-01 -2.28426360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.415898227 meters 0.0475564573232713 Centerline is valid? [True, True] Translation: X:167.27, Y:4.58, Z:-2.28 [[ 9.97735290e-01 -6.72185498e-02 -2.44103537e-03 1.67266077e+02] [ 6.72180937e-02 9.97738270e-01 -2.68490515e-04 4.58319096e+00] [ 2.45356195e-03 1.03800717e-04 9.99996985e-01 -2.28339626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44589822700001 meters 0.044647718849995625 Centerline is valid? [True, True] Translation: X:167.30, Y:4.58, Z:-2.28 [[ 9.97648594e-01 -6.84963812e-02 -2.35130128e-03 1.67295311e+02] [ 6.84959612e-02 9.97651360e-01 -2.58794010e-04 4.58144202e+00] [ 2.36350537e-03 9.71308387e-05 9.99997202e-01 -2.28288961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.475898227 meters 0.045184067364588694 Centerline is valid? [True, True] Translation: X:167.32, Y:4.58, Z:-2.28 [[ 9.97636369e-01 -6.86671764e-02 -2.54846698e-03 1.67321714e+02] [ 6.86666823e-02 9.97639618e-01 -2.80972982e-04 4.58414116e+00] [ 2.56174525e-03 1.05314092e-04 9.99996713e-01 -2.28331273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.505898227 meters 0.04628417414593363 Centerline is valid? [True, True] Translation: X:167.35, Y:4.59, Z:-2.28 [[ 9.97696321e-01 -6.78017897e-02 -2.22919881e-03 1.67349812e+02] [ 6.78014095e-02 9.97698806e-01 -2.45800824e-04 4.58787550e+00] [ 2.24073472e-03 9.40917569e-05 9.99997485e-01 -2.28368196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.535898227 meters 0.04783369205347972 Centerline is valid? [True, True] Translation: X:167.38, Y:4.59, Z:-2.28 [[ 9.97795998e-01 -6.63124432e-02 -2.40980474e-03 1.67379233e+02] [ 6.63119946e-02 9.97798902e-01 -2.65697891e-04 4.59263000e+00] [ 2.42211960e-03 1.05313333e-04 9.99997061e-01 -2.28327609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.565898227 meters 0.052754516316831555 Centerline is valid? [True, True] Translation: X:167.41, Y:4.60, Z:-2.28 [[ 9.97919846e-01 -6.44267224e-02 -2.27563992e-03 1.67407128e+02] [ 6.44263172e-02 9.97922435e-01 -2.51008485e-04 4.60251536e+00] [ 2.28708379e-03 1.03875249e-04 9.99997379e-01 -2.28293411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.595898227 meters 0.052549969028436776 Centerline is valid? [True, True] Translation: X:167.44, Y:4.61, Z:-2.28 [[ 9.98031051e-01 -6.26711741e-02 -2.51896336e-03 1.67436007e+02] [ 6.26706718e-02 9.98034223e-01 -2.77927270e-04 4.60600022e+00] [ 2.53142967e-03 1.19514919e-04 9.99996789e-01 -2.28230393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.625898227 meters 0.06044148545894041 Centerline is valid? [True, True] Translation: X:167.46, Y:4.62, Z:-2.29 [[ 9.98283970e-01 -5.84163142e-02 -4.08032882e-03 1.67463626e+02] [ 5.84149617e-02 9.98292287e-01 -4.49954981e-04 4.62029621e+00] [ 4.09964550e-03 2.10830594e-04 9.99991574e-01 -2.28517532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.655898227 meters 0.053221656220366925 Centerline is valid? [True, True] Translation: X:167.49, Y:4.62, Z:-2.29 [[ 9.98360580e-01 -5.70011319e-02 -5.19835042e-03 1.67494304e+02] [ 5.69989165e-02 9.98374076e-01 -5.73469828e-04 4.61500255e+00] [ 5.22258672e-03 2.76229329e-04 9.99986324e-01 -2.28608790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.685898227 meters 0.06385518843387561 Centerline is valid? [True, True] Translation: X:167.52, Y:4.63, Z:-2.29 [[ 9.98401682e-01 -5.62854692e-02 -5.10161829e-03 1.67520421e+02] [ 5.62833241e-02 9.98414679e-01 -5.63173020e-04 4.63195087e+00] [ 5.12522904e-03 2.75136855e-04 9.99986828e-01 -2.28902775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.715898227 meters 0.05826581705951451 Centerline is valid? [True, True] Translation: X:167.55, Y:4.63, Z:-2.29 [[ 9.98392782e-01 -5.64492233e-02 -5.03365262e-03 1.67549375e+02] [ 5.64471312e-02 9.98405434e-01 -5.56842176e-04 4.62838562e+00] [ 5.05705944e-03 2.71811959e-04 9.99987176e-01 -2.28855027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.745898227 meters 0.05759045318443138 Centerline is valid? [True, True] Translation: X:167.58, Y:4.63, Z:-2.29 [[ 9.98348327e-01 -5.71989850e-02 -5.37529847e-03 1.67578010e+02] [ 5.71966057e-02 9.98362757e-01 -5.95447206e-04 4.63141870e+00] [ 5.40055677e-03 2.87014895e-04 9.99985376e-01 -2.28920790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.775898227 meters 0.058089060738224715 Centerline is valid? [True, True] Translation: X:167.61, Y:4.64, Z:-2.29 [[ 9.98277417e-01 -5.83726052e-02 -5.90228213e-03 1.67605784e+02] [ 5.83697552e-02 9.98294818e-01 -6.54115099e-04 4.63632146e+00] [ 5.93040007e-03 3.08473568e-04 9.99982367e-01 -2.29052205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.805898227 meters 0.05428083683633268 Centerline is valid? [True, True] Translation: X:167.64, Y:4.64, Z:-2.29 [[ 9.98136861e-01 -6.06608748e-02 -6.56235788e-03 1.67635902e+02] [ 6.06574015e-02 9.98158380e-01 -7.27199507e-04 4.63532013e+00] [ 6.59438506e-03 3.27789057e-04 9.99978203e-01 -2.29095195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.835898227 meters 0.054330629598773474 Centerline is valid? [True, True] Translation: X:167.66, Y:4.64, Z:-2.29 [[ 9.98076437e-01 -6.16810552e-02 -6.23485254e-03 1.67663922e+02] [ 6.16779370e-02 9.98095864e-01 -6.91354680e-04 4.63792769e+00] [ 6.26562402e-03 3.05471974e-04 9.99980324e-01 -2.29083683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.865898227 meters 0.05805666786442122 Centerline is valid? [True, True] Translation: X:167.69, Y:4.64, Z:-2.29 [[ 9.98017177e-01 -6.26592837e-02 -5.96054238e-03 1.67691647e+02] [ 6.26564492e-02 9.98034935e-01 -6.61283531e-04 4.64176245e+00] [ 5.99026508e-03 2.86505902e-04 9.99982017e-01 -2.29044500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.895898227 meters 0.04742031123018974 Centerline is valid? [True, True] Translation: X:167.72, Y:4.63, Z:-2.29 [[ 9.97986631e-01 -6.30912743e-02 -6.49425889e-03 1.67721687e+02] [ 6.30879099e-02 9.98007713e-01 -7.21814585e-04 4.63408687e+00] [ 6.52686066e-03 3.10652086e-04 9.99978652e-01 -2.28905492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.925898227 meters 0.05514114833415463 Centerline is valid? [True, True] Translation: X:167.75, Y:4.65, Z:-2.29 [[ 9.97962351e-01 -6.35365074e-02 -5.85304222e-03 1.67748352e+02] [ 6.35337812e-02 9.97979476e-01 -6.50729420e-04 4.64634113e+00] [ 5.88256109e-03 2.77537558e-04 9.99982659e-01 -2.29050172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.955898227 meters 0.05176843959338183 Centerline is valid? [True, True] Translation: X:167.78, Y:4.64, Z:-2.29 [[ 9.97946245e-01 -6.38185491e-02 -5.52138381e-03 1.67777749e+02] [ 6.38161213e-02 9.97961484e-01 -6.14954012e-04 4.64376558e+00] [ 5.54937385e-03 2.61337748e-04 9.99984568e-01 -2.28933247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.985898227 meters 0.04877088345171675 Centerline is valid? [True, True] Translation: X:167.81, Y:4.64, Z:-2.29 [[ 9.97909323e-01 -6.44597270e-02 -4.68267940e-03 1.67807161e+02] [ 6.44579838e-02 9.97920285e-01 -5.22381434e-04 4.64097963e+00] [ 4.70661333e-03 2.19453229e-04 9.99988900e-01 -2.28743435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.015898227 meters 0.051371348908299454 Centerline is valid? [True, True] Translation: X:167.83, Y:4.64, Z:-2.29 [[ 9.97887663e-01 -6.48564081e-02 -3.72280661e-03 1.67834660e+02] [ 6.48553088e-02 9.97894592e-01 -4.15386707e-04 4.64418179e+00] [ 3.74190907e-03 1.73065498e-04 9.99992984e-01 -2.28652813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.045898227 meters 0.04944547063938108 Centerline is valid? [True, True] Translation: X:167.86, Y:4.64, Z:-2.29 [[ 9.97849884e-01 -6.54646137e-02 -3.16129457e-03 1.67863699e+02] [ 6.54638218e-02 9.97854881e-01 -3.53468591e-04 4.64102003e+00] [ 3.17765290e-03 1.45758169e-04 9.99994941e-01 -2.28528329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.075898227 meters 0.05113761762642373 Centerline is valid? [True, True] Translation: X:167.89, Y:4.64, Z:-2.29 [[ 9.97774524e-01 -6.64878762e-02 -5.03606091e-03 1.67893613e+02] [ 6.64858760e-02 9.97787207e-01 -5.63740612e-04 4.63537315e+00] [ 5.06239907e-03 2.27659100e-04 9.99987160e-01 -2.28756185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.105898227 meters 0.05560115757758892 Centerline is valid? [True, True] Translation: X:167.92, Y:4.64, Z:-2.29 [[ 9.97729037e-01 -6.70888882e-02 -5.98755467e-03 1.67920723e+02] [ 6.70860710e-02 9.97746967e-01 -6.70344966e-04 4.64005556e+00] [ 6.01903721e-03 2.67141119e-04 9.99981850e-01 -2.29077680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.135898227 meters 0.05560115757758892 Centerline is valid? [True, True] Translation: X:167.95, Y:4.64, Z:-2.29 [[ 9.97717120e-01 -6.72658923e-02 -5.98741080e-03 1.67948056e+02] [ 6.72630706e-02 9.97735049e-01 -6.71629127e-04 4.64330298e+00] [ 6.01902734e-03 2.67364242e-04 9.99981850e-01 -2.29082814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.165898227 meters 0.05116405728697183 Centerline is valid? [True, True] Translation: X:167.98, Y:4.64, Z:-2.29 [[ 9.97687719e-01 -6.76534032e-02 -6.49865172e-03 1.67976262e+02] [ 6.76500796e-02 9.97708842e-01 -7.30138220e-04 4.63864445e+00] [ 6.53315862e-03 2.88815629e-04 9.99978617e-01 -2.29223733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19589822700001 meters 0.043632345047760604 Centerline is valid? [True, True] Translation: X:168.01, Y:4.63, Z:-2.29 [[ 9.97662275e-01 -6.79776429e-02 -7.00180108e-03 1.68006249e+02] [ 6.79737830e-02 9.97686796e-01 -7.88049788e-04 4.62682868e+00] [ 7.03917425e-03 3.10268637e-04 9.99975177e-01 -2.29093257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.225898227 meters 0.05159695547303865 Centerline is valid? [True, True] Translation: X:168.03, Y:4.63, Z:-2.29 [[ 9.97677227e-01 -6.77729749e-02 -6.85384840e-03 1.68033658e+02] [ 6.77692704e-02 9.97700722e-01 -7.71573689e-04 4.63487442e+00] [ 6.89038134e-03 3.05301193e-04 9.99976214e-01 -2.29269634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.255898227 meters 0.04939759900914355 Centerline is valid? [True, True] Translation: X:168.06, Y:4.63, Z:-2.29 [[ 9.97750709e-01 -6.67677931e-02 -5.96534932e-03 1.68063343e+02] [ 6.67649618e-02 9.97768504e-01 -6.72730194e-04 4.62698673e+00] [ 5.99695437e-03 2.72940709e-04 9.99981981e-01 -2.28962314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.285898227 meters 0.048209363467223786 Centerline is valid? [True, True] Translation: X:168.09, Y:4.63, Z:-2.29 [[ 9.97854475e-01 -6.52323576e-02 -5.58453391e-03 1.68093561e+02] [ 6.52298529e-02 9.97870067e-01 -6.29678831e-04 4.62520117e+00] [ 5.61371466e-03 2.64049514e-04 9.99984208e-01 -2.28855614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.315898227 meters 0.055613121895456884 Centerline is valid? [True, True] Translation: X:168.12, Y:4.63, Z:-2.29 [[ 9.97976458e-01 -6.34045403e-02 -4.78053126e-03 1.68121486e+02] [ 6.34026830e-02 9.97987880e-01 -5.39223318e-04 4.63415510e+00] [ 4.80510146e-03 2.35033669e-04 9.99988428e-01 -2.28873593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.345898227 meters 0.05333217710003495 Centerline is valid? [True, True] Translation: X:168.15, Y:4.63, Z:-2.29 [[ 9.98107995e-01 -6.13110138e-02 -4.62499957e-03 1.68151249e+02] [ 6.13092522e-02 9.98118682e-01 -5.21843734e-04 4.63049958e+00] [ 4.64829325e-03 2.37301137e-04 9.99989168e-01 -2.28750264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.375898227 meters 0.060582398175809175 Centerline is valid? [True, True] Translation: X:168.18, Y:4.64, Z:-2.29 [[ 9.98221962e-01 -5.94060420e-02 -4.88234806e-03 1.68178930e+02] [ 5.94040553e-02 9.98233868e-01 -5.51048018e-04 4.63957806e+00] [ 4.90646077e-03 2.60036959e-04 9.99987929e-01 -2.28930663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.405898227 meters 0.05611711567587052 Centerline is valid? [True, True] Translation: X:168.21, Y:4.63, Z:-2.29 [[ 9.98319824e-01 -5.76473059e-02 -5.85800522e-03 1.68209038e+02] [ 5.76444145e-02 9.98336959e-01 -6.61360889e-04 4.63416519e+00] [ 5.88638879e-03 3.22568406e-04 9.99982623e-01 -2.28945699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.435898227 meters 0.06029720270705416 Centerline is valid? [True, True] Translation: X:168.24, Y:4.64, Z:-2.29 [[ 9.98471906e-01 -5.49500579e-02 -5.86039950e-03 1.68237681e+02] [ 5.49471172e-02 9.98489047e-01 -6.61747823e-04 4.63812272e+00] [ 5.88790779e-03 3.38724552e-04 9.99982609e-01 -2.29078035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.465898227 meters 0.06822434563266659 Centerline is valid? [True, True] Translation: X:168.27, Y:4.65, Z:-2.29 [[ 9.98534406e-01 -5.38480021e-02 -5.42523946e-03 1.68265197e+02] [ 5.38454646e-02 9.98549093e-01 -6.12821851e-04 4.64868417e+00] [ 5.45036717e-03 3.19799163e-04 9.99985096e-01 -2.29168837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.495898227 meters 0.060489329138373876 Centerline is valid? [True, True] Translation: X:168.30, Y:4.64, Z:-2.29 [[ 9.98537098e-01 -5.37973133e-02 -5.43263536e-03 1.68295188e+02] [ 5.37947619e-02 9.98551824e-01 -6.14792269e-04 4.63973645e+00] [ 5.45784213e-03 3.21645563e-04 9.99985054e-01 -2.29103278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.525898227 meters 0.058215240831299954 Centerline is valid? [True, True] Translation: X:168.32, Y:4.64, Z:-2.29 [[ 9.98528067e-01 -5.38978149e-02 -6.06009831e-03 1.68324319e+02] [ 5.38946359e-02 9.98546392e-01 -6.86784046e-04 4.63726294e+00] [ 6.08830546e-03 3.59166354e-04 9.99981402e-01 -2.29120226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.555898227 meters 0.06445538902412726 Centerline is valid? [True, True] Translation: X:168.35, Y:4.64, Z:-2.29 [[ 9.98508157e-01 -5.42197613e-02 -6.45586025e-03 1.68351947e+02] [ 5.42161592e-02 9.98528954e-01 -7.31798197e-04 4.64083256e+00] [ 6.48604131e-03 3.80694522e-04 9.99978893e-01 -2.29120760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.585898227 meters 0.061546021487919204 Centerline is valid? [True, True] Translation: X:168.38, Y:4.64, Z:-2.29 [[ 9.98491472e-01 -5.45552566e-02 -6.20517558e-03 1.68379679e+02] [ 5.45519315e-02 9.98510687e-01 -7.03977947e-04 4.64215967e+00] [ 6.23433982e-03 3.64411663e-04 9.99980500e-01 -2.29212194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.615898227 meters 0.05878071325250299 Centerline is valid? [True, True] Translation: X:168.41, Y:4.64, Z:-2.29 [[ 9.98439552e-01 -5.56489168e-02 -4.65382769e-03 1.68409015e+02] [ 5.56470575e-02 9.98450362e-01 -5.28162019e-04 4.63658428e+00] [ 4.67600759e-03 2.68366033e-04 9.99989031e-01 -2.28993215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.645898227 meters 0.05877567803784961 Centerline is valid? [True, True] Translation: X:168.44, Y:4.64, Z:-2.29 [[ 9.98406186e-01 -5.62783014e-02 -4.22389173e-03 1.68436606e+02] [ 5.62767735e-02 9.98415091e-01 -4.79814122e-04 4.63743796e+00] [ 4.24420037e-03 2.41342389e-04 9.99990964e-01 -2.28975893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.675898227 meters 0.05938879976953077 Centerline is valid? [True, True] Translation: X:168.46, Y:4.64, Z:-2.29 [[ 9.98379765e-01 -5.67117274e-02 -4.65023604e-03 1.68464740e+02] [ 5.67098792e-02 9.98390560e-01 -5.28445671e-04 4.64000489e+00] [ 4.67272083e-03 2.63875140e-04 9.99989048e-01 -2.29046879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.705898227 meters 0.0627897197674887 Centerline is valid? [True, True] Translation: X:168.49, Y:4.65, Z:-2.29 [[ 9.98355658e-01 -5.70319842e-02 -5.77346557e-03 1.68492006e+02] [ 5.70291378e-02 9.98372298e-01 -6.56586410e-04 4.64601216e+00] [ 5.80151451e-03 3.26250994e-04 9.99983118e-01 -2.29313789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.735898227 meters 0.05842530421125693 Centerline is valid? [True, True] Translation: X:168.52, Y:4.64, Z:-2.29 [[ 9.98305110e-01 -5.77855730e-02 -6.90899672e-03 1.68521367e+02] [ 5.77815062e-02 9.98328943e-01 -7.86963857e-04 4.64255798e+00] [ 6.94292655e-03 3.86417804e-04 9.99975823e-01 -2.29395232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.765898227 meters 0.06328839074315744 Centerline is valid? [True, True] Translation: X:168.55, Y:4.65, Z:-2.30 [[ 9.98252887e-01 -5.86729529e-02 -6.97549830e-03 1.68548760e+02] [ 5.86688211e-02 9.98277184e-01 -7.95664154e-04 4.65126852e+00] [ 7.01016477e-03 3.85029776e-04 9.99975354e-01 -2.29621936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.795898227 meters 0.05669084398910018 Centerline is valid? [True, True] Translation: X:168.58, Y:4.64, Z:-2.30 [[ 9.98145399e-01 -6.05286237e-02 -6.48450693e-03 1.68579623e+02] [ 6.05250933e-02 9.98166402e-01 -7.39475801e-04 4.64447028e+00] [ 6.51737641e-03 3.45628981e-04 9.99978702e-01 -2.29503798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.825898227 meters 0.05670129133643172 Centerline is valid? [True, True] Translation: X:168.61, Y:4.65, Z:-2.29 [[ 9.98065233e-01 -6.18228435e-02 -6.61257449e-03 1.68608580e+02] [ 6.18191982e-02 9.98087079e-01 -7.54446398e-04 4.64616760e+00] [ 6.64656718e-03 3.44202668e-04 9.99977852e-01 -2.29424809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.855898227 meters 0.05381340762347729 Centerline is valid? [True, True] Translation: X:168.64, Y:4.65, Z:-2.29 [[ 9.97993964e-01 -6.29396693e-02 -6.82984002e-03 1.68637843e+02] [ 6.29358044e-02 9.98017273e-01 -7.79549553e-04 4.64550266e+00] [ 6.86536291e-03 3.48144273e-04 9.99976373e-01 -2.29445048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.885898227 meters 0.0559066189932496 Centerline is valid? [True, True] Translation: X:168.67, Y:4.65, Z:-2.30 [[ 9.97944747e-01 -6.36697616e-02 -7.24175286e-03 1.68665458e+02] [ 6.36654324e-02 9.97970956e-01 -8.26999095e-04 4.65135121e+00] [ 7.27971386e-03 3.64250075e-04 9.99973436e-01 -2.29568251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.915898227 meters 0.05308772466521468 Centerline is valid? [True, True] Translation: X:168.69, Y:4.65, Z:-2.29 [[ 9.97877333e-01 -6.46312836e-02 -7.97658199e-03 1.68694536e+02] [ 6.46260498e-02 9.97909135e-01 -9.12427728e-04 4.64905120e+00] [ 8.01887541e-03 3.94995962e-04 9.99967770e-01 -2.29391301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94589822700001 meters 0.05602001366572667 Centerline is valid? [True, True] Translation: X:168.72, Y:4.66, Z:-2.30 [[ 9.97864610e-01 -6.48092799e-02 -8.12263142e-03 1.68720904e+02] [ 6.48038563e-02 9.97897588e-01 -9.29409888e-04 4.65986750e+00] [ 8.16578869e-03 4.01047396e-04 9.99966579e-01 -2.29627474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.975898227 meters 0.049824033050177824 Centerline is valid? [True, True] Translation: X:168.75, Y:4.66, Z:-2.29 [[ 9.97818541e-01 -6.55687145e-02 -7.67483035e-03 1.68750192e+02] [ 6.55638834e-02 9.97847986e-01 -8.79654774e-04 4.65642792e+00] [ 7.71599185e-03 3.74544161e-04 9.99970161e-01 -2.29414201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.005898227 meters 0.06011762838974913 Centerline is valid? [True, True] Translation: X:168.78, Y:4.67, Z:-2.30 [[ 9.97777829e-01 -6.62550178e-02 -7.04816674e-03 1.68776029e+02] [ 6.62509588e-02 9.97802665e-01 -8.08071669e-04 4.67373675e+00] [ 7.08621836e-03 3.39328191e-04 9.99974835e-01 -2.29642579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.035898227 meters 0.049391084406920235 Centerline is valid? [True, True] Translation: X:168.81, Y:4.66, Z:-2.29 [[ 9.97680501e-01 -6.78436865e-02 -5.55441504e-03 1.68807625e+02] [ 6.78411894e-02 9.97695929e-01 -6.36973094e-04 4.66394687e+00] [ 5.58483188e-03 2.58677513e-04 9.99984371e-01 -2.29171451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.065898227 meters 0.05345121760055209 Centerline is valid? [True, True] Translation: X:168.84, Y:4.67, Z:-2.29 [[ 9.97584742e-01 -6.92604019e-02 -5.26119576e-03 1.68836167e+02] [ 6.92581797e-02 9.97598587e-01 -6.03620269e-04 4.66644961e+00] [ 5.29036844e-03 2.37781529e-04 9.99985978e-01 -2.28986006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.095898227 meters 0.04616082954995747 Centerline is valid? [True, True] Translation: X:168.87, Y:4.67, Z:-2.29 [[ 9.97473415e-01 -7.09004277e-02 -4.46274287e-03 1.68865240e+02] [ 7.08988442e-02 9.97483379e-01 -5.12231220e-04 4.66615200e+00] [ 4.48782925e-03 1.94533713e-04 9.99989911e-01 -2.28951900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.125898227 meters 0.04284176379354987 Centerline is valid? [True, True] Translation: X:168.90, Y:4.67, Z:-2.29 [[ 9.97261532e-01 -7.38683740e-02 -3.59170367e-03 1.68895207e+02] [ 7.38673673e-02 9.97267989e-01 -4.12312529e-04 4.66545282e+00] [ 3.61234795e-03 1.45873730e-04 9.99993465e-01 -2.28882039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.155898227 meters 0.04219222095764777 Centerline is valid? [True, True] Translation: X:168.92, Y:4.67, Z:-2.29 [[ 9.97018607e-01 -7.71125008e-02 -2.74957960e-03 1.68924409e+02] [ 7.71119230e-02 9.97022393e-01 -3.15714014e-04 4.66760383e+00] [ 2.76573793e-03 1.02747376e-04 9.99996170e-01 -2.28829062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.185898227 meters 0.03738340632920852 Centerline is valid? [True, True] Translation: X:168.96, Y:4.66, Z:-2.29 [[ 9.96747308e-01 -8.05725648e-02 -1.69278929e-03 1.68955355e+02] [ 8.05723508e-02 9.96748744e-01 -1.94385156e-04 4.66447029e+00] [ 1.70294771e-03 5.73608683e-05 9.99998548e-01 -2.28700673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.215898227 meters 0.03221278589963644 Centerline is valid? [True, True] Translation: X:168.99, Y:4.66, Z:-2.28 [[ 9.96276016e-01 -8.62211533e-02 -1.15336732e-04 1.68985750e+02] [ 8.62211523e-02 9.96276022e-01 -1.32714902e-05 4.65977169e+00] [ 1.16051504e-04 3.27760145e-06 9.99999993e-01 -2.28429035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.245898227 meters 0.03112993353425967 Centerline is valid? [True, True] Translation: X:169.01, Y:4.66, Z:-2.28 [[ 9.96096476e-01 -8.82707189e-02 3.01075296e-04 1.69013225e+02] [ 8.82707125e-02 9.96096521e-01 3.44842004e-05 4.66141204e+00] [-3.02944000e-04 -7.77345952e-06 9.99999954e-01 -2.28388432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.275898227 meters 0.03352768382878442 Centerline is valid? [True, True] Translation: X:169.04, Y:4.67, Z:-2.29 [[ 9.95962751e-01 -8.97670382e-02 -2.79231555e-04 1.69040224e+02] [ 8.97670327e-02 9.95962790e-01 -3.22011363e-05 4.66835929e+00] [ 2.80994839e-04 7.00534417e-06 9.99999960e-01 -2.28504982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.305898227 meters 0.028646144418345218 Centerline is valid? [True, True] Translation: X:169.07, Y:4.67, Z:-2.29 [[ 9.95886402e-01 -9.06028723e-02 -1.18083693e-03 1.69069687e+02] [ 9.06027744e-02 9.95887101e-01 -1.36221107e-04 4.66649171e+00] [ 1.18832229e-03 2.86736460e-05 9.99999294e-01 -2.28610012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.335898227 meters 0.028943274677877696 Centerline is valid? [True, True] Translation: X:169.10, Y:4.67, Z:-2.29 [[ 9.95864903e-01 -9.08231086e-02 -2.06346845e-03 1.69096014e+02] [ 9.08228103e-02 9.95867040e-01 -2.38012665e-04 4.67136520e+00] [ 2.07655726e-03 4.96184561e-05 9.99997843e-01 -2.28803412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.365898227 meters 0.035691449623431855 Centerline is valid? [True, True] Translation: X:169.12, Y:4.68, Z:-2.29 [[ 9.95810951e-01 -9.13979740e-02 -2.63804663e-03 1.69123591e+02] [ 9.13974885e-02 9.95814444e-01 -3.04245844e-04 4.67589876e+00] [ 2.65481239e-03 6.18605070e-05 9.99996474e-01 -2.28844483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.395898227 meters 0.023981457406666018 Centerline is valid? [True, True] Translation: X:169.15, Y:4.67, Z:-2.29 [[ 9.95503634e-01 -9.47120599e-02 -1.46322015e-03 1.69153343e+02] [ 9.47119135e-02 9.95504709e-01 -1.69198228e-04 4.67410750e+00] [ 1.47266766e-03 2.98530709e-05 9.99998915e-01 -2.28666113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.425898227 meters 0.02200153125613072 Centerline is valid? [True, True] Translation: X:169.18, Y:4.68, Z:-2.29 [[ 9.95189136e-01 -9.79600895e-02 -1.55051810e-03 1.69181063e+02] [ 9.79599292e-02 9.95190344e-01 -1.79192740e-04 4.67562070e+00] [ 1.56061438e-03 2.64420249e-05 9.99998782e-01 -2.28729830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.455898227 meters 0.018335118554315306 Centerline is valid? [True, True] Translation: X:169.21, Y:4.67, Z:-2.29 [[ 9.94773795e-01 -1.02072879e-01 -2.49492615e-03 1.69209428e+02] [ 1.02072477e-01 9.94776923e-01 -2.88411228e-04 4.67417906e+00] [ 2.51133392e-03 3.22406399e-05 9.99996846e-01 -2.28910097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.485898227 meters 0.013859547184224026 Centerline is valid? [True, True] Translation: X:169.24, Y:4.67, Z:-2.29 [[ 9.94204989e-01 -1.07418734e-01 -4.20188553e-03 1.69238749e+02] [ 1.07417637e-01 9.94213868e-01 -4.86533943e-04 4.66919195e+00] [ 4.22983572e-03 3.23578579e-05 9.99991054e-01 -2.29228505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.515898227 meters 0.015725656228214334 Centerline is valid? [True, True] Translation: X:169.27, Y:4.66, Z:-2.29 [[ 9.93474862e-01 -1.13910648e-01 -5.66238397e-03 1.69268272e+02] [ 1.13908757e-01 9.93490999e-01 -6.56402531e-04 4.66305968e+00] [ 5.70029875e-03 7.12429263e-06 9.99983753e-01 -2.29444298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.545898227 meters 0.012476355058629146 Centerline is valid? [True, True] Translation: X:169.30, Y:4.66, Z:-2.30 [[ 9.92776755e-01 -1.19840067e-01 -5.71602731e-03 1.69298444e+02] [ 1.19838232e-01 9.92793210e-01 -6.63613705e-04 4.65561884e+00] [ 5.75436061e-03 -2.61783471e-05 9.99983443e-01 -2.29509264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.575898227 meters 0.0230735632457136 Centerline is valid? [True, True] Translation: X:169.33, Y:4.63, Z:-2.29 [[ 9.91432769e-01 -1.30551538e-01 -4.16669082e-03 1.69329618e+02] [ 1.30550658e-01 9.91441522e-01 -4.83656438e-04 4.63458052e+00] [ 4.19417238e-03 -6.44513853e-05 9.99991202e-01 -2.29464236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.605898227 meters 0.024833502853547827 Centerline is valid? [True, True] Translation: X:169.36, Y:4.63, Z:-2.29 [[ 9.90918435e-01 -1.34402265e-01 -4.08494169e-03 1.69359465e+02] [ 1.34401452e-01 9.90926851e-01 -4.74264450e-04 4.63260917e+00] [ 4.11162062e-03 -7.90647071e-05 9.99991544e-01 -2.29346344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.635898227 meters 0.02631164296722389 Centerline is valid? [True, True] Translation: X:169.39, Y:4.63, Z:-2.29 [[ 9.90661223e-01 -1.36260475e-01 -4.83989745e-03 1.69388175e+02] [ 1.36259354e-01 9.90673040e-01 -5.62265696e-04 4.63085875e+00] [ 4.87137051e-03 -1.02466476e-04 9.99988130e-01 -2.29448915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.665898227 meters 0.027303343853245607 Centerline is valid? [True, True] Translation: X:169.42, Y:4.63, Z:-2.30 [[ 9.90571534e-01 -1.36858192e-01 -6.15404282e-03 1.69415881e+02] [ 1.36856388e-01 9.90590641e-01 -7.15273498e-04 4.63039131e+00] [ 6.19402826e-03 -1.33690508e-04 9.99980808e-01 -2.29635974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69589822700001 meters 0.028201053114122618 Centerline is valid? [True, True] Translation: X:169.44, Y:4.63, Z:-2.30 [[ 9.90578271e-01 -1.36715665e-01 -7.96973294e-03 1.69443944e+02] [ 1.36712631e-01 9.90610316e-01 -9.26748588e-04 4.63060065e+00] [ 8.02160071e-03 -1.71546149e-04 9.99967812e-01 -2.29957125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.725898227 meters 0.031140069983849727 Centerline is valid? [True, True] Translation: X:169.47, Y:4.63, Z:-2.31 [[ 9.90651125e-01 -1.36080939e-01 -9.60865998e-03 1.69472010e+02] [ 1.36076494e-01 9.90697703e-01 -1.11786379e-03 4.62839174e+00] [ 9.67139732e-03 -2.00099746e-04 9.99953211e-01 -2.30502030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.755898227 meters 0.026698745978741972 Centerline is valid? [True, True] Translation: X:169.50, Y:4.64, Z:-2.31 [[ 9.90834365e-01 -1.34582755e-01 -1.16078601e-02 1.69500468e+02] [ 1.34576141e-01 9.90902333e-01 -1.35252259e-03 4.63534494e+00] [ 1.16842819e-02 -2.22015161e-04 9.99931712e-01 -2.30602536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.785898227 meters 0.025733017405978168 Centerline is valid? [True, True] Translation: X:169.53, Y:4.64, Z:-2.31 [[ 9.90992105e-01 -1.33406319e-01 -1.17218890e-02 1.69528227e+02] [ 1.33399487e-01 9.91061406e-01 -1.36629038e-03 4.63924829e+00] [ 1.17993835e-02 -2.09711002e-04 9.99930363e-01 -2.30678746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.815898227 meters 0.027113843558471372 Centerline is valid? [True, True] Translation: X:169.56, Y:4.64, Z:-2.31 [[ 9.91130303e-01 -1.32449866e-01 -1.08515462e-02 1.69556058e+02] [ 1.32443947e-01 9.91189689e-01 -1.26547261e-03 4.63977506e+00] [ 1.09235524e-02 -1.82973365e-04 9.99940319e-01 -2.30722223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.845898227 meters 0.021668474288081475 Centerline is valid? [True, True] Translation: X:169.58, Y:4.65, Z:-2.30 [[ 9.91254086e-01 -1.31630323e-01 -9.42310179e-03 1.69584370e+02] [ 1.31625805e-01 9.91298863e-01 -1.10070897e-03 4.64934515e+00] [ 9.48599677e-03 -1.49241095e-04 9.99954996e-01 -2.30055098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.875898227 meters 0.024385360529592056 Centerline is valid? [True, True] Translation: X:169.61, Y:4.65, Z:-2.30 [[ 9.91398297e-01 -1.30618035e-01 -8.26708556e-03 1.69612176e+02] [ 1.30614520e-01 9.91432758e-01 -9.66008013e-04 4.64875723e+00] [ 8.32243751e-03 -1.22102717e-04 9.99965360e-01 -2.30234306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.905898227 meters 0.01826897757409972 Centerline is valid? [True, True] Translation: X:169.64, Y:4.66, Z:-2.30 [[ 9.91656170e-01 -1.28724579e-01 -6.92984146e-03 1.69640430e+02] [ 1.28722054e-01 9.91680379e-01 -8.11041188e-04 4.66028187e+00] [ 6.97658874e-03 -8.77494276e-05 9.99975659e-01 -2.29691038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.935898227 meters 0.01749354463756506 Centerline is valid? [True, True] Translation: X:169.67, Y:4.66, Z:-2.30 [[ 9.91826605e-01 -1.27409883e-01 -6.83422047e-03 1.69667854e+02] [ 1.27407394e-01 9.91850148e-01 -8.00084731e-04 4.66448992e+00] [ 6.88046129e-03 -7.71848972e-05 9.99976326e-01 -2.29738904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.965898227 meters 0.01640950854700377 Centerline is valid? [True, True] Translation: X:169.70, Y:4.67, Z:-2.30 [[ 9.92019499e-01 -1.25891465e-01 -6.97519872e-03 1.69695239e+02] [ 1.25888830e-01 9.92044018e-01 -8.17251436e-04 4.66911591e+00] [ 7.02258915e-03 -6.73702483e-05 9.99975339e-01 -2.29801969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.995898227 meters 0.014639611594207819 Centerline is valid? [True, True] Translation: X:169.72, Y:4.67, Z:-2.30 [[ 9.92165960e-01 -1.24744816e-01 -6.74078774e-03 1.69723552e+02] [ 1.24742320e-01 9.92188857e-01 -7.91099797e-04 4.67440197e+00] [ 6.78682008e-03 -5.59592093e-05 9.99976968e-01 -2.29709901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.025898227 meters 0.014639611594207819 Centerline is valid? [True, True] Translation: X:169.75, Y:4.68, Z:-2.30 [[ 9.92141919e-01 -1.24935886e-01 -6.74063013e-03 1.69750877e+02] [ 1.24933385e-01 9.92164816e-01 -7.92441946e-04 4.67779061e+00] [ 6.78682048e-03 -5.59148660e-05 9.99976968e-01 -2.29715030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.055898227 meters 0.02721161876268185 Centerline is valid? [True, True] Translation: X:169.78, Y:4.68, Z:-2.30 [[ 9.92269697e-01 -1.23854074e-01 -7.81129583e-03 1.69777557e+02] [ 1.23850679e-01 9.92300441e-01 -9.18712183e-04 4.68165753e+00] [ 7.86493854e-03 -5.58240365e-05 9.99969069e-01 -2.29800314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.085898227 meters 0.01346242603944687 Centerline is valid? [True, True] Translation: X:169.80, Y:4.69, Z:-2.30 [[ 9.92508322e-01 -1.21895250e-01 -8.29328455e-03 1.69804738e+02] [ 1.21891349e-01 9.92542970e-01 -9.76137349e-04 4.68567585e+00] [ 8.35042778e-03 -4.20551951e-05 9.99965134e-01 -2.30026494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.115898227 meters 0.011895685432948704 Centerline is valid? [True, True] Translation: X:169.83, Y:4.70, Z:-2.30 [[ 9.93109969e-01 -1.16839081e-01 -9.01217052e-03 1.69831464e+02] [ 1.16834249e-01 9.93150859e-01 -1.06265685e-03 4.69770394e+00] [ 9.07460475e-03 2.40493999e-06 9.99958825e-01 -2.29963016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.145898227 meters 0.01199402793001183 Centerline is valid? [True, True] Translation: X:169.86, Y:4.71, Z:-2.30 [[ 9.93450014e-01 -1.13994721e-01 -7.89130593e-03 1.69858366e+02] [ 1.13990913e-01 9.93481355e-01 -9.32044000e-04 4.70622959e+00] [ 7.94611341e-03 2.64019542e-05 9.99968429e-01 -2.29818036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.175898227 meters 0.012841371738265831 Centerline is valid? [True, True] Translation: X:169.89, Y:4.71, Z:-2.30 [[ 9.93743909e-01 -1.11491228e-01 -6.53827157e-03 1.69885330e+02] [ 1.11488552e-01 9.93765417e-01 -7.73552902e-04 4.71413114e+00] [ 6.58375254e-03 3.97710558e-05 9.99978326e-01 -2.29586141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.205898227 meters 0.014247074839159442 Centerline is valid? [True, True] Translation: X:169.91, Y:4.72, Z:-2.30 [[ 9.93939967e-01 -1.09790992e-01 -5.41114277e-03 1.69912946e+02] [ 1.09789133e-01 9.93954695e-01 -6.40337171e-04 4.72155978e+00] [ 5.44873401e-03 4.23720316e-05 9.99985155e-01 -2.29519380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.235898227 meters 0.014886076175662889 Centerline is valid? [True, True] Translation: X:169.94, Y:4.73, Z:-2.29 [[ 9.94047219e-01 -1.08870607e-01 -4.16134209e-03 1.69940735e+02] [ 1.08869496e-01 9.94055929e-01 -4.93445494e-04 4.72668645e+00] [ 4.19032849e-03 3.74649069e-05 9.99991220e-01 -2.29344879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.265898227 meters 0.014377849335678422 Centerline is valid? [True, True] Translation: X:169.97, Y:4.73, Z:-2.29 [[ 9.94066143e-01 -1.08733475e-01 -3.08792847e-03 1.69968663e+02] [ 1.08732860e-01 9.94070938e-01 -3.66851788e-04 4.72903575e+00] [ 3.10950903e-03 2.89156487e-05 9.99995165e-01 -2.29102922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.295898227 meters 0.01323764580650909 Centerline is valid? [True, True] Translation: X:170.00, Y:4.73, Z:-2.29 [[ 9.93811658e-01 -1.11051497e-01 -2.43982752e-03 1.69996618e+02] [ 1.11051120e-01 9.93814653e-01 -2.89831090e-04 4.73046587e+00] [ 2.45692251e-03 1.70919376e-05 9.99996982e-01 -2.29072245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.325898227 meters 0.01666002795482647 Centerline is valid? [True, True] Translation: X:170.03, Y:4.73, Z:-2.29 [[ 9.93529844e-01 -1.13526729e-01 -3.18289876e-03 1.70025962e+02] [ 1.13526098e-01 9.93534942e-01 -3.78770265e-04 4.73154169e+00] [ 3.20532169e-03 1.49774862e-05 9.99994863e-01 -2.29132753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.355898227 meters 0.010985522520184981 Centerline is valid? [True, True] Translation: X:170.05, Y:4.73, Z:-2.29 [[ 9.93214568e-01 -1.16249585e-01 -3.29492105e-03 1.70054220e+02] [ 1.16248924e-01 9.93220033e-01 -3.92086361e-04 4.73070815e+00] [ 3.31816147e-03 6.39485907e-06 9.99994495e-01 -2.29258614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.385898227 meters 0.011077518841800872 Centerline is valid? [True, True] Translation: X:170.08, Y:4.73, Z:-2.29 [[ 9.92853707e-01 -1.19261858e-01 -4.25744072e-03 1.70082209e+02] [ 1.19260777e-01 9.92862835e-01 -5.07659922e-04 4.72950336e+00] [ 4.28759912e-03 -3.71365333e-06 9.99990808e-01 -2.29300758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.415898227 meters 0.014430071045220712 Centerline is valid? [True, True] Translation: X:170.11, Y:4.73, Z:-2.29 [[ 9.92536834e-01 -1.21835702e-01 -5.16663395e-03 1.70110501e+02] [ 1.21834145e-01 9.92550282e-01 -6.16269110e-04 4.72887585e+00] [ 5.20322756e-03 -1.78026356e-05 9.99986463e-01 -2.29478920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44589822700001 meters 0.012989520130957843 Centerline is valid? [True, True] Translation: X:170.14, Y:4.73, Z:-2.29 [[ 9.92202713e-01 -1.24518473e-01 -5.37823300e-03 1.70139190e+02] [ 1.24516820e-01 9.92217289e-01 -6.42558760e-04 4.72890116e+00] [ 5.41638620e-03 -3.21319227e-05 9.99985331e-01 -2.29463057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.475898227 meters 0.01648406206766319 Centerline is valid? [True, True] Translation: X:170.17, Y:4.73, Z:-2.29 [[ 9.91571812e-01 -1.29474708e-01 -4.65216820e-03 1.70167144e+02] [ 1.29473524e-01 9.91582723e-01 -5.55931920e-04 4.72536366e+00] [ 4.68498874e-03 -5.10861912e-05 9.99989024e-01 -2.29301879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.505898227 meters 0.017943879310873267 Centerline is valid? [True, True] Translation: X:170.20, Y:4.73, Z:-2.29 [[ 9.91223816e-01 -1.32145661e-01 -3.58765589e-03 1.70196201e+02] [ 1.32144971e-01 9.91230307e-01 -4.29576786e-04 4.72693525e+00] [ 3.61295996e-03 -4.82839443e-05 9.99993472e-01 -2.29110665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.535898227 meters 0.028796296335907162 Centerline is valid? [True, True] Translation: X:170.22, Y:4.73, Z:-2.29 [[ 9.90835091e-01 -1.35039593e-01 -3.18297749e-03 1.70224418e+02] [ 1.35039065e-01 9.90840202e-01 -3.81300140e-04 4.72691789e+00] [ 3.20531268e-03 -5.20207443e-05 9.99994862e-01 -2.29045271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.565898227 meters 0.023429785261993134 Centerline is valid? [True, True] Translation: X:170.25, Y:4.73, Z:-2.29 [[ 9.90474893e-01 -1.37632351e-01 -4.10160730e-03 1.70253122e+02] [ 1.37631495e-01 9.90483382e-01 -4.91487524e-04 4.72623342e+00] [ 4.13021845e-03 -7.77042927e-05 9.99991468e-01 -2.29163371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.595898227 meters 0.025758709296797095 Centerline is valid? [True, True] Translation: X:170.28, Y:4.73, Z:-2.29 [[ 9.90169198e-01 -1.39758323e-01 -5.70713849e-03 1.70281828e+02] [ 1.39756695e-01 9.90185638e-01 -6.85001098e-04 4.72708997e+00] [ 5.74686117e-03 -1.19343828e-04 9.99983480e-01 -2.29456047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.625898227 meters 0.02876120848268487 Centerline is valid? [True, True] Translation: X:170.31, Y:4.73, Z:-2.30 [[ 9.89948458e-01 -1.41260734e-01 -6.88877859e-03 1.70309371e+02] [ 1.41258395e-01 9.89972414e-01 -8.27376069e-04 4.72752077e+00] [ 6.93657652e-03 -1.54038146e-04 9.99975930e-01 -2.29684632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.655898227 meters 0.027251851118410154 Centerline is valid? [True, True] Translation: X:170.34, Y:4.73, Z:-2.29 [[ 9.89958138e-01 -1.41226129e-01 -6.16972016e-03 1.70337344e+02] [ 1.41224245e-01 9.89977354e-01 -7.42192613e-04 4.73357381e+00] [ 6.21270023e-03 -1.36574455e-04 9.99980692e-01 -2.29476326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.685898227 meters 0.02690334395221258 Centerline is valid? [True, True] Translation: X:170.37, Y:4.74, Z:-2.29 [[ 9.89988712e-01 -1.41056922e-01 -5.02945553e-03 1.70365439e+02] [ 1.41055664e-01 9.90001481e-01 -6.05926533e-04 4.73818754e+00] [ 5.06463855e-03 -1.09572760e-04 9.99987169e-01 -2.29248427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.715898227 meters 0.03435671480648599 Centerline is valid? [True, True] Translation: X:170.39, Y:4.75, Z:-2.29 [[ 9.89979604e-01 -1.41144287e-01 -4.32127023e-03 1.70393129e+02] [ 1.41143354e-01 9.89989031e-01 -5.21585154e-04 4.74636821e+00] [ 4.35162889e-03 -9.35599103e-05 9.99990527e-01 -2.29030691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.745898227 meters 0.026973778967197312 Centerline is valid? [True, True] Translation: X:170.42, Y:4.75, Z:-2.29 [[ 9.90018876e-01 -1.40869036e-01 -4.30579810e-03 1.70421091e+02] [ 1.40868108e-01 9.90028235e-01 -5.19729910e-04 4.74671061e+00] [ 4.33607555e-03 -9.20072095e-05 9.99990595e-01 -2.29212936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.775898227 meters 0.026068534368370647 Centerline is valid? [True, True] Translation: X:170.45, Y:4.75, Z:-2.29 [[ 9.89980044e-01 -1.41056766e-01 -6.51923969e-03 1.70449457e+02] [ 1.41054633e-01 9.90001500e-01 -7.88161019e-04 4.75320898e+00] [ 6.56523252e-03 -1.39305281e-04 9.99978439e-01 -2.29400451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.805898227 meters 0.02896757016465922 Centerline is valid? [True, True] Translation: X:170.48, Y:4.75, Z:-2.30 [[ 9.89810339e-01 -1.42209037e-01 -7.21687870e-03 1.70477909e+02] [ 1.42206452e-01 9.89836635e-01 -8.72705485e-04 4.75327277e+00] [ 7.26763753e-03 -1.62473801e-04 9.99973577e-01 -2.29605889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.835898227 meters 0.02924772389496288 Centerline is valid? [True, True] Translation: X:170.51, Y:4.76, Z:-2.30 [[ 9.89570528e-01 -1.43886762e-01 -6.83878450e-03 1.70506364e+02] [ 1.43884472e-01 9.89594145e-01 -8.28346430e-04 4.75733249e+00] [ 6.88680919e-03 -1.64287682e-04 9.99976272e-01 -2.29547121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.865898227 meters 0.029696696821467125 Centerline is valid? [True, True] Translation: X:170.54, Y:4.76, Z:-2.29 [[ 9.89355558e-01 -1.45396518e-01 -5.95246941e-03 1.70535040e+02] [ 1.45394803e-01 9.89373453e-01 -7.22061959e-04 4.76100447e+00] [ 5.99420051e-03 -1.51082106e-04 9.99982023e-01 -2.29387487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.895898227 meters 0.0325235979729446 Centerline is valid? [True, True] Translation: X:170.56, Y:4.76, Z:-2.29 [[ 9.89092102e-01 -1.47210586e-01 -5.08499658e-03 1.70563287e+02] [ 1.47209357e-01 9.89105163e-01 -6.17198385e-04 4.76081854e+00] [ 5.12045451e-03 -1.38093030e-04 9.99986881e-01 -2.29323003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.925898227 meters 0.04203489224035532 Centerline is valid? [True, True] Translation: X:170.59, Y:4.76, Z:-2.29 [[ 9.88455180e-01 -1.51420940e-01 -5.29684616e-03 1.70593961e+02] [ 1.51419667e-01 9.88469358e-01 -6.42821899e-04 4.75895706e+00] [ 5.33310682e-03 -1.66646048e-04 9.99985765e-01 -2.29302925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.955898227 meters 0.045375589717912265 Centerline is valid? [True, True] Translation: X:170.62, Y:4.75, Z:-2.30 [[ 9.88059133e-01 -1.53963340e-01 -5.86859290e-03 1.70623330e+02] [ 1.53961821e-01 9.88076541e-01 -7.12558167e-04 4.74938505e+00] [ 5.90832681e-03 -1.99489643e-04 9.99982526e-01 -2.29613132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.985898227 meters 0.04356578584442753 Centerline is valid? [True, True] Translation: X:170.65, Y:4.75, Z:-2.30 [[ 9.87629675e-01 -1.56664115e-01 -6.63179841e-03 1.70652497e+02] [ 1.56662234e-01 9.87651910e-01 -8.05327991e-04 4.75492969e+00] [ 6.67607437e-03 -2.43586535e-04 9.99977685e-01 -2.29588639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.015898227 meters 0.0478685950481849 Centerline is valid? [True, True] Translation: X:170.68, Y:4.75, Z:-2.30 [[ 9.87339797e-01 -1.58467338e-01 -6.94462611e-03 1.70681186e+02] [ 1.58465318e-01 9.87364184e-01 -8.43689080e-04 4.75316292e+00] [ 6.99057225e-03 -2.67474578e-04 9.99975530e-01 -2.29712753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.045898227 meters 0.046365826046150214 Centerline is valid? [True, True] Translation: X:170.71, Y:4.76, Z:-2.30 [[ 9.87251563e-01 -1.59017284e-01 -6.91777012e-03 1.70709011e+02] [ 1.59015290e-01 9.87275762e-01 -8.40862579e-04 4.75929021e+00] [ 6.96345845e-03 -2.69888324e-04 9.99975718e-01 -2.29661342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.075898227 meters 0.049300917440076114 Centerline is valid? [True, True] Translation: X:170.74, Y:4.76, Z:-2.30 [[ 9.87243676e-01 -1.59067162e-01 -6.89651667e-03 1.70736825e+02] [ 1.59065171e-01 9.87267728e-01 -8.39839147e-04 4.76478798e+00] [ 6.94229917e-03 -2.67869716e-04 9.99975866e-01 -2.29599192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.105898227 meters 0.044621543942549816 Centerline is valid? [True, True] Translation: X:170.77, Y:4.77, Z:-2.29 [[ 9.87604492e-01 -1.56873938e-01 -5.28532167e-03 1.70765512e+02] [ 1.56872737e-01 9.87618616e-01 -6.43530574e-04 4.77055076e+00] [ 5.32083525e-03 -1.93569193e-04 9.99985826e-01 -2.29356555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.135898227 meters 0.04577213022064872 Centerline is valid? [True, True] Translation: X:170.79, Y:4.77, Z:-2.29 [[ 9.87700350e-01 -1.56303814e-01 -4.13969012e-03 1.70793849e+02] [ 1.56303068e-01 9.87709014e-01 -5.04992433e-04 4.77298127e+00] [ 4.16774149e-03 -1.48265064e-04 9.99991304e-01 -2.29259390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.165898227 meters 0.043515706090629616 Centerline is valid? [True, True] Translation: X:170.82, Y:4.78, Z:-2.29 [[ 9.87735959e-01 -1.56105177e-01 -2.97481388e-03 1.70821645e+02] [ 1.56104789e-01 9.87740433e-01 -3.63464044e-04 4.78005376e+00] [ 2.99508256e-03 -1.05376187e-04 9.99995509e-01 -2.29060525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19589822700001 meters 0.05030863987202148 Centerline is valid? [True, True] Translation: X:170.85, Y:4.78, Z:-2.29 [[ 9.87675359e-01 -1.56497584e-01 -2.42739054e-03 1.70849329e+02] [ 1.56497327e-01 9.87678338e-01 -2.96704940e-04 4.78398274e+00] [ 2.44391466e-03 -8.68319729e-05 9.99997010e-01 -2.28948032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.225898227 meters 0.045378183594784856 Centerline is valid? [True, True] Translation: X:170.88, Y:4.79, Z:-2.29 [[ 9.87494052e-01 -1.57629969e-01 -2.87926083e-03 1.70878253e+02] [ 1.57629610e-01 9.87498244e-01 -3.52517824e-04 4.78597342e+00] [ 2.89883238e-03 -1.05747508e-04 9.99995793e-01 -2.29054468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.255898227 meters 0.05095651741473066 Centerline is valid? [True, True] Translation: X:170.91, Y:4.78, Z:-2.29 [[ 9.87183909e-01 -1.59534191e-01 -4.09522636e-03 1.70907507e+02] [ 1.59533482e-01 9.87192391e-01 -5.01169851e-04 4.78239213e+00] [ 4.12273003e-03 -1.58578909e-04 9.99991489e-01 -2.29343325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.285898227 meters 0.05024464671121219 Centerline is valid? [True, True] Translation: X:170.94, Y:4.79, Z:-2.30 [[ 9.86392370e-01 -1.64258431e-01 -7.01854708e-03 1.70936917e+02] [ 1.64256469e-01 9.86417292e-01 -8.59006257e-04 4.78671960e+00] [ 7.06431523e-03 -3.05524542e-04 9.99975001e-01 -2.29732200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.315898227 meters 0.05213313129914203 Centerline is valid? [True, True] Translation: X:170.97, Y:4.79, Z:-2.30 [[ 9.86010204e-01 -1.66540276e-01 -6.94366461e-03 1.70966133e+02] [ 1.66538410e-01 9.86034601e-01 -8.50120030e-04 4.78772709e+00] [ 6.98827279e-03 -3.18159839e-04 9.99975531e-01 -2.29760979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.345898227 meters 0.05689291928382708 Centerline is valid? [True, True] Translation: X:171.00, Y:4.78, Z:-2.30 [[ 9.85742915e-01 -1.68141487e-01 -6.27261829e-03 1.70995603e+02] [ 1.68139995e-01 9.85762827e-01 -7.68194137e-04 4.78431115e+00] [ 6.31247925e-03 -2.97436079e-04 9.99980032e-01 -2.29701673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.375898227 meters 0.05457127348903105 Centerline is valid? [True, True] Translation: X:171.02, Y:4.79, Z:-2.29 [[ 9.85616387e-01 -1.68917799e-01 -5.20724520e-03 1.71024052e+02] [ 1.68916776e-01 9.85630111e-01 -6.38854598e-04 4.78997125e+00] [ 5.24033158e-03 -2.49925509e-04 9.99986238e-01 -2.29470399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.405898227 meters 0.05717758270123946 Centerline is valid? [True, True] Translation: X:171.05, Y:4.79, Z:-2.29 [[ 9.85704512e-01 -1.68419856e-01 -4.62247687e-03 1.71052095e+02] [ 1.68419044e-01 9.85715326e-01 -5.67222669e-04 4.78960974e+00] [ 4.65197786e-03 -2.19399192e-04 9.99989155e-01 -2.29313656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.435898227 meters 0.05598747548109179 Centerline is valid? [True, True] Translation: X:171.08, Y:4.79, Z:-2.29 [[ 9.85902803e-01 -1.67258022e-01 -4.51849756e-03 1.71080442e+02] [ 1.67257233e-01 9.85913135e-01 -5.54650632e-04 4.79477748e+00] [ 4.54761587e-03 -2.08919787e-04 9.99989638e-01 -2.29291091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.465898227 meters 0.05395883545458797 Centerline is valid? [True, True] Translation: X:171.11, Y:4.80, Z:-2.30 [[ 9.86403076e-01 -1.64195182e-01 -6.99383620e-03 1.71108957e+02] [ 1.64193214e-01 9.86427824e-01 -8.58572214e-04 4.80314898e+00] [ 7.03988804e-03 -3.01442168e-04 9.99975174e-01 -2.29749969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.495898227 meters 0.050494764790983755 Centerline is valid? [True, True] Translation: X:171.14, Y:4.81, Z:-2.30 [[ 9.86589027e-01 -1.63049283e-01 -7.55141590e-03 1.71137305e+02] [ 1.63046945e-01 9.86617875e-01 -9.28407976e-04 4.81236494e+00] [ 7.60173816e-03 -3.15278168e-04 9.99971057e-01 -2.29830744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.525898227 meters 0.04931588584329431 Centerline is valid? [True, True] Translation: X:171.17, Y:4.82, Z:-2.30 [[ 9.86700457e-01 -1.62382842e-01 -7.34984861e-03 1.71165748e+02] [ 1.62380600e-01 9.86727785e-01 -9.04865504e-04 4.81849353e+00] [ 7.39923448e-03 -3.00641618e-04 9.99972580e-01 -2.29752536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.555898227 meters 0.055925798422038764 Centerline is valid? [True, True] Translation: X:171.19, Y:4.82, Z:-2.30 [[ 9.86643653e-01 -1.62728386e-01 -7.33311651e-03 1.71192895e+02] [ 1.62726162e-01 9.86670857e-01 -9.03038453e-04 4.82219544e+00] [ 7.38232235e-03 -3.02312744e-04 9.99972705e-01 -2.29704543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.585898227 meters 0.049507528505437395 Centerline is valid? [True, True] Translation: X:171.22, Y:4.83, Z:-2.30 [[ 9.86232736e-01 -1.65188105e-01 -7.60791174e-03 1.71221194e+02] [ 1.65185781e-01 9.86262024e-01 -9.37107926e-04 4.83005253e+00] [ 7.65819351e-03 -3.32512330e-04 9.99970620e-01 -2.29667816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.615898227 meters 0.053287902847095225 Centerline is valid? [True, True] Translation: X:171.25, Y:4.83, Z:-2.30 [[ 9.85781523e-01 -1.67856072e-01 -7.68942060e-03 1.71250857e+02] [ 1.67853779e-01 9.85811448e-01 -9.47194984e-04 4.83004117e+00] [ 7.73931129e-03 -3.56970995e-04 9.99969987e-01 -2.29801901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.645898227 meters 0.06004450449990401 Centerline is valid? [True, True] Translation: X:171.28, Y:4.83, Z:-2.30 [[ 9.85334815e-01 -1.70439963e-01 -8.09455941e-03 1.71280666e+02] [ 1.70437508e-01 9.85367983e-01 -9.97313925e-04 4.82552861e+00] [ 8.14610182e-03 -3.96928398e-04 9.99966741e-01 -2.29932405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.675898227 meters 0.060998723583292044 Centerline is valid? [True, True] Translation: X:171.31, Y:4.83, Z:-2.30 [[ 9.84964106e-01 -1.72572190e-01 -8.03429957e-03 1.71309974e+02] [ 1.72569839e-01 9.84996787e-01 -9.90185765e-04 4.82791198e+00] [ 8.08463779e-03 -4.11180347e-04 9.99967234e-01 -2.29918024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.705898227 meters 0.05952043716254745 Centerline is valid? [True, True] Translation: X:171.34, Y:4.83, Z:-2.30 [[ 9.84608893e-01 -1.74631599e-01 -7.00948364e-03 1.71339303e+02] [ 1.74629861e-01 9.84633772e-01 -8.64039848e-04 4.83302159e+00] [ 7.05266297e-03 -3.73323833e-04 9.99975060e-01 -2.29619347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.735898227 meters 0.06936883232966226 Centerline is valid? [True, True] Translation: X:171.37, Y:4.82, Z:-2.30 [[ 9.84435942e-01 -1.75587496e-01 -7.40993887e-03 1.71368233e+02] [ 1.75585576e-01 9.84463748e-01 -9.13910004e-04 4.82433289e+00] [ 7.45528736e-03 -4.01392530e-04 9.99972128e-01 -2.29842247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.765898227 meters 0.06232406785907252 Centerline is valid? [True, True] Translation: X:171.40, Y:4.84, Z:-2.30 [[ 9.84205346e-01 -1.76847691e-01 -8.04550991e-03 1.71396749e+02] [ 1.76845469e-01 9.84238129e-01 -9.92416543e-04 4.83706542e+00] [ 8.09420420e-03 -4.46070305e-04 9.99967142e-01 -2.29738027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.795898227 meters 0.06849266839982535 Centerline is valid? [True, True] Translation: X:171.43, Y:4.83, Z:-2.30 [[ 9.83884243e-01 -1.78617877e-01 -8.21286998e-03 1.71425786e+02] [ 1.78615620e-01 9.83918408e-01 -1.01349532e-03 4.83242716e+00] [ 8.26182234e-03 -4.69784789e-04 9.99965760e-01 -2.29870077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.825898227 meters 0.06587271616999564 Centerline is valid? [True, True] Translation: X:171.45, Y:4.84, Z:-2.30 [[ 9.83560452e-01 -1.80385133e-01 -8.36910651e-03 1.71454717e+02] [ 1.80382850e-01 9.83595933e-01 -1.03305297e-03 4.83813150e+00] [ 8.41816653e-03 -4.93573239e-04 9.99964445e-01 -2.29806229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.855898227 meters 0.0726229377706485 Centerline is valid? [True, True] Translation: X:171.48, Y:4.83, Z:-2.30 [[ 9.83328404e-01 -1.81664543e-01 -7.95259662e-03 1.71483884e+02] [ 1.81662520e-01 9.83360445e-01 -9.82044534e-04 4.83091916e+00] [ 7.99867162e-03 -4.79016460e-04 9.99967895e-01 -2.29848338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.885898227 meters 0.06798010699328326 Centerline is valid? [True, True] Translation: X:171.51, Y:4.84, Z:-2.30 [[ 9.83107935e-01 -1.82891726e-01 -7.02884398e-03 1.71511822e+02] [ 1.82890167e-01 9.83132967e-01 -8.69391557e-04 4.83861528e+00] [ 7.06929276e-03 -4.30800709e-04 9.99974919e-01 -2.29546553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.915898227 meters 0.0790120440813425 Centerline is valid? [True, True] Translation: X:171.54, Y:4.83, Z:-2.29 [[ 9.83266677e-01 -1.82099189e-01 -5.15042529e-03 1.71541151e+02] [ 1.82098339e-01 9.83280117e-01 -6.37412029e-04 4.82626236e+00] [ 5.18038299e-03 -3.11137881e-04 9.99986533e-01 -2.29409073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94589822700001 meters 0.0790120440813425 Centerline is valid? [True, True] Translation: X:171.57, Y:4.83, Z:-2.29 [[ 9.83235196e-01 -1.82269098e-01 -5.15029446e-03 1.71568506e+02] [ 1.82268245e-01 9.83248635e-01 -6.38468536e-04 4.82985968e+00] [ 5.18039309e-03 -3.10970398e-04 9.99986533e-01 -2.29414216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.975898227 meters 0.0652911125023175 Centerline is valid? [True, True] Translation: X:171.60, Y:4.85, Z:-2.29 [[ 9.83622006e-01 -1.80179241e-01 -4.81558869e-03 1.71595955e+02] [ 1.80178472e-01 9.83633754e-01 -5.96751366e-04 4.85081223e+00] [ 4.84429779e-03 -2.80687634e-04 9.99988227e-01 -2.29216020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.005898227 meters 0.06246464824227382 Centerline is valid? [True, True] Translation: X:171.63, Y:4.86, Z:-2.29 [[ 9.84163865e-01 -1.77199086e-01 -4.68737104e-03 1.71625069e+02] [ 1.77198322e-01 9.84174993e-01 -5.81067649e-04 4.85804366e+00] [ 4.71615801e-03 -2.58728498e-04 9.99988845e-01 -2.29182862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.035898227 meters 0.0598346534603611 Centerline is valid? [True, True] Translation: X:171.65, Y:4.87, Z:-2.29 [[ 9.84709511e-01 -1.74134439e-01 -4.93731016e-03 1.71653564e+02] [ 1.74133552e-01 9.84721855e-01 -6.12143023e-04 4.86527351e+00] [ 4.96847240e-03 -2.56968300e-04 9.99987624e-01 -2.29195059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.065898227 meters 0.04827289229359239 Centerline is valid? [True, True] Translation: X:171.68, Y:4.88, Z:-2.29 [[ 9.85645895e-01 -1.68760843e-01 -4.68482993e-03 1.71681250e+02] [ 1.68759984e-01 9.85657004e-01 -5.80951491e-04 4.88489125e+00] [ 4.71567729e-03 -2.17999371e-04 9.99988857e-01 -2.29010890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.095898227 meters 0.05283990186300226 Centerline is valid? [True, True] Translation: X:171.71, Y:4.88, Z:-2.29 [[ 9.85897035e-01 -1.67293495e-01 -4.46350959e-03 1.71709170e+02] [ 1.67292699e-01 9.85907118e-01 -5.53861955e-04 4.88392489e+00] [ 4.49326338e-03 -2.00661706e-04 9.99989885e-01 -2.29097506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.125898227 meters 0.05421818835952728 Centerline is valid? [True, True] Translation: X:171.74, Y:4.89, Z:-2.29 [[ 9.86023974e-01 -1.66549951e-01 -4.22322008e-03 1.71736880e+02] [ 1.66549231e-01 9.86033001e-01 -5.24292756e-04 4.88706182e+00] [ 4.25155530e-03 -1.86408828e-04 9.99990945e-01 -2.29155379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.155898227 meters 0.059116802602777414 Centerline is valid? [True, True] Translation: X:171.77, Y:4.89, Z:-2.29 [[ 9.85967972e-01 -1.66876391e-01 -4.40783481e-03 1.71765307e+02] [ 1.66875605e-01 9.85977805e-01 -5.48113998e-04 4.89338376e+00] [ 4.43749457e-03 -1.95137252e-04 9.99990135e-01 -2.29237208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.185898227 meters 0.05667174158891093 Centerline is valid? [True, True] Translation: X:171.79, Y:4.90, Z:-2.29 [[ 9.85700361e-01 -1.68437402e-01 -4.86208628e-03 1.71794545e+02] [ 1.68436465e-01 9.85712327e-01 -6.04500625e-04 4.89543390e+00] [ 4.89443890e-03 -2.23096140e-04 9.99987997e-01 -2.29368097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.215898227 meters 0.05660367796346506 Centerline is valid? [True, True] Translation: X:171.82, Y:4.90, Z:-2.29 [[ 9.85455230e-01 -1.69857227e-01 -5.14898631e-03 1.71823480e+02] [ 1.69856195e-01 9.85468651e-01 -6.40348790e-04 4.90009639e+00] [ 5.18293247e-03 -2.43552159e-04 9.99986539e-01 -2.29356633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.245898227 meters 0.05459644173917078 Centerline is valid? [True, True] Translation: X:171.85, Y:4.91, Z:-2.29 [[ 9.85200071e-01 -1.71294643e-01 -6.24220729e-03 1.71851923e+02] [ 1.71293152e-01 9.85219799e-01 -7.76645574e-04 4.90739902e+00] [ 6.28298144e-03 -3.04096089e-04 9.99980216e-01 -2.29407359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.275898227 meters 0.05575115830929289 Centerline is valid? [True, True] Translation: X:171.88, Y:4.91, Z:-2.30 [[ 9.84950164e-01 -1.72689680e-01 -7.17273258e-03 1.71881129e+02] [ 1.72687747e-01 9.84976216e-01 -8.92639144e-04 4.91027492e+00] [ 7.21912056e-03 -3.59437961e-04 9.99973877e-01 -2.29541663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.305898227 meters 0.05679373519688253 Centerline is valid? [True, True] Translation: X:171.91, Y:4.91, Z:-2.30 [[ 9.84694863e-01 -1.74124589e-01 -7.52689703e-03 1.71910086e+02] [ 1.74122500e-01 9.84723554e-01 -9.36985415e-04 4.91282499e+00] [ 7.57506499e-03 -3.87957404e-04 9.99971234e-01 -2.29583468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.335898227 meters 0.06449946715541852 Centerline is valid? [True, True] Translation: X:171.94, Y:4.92, Z:-2.30 [[ 9.84325464e-01 -1.76220858e-01 -7.04197976e-03 1.71939700e+02] [ 1.76219082e-01 9.84350581e-01 -8.76773120e-04 4.91574980e+00] [ 7.08628258e-03 -3.77901098e-04 9.99974821e-01 -2.29562111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.365898227 meters 0.06326349756513407 Centerline is valid? [True, True] Translation: X:171.97, Y:4.91, Z:-2.29 [[ 9.83503628e-01 -1.80803749e-01 -5.53330519e-03 1.71970348e+02] [ 1.80802725e-01 9.83519141e-01 -6.88976323e-04 4.91287817e+00] [ 5.56668107e-03 -3.22825940e-04 9.99984454e-01 -2.29326596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.395898227 meters 0.06550658134903106 Centerline is valid? [True, True] Translation: X:172.00, Y:4.91, Z:-2.29 [[ 9.83009590e-01 -1.83453181e-01 -6.08909738e-03 1.72000693e+02] [ 1.83451991e-01 9.83028378e-01 -7.58255235e-04 4.91422943e+00] [ 6.12485986e-03 -3.71684869e-04 9.99981174e-01 -2.29365369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.425898227 meters 0.06952776893299777 Centerline is valid? [True, True] Translation: X:172.03, Y:4.91, Z:-2.29 [[ 9.82506190e-01 -1.86112730e-01 -6.60599910e-03 1.72030285e+02] [ 1.86111388e-01 9.82528307e-01 -8.22807288e-04 4.91195039e+00] [ 6.64371602e-03 -4.21038406e-04 9.99977842e-01 -2.29497920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.455898227 meters 0.0722038843323464 Centerline is valid? [True, True] Translation: X:172.06, Y:4.91, Z:-2.30 [[ 9.81981694e-01 -1.88829996e-01 -7.42861498e-03 1.72059755e+02] [ 1.88828374e-01 9.82009668e-01 -9.25455928e-04 4.91111686e+00] [ 7.46972558e-03 -4.93952510e-04 9.99971979e-01 -2.29655026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.485898227 meters 0.09224824293439232 Centerline is valid? [True, True] Translation: X:172.09, Y:4.89, Z:-2.30 [[ 9.81518667e-01 -1.91219686e-01 -7.49246565e-03 1.72091700e+02] [ 1.91218104e-01 9.81547128e-01 -9.33606195e-04 4.88715911e+00] [ 7.53273202e-03 -5.16343167e-04 9.99971495e-01 -2.30038431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.515898227 meters 0.07569711531342703 Centerline is valid? [True, True] Translation: X:172.12, Y:4.91, Z:-2.30 [[ 9.81129616e-01 -1.93219174e-01 -7.14334464e-03 1.72119136e+02] [ 1.93217788e-01 9.81155489e-01 -8.90200469e-04 4.91026890e+00] [ 7.18073560e-03 -5.06819204e-04 9.99974090e-01 -2.29677030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.545898227 meters 0.08438616635996099 Centerline is valid? [True, True] Translation: X:172.15, Y:4.90, Z:-2.30 [[ 9.80761448e-01 -1.95069216e-01 -7.41508785e-03 1.72149393e+02] [ 1.95067774e-01 9.80789330e-01 -9.24241835e-04 4.90006131e+00] [ 7.45293017e-03 -5.39983920e-04 9.99972081e-01 -2.29800002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.575898227 meters 0.07577674449531198 Centerline is valid? [True, True] Translation: X:172.18, Y:4.91, Z:-2.30 [[ 9.80863476e-01 -1.94521658e-01 -8.25622888e-03 1.72176607e+02] [ 1.94519837e-01 9.80898043e-01 -1.03075376e-03 4.91311526e+00] [ 8.29902268e-03 -5.94971580e-04 9.99965386e-01 -2.29712769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.605898227 meters 0.08172557083549255 Centerline is valid? [True, True] Translation: X:172.21, Y:4.91, Z:-2.30 [[ 9.81171232e-01 -1.92945029e-01 -8.67351332e-03 1.72206694e+02] [ 1.92942959e-01 9.81209377e-01 -1.08277411e-03 4.90792419e+00] [ 8.71944848e-03 -6.11106517e-04 9.99961798e-01 -2.29927680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.635898227 meters 0.0755689089111606 Centerline is valid? [True, True] Translation: X:172.24, Y:4.92, Z:-2.30 [[ 9.81701200e-01 -1.90253751e-01 -8.14033256e-03 1.72235730e+02] [ 1.90251833e-01 9.81734795e-01 -1.01642670e-03 4.91815566e+00] [ 8.18502671e-03 -5.50885888e-04 9.99966350e-01 -2.29788913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.665898227 meters 0.07080050339249333 Centerline is valid? [True, True] Translation: X:172.26, Y:4.93, Z:-2.30 [[ 9.82289362e-01 -1.87222661e-01 -7.43530034e-03 1.72264964e+02] [ 1.87220974e-01 9.82317385e-01 -9.28519021e-04 4.92745483e+00] [ 7.47766459e-03 -4.79969810e-04 9.99971927e-01 -2.29654929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69589822700001 meters 0.06771266648665168 Centerline is valid? [True, True] Translation: X:172.29, Y:4.94, Z:-2.30 [[ 9.82878339e-01 -1.84139618e-01 -6.53998954e-03 1.72294001e+02] [ 1.84138244e-01 9.82900015e-01 -8.16826398e-04 4.93501668e+00] [ 6.57856592e-03 -4.01421218e-04 9.99978280e-01 -2.29573383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.725898227 meters 0.05616171598062928 Centerline is valid? [True, True] Translation: X:172.32, Y:4.95, Z:-2.29 [[ 9.83974059e-01 -1.78229469e-01 -5.41367441e-03 1.72321978e+02] [ 1.78228438e-01 9.83988906e-01 -6.76291189e-04 4.95381872e+00] [ 5.44753057e-03 -2.99417746e-04 9.99985117e-01 -2.29384035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.755898227 meters 0.05922199604375397 Centerline is valid? [True, True] Translation: X:172.35, Y:4.95, Z:-2.30 [[ 9.84346707e-01 -1.76148705e-01 -5.76143122e-03 1.72351272e+02] [ 1.76147501e-01 9.84363520e-01 -7.19784454e-04 4.95366378e+00] [ 5.79813181e-03 -3.06344255e-04 9.99983144e-01 -2.29557739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.785898227 meters 0.058561334708670074 Centerline is valid? [True, True] Translation: X:172.38, Y:4.96, Z:-2.30 [[ 9.84470922e-01 -1.75410025e-01 -6.95169207e-03 1.72379933e+02] [ 1.75408243e-01 9.84495399e-01 -8.69951730e-04 4.95879111e+00] [ 6.99650712e-03 -3.62941909e-04 9.99975458e-01 -2.29737049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.815898227 meters 0.06189800401087928 Centerline is valid? [True, True] Translation: X:172.41, Y:4.96, Z:-2.30 [[ 9.84468774e-01 -1.75383841e-01 -7.85756758e-03 1.72408479e+02] [ 1.75381562e-01 9.84500046e-01 -9.83544045e-04 4.95883034e+00] [ 7.90827338e-03 -4.09804076e-04 9.99968645e-01 -2.29978979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.845898227 meters 0.06162843653657964 Centerline is valid? [True, True] Translation: X:172.44, Y:4.97, Z:-2.30 [[ 9.84327333e-01 -1.76121134e-01 -9.00262358e-03 1.72436782e+02] [ 1.76118157e-01 9.84368387e-01 -1.12858718e-03 4.96767387e+00] [ 9.06066610e-03 -4.74626263e-04 9.99958839e-01 -2.29986094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.875898227 meters 0.05746384665361646 Centerline is valid? [True, True] Translation: X:172.47, Y:4.97, Z:-2.30 [[ 9.84238952e-01 -1.76618199e-01 -8.92733013e-03 1.72465087e+02] [ 1.76615278e-01 9.84279324e-01 -1.12070282e-03 4.97305253e+00] [ 8.98492298e-03 -4.73663525e-04 9.99959523e-01 -2.30020175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.905898227 meters 0.05834106139050766 Centerline is valid? [True, True] Translation: X:172.49, Y:4.97, Z:-2.30 [[ 9.84146506e-01 -1.77200587e-01 -7.45696604e-03 1.72493141e+02] [ 1.77198564e-01 9.84174676e-01 -9.36422914e-04 4.97467322e+00] [ 7.50489182e-03 -3.99786331e-04 9.99971758e-01 -2.29804217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.935898227 meters 0.05932375124566002 Centerline is valid? [True, True] Translation: X:172.52, Y:4.98, Z:-2.30 [[ 9.84217220e-01 -1.76837732e-01 -6.69931515e-03 1.72521512e+02] [ 1.76836081e-01 9.84239956e-01 -8.42637629e-04 4.97660995e+00] [ 6.74274377e-03 -3.55342173e-04 9.99977204e-01 -2.29729427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.965898227 meters 0.05955481622475889 Centerline is valid? [True, True] Translation: X:172.55, Y:4.98, Z:-2.30 [[ 9.84292460e-01 -1.76442903e-01 -6.02130856e-03 1.72550680e+02] [ 1.76441556e-01 9.84310826e-01 -7.58300329e-04 4.98058435e+00] [ 6.06063592e-03 -3.16019758e-04 9.99981584e-01 -2.29642125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.995898227 meters 0.05994330523509313 Centerline is valid? [True, True] Translation: X:172.58, Y:4.99, Z:-2.30 [[ 9.84521670e-01 -1.75138866e-01 -6.59227901e-03 1.72578532e+02] [ 1.75137223e-01 9.84543683e-01 -8.30299169e-04 4.98923774e+00] [ 6.63580431e-03 -3.37105912e-04 9.99977926e-01 -2.29631694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.025898227 meters 0.055250251340443465 Centerline is valid? [True, True] Translation: X:172.61, Y:5.00, Z:-2.30 [[ 9.84800200e-01 -1.73543977e-01 -7.14524104e-03 1.72607094e+02] [ 1.73542001e-01 9.84826057e-01 -9.00276559e-04 4.99528591e+00] [ 7.19305714e-03 -3.53406895e-04 9.99974067e-01 -2.29770992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.055898227 meters 0.05780189315390752 Centerline is valid? [True, True] Translation: X:172.64, Y:5.00, Z:-2.30 [[ 9.85089873e-01 -1.71879324e-01 -7.44575850e-03 1.72635799e+02] [ 1.71877130e-01 9.85117948e-01 -9.38384426e-04 4.99623992e+00] [ 7.49623921e-03 -3.55362605e-04 9.99971840e-01 -2.29926026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.085898227 meters 0.05233739011400927 Centerline is valid? [True, True] Translation: X:172.66, Y:5.01, Z:-2.30 [[ 9.85727520e-01 -1.68189767e-01 -7.31159454e-03 1.72664112e+02] [ 1.68187549e-01 9.85754584e-01 -9.21518251e-04 5.00924800e+00] [ 7.36242777e-03 -3.21353268e-04 9.99972845e-01 -2.29858099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.115898227 meters 0.04830233737477276 Centerline is valid? [True, True] Translation: X:172.69, Y:5.02, Z:-2.30 [[ 9.85888425e-01 -1.67256517e-01 -7.01937451e-03 1.72692572e+02] [ 1.67254440e-01 9.85913367e-01 -8.86075795e-04 5.01866413e+00] [ 7.06869711e-03 -3.00449683e-04 9.99974971e-01 -2.29750020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.145898227 meters 0.04880249498528596 Centerline is valid? [True, True] Translation: X:172.72, Y:5.02, Z:-2.30 [[ 9.85913966e-01 -1.67136083e-01 -6.25945428e-03 1.72719972e+02] [ 1.67134427e-01 9.85933800e-01 -7.90381512e-04 5.02193633e+00] [ 6.30350882e-03 -2.66922133e-04 9.99980097e-01 -2.29770529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.175898227 meters 0.05235168107432571 Centerline is valid? [True, True] Translation: X:172.75, Y:5.02, Z:-2.30 [[ 9.85878633e-01 -1.67356041e-01 -5.93934680e-03 1.72748482e+02] [ 1.67354552e-01 9.85896491e-01 -7.50325675e-04 5.02074434e+00] [ 5.98115271e-03 -2.54246671e-04 9.99982080e-01 -2.29742324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.205898227 meters 0.0541100571346561 Centerline is valid? [True, True] Translation: X:172.78, Y:5.02, Z:-2.30 [[ 9.85762943e-01 -1.68043581e-01 -5.72492336e-03 1.72776115e+02] [ 1.68042203e-01 9.85779536e-01 -7.24356827e-04 5.02180154e+00] [ 5.76523581e-03 -2.47984616e-04 9.99983350e-01 -2.29718921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.235898227 meters 0.05145692011503681 Centerline is valid? [True, True] Translation: X:172.80, Y:5.03, Z:-2.30 [[ 9.85606842e-01 -1.68949424e-01 -5.93677438e-03 1.72804555e+02] [ 1.68947952e-01 9.85624687e-01 -7.52159430e-04 5.02883464e+00] [ 5.97850829e-03 -2.61672391e-04 9.99982094e-01 -2.29610188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.265898227 meters 0.0512259283100372 Centerline is valid? [True, True] Translation: X:172.83, Y:5.03, Z:-2.30 [[ 9.85609994e-01 -1.68915145e-01 -6.37286488e-03 1.72832355e+02] [ 1.68913440e-01 9.85630557e-01 -8.08641566e-04 5.03461348e+00] [ 6.41788217e-03 -2.79457322e-04 9.99979366e-01 -2.29617725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.295898227 meters 0.0511173701559847 Centerline is valid? [True, True] Translation: X:172.86, Y:5.04, Z:-2.30 [[ 9.85816746e-01 -1.67683654e-01 -6.89453630e-03 1.72861033e+02] [ 1.67681630e-01 9.85840812e-01 -8.74660450e-04 5.04079716e+00] [ 6.94358152e-03 -2.93832164e-04 9.99975850e-01 -2.29652509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.325898227 meters 0.049369079972646286 Centerline is valid? [True, True] Translation: X:172.89, Y:5.05, Z:-2.30 [[ 9.86150535e-01 -1.65694734e-01 -7.23724267e-03 1.72888742e+02] [ 1.65692448e-01 9.86177048e-01 -9.18412820e-04 5.04916992e+00] [ 7.28937878e-03 -2.93463163e-04 9.99973389e-01 -2.29624127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.355898227 meters 0.04699254554278312 Centerline is valid? [True, True] Translation: X:172.92, Y:5.06, Z:-2.30 [[ 9.86584292e-01 -1.63094341e-01 -7.18821162e-03 1.72916298e+02] [ 1.63092016e-01 9.86610441e-01 -9.12443742e-04 5.05820687e+00] [ 7.24077905e-03 -2.72137260e-04 9.99973748e-01 -2.29580714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.385898227 meters 0.04383045753524367 Centerline is valid? [True, True] Translation: X:172.95, Y:5.07, Z:-2.29 [[ 9.87039607e-01 -1.60331858e-01 -6.81980942e-03 1.72945604e+02] [ 1.60329698e-01 9.87063138e-01 -8.65875194e-04 5.06832971e+00] [ 6.87040986e-03 -2.38764874e-04 9.99976370e-01 -2.29432406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.415898227 meters 0.03738232335889924 Centerline is valid? [True, True] Translation: X:172.97, Y:5.09, Z:-2.29 [[ 9.88043621e-01 -1.54075622e-01 -5.52314404e-03 1.72972997e+02] [ 1.54074107e-01 9.88059046e-01 -7.01319826e-04 5.08537370e+00] [ 5.56524872e-03 -1.58038904e-04 9.99984501e-01 -2.29197906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44589822700001 meters 0.03445792707518414 Centerline is valid? [True, True] Translation: X:173.00, Y:5.10, Z:-2.29 [[ 9.88428309e-01 -1.51606773e-01 -4.98635127e-03 1.73000422e+02] [ 1.51605505e-01 9.88440878e-01 -6.33444975e-04 5.09604992e+00] [ 5.02474798e-03 -1.29843356e-04 9.99987367e-01 -2.29084497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.475898227 meters 0.03179182666263967 Centerline is valid? [True, True] Translation: X:173.03, Y:5.11, Z:-2.29 [[ 9.88789734e-01 -1.49250032e-01 -4.39211822e-03 1.73026923e+02] [ 1.49249024e-01 9.88799483e-01 -5.58238665e-04 5.10640312e+00] [ 4.42624137e-03 -1.03538697e-04 9.99990199e-01 -2.29001636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.505898227 meters 0.031121070863393316 Centerline is valid? [True, True] Translation: X:173.05, Y:5.12, Z:-2.29 [[ 9.89118944e-01 -1.47077259e-01 -3.46326054e-03 1.73054891e+02] [ 1.47076618e-01 9.89125004e-01 -4.40339223e-04 5.11681859e+00] [ 3.49036149e-03 -7.38167809e-05 9.99993906e-01 -2.28850581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.535898227 meters 0.024986840157319706 Centerline is valid? [True, True] Translation: X:173.08, Y:5.13, Z:-2.29 [[ 9.89696362e-01 -1.43171346e-01 -1.75429074e-03 1.73081863e+02] [ 1.43171176e-01 9.89697916e-01 -2.23130417e-04 5.13079674e+00] [ 1.76816377e-03 -3.03325061e-05 9.99998436e-01 -2.28556535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.565898227 meters 0.023366362846894233 Centerline is valid? [True, True] Translation: X:173.11, Y:5.14, Z:-2.29 [[ 9.89911036e-01 -1.41680342e-01 -1.67963216e-03 1.73108950e+02] [ 1.41680183e-01 9.89912461e-01 -2.13772343e-04 5.13952321e+00] [ 1.69297614e-03 -2.63549900e-05 9.99998567e-01 -2.28501835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.595898227 meters 0.0218057900339765 Centerline is valid? [True, True] Translation: X:173.14, Y:5.15, Z:-2.29 [[ 9.90082932e-01 -1.40474184e-01 -1.67087558e-03 1.73136486e+02] [ 1.40474024e-01 9.90084341e-01 -2.13103223e-04 5.14854496e+00] [ 1.68424325e-03 -2.37247527e-05 9.99998581e-01 -2.28520204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.625898227 meters 0.020058121370496944 Centerline is valid? [True, True] Translation: X:173.16, Y:5.16, Z:-2.29 [[ 9.90303910e-01 -1.38904335e-01 -1.93689928e-03 1.73164208e+02] [ 1.38904117e-01 9.90305804e-01 -2.47285644e-04 5.15830021e+00] [ 1.95247164e-03 -2.41553437e-05 9.99998094e-01 -2.28518236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.655898227 meters 0.027489444093889856 Centerline is valid? [True, True] Translation: X:173.19, Y:5.17, Z:-2.28 [[ 9.90535098e-01 -1.37250602e-01 -1.57855164e-03 1.73191269e+02] [ 1.37250456e-01 9.90536356e-01 -2.01490616e-04 5.16882432e+00] [ 1.59126750e-03 -1.70734043e-05 9.99998734e-01 -2.28480436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.685898227 meters 0.02979285323500469 Centerline is valid? [True, True] Translation: X:173.22, Y:5.18, Z:-2.28 [[ 9.90760704e-01 -1.35616011e-01 -1.23455065e-03 1.73219267e+02] [ 1.35615919e-01 9.90761474e-01 -1.57975449e-04 5.17884736e+00] [ 1.24456922e-03 -1.09088545e-05 9.99999225e-01 -2.28364503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.715898227 meters 0.014034637290557624 Centerline is valid? [True, True] Translation: X:173.25, Y:5.19, Z:-2.28 [[ 9.91123857e-01 -1.32939415e-01 -7.82911022e-04 1.73245683e+02] [ 1.32939377e-01 9.91124166e-01 -1.00146708e-04 5.19309907e+00] [ 7.89275479e-04 -4.82191242e-06 9.99999689e-01 -2.28353866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.745898227 meters 0.0133771730560479 Centerline is valid? [True, True] Translation: X:173.27, Y:5.20, Z:-2.28 [[ 9.91216861e-01 -1.32242907e-01 -9.74198828e-04 1.73272979e+02] [ 1.32242848e-01 9.91217339e-01 -1.24979985e-04 5.20143459e+00] [ 9.82170486e-04 -4.94855903e-06 9.99999518e-01 -2.28435707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.775898227 meters 0.013085198076736505 Centerline is valid? [True, True] Translation: X:173.30, Y:5.21, Z:-2.28 [[ 9.91285199e-01 -1.31730006e-01 -9.26848585e-04 1.73299272e+02] [ 1.31729953e-01 9.91285633e-01 -1.18808998e-04 5.20862027e+00] [ 9.34422396e-04 -4.32011885e-06 9.99999563e-01 -2.28470845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.805898227 meters 0.013415370100202053 Centerline is valid? [True, True] Translation: X:173.33, Y:5.21, Z:-2.28 [[ 9.91213122e-01 -1.32272016e-01 -8.13053220e-04 1.73326487e+02] [ 1.32271975e-01 9.91213455e-01 -1.04557793e-04 5.21386267e+00] [ 8.19739361e-04 -3.90509926e-06 9.99999664e-01 -2.28438719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.835898227 meters 0.013415370100202053 Centerline is valid? [True, True] Translation: X:173.35, Y:5.22, Z:-2.28 [[ 9.91190686e-01 -1.32440033e-01 -8.13035446e-04 1.73353749e+02] [ 1.32439992e-01 9.91191020e-01 -1.04696120e-04 5.21757789e+00] [ 8.19739390e-04 -3.90458831e-06 9.99999664e-01 -2.28443846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.865898227 meters 0.014456791233975466 Centerline is valid? [True, True] Translation: X:173.38, Y:5.22, Z:-2.28 [[ 9.91026550e-01 -1.33660293e-01 -1.14181065e-03 1.73380798e+02] [ 1.33660213e-01 9.91027208e-01 -1.46777588e-04 5.22147960e+00] [ 1.15118376e-03 -7.15416767e-06 9.99999337e-01 -2.28464062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.895898227 meters 0.014655343762563132 Centerline is valid? [True, True] Translation: X:173.41, Y:5.23, Z:-2.29 [[ 9.90987816e-01 -1.33938932e-01 -1.87394210e-03 1.73408546e+02] [ 1.33938715e-01 9.90989587e-01 -2.41331653e-04 5.22625668e+00] [ 1.88938081e-03 -1.18366691e-05 9.99998215e-01 -2.28650715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.925898227 meters 0.01483239074412796 Centerline is valid? [True, True] Translation: X:173.44, Y:5.23, Z:-2.29 [[ 9.90968204e-01 -1.34067825e-01 -2.79960425e-03 1.73436072e+02] [ 1.34067341e-01 9.90972158e-01 -3.60859812e-04 5.23084307e+00] [ 2.82270956e-03 -1.77348975e-05 9.99996016e-01 -2.28851391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.955898227 meters 0.014500330369493981 Centerline is valid? [True, True] Translation: X:173.46, Y:5.24, Z:-2.29 [[ 9.91001830e-01 -1.33797884e-01 -3.67421327e-03 1.73463972e+02] [ 1.33797045e-01 9.91008641e-01 -4.74120026e-04 5.23611579e+00] [ 3.70461336e-03 -2.17450664e-05 9.99993138e-01 -2.29020902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.985898227 meters 0.013976365925720364 Centerline is valid? [True, True] Translation: X:173.49, Y:5.24, Z:-2.29 [[ 9.91095434e-01 -1.33097946e-01 -3.84410447e-03 1.73491730e+02] [ 1.33097021e-01 9.91102889e-01 -4.96674610e-04 5.24180089e+00] [ 3.87600941e-03 -1.93869137e-05 9.99992488e-01 -2.29056629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.015898227 meters 0.012857678207916098 Centerline is valid? [True, True] Translation: X:173.52, Y:5.25, Z:-2.29 [[ 9.91291695e-01 -1.31633418e-01 -3.66305545e-03 1.73519532e+02] [ 1.31632566e-01 9.91298463e-01 -4.73801094e-04 5.24958501e+00] [ 3.69354929e-03 -1.25022985e-05 9.99993179e-01 -2.29001530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.045898227 meters 0.011765053891395509 Centerline is valid? [True, True] Translation: X:173.55, Y:5.27, Z:-2.29 [[ 9.91956297e-01 -1.26541600e-01 -3.15093797e-03 1.73546394e+02] [ 1.26540943e-01 9.91961301e-01 -4.08064368e-04 5.26643127e+00] [ 3.17724565e-03 6.05935778e-06 9.99994953e-01 -2.28950107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.075898227 meters 0.01311455005123379 Centerline is valid? [True, True] Translation: X:173.57, Y:5.28, Z:-2.29 [[ 9.92272092e-01 -1.24060907e-01 -2.23323828e-03 1.73573267e+02] [ 1.24060570e-01 9.92274605e-01 -2.89711507e-04 5.27674152e+00] [ 2.25192750e-03 1.04158303e-05 9.99997464e-01 -2.28838130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.105898227 meters 0.014810293551029568 Centerline is valid? [True, True] Translation: X:173.60, Y:5.28, Z:-2.29 [[ 9.92514551e-01 -1.22109187e-01 -2.05250753e-03 1.73601733e+02] [ 1.22108897e-01 9.92516673e-01 -2.66554261e-04 5.28499140e+00] [ 2.06969667e-03 1.39295518e-05 9.99997858e-01 -2.28758331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.135898227 meters 0.016309868142948696 Centerline is valid? [True, True] Translation: X:173.63, Y:5.29, Z:-2.29 [[ 9.92665984e-01 -1.20872661e-01 -2.01112864e-03 1.73629547e+02] [ 1.20872379e-01 9.92668021e-01 -2.61480836e-04 5.29190875e+00] [ 2.02798897e-03 1.64732279e-05 9.99997943e-01 -2.28796916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.165898227 meters 0.014773724261087565 Centerline is valid? [True, True] Translation: X:173.66, Y:5.29, Z:-2.29 [[ 9.92733502e-01 -1.20304857e-01 -2.63360249e-03 1.73658787e+02] [ 1.20304371e-01 9.92736995e-01 -3.42801006e-04 5.29331912e+00] [ 2.65571525e-03 2.34761527e-05 9.99996473e-01 -2.28768202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19589822700001 meters 0.01841381963818855 Centerline is valid? [True, True] Translation: X:173.69, Y:5.30, Z:-2.30 [[ 9.92800250e-01 -1.19668587e-01 -5.20504236e-03 1.73685221e+02] [ 1.19666679e-01 9.92813893e-01 -6.77631221e-04 5.30157169e+00] [ 5.24872954e-03 4.98823115e-05 9.99986224e-01 -2.29535999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.225898227 meters 0.01872745664010335 Centerline is valid? [True, True] Translation: X:173.71, Y:5.30, Z:-2.30 [[ 9.92793498e-01 -1.19696197e-01 -5.82161451e-03 1.73713604e+02] [ 1.19693805e-01 9.92810565e-01 -7.58813961e-04 5.30464014e+00] [ 5.87058754e-03 5.65343763e-05 9.99982766e-01 -2.29660189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.255898227 meters 0.02879789673330281 Centerline is valid? [True, True] Translation: X:173.74, Y:5.31, Z:-2.30 [[ 9.92778804e-01 -1.19784498e-01 -6.47461179e-03 1.73741877e+02] [ 1.19781535e-01 9.92799914e-01 -8.44848380e-04 5.30846107e+00] [ 6.52919377e-03 6.32086246e-05 9.99978683e-01 -2.29686906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.285898227 meters 0.01616584232527282 Centerline is valid? [True, True] Translation: X:173.77, Y:5.31, Z:-2.29 [[ 9.92834542e-01 -1.19348937e-01 -5.95015204e-03 1.73770315e+02] [ 1.19346420e-01 9.92852369e-01 -7.77656759e-04 5.30627071e+00] [ 6.00043506e-03 6.19551477e-05 9.99981995e-01 -2.29172038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.315898227 meters 0.016309489776112806 Centerline is valid? [True, True] Translation: X:173.80, Y:5.31, Z:-2.29 [[ 9.92970878e-01 -1.18213391e-01 -5.86772109e-03 1.73799276e+02] [ 1.18210917e-01 9.92988212e-01 -7.67884848e-04 5.30987064e+00] [ 5.91735214e-03 6.88585997e-05 9.99982490e-01 -2.29029715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.345898227 meters 0.023926787620805655 Centerline is valid? [True, True] Translation: X:173.83, Y:5.32, Z:-2.29 [[ 9.93194402e-01 -1.16351653e-01 -5.21282514e-03 1.73825362e+02] [ 1.16349674e-01 9.93208079e-01 -6.82332774e-04 5.32490548e+00] [ 5.25681059e-03 7.11785839e-05 9.99986180e-01 -2.29486904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.375898227 meters 0.035532112543245925 Centerline is valid? [True, True] Translation: X:173.85, Y:5.34, Z:-2.30 [[ 9.93717166e-01 -1.11773819e-01 -5.72771349e-03 1.73853586e+02] [ 1.11771353e-01 9.93733668e-01 -7.49761416e-04 5.33783427e+00] [ 5.77562543e-03 1.04856501e-04 9.99983315e-01 -2.29598250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.405898227 meters 0.033517131442084805 Centerline is valid? [True, True] Translation: X:173.88, Y:5.34, Z:-2.30 [[ 9.93931673e-01 -1.09878814e-01 -5.14550517e-03 1.73881937e+02] [ 1.09876794e-01 9.93944986e-01 -6.74542065e-04 5.34451855e+00] [ 5.18846695e-03 1.05077114e-04 9.99986534e-01 -2.29581945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.435898227 meters 0.025607314907675618 Centerline is valid? [True, True] Translation: X:173.91, Y:5.34, Z:-2.29 [[ 9.94094416e-01 -1.08399803e-01 -5.07681535e-03 1.73912342e+02] [ 1.08397812e-01 9.94107374e-01 -6.66446611e-04 5.33679546e+00] [ 5.11914225e-03 1.12195179e-04 9.99986891e-01 -2.29115173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.465898227 meters 0.029067767684332335 Centerline is valid? [True, True] Translation: X:173.94, Y:5.34, Z:-2.29 [[ 9.94217750e-01 -1.07256459e-01 -5.20753632e-03 1.73939200e+02] [ 1.07254349e-01 9.94231380e-01 -6.83709764e-04 5.34487127e+00] [ 5.25082831e-03 1.21225466e-04 9.99986207e-01 -2.29166739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.495898227 meters 0.027684945596585787 Centerline is valid? [True, True] Translation: X:173.97, Y:5.35, Z:-2.29 [[ 9.94298292e-01 -1.06511101e-01 -5.12761025e-03 1.73967820e+02] [ 1.06509039e-01 9.94311505e-01 -6.74283791e-04 5.34653659e+00] [ 5.17026058e-03 1.24302379e-04 9.99986626e-01 -2.29008765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.525898227 meters 0.029191296282657413 Centerline is valid? [True, True] Translation: X:174.00, Y:5.35, Z:-2.29 [[ 9.94354885e-01 -1.06006337e-01 -4.58469157e-03 1.73995273e+02] [ 1.06004682e-01 9.94365448e-01 -6.03187373e-04 5.35180801e+00] [ 4.62280057e-03 1.13783541e-04 9.99989308e-01 -2.28967691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.555898227 meters 0.038849381728659205 Centerline is valid? [True, True] Translation: X:174.02, Y:5.35, Z:-2.29 [[ 9.94356189e-01 -1.05998743e-01 -4.47609607e-03 1.74022959e+02] [ 1.05997160e-01 9.94366257e-01 -5.89975082e-04 5.35318620e+00] [ 4.51341551e-03 1.12191903e-04 9.99989808e-01 -2.28915587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.585898227 meters 0.028282148414500757 Centerline is valid? [True, True] Translation: X:174.05, Y:5.36, Z:-2.29 [[ 9.94351440e-01 -1.06041198e-01 -4.52529229e-03 1.74050072e+02] [ 1.06039580e-01 9.94361731e-01 -5.96636243e-04 5.35606111e+00] [ 4.56304549e-03 1.13406013e-04 9.99989583e-01 -2.28994579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.615898227 meters 0.02895407847885856 Centerline is valid? [True, True] Translation: X:174.08, Y:5.36, Z:-2.29 [[ 9.94313962e-01 -1.06377216e-01 -4.86129255e-03 1.74078038e+02] [ 1.06375352e-01 9.94325839e-01 -6.41169814e-04 5.36041230e+00] [ 4.90191465e-03 1.20402393e-04 9.99987978e-01 -2.29142463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.645898227 meters 0.0333887113928691 Centerline is valid? [True, True] Translation: X:174.11, Y:5.37, Z:-2.29 [[ 9.94255724e-01 -1.06948734e-01 -4.18614108e-03 1.74105125e+02] [ 1.06947356e-01 9.94264531e-01 -5.52381459e-04 5.36993945e+00] [ 4.22120809e-03 1.01511709e-04 9.99991086e-01 -2.29041971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.675898227 meters 0.027927782492119763 Centerline is valid? [True, True] Translation: X:174.13, Y:5.37, Z:-2.29 [[ 9.94199109e-01 -1.07475127e-01 -4.15076426e-03 1.74134954e+02] [ 1.07473773e-01 9.94207769e-01 -5.48605335e-04 5.36685731e+00] [ 4.18568350e-03 9.93246397e-05 9.99991235e-01 -2.28776942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.705898227 meters 0.026820866390118263 Centerline is valid? [True, True] Translation: X:174.16, Y:5.37, Z:-2.29 [[ 9.94153408e-01 -1.07904026e-01 -3.96525117e-03 1.74162712e+02] [ 1.07902790e-01 9.94161311e-01 -5.24913521e-04 5.36955825e+00] [ 3.99873958e-03 9.39829029e-05 9.99992001e-01 -2.28635921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.735898227 meters 0.028472085966114006 Centerline is valid? [True, True] Translation: X:174.19, Y:5.38, Z:-2.29 [[ 9.94131987e-01 -1.08078667e-01 -4.53798598e-03 1.74189243e+02] [ 1.08077049e-01 9.94142339e-01 -6.01158943e-04 5.37596709e+00] [ 4.57637645e-03 1.07179204e-04 9.99989523e-01 -2.28718603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.765898227 meters 0.02623714723415406 Centerline is valid? [True, True] Translation: X:174.22, Y:5.38, Z:-2.29 [[ 9.94123465e-01 -1.08109838e-01 -5.54968300e-03 1.74218454e+02] [ 1.08107412e-01 9.94138947e-01 -7.36161499e-04 5.37789894e+00] [ 5.59674231e-03 1.31873555e-04 9.99984329e-01 -2.28755628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.795898227 meters 0.02839021195953956 Centerline is valid? [True, True] Translation: X:174.25, Y:5.39, Z:-2.29 [[ 9.94189200e-01 -1.07522052e-01 -5.18091544e-03 1.74245412e+02] [ 1.07519929e-01 9.94202692e-01 -6.87377858e-04 5.38582899e+00] [ 5.22478836e-03 1.26331981e-04 9.99986343e-01 -2.28849513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.825898227 meters 0.029108345983062694 Centerline is valid? [True, True] Translation: X:174.27, Y:5.39, Z:-2.29 [[ 9.94199778e-01 -1.07508805e-01 -2.94232405e-03 1.74272597e+02] [ 1.07508120e-01 9.94204130e-01 -3.90592064e-04 5.39243913e+00] [ 2.96726281e-03 7.20028156e-05 9.99995595e-01 -2.28510633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.855898227 meters 0.028570918068962864 Centerline is valid? [True, True] Translation: X:174.30, Y:5.40, Z:-2.28 [[ 9.94085775e-01 -1.08582000e-01 -1.84957376e-03 1.74300720e+02] [ 1.08581730e-01 9.94087495e-01 -2.46064468e-04 5.39601411e+00] [ 1.86535632e-03 4.37792691e-05 9.99998259e-01 -2.28327484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.885898227 meters 0.027148769014345348 Centerline is valid? [True, True] Translation: X:174.33, Y:5.40, Z:-2.28 [[ 9.93892311e-01 -1.10343926e-01 -1.51419796e-03 1.74328670e+02] [ 1.10343747e-01 9.93893464e-01 -2.01393371e-04 5.39801557e+00] [ 1.52717399e-03 3.30810453e-05 9.99998833e-01 -2.28340138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.915898227 meters 0.023521476434128254 Centerline is valid? [True, True] Translation: X:174.36, Y:5.40, Z:-2.28 [[ 9.93595089e-01 -1.12988710e-01 -1.53289921e-03 1.74357770e+02] [ 1.12988529e-01 9.93596271e-01 -2.03932484e-04 5.39707397e+00] [ 1.54612501e-03 2.94262864e-05 9.99998804e-01 -2.28392828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94589822700001 meters 0.02088553407232432 Centerline is valid? [True, True] Translation: X:174.39, Y:5.40, Z:-2.29 [[ 9.93262058e-01 -1.15862314e-01 -2.53156512e-03 1.74387246e+02] [ 1.15861830e-01 9.93265283e-01 -3.37324256e-04 5.39717887e+00] [ 2.55359892e-03 4.17396156e-05 9.99996739e-01 -2.28589807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.975898227 meters 0.01860326296523506 Centerline is valid? [True, True] Translation: X:174.42, Y:5.40, Z:-2.29 [[ 9.92943127e-01 -1.18539056e-01 -3.52674912e-03 1.74416705e+02] [ 1.18538133e-01 9.92949389e-01 -4.70368034e-04 5.39775873e+00] [ 3.55764037e-03 4.89944513e-05 9.99993670e-01 -2.28732207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.005898227 meters 0.016156830520841846 Centerline is valid? [True, True] Translation: X:174.45, Y:5.40, Z:-2.29 [[ 9.92570932e-01 -1.21567657e-01 -4.92450677e-03 1.74445620e+02] [ 1.21565890e-01 9.92583146e-01 -6.57531094e-04 5.39961294e+00] [ 4.96791693e-03 5.39942010e-05 9.99987658e-01 -2.28750084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.035898227 meters 0.015803348854655886 Centerline is valid? [True, True] Translation: X:174.47, Y:5.40, Z:-2.29 [[ 9.92464216e-01 -1.22421857e-01 -5.26020176e-03 1.74473167e+02] [ 1.22419853e-01 9.92478154e-01 -7.02444858e-04 5.40466500e+00] [ 5.30662994e-03 5.31982591e-05 9.99985918e-01 -2.28832196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.065898227 meters 0.01527817119343222 Centerline is valid? [True, True] Translation: X:174.50, Y:5.41, Z:-2.29 [[ 9.92323863e-01 -1.23561013e-01 -5.10174750e-03 1.74500815e+02] [ 1.23559142e-01 9.92336976e-01 -6.81588827e-04 5.40845384e+00] [ 5.14687050e-03 4.59893155e-05 9.99986754e-01 -2.28888581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.095898227 meters 0.014008307989829155 Centerline is valid? [True, True] Translation: X:174.53, Y:5.41, Z:-2.29 [[ 9.92116712e-01 -1.25238373e-01 -4.44749697e-03 1.74529923e+02] [ 1.25236964e-01 9.92126680e-01 -5.95129401e-04 5.41095177e+00] [ 4.48701344e-03 3.34468083e-05 9.99989933e-01 -2.28822191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.125898227 meters 0.011797661954169853 Centerline is valid? [True, True] Translation: X:174.56, Y:5.41, Z:-2.29 [[ 9.91573294e-01 -1.29515310e-01 -2.86132045e-03 1.74558477e+02] [ 1.29514743e-01 9.91577422e-01 -3.83089998e-04 5.41113999e+00] [ 2.88683677e-03 9.27862817e-06 9.99995833e-01 -2.28622646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.155898227 meters 0.013797260623932169 Centerline is valid? [True, True] Translation: X:174.59, Y:5.41, Z:-2.29 [[ 9.91338414e-01 -1.31297345e-01 -3.02602856e-03 1.74585321e+02] [ 1.31296719e-01 9.91343032e-01 -4.05373376e-04 5.41408668e+00] [ 3.05305677e-03 4.55457857e-06 9.99995339e-01 -2.28689090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.185898227 meters 0.011425517335373912 Centerline is valid? [True, True] Translation: X:174.61, Y:5.42, Z:-2.29 [[ 9.91196758e-01 -1.32329208e-01 -4.23875036e-03 1.74613708e+02] [ 1.32327986e-01 9.91205822e-01 -5.68642951e-04 5.41733519e+00] [ 4.27672211e-03 2.73175246e-06 9.99990855e-01 -2.28743582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.215898227 meters 0.02992408280220339 Centerline is valid? [True, True] Translation: X:174.64, Y:5.42, Z:-2.29 [[ 9.91114236e-01 -1.32916690e-01 -5.07203661e-03 1.74640689e+02] [ 1.32914948e-01 9.91127214e-01 -6.80473325e-04 5.42255072e+00] [ 5.11747977e-03 2.77315441e-07 9.99986906e-01 -2.29061579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.245898227 meters 0.021786451873625507 Centerline is valid? [True, True] Translation: X:174.67, Y:5.43, Z:-2.29 [[ 9.91052061e-01 -1.33351378e-01 -5.76382012e-03 1.74668752e+02] [ 1.33349128e-01 9.91068822e-01 -7.74634309e-04 5.42757657e+00] [ 5.81564097e-03 -8.97460067e-07 9.99983089e-01 -2.29031541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.275898227 meters 0.012045420575183681 Centerline is valid? [True, True] Translation: X:174.70, Y:5.43, Z:-2.29 [[ 9.90743696e-01 -1.35620956e-01 -5.82104255e-03 1.74696199e+02] [ 1.35618700e-01 9.90760797e-01 -7.82425073e-04 5.43286303e+00] [ 5.87337399e-03 -1.42595123e-05 9.99982751e-01 -2.29002135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.305898227 meters 0.01303620996226505 Centerline is valid? [True, True] Translation: X:174.72, Y:5.44, Z:-2.29 [[ 9.90453515e-01 -1.37711903e-01 -6.10459412e-03 1.74723369e+02] [ 1.37709459e-01 9.90472327e-01 -8.20896975e-04 5.43633440e+00] [ 6.15947883e-03 -2.76000569e-05 9.99981030e-01 -2.29095148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.335898227 meters 0.019324062466844545 Centerline is valid? [True, True] Translation: X:174.75, Y:5.44, Z:-2.29 [[ 9.90106742e-01 -1.40157339e-01 -6.67530567e-03 1.74752313e+02] [ 1.40154463e-01 9.90129243e-01 -8.98968220e-04 5.44018719e+00] [ 6.73541234e-03 -4.54993889e-05 9.99977316e-01 -2.29145869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.365898227 meters 0.016733461266866378 Centerline is valid? [True, True] Translation: X:174.78, Y:5.44, Z:-2.29 [[ 9.89791907e-01 -1.42363646e-01 -6.67627884e-03 1.74780866e+02] [ 1.42360818e-01 9.89814421e-01 -8.99298704e-04 5.43976602e+00] [ 6.73630451e-03 -6.03219368e-05 9.99977309e-01 -2.29251168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.395898227 meters 0.02541872760712942 Centerline is valid? [True, True] Translation: X:174.81, Y:5.44, Z:-2.29 [[ 9.89426587e-01 -1.44877658e-01 -6.74485914e-03 1.74809470e+02] [ 1.44874821e-01 9.89449573e-01 -9.09886457e-04 5.44376922e+00] [ 6.80552022e-03 -7.68944100e-05 9.99976839e-01 -2.29175018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.425898227 meters 0.025883214395799756 Centerline is valid? [True, True] Translation: X:174.84, Y:5.45, Z:-2.29 [[ 9.89026452e-01 -1.47603099e-01 -6.32476111e-03 1.74838193e+02] [ 1.47600654e-01 9.89046671e-01 -8.54311953e-04 5.44548562e+00] [ 6.38158302e-03 -8.86017543e-05 9.99979634e-01 -2.29090772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.455898227 meters 0.024885105869086793 Centerline is valid? [True, True] Translation: X:174.87, Y:5.44, Z:-2.29 [[ 9.88203300e-01 -1.53066941e-01 -4.97494931e-03 1.74867738e+02] [ 1.53065497e-01 9.88215818e-01 -6.71988234e-04 5.44459360e+00] [ 5.01918279e-03 -9.74320981e-05 9.99987399e-01 -2.28937667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.485898227 meters 0.029862876177289506 Centerline is valid? [True, True] Translation: X:174.90, Y:5.44, Z:-2.29 [[ 9.87724001e-01 -1.56128419e-01 -5.02143535e-03 1.74896985e+02] [ 1.56126987e-01 9.87736758e-01 -6.78447508e-04 5.44289986e+00] [ 5.06578121e-03 -1.13862684e-04 9.99987162e-01 -2.29051157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.515898227 meters 0.031188456308868434 Centerline is valid? [True, True] Translation: X:174.93, Y:5.45, Z:-2.29 [[ 9.87284674e-01 -1.58884341e-01 -4.97377662e-03 1.74925955e+02] [ 1.58882970e-01 9.87297194e-01 -6.72188791e-04 5.44557457e+00] [ 5.01739598e-03 -1.26606709e-04 9.99987405e-01 -2.29034814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.545898227 meters 0.033394934926224 Centerline is valid? [True, True] Translation: X:174.96, Y:5.45, Z:-2.29 [[ 9.86875985e-01 -1.61386067e-01 -5.50702803e-03 1.74955835e+02] [ 1.61384424e-01 9.86891338e-01 -7.44361040e-04 5.44719319e+00] [ 5.55496776e-03 -1.54156515e-04 9.99984559e-01 -2.29088560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.575898227 meters 0.037995828617627535 Centerline is valid? [True, True] Translation: X:174.98, Y:5.45, Z:-2.29 [[ 9.86511375e-01 -1.63583522e-01 -5.97821122e-03 1.74984480e+02] [ 1.63581624e-01 9.86529472e-01 -8.08378128e-04 5.44561916e+00] [ 6.02991890e-03 -1.80451284e-04 9.99981804e-01 -2.29230653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.605898227 meters 0.03949082152443145 Centerline is valid? [True, True] Translation: X:175.01, Y:5.45, Z:-2.29 [[ 9.86160659e-01 -1.65670381e-01 -6.36228649e-03 1.75013425e+02] [ 1.65668274e-01 9.86181161e-01 -8.60509297e-04 5.44877250e+00] [ 6.41692798e-03 -2.05428602e-04 9.99979390e-01 -2.29229579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.635898227 meters 0.04047157882261212 Centerline is valid? [True, True] Translation: X:175.04, Y:5.45, Z:-2.29 [[ 9.85867488e-01 -1.67391388e-01 -6.73940014e-03 1.75042579e+02] [ 1.67389063e-01 9.85890496e-01 -9.11649669e-04 5.45382350e+00] [ 6.79691285e-03 -2.29336103e-04 9.99976874e-01 -2.29117924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.665898227 meters 0.04219073031587536 Centerline is valid? [True, True] Translation: X:175.07, Y:5.46, Z:-2.29 [[ 9.85891109e-01 -1.67248702e-01 -6.82586927e-03 1.75070728e+02] [ 1.67246308e-01 9.85914712e-01 -9.24071542e-04 5.45679295e+00] [ 6.88427470e-03 -2.30567514e-04 9.99976277e-01 -2.29179635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69589822700001 meters 0.04241455734643596 Centerline is valid? [True, True] Translation: X:175.10, Y:5.46, Z:-2.29 [[ 9.85917540e-01 -1.67086317e-01 -6.98341252e-03 1.75099546e+02] [ 1.67083798e-01 9.85942244e-01 -9.46660366e-04 5.46213287e+00] [ 7.04341540e-03 -2.33486029e-04 9.99975168e-01 -2.29214544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.725898227 meters 0.04241455734643596 Centerline is valid? [True, True] Translation: X:175.13, Y:5.47, Z:-2.29 [[ 9.85887073e-01 -1.67266000e-01 -6.98323404e-03 1.75126799e+02] [ 1.67263476e-01 9.85911776e-01 -9.47976309e-04 5.46603278e+00] [ 7.04341688e-03 -2.33442414e-04 9.99975168e-01 -2.29219675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.755898227 meters 0.03776526779677887 Centerline is valid? [True, True] Translation: X:175.15, Y:5.48, Z:-2.29 [[ 9.85902373e-01 -1.67163183e-01 -7.27875866e-03 1.75153067e+02] [ 1.67160428e-01 9.85929213e-01 -9.89526376e-04 5.47744013e+00] [ 7.34175317e-03 -2.41144008e-04 9.99973020e-01 -2.29140970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.785898227 meters 0.04054824270366218 Centerline is valid? [True, True] Translation: X:175.18, Y:5.48, Z:-2.29 [[ 9.85857511e-01 -1.67430009e-01 -7.22213546e-03 1.75180640e+02] [ 1.67427303e-01 9.85883935e-01 -9.82018318e-04 5.48033987e+00] [ 7.28460667e-03 -2.41052527e-04 9.99973438e-01 -2.29301646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.815898227 meters 0.043255740286532535 Centerline is valid? [True, True] Translation: X:175.21, Y:5.48, Z:-2.29 [[ 9.85692430e-01 -1.68413691e-01 -6.87481776e-03 1.75208088e+02] [ 1.68411259e-01 9.85716376e-01 -9.35200152e-04 5.48451731e+00] [ 6.93412096e-03 -2.35977006e-04 9.99975931e-01 -2.29249893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.845898227 meters 0.04634774512768057 Centerline is valid? [True, True] Translation: X:175.24, Y:5.48, Z:-2.29 [[ 9.85605349e-01 -1.68968003e-01 -5.64896021e-03 1.75236596e+02] [ 1.68966369e-01 9.85621517e-01 -7.68791585e-04 5.48166575e+00] [ 5.69763791e-03 -1.96759195e-04 9.99983749e-01 -2.29196406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.875898227 meters 0.04356900469857867 Centerline is valid? [True, True] Translation: X:175.27, Y:5.49, Z:-2.29 [[ 9.85518877e-01 -1.69477742e-01 -5.46233184e-03 1.75265072e+02] [ 1.69476216e-01 9.85533996e-01 -7.44472095e-04 5.48949852e+00] [ 5.50948518e-03 -1.92044028e-04 9.99984804e-01 -2.29053580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.905898227 meters 0.04189399177025551 Centerline is valid? [True, True] Translation: X:175.29, Y:5.50, Z:-2.29 [[ 9.85503094e-01 -1.69534643e-01 -6.45425148e-03 1.75292279e+02] [ 1.69532506e-01 9.85524203e-01 -8.80781942e-04 5.49613012e+00] [ 6.51014410e-03 -2.26192097e-04 9.99978783e-01 -2.29153353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.935898227 meters 0.040771280532233126 Centerline is valid? [True, True] Translation: X:175.32, Y:5.50, Z:-2.29 [[ 9.85493294e-01 -1.69538726e-01 -7.71928025e-03 1.75320663e+02] [ 1.69535659e-01 9.85523489e-01 -1.05463905e-03 5.50286593e+00] [ 7.78633417e-03 -2.69353553e-04 9.99969650e-01 -2.29309362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.965898227 meters 0.04298179587118807 Centerline is valid? [True, True] Translation: X:175.35, Y:5.51, Z:-2.30 [[ 9.85348377e-01 -1.70318294e-01 -8.95854117e-03 1.75348675e+02] [ 1.70314191e-01 9.85389048e-01 -1.22456301e-03 5.50602003e+00] [ 9.03621385e-03 -3.19145518e-04 9.99959122e-01 -2.29539187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.995898227 meters 0.04682234622458973 Centerline is valid? [True, True] Translation: X:175.38, Y:5.51, Z:-2.30 [[ 9.85144325e-01 -1.71500424e-01 -8.84664479e-03 1.75375923e+02] [ 1.71496462e-01 9.85183992e-01 -1.21019981e-03 5.50893154e+00] [ 8.92312261e-03 -3.24946808e-04 9.99960135e-01 -2.29557674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.025898227 meters 0.04783398443481816 Centerline is valid? [True, True] Translation: X:175.40, Y:5.52, Z:-2.29 [[ 9.84902505e-01 -1.72904838e-01 -8.42446880e-03 1.75403680e+02] [ 1.72901290e-01 9.84938482e-01 -1.15319388e-03 5.51501994e+00] [ 8.49697631e-03 -3.20817983e-04 9.99963849e-01 -2.29352913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.055898227 meters 0.04546964416760343 Centerline is valid? [True, True] Translation: X:175.43, Y:5.52, Z:-2.29 [[ 9.84696362e-01 -1.74155054e-01 -6.56437460e-03 1.75431949e+02] [ 1.74152919e-01 9.84718209e-01 -8.99850228e-04 5.51827582e+00] [ 6.62077267e-03 -2.57125752e-04 9.99978049e-01 -2.29102148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.085898227 meters 0.04615228396825224 Centerline is valid? [True, True] Translation: X:175.46, Y:5.52, Z:-2.29 [[ 9.84586878e-01 -1.74767064e-01 -6.71961079e-03 1.75460382e+02] [ 1.74764834e-01 9.84609772e-01 -9.22244243e-04 5.52234514e+00] [ 6.77737236e-03 -2.66322082e-04 9.99976998e-01 -2.29117081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.115898227 meters 0.04787628259196084 Centerline is valid? [True, True] Translation: X:175.49, Y:5.53, Z:-2.29 [[ 9.84526187e-01 -1.75100780e-01 -6.92131456e-03 1.75488376e+02] [ 1.75098421e-01 9.84550476e-01 -9.50128502e-04 5.52504765e+00] [ 6.98075178e-03 -2.76484855e-04 9.99975596e-01 -2.29205504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.145898227 meters 0.04619159413627372 Centerline is valid? [True, True] Translation: X:175.52, Y:5.53, Z:-2.29 [[ 9.84392469e-01 -1.75850955e-01 -6.92162507e-03 1.75515978e+02] [ 1.75848605e-01 9.84416763e-01 -9.51532824e-04 5.53299764e+00] [ 6.98109170e-03 -2.80476366e-04 9.99975593e-01 -2.29146948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.175898227 meters 0.047777388708138926 Centerline is valid? [True, True] Translation: X:175.54, Y:5.54, Z:-2.29 [[ 9.84306681e-01 -1.76347959e-01 -6.46178175e-03 1.75543899e+02] [ 1.76345920e-01 9.84327856e-01 -8.88521609e-04 5.53627473e+00] [ 6.51720075e-03 -2.64931090e-04 9.99978728e-01 -2.29124681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.205898227 meters 0.05338407971628928 Centerline is valid? [True, True] Translation: X:175.57, Y:5.54, Z:-2.29 [[ 9.84068227e-01 -1.77715705e-01 -5.18195135e-03 1.75572106e+02] [ 1.77714411e-01 9.84081846e-01 -7.12864076e-04 5.53698603e+00] [ 5.22615139e-03 -2.19400542e-04 9.99986320e-01 -2.29066007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.235898227 meters 0.052628380878516005 Centerline is valid? [True, True] Translation: X:175.60, Y:5.54, Z:-2.29 [[ 9.83877340e-01 -1.78770743e-01 -5.13825614e-03 1.75600570e+02] [ 1.78769480e-01 9.83890732e-01 -7.07868126e-04 5.54395995e+00] [ 5.18202871e-03 -2.22107970e-04 9.99986549e-01 -2.29015823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.265898227 meters 0.0567799185700136 Centerline is valid? [True, True] Translation: X:175.63, Y:5.55, Z:-2.29 [[ 9.83664686e-01 -1.79909447e-01 -6.03135397e-03 1.75628876e+02] [ 1.79907727e-01 9.83683140e-01 -8.30925890e-04 5.54682306e+00] [ 6.08243263e-03 -2.67734732e-04 9.99981466e-01 -2.29245613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.295898227 meters 0.05771895510964655 Centerline is valid? [True, True] Translation: X:175.66, Y:5.55, Z:-2.29 [[ 9.83463698e-01 -1.80967933e-01 -7.05426298e-03 1.75657457e+02] [ 1.80965605e-01 9.83488945e-01 -9.72156852e-04 5.55031663e+00] [ 7.11371887e-03 -3.20497997e-04 9.99974646e-01 -2.29349996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.325898227 meters 0.05550478517288198 Centerline is valid? [True, True] Translation: X:175.69, Y:5.56, Z:-2.29 [[ 9.83247413e-01 -1.82104761e-01 -7.89813348e-03 1.75685365e+02] [ 1.82101877e-01 9.83279066e-01 -1.08881401e-03 5.56056924e+00] [ 7.96434752e-03 -3.67691374e-04 9.99968216e-01 -2.29427890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.355898227 meters 0.06071577798184674 Centerline is valid? [True, True] Translation: X:175.71, Y:5.56, Z:-2.30 [[ 9.83029913e-01 -1.83266381e-01 -8.10082392e-03 1.75713759e+02] [ 1.83263384e-01 9.83063215e-01 -1.11710002e-03 5.56155826e+00] [ 8.16834889e-03 -3.86441670e-04 9.99966564e-01 -2.29588937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.385898227 meters 0.05594581830965452 Centerline is valid? [True, True] Translation: X:175.74, Y:5.58, Z:-2.29 [[ 9.82473968e-01 -1.86260677e-01 -7.20159471e-03 1.75742043e+02] [ 1.86258388e-01 9.82500293e-01 -9.93133420e-04 5.57876920e+00] [ 7.26055062e-03 -3.65629692e-04 9.99973575e-01 -2.29250861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.415898227 meters 0.05684015570116707 Centerline is valid? [True, True] Translation: X:175.77, Y:5.58, Z:-2.29 [[ 9.82043460e-01 -1.88519696e-01 -7.13907708e-03 1.75771921e+02] [ 1.88517506e-01 9.82069336e-01 -9.84490053e-04 5.58470367e+00] [ 7.19666445e-03 -3.79028987e-04 9.99974032e-01 -2.29218454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44589822700001 meters 0.06233967515200119 Centerline is valid? [True, True] Translation: X:175.80, Y:5.58, Z:-2.29 [[ 9.81518856e-01 -1.91239575e-01 -6.93971488e-03 1.75801890e+02] [ 1.91237573e-01 9.81543313e-01 -9.57103379e-04 5.58419399e+00] [ 6.99466677e-03 -3.87719213e-04 9.99975462e-01 -2.29274148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.475898227 meters 0.0710173980392725 Centerline is valid? [True, True] Translation: X:175.83, Y:5.58, Z:-2.29 [[ 9.80900967e-01 -1.94387925e-01 -6.82838938e-03 1.75832249e+02] [ 1.94386062e-01 9.80924651e-01 -9.41866014e-04 5.57969476e+00] [ 6.88122286e-03 -4.03466436e-04 9.99976243e-01 -2.29391705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.505898227 meters 0.07619672617535088 Centerline is valid? [True, True] Translation: X:175.86, Y:5.58, Z:-2.29 [[ 9.80240767e-01 -1.97676524e-01 -7.21315390e-03 1.75861970e+02] [ 1.97674533e-01 9.80267203e-01 -9.95107781e-04 5.57953612e+00] [ 7.26752765e-03 -4.50411612e-04 9.99973490e-01 -2.29419288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.535898227 meters 0.08919364379983366 Centerline is valid? [True, True] Translation: X:175.89, Y:5.57, Z:-2.30 [[ 9.79086523e-01 -2.03315905e-01 -7.22655321e-03 1.75892309e+02] [ 2.03314058e-01 9.79113068e-01 -9.97099030e-04 5.57088466e+00] [ 7.27833878e-03 -4.93013636e-04 9.99973391e-01 -2.29512024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.565898227 meters 0.07744378402049908 Centerline is valid? [True, True] Translation: X:175.92, Y:5.59, Z:-2.29 [[ 9.78482950e-01 -2.06184120e-01 -7.69576303e-03 1.75920294e+02] [ 2.06182112e-01 9.78513060e-01 -1.06200113e-03 5.59114367e+00] [ 7.74937240e-03 -5.47578671e-04 9.99969823e-01 -2.29315209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.595898227 meters 0.09722908604680255 Centerline is valid? [True, True] Translation: X:175.95, Y:5.57, Z:-2.30 [[ 9.77868272e-01 -2.09068054e-01 -8.01195911e-03 1.75952207e+02] [ 2.09065972e-01 9.77900913e-01 -1.10581821e-03 5.57073815e+00] [ 8.06609339e-03 -5.93683474e-04 9.99967292e-01 -2.29711296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.625898227 meters 0.08355183326115147 Centerline is valid? [True, True] Translation: X:175.98, Y:5.59, Z:-2.29 [[ 9.77307226e-01 -2.11654238e-01 -8.54805069e-03 1.75979124e+02] [ 2.11651965e-01 9.77344388e-01 -1.17999771e-03 5.59216258e+00] [ 8.60414089e-03 -6.55991439e-04 9.99962769e-01 -2.29478596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.655898227 meters 0.0857489647894107 Centerline is valid? [True, True] Translation: X:176.01, Y:5.59, Z:-2.29 [[ 9.76812222e-01 -2.13932833e-01 -8.40387266e-03 1.76009203e+02] [ 2.13930720e-01 9.76848146e-01 -1.16018147e-03 5.59429088e+00] [ 8.45750834e-03 -6.64567081e-04 9.99964014e-01 -2.29425716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.685898227 meters 0.08906766960557234 Centerline is valid? [True, True] Translation: X:176.04, Y:5.59, Z:-2.29 [[ 9.76962830e-01 -2.13256545e-01 -8.07933691e-03 1.76037371e+02] [ 2.13254562e-01 9.76996032e-01 -1.11616630e-03 5.59381201e+00] [ 8.13150987e-03 -6.32502465e-04 9.99966739e-01 -2.29419612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.715898227 meters 0.08453487615370196 Centerline is valid? [True, True] Translation: X:176.07, Y:5.60, Z:-2.29 [[ 9.77259808e-01 -2.11904383e-01 -7.73301655e-03 1.76066273e+02] [ 2.11902525e-01 9.77290222e-01 -1.06828773e-03 5.60340949e+00] [ 7.78377631e-03 -5.94651065e-04 9.99969529e-01 -2.29308402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.745898227 meters 0.0833094948965852 Centerline is valid? [True, True] Translation: X:176.10, Y:5.61, Z:-2.29 [[ 9.77567156e-01 -2.10487284e-01 -7.58681351e-03 1.76095571e+02] [ 2.10485451e-01 9.77596428e-01 -1.04828607e-03 5.60882392e+00] [ 7.63749268e-03 -5.72143834e-04 9.99970670e-01 -2.29301817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.775898227 meters 0.06951579483068285 Centerline is valid? [True, True] Translation: X:176.12, Y:5.63, Z:-2.29 [[ 9.77877764e-01 -2.09016893e-01 -8.18636742e-03 1.76122891e+02] [ 2.09014707e-01 9.77911843e-01 -1.13120640e-03 5.62990141e+00] [ 8.24198690e-03 -6.04889601e-04 9.99965851e-01 -2.29172263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.805898227 meters 0.0804213828806006 Centerline is valid? [True, True] Translation: X:176.15, Y:5.62, Z:-2.29 [[ 9.78117053e-01 -2.07885982e-01 -8.39340782e-03 1.76153019e+02] [ 2.07883639e-01 9.78152875e-01 -1.16017167e-03 5.61970724e+00] [ 8.45121942e-03 -6.10068470e-04 9.99964102e-01 -2.29445124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.835898227 meters 0.08393400471771016 Centerline is valid? [True, True] Translation: X:176.18, Y:5.62, Z:-2.30 [[ 9.78609806e-01 -2.05548261e-01 -8.52998706e-03 1.76182109e+02] [ 2.05545752e-01 9.78646797e-01 -1.17921747e-03 5.61794620e+00] [ 8.59023061e-03 -5.99308818e-04 9.99962924e-01 -2.29663995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.865898227 meters 0.07435084339009104 Centerline is valid? [True, True] Translation: X:176.21, Y:5.63, Z:-2.29 [[ 9.78843703e-01 -2.04464102e-01 -7.70955013e-03 1.76210265e+02] [ 2.04462018e-01 9.78873918e-01 -1.06587203e-03 5.63270894e+00] [ 7.76461011e-03 -5.32988059e-04 9.99969713e-01 -2.29365996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.895898227 meters 0.06809633135003913 Centerline is valid? [True, True] Translation: X:176.24, Y:5.65, Z:-2.29 [[ 9.79027094e-01 -2.03621417e-01 -6.65334195e-03 1.76237685e+02] [ 2.03619843e-01 9.79049597e-01 -9.20247797e-04 5.64549982e+00] [ 6.70133391e-03 -4.53804915e-04 9.99977443e-01 -2.29182012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.925898227 meters 0.08198099766571111 Centerline is valid? [True, True] Translation: X:176.27, Y:5.63, Z:-2.29 [[ 9.79064354e-01 -2.03459461e-01 -6.10229567e-03 1.76268040e+02] [ 2.03458132e-01 9.79083283e-01 -8.44432020e-04 5.62822495e+00] [ 6.14646337e-03 -4.14808386e-04 9.99981024e-01 -2.29320869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.955898227 meters 0.0730378320462032 Centerline is valid? [True, True] Translation: X:176.30, Y:5.64, Z:-2.29 [[ 9.79172509e-01 -2.02878603e-01 -7.84027330e-03 1.76295082e+02] [ 2.02876379e-01 9.79203756e-01 -1.08637645e-03 5.64104126e+00] [ 7.89762760e-03 -5.26856296e-04 9.99968674e-01 -2.29394029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.985898227 meters 0.06748966098356651 Centerline is valid? [True, True] Translation: X:176.32, Y:5.65, Z:-2.30 [[ 9.79270630e-01 -2.02335730e-01 -9.44912667e-03 1.76322515e+02] [ 2.02332459e-01 9.79316015e-01 -1.31085714e-03 5.65101533e+00] [ 9.51891431e-03 -6.28181139e-04 9.99954497e-01 -2.29514441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.015898227 meters 0.0793683013745589 Centerline is valid? [True, True] Translation: X:176.35, Y:5.64, Z:-2.30 [[ 9.79392101e-01 -2.01709531e-01 -1.02165287e-02 1.76352028e+02] [ 2.01705669e-01 9.79445156e-01 -1.41770630e-03 5.63892220e+00] [ 1.02924945e-02 -6.72241411e-04 9.99946805e-01 -2.29931994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.045898227 meters 0.07117476523355051 Centerline is valid? [True, True] Translation: X:176.38, Y:5.65, Z:-2.30 [[ 9.79426885e-01 -2.01526713e-01 -1.04861865e-02 1.76379626e+02] [ 2.01522614e-01 9.79482778e-01 -1.45704109e-03 5.65224610e+00] [ 1.05646718e-02 -6.86138501e-04 9.99943957e-01 -2.29780688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.075898227 meters 0.06904549426984508 Centerline is valid? [True, True] Translation: X:176.41, Y:5.66, Z:-2.30 [[ 9.79413745e-01 -2.01612920e-01 -1.00472618e-02 1.76407767e+02] [ 2.01609144e-01 9.79465058e-01 -1.39775166e-03 5.65792259e+00] [ 1.01227467e-02 -6.56642664e-04 9.99948548e-01 -2.29680390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.105898227 meters 0.07738634374562763 Centerline is valid? [True, True] Translation: X:176.44, Y:5.65, Z:-2.30 [[ 9.79320725e-01 -2.02089127e-01 -9.53430190e-03 1.76436440e+02] [ 2.02085744e-01 9.79366934e-01 -1.32690935e-03 5.65027610e+00] [ 9.60573397e-03 -6.27276670e-04 9.99953667e-01 -2.29850885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.135898227 meters 0.07457140375622441 Centerline is valid? [True, True] Translation: X:176.46, Y:5.66, Z:-2.30 [[ 9.79182936e-01 -2.02745403e-01 -9.75086703e-03 1.76464651e+02] [ 2.02741881e-01 9.79231272e-01 -1.35879873e-03 5.65513372e+00] [ 9.82384412e-03 -6.46396590e-04 9.99951536e-01 -2.29788393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.165898227 meters 0.06725912939339035 Centerline is valid? [True, True] Translation: X:176.49, Y:5.67, Z:-2.30 [[ 9.79212917e-01 -2.02584088e-01 -1.00871865e-02 1.76492255e+02] [ 2.02580292e-01 9.79264645e-01 -1.40738930e-03 5.66634625e+00] [ 1.01631398e-02 -6.65331410e-04 9.99948133e-01 -2.29656989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19589822700001 meters 0.06747336435674137 Centerline is valid? [True, True] Translation: X:176.52, Y:5.67, Z:-2.30 [[ 9.79269910e-01 -2.02284053e-01 -1.05643592e-02 1.76521628e+02] [ 2.02279855e-01 9.79326648e-01 -1.47559652e-03 5.66822171e+00] [ 1.06444481e-02 -6.91949765e-04 9.99943107e-01 -2.29641240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.225898227 meters 0.06714033712125415 Centerline is valid? [True, True] Translation: X:176.55, Y:5.67, Z:-2.30 [[ 9.79286793e-01 -2.02198456e-01 -1.06377352e-02 1.76550809e+02] [ 2.02194176e-01 9.79344323e-01 -1.48752636e-03 5.67145413e+00] [ 1.07187812e-02 -6.94173194e-04 9.99942311e-01 -2.29655382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.255898227 meters 0.06968443542614138 Centerline is valid? [True, True] Translation: X:176.58, Y:5.67, Z:-2.30 [[ 9.79234275e-01 -2.02424966e-01 -1.11520700e-02 1.76578225e+02] [ 2.02420269e-01 9.79297504e-01 -1.56008277e-03 5.67275102e+00] [ 1.12369940e-02 -7.29718501e-04 9.99936597e-01 -2.29744543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.285898227 meters 0.06546566770081806 Centerline is valid? [True, True] Translation: X:176.61, Y:5.68, Z:-2.30 [[ 9.79114743e-01 -2.02962510e-01 -1.18549648e-02 1.76606345e+02] [ 2.02957216e-01 9.79186198e-01 -1.66063474e-03 5.67878693e+00] [ 1.19452645e-02 -7.80098690e-04 9.99928348e-01 -2.29719034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.315898227 meters 0.07277588442261262 Centerline is valid? [True, True] Translation: X:176.64, Y:5.67, Z:-2.30 [[ 9.79076707e-01 -2.03148348e-01 -1.18131647e-02 1.76635568e+02] [ 2.03143098e-01 9.79147661e-01 -1.65529821e-03 5.67270155e+00] [ 1.19031036e-02 -7.79098945e-04 9.99928852e-01 -2.29905688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.345898227 meters 0.07450691737325285 Centerline is valid? [True, True] Translation: X:176.66, Y:5.67, Z:-2.30 [[ 9.79046587e-01 -2.03349480e-01 -1.08059788e-02 1.76663673e+02] [ 2.03345088e-01 9.79105959e-01 -1.51518477e-03 5.67364316e+00] [ 1.08883103e-02 -7.13906235e-04 9.99940466e-01 -2.29722098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.375898227 meters 0.06797432351434186 Centerline is valid? [True, True] Translation: X:176.69, Y:5.69, Z:-2.29 [[ 9.78941781e-01 -2.03946936e-01 -8.86774980e-03 1.76690110e+02] [ 2.03943985e-01 9.78981767e-01 -1.24536045e-03 5.68531329e+00] [ 8.93535282e-03 -5.89388864e-04 9.99959905e-01 -2.29240494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.405898227 meters 0.0753917441511529 Centerline is valid? [True, True] Translation: X:176.72, Y:5.68, Z:-2.29 [[ 9.78702946e-01 -2.05158519e-01 -7.10807260e-03 1.76718865e+02] [ 2.05156654e-01 9.78728640e-01 -9.98381268e-04 5.68345355e+00] [ 7.16170065e-03 -4.81149702e-04 9.99974239e-01 -2.28880197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.435898227 meters 0.07586497533513777 Centerline is valid? [True, True] Translation: X:176.75, Y:5.68, Z:-2.29 [[ 9.78576186e-01 -2.05771796e-01 -6.82757429e-03 1.76746803e+02] [ 2.05770087e-01 9.78599893e-01 -9.59410748e-04 5.68290751e+00] [ 6.87888314e-03 -4.66054045e-04 9.99976232e-01 -2.28921667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.465898227 meters 0.07022351695341024 Centerline is valid? [True, True] Translation: X:176.77, Y:5.69, Z:-2.29 [[ 9.78437715e-01 -2.06394490e-01 -7.80725632e-03 1.76774367e+02] [ 2.06392263e-01 9.78468715e-01 -1.09858729e-03 5.69396348e+00] [ 7.86589843e-03 -5.36458061e-04 9.99968919e-01 -2.28905656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.495898227 meters 0.07670353349027653 Centerline is valid? [True, True] Translation: X:176.80, Y:5.69, Z:-2.29 [[ 9.78320703e-01 -2.06919657e-01 -8.53568923e-03 1.76802590e+02] [ 2.06917012e-01 9.78357760e-01 -1.20149381e-03 5.68973913e+00] [ 8.59957048e-03 -5.90733043e-04 9.99962849e-01 -2.29082490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.525898227 meters 0.07424676922305262 Centerline is valid? [True, True] Translation: X:176.83, Y:5.70, Z:-2.29 [[ 9.78205276e-01 -2.07450057e-01 -8.88326169e-03 1.76830504e+02] [ 2.07447200e-01 9.78245415e-01 -1.25206399e-03 5.69841177e+00] [ 8.94975077e-03 -6.18032161e-04 9.99959759e-01 -2.29017144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.555898227 meters 0.07737726857944036 Centerline is valid? [True, True] Translation: X:176.86, Y:5.70, Z:-2.29 [[ 9.78098306e-01 -2.07990608e-01 -7.97559490e-03 1.76858546e+02] [ 2.07988318e-01 9.78130663e-01 -1.12472260e-03 5.70201363e+00] [ 8.03510567e-03 -5.58741295e-04 9.99967562e-01 -2.28931255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.585898227 meters 0.07536815398838966 Centerline is valid? [True, True] Translation: X:176.89, Y:5.71, Z:-2.29 [[ 9.78003610e-01 -2.08449038e-01 -7.61171480e-03 1.76886333e+02] [ 2.08446955e-01 9.78033083e-01 -1.07482243e-03 5.70974092e+00] [ 7.66855460e-03 -5.35458552e-04 9.99970453e-01 -2.28825594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.615898227 meters 0.07568563957629613 Centerline is valid? [True, True] Translation: X:176.91, Y:5.71, Z:-2.29 [[ 9.77841902e-01 -2.09215437e-01 -7.35636136e-03 1.76914499e+02] [ 2.09213503e-01 9.77869433e-01 -1.03999940e-03 5.71463063e+00] [ 7.41114484e-03 -5.22095138e-04 9.99972401e-01 -2.28770152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.645898227 meters 0.07568563957629613 Centerline is valid? [True, True] Translation: X:176.94, Y:5.72, Z:-2.29 [[ 9.77803034e-01 -2.09397024e-01 -7.35616222e-03 1.76941787e+02] [ 2.09395085e-01 9.77830565e-01 -1.04140727e-03 5.71866442e+00] [ 7.41114784e-03 -5.22053031e-04 9.99972401e-01 -2.28775293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.675898227 meters 0.07638188950481642 Centerline is valid? [True, True] Translation: X:176.97, Y:5.72, Z:-2.29 [[ 9.77690163e-01 -2.09946971e-01 -6.64944617e-03 1.76970621e+02] [ 2.09945392e-01 9.77712659e-01 -9.42444602e-04 5.72191443e+00] [ 6.69911109e-03 -4.74601767e-04 9.99977448e-01 -2.28663834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.705898227 meters 0.07618711387626362 Centerline is valid? [True, True] Translation: X:177.00, Y:5.73, Z:-2.29 [[ 9.77543885e-01 -2.10643620e-01 -6.10074057e-03 1.76999019e+02] [ 2.10642298e-01 9.77562823e-01 -8.65710306e-04 5.72765969e+00] [ 6.14621352e-03 -4.38804196e-04 9.99981016e-01 -2.28554039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.735898227 meters 0.07888468420751314 Centerline is valid? [True, True] Translation: X:177.03, Y:5.73, Z:-2.29 [[ 9.77548506e-01 -2.10630655e-01 -5.80048125e-03 1.77026679e+02] [ 2.10629459e-01 9.77565626e-01 -8.23260154e-04 5.73145353e+00] [ 5.84375491e-03 -4.16975494e-04 9.99982838e-01 -2.28537342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.765898227 meters 0.07952957476332007 Centerline is valid? [True, True] Translation: X:177.05, Y:5.74, Z:-2.29 [[ 9.77691673e-01 -2.09950050e-01 -6.32214276e-03 1.77054155e+02] [ 2.09948612e-01 9.77712010e-01 -8.97651625e-04 5.73515788e+00] [ 6.36969691e-03 -4.49698581e-04 9.99979612e-01 -2.28619172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.795898227 meters 0.07728070991955212 Centerline is valid? [True, True] Translation: X:177.08, Y:5.74, Z:-2.29 [[ 9.77816738e-01 -2.09340973e-01 -7.12622453e-03 1.77082326e+02] [ 2.09339121e-01 9.77842577e-01 -1.01314385e-03 5.74247470e+00] [ 7.18041828e-03 -5.01128572e-04 9.99974095e-01 -2.28742156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.825898227 meters 0.07368538657769653 Centerline is valid? [True, True] Translation: X:177.11, Y:5.75, Z:-2.29 [[ 9.77948940e-01 -2.08695764e-01 -7.87071144e-03 1.77110284e+02] [ 2.08693474e-01 9.77980459e-01 -1.12023381e-03 5.75155139e+00] [ 7.93119004e-03 -5.47034652e-04 9.99968398e-01 -2.28775789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.855898227 meters 0.0767226986040534 Centerline is valid? [True, True] Translation: X:177.14, Y:5.75, Z:-2.29 [[ 9.78088562e-01 -2.08015899e-01 -8.49411272e-03 1.77138491e+02] [ 2.08013204e-01 9.78125270e-01 -1.20925057e-03 5.75234838e+00] [ 8.55984964e-03 -5.84133456e-04 9.99963193e-01 -2.28879703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.885898227 meters 0.07479592079160387 Centerline is valid? [True, True] Translation: X:177.17, Y:5.76, Z:-2.29 [[ 9.78202149e-01 -2.07480967e-01 -8.49730701e-03 1.77167254e+02] [ 2.07478238e-01 9.78238884e-01 -1.21117011e-03 5.75891404e+00] [ 8.56369087e-03 -5.78237077e-04 9.99963164e-01 -2.28981911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.915898227 meters 0.07531581798652115 Centerline is valid? [True, True] Translation: X:177.20, Y:5.76, Z:-2.29 [[ 9.78144455e-01 -2.07757610e-01 -8.37860739e-03 1.77195545e+02] [ 2.07754961e-01 9.78180172e-01 -1.19486782e-03 5.76147121e+00] [ 8.44403050e-03 -5.71943921e-04 9.99964185e-01 -2.29026375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94589822700001 meters 0.07545382375426732 Centerline is valid? [True, True] Translation: X:177.22, Y:5.76, Z:-2.29 [[ 9.78058332e-01 -2.08164816e-01 -8.32517570e-03 1.77224318e+02] [ 2.08162203e-01 9.78093597e-01 -1.18875612e-03 5.76462779e+00] [ 8.39025825e-03 -5.70314088e-04 9.99964639e-01 -2.29075105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.975898227 meters 0.0779461745375177 Centerline is valid? [True, True] Translation: X:177.25, Y:5.76, Z:-2.29 [[ 9.77953511e-01 -2.08610041e-01 -9.42233975e-03 1.77252486e+02] [ 2.08606711e-01 9.77998686e-01 -1.34573375e-03 5.76490251e+00] [ 9.49576946e-03 -6.49498264e-04 9.99954703e-01 -2.29253474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.005898227 meters 0.08198678092674039 Centerline is valid? [True, True] Translation: X:177.28, Y:5.76, Z:-2.29 [[ 9.77839383e-01 -2.09097242e-01 -1.04156203e-02 1.77280191e+02] [ 2.09093193e-01 9.77894586e-01 -1.48832511e-03 5.76394714e+00] [ 1.04965834e-02 -7.22492398e-04 9.99944648e-01 -2.29466087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.035898227 meters 0.07887977291850881 Centerline is valid? [True, True] Translation: X:177.31, Y:5.77, Z:-2.30 [[ 9.77730229e-01 -2.09552645e-01 -1.14580877e-02 1.77307517e+02] [ 2.09547765e-01 9.77797039e-01 -1.63829644e-03 5.77271447e+00] [ 1.15469936e-02 -7.99204716e-04 9.99933012e-01 -2.29526182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.065898227 meters 0.07604087842732964 Centerline is valid? [True, True] Translation: X:177.33, Y:5.78, Z:-2.29 [[ 9.77706521e-01 -2.09668115e-01 -1.13683854e-02 1.77334112e+02] [ 2.09663292e-01 9.77772292e-01 -1.62778945e-03 5.78116686e+00] [ 1.14569878e-02 -7.92032757e-04 9.99934053e-01 -2.29431824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.095898227 meters 0.08306514866713456 Centerline is valid? [True, True] Translation: X:177.36, Y:5.78, Z:-2.29 [[ 9.77663156e-01 -2.09907185e-01 -1.06643224e-02 1.77362553e+02] [ 2.09902950e-01 9.77721033e-01 -1.52738087e-03 5.77639575e+00] [ 1.07473405e-02 -7.45208727e-04 9.99941968e-01 -2.29454776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.125898227 meters 0.0837580346443007 Centerline is valid? [True, True] Translation: X:177.39, Y:5.78, Z:-2.29 [[ 9.77499409e-01 -2.10693617e-01 -1.01540481e-02 1.77391171e+02] [ 2.10689802e-01 9.77551885e-01 -1.45607830e-03 5.77963627e+00] [ 1.02328952e-02 -7.16038703e-04 9.99947386e-01 -2.29432879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.155898227 meters 0.0886338304643504 Centerline is valid? [True, True] Translation: X:177.42, Y:5.78, Z:-2.30 [[ 9.77203834e-01 -2.12046009e-01 -1.04478172e-02 1.77419721e+02] [ 2.12042044e-01 9.77259395e-01 -1.49845128e-03 5.77983419e+00] [ 1.05279681e-02 -7.51084182e-04 9.99944297e-01 -2.29523959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.185898227 meters 0.08779072803528712 Centerline is valid? [True, True] Translation: X:177.45, Y:5.78, Z:-2.29 [[ 9.76358014e-01 -2.15900919e-01 -1.05745618e-02 1.77449210e+02] [ 2.15897081e-01 9.76414948e-01 -1.51673746e-03 5.78413189e+00] [ 1.06526253e-02 -8.02138260e-04 9.99942937e-01 -2.29348530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.215898227 meters 0.09125068344406101 Centerline is valid? [True, True] Translation: X:177.48, Y:5.78, Z:-2.29 [[ 9.75839153e-01 -2.18250913e-01 -1.02218402e-02 1.77479446e+02] [ 2.18247453e-01 9.75892360e-01 -1.46641782e-03 5.77813851e+00] [ 1.02954628e-02 -7.99902658e-04 9.99946680e-01 -2.29313398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.245898227 meters 0.09474066535679285 Centerline is valid? [True, True] Translation: X:177.51, Y:5.78, Z:-2.29 [[ 9.75327516e-01 -2.20535825e-01 -1.00093311e-02 1.77509636e+02] [ 2.20532624e-01 9.75378541e-01 -1.43616141e-03 5.77693203e+00] [ 1.00796118e-02 -8.06656322e-04 9.99948874e-01 -2.29316270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.275898227 meters 0.08892729853410877 Centerline is valid? [True, True] Translation: X:177.54, Y:5.79, Z:-2.29 [[ 9.74929455e-01 -2.22300439e-01 -9.75047511e-03 1.77538106e+02] [ 2.22297488e-01 9.74977881e-01 -1.39914833e-03 5.78690291e+00] [ 9.81752886e-03 -8.03435202e-04 9.99951484e-01 -2.29115954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.305898227 meters 0.088627901460536 Centerline is valid? [True, True] Translation: X:177.57, Y:5.79, Z:-2.29 [[ 9.74643168e-01 -2.23556943e-01 -9.64306277e-03 1.77566976e+02] [ 2.23554114e-01 9.74690537e-01 -1.38410972e-03 5.78940124e+00] [ 9.70842936e-03 -8.06733276e-04 9.99952547e-01 -2.29048948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.335898227 meters 0.08937557595760888 Centerline is valid? [True, True] Translation: X:177.60, Y:5.79, Z:-2.29 [[ 9.74509171e-01 -2.24135998e-01 -9.74323465e-03 1.77595637e+02] [ 2.24133129e-01 9.74557531e-01 -1.39943946e-03 5.79001760e+00] [ 9.80900747e-03 -8.20015080e-04 9.99951554e-01 -2.29035982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.365898227 meters 0.09788124332652338 Centerline is valid? [True, True] Translation: X:177.63, Y:5.78, Z:-2.29 [[ 9.74720407e-01 -2.23240259e-01 -9.16053292e-03 1.77626476e+02] [ 2.23237683e-01 9.74763154e-01 -1.31584761e-03 5.77913610e+00] [ 9.22310012e-03 -7.62392631e-04 9.99957176e-01 -2.29062199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.395898227 meters 0.08927541654527163 Centerline is valid? [True, True] Translation: X:177.65, Y:5.79, Z:-2.29 [[ 9.75025115e-01 -2.21940562e-01 -8.27110281e-03 1.77654191e+02] [ 2.21938414e-01 9.75059961e-01 -1.18828194e-03 5.79354930e+00] [ 8.32854915e-03 -6.77070706e-04 9.99965088e-01 -2.28802538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.425898227 meters 0.08284549933258736 Centerline is valid? [True, True] Translation: X:177.68, Y:5.81, Z:-2.29 [[ 9.75408273e-01 -2.20262182e-01 -7.95434923e-03 1.77682573e+02] [ 2.20260138e-01 9.75440498e-01 -1.14296404e-03 5.80580000e+00] [ 8.01074612e-03 -6.37169477e-04 9.99967710e-01 -2.28660851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.455898227 meters 0.08555659040558461 Centerline is valid? [True, True] Translation: X:177.71, Y:5.81, Z:-2.29 [[ 9.75677757e-01 -2.19055492e-01 -8.22225224e-03 1.77711805e+02] [ 2.19053264e-01 9.75712187e-01 -1.18165268e-03 5.80630935e+00] [ 8.28139923e-03 -6.48198950e-04 9.99965499e-01 -2.28808948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.485898227 meters 0.08435967304185528 Centerline is valid? [True, True] Translation: X:177.74, Y:5.81, Z:-2.29 [[ 9.75765821e-01 -2.18610455e-01 -9.51483007e-03 1.77740108e+02] [ 2.18607433e-01 9.75811926e-01 -1.36921728e-03 5.81064280e+00] [ 9.58400987e-03 -7.43977157e-04 9.99953796e-01 -2.29029960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.515898227 meters 0.08326693385164245 Centerline is valid? [True, True] Translation: X:177.77, Y:5.82, Z:-2.29 [[ 9.75668178e-01 -2.19060114e-01 -9.17998670e-03 1.77768962e+02] [ 2.19057306e-01 9.75711098e-01 -1.32255562e-03 5.81577924e+00] [ 9.24673409e-03 -7.20567728e-04 9.99956988e-01 -2.28979439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.545898227 meters 0.08814831796798749 Centerline is valid? [True, True] Translation: X:177.80, Y:5.81, Z:-2.29 [[ 9.75614404e-01 -2.19325511e-01 -8.53545602e-03 1.77797919e+02] [ 2.19323091e-01 9.75651510e-01 -1.23002328e-03 5.81290408e+00] [ 8.59740603e-03 -6.71994167e-04 9.99962816e-01 -2.28958046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.575898227 meters 0.08800582417022522 Centerline is valid? [True, True] Translation: X:177.83, Y:5.82, Z:-2.29 [[ 9.75474307e-01 -2.19952720e-01 -8.40694176e-03 1.77826821e+02] [ 2.19950383e-01 9.75510306e-01 -1.21304944e-03 5.81673142e+00] [ 8.46787185e-03 -6.65811497e-04 9.99963925e-01 -2.28928374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.605898227 meters 0.09464845668327428 Centerline is valid? [True, True] Translation: X:177.86, Y:5.81, Z:-2.29 [[ 9.75437612e-01 -2.20113499e-01 -8.45657916e-03 1.77855765e+02] [ 2.20111137e-01 9.75474037e-01 -1.22050167e-03 5.81185480e+00] [ 8.51782231e-03 -6.70864016e-04 9.99963498e-01 -2.29058743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.635898227 meters 0.08568164568313706 Centerline is valid? [True, True] Translation: X:177.88, Y:5.83, Z:-2.29 [[ 9.75764166e-01 -2.18629783e-01 -9.23632053e-03 1.77884058e+02] [ 2.18626899e-01 9.75807615e-01 -1.33305141e-03 5.82788426e+00] [ 9.30431665e-03 -7.18564324e-04 9.99956456e-01 -2.28935293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.665898227 meters 0.08672328325935232 Centerline is valid? [True, True] Translation: X:177.91, Y:5.83, Z:-2.29 [[ 9.76123192e-01 -2.17019271e-01 -9.28169070e-03 1.77912867e+02] [ 2.17016285e-01 9.76167064e-01 -1.33983567e-03 5.83119032e+00] [ 9.35125092e-03 -7.06433367e-04 9.99956027e-01 -2.28986260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69589822700001 meters 0.07938310959213364 Centerline is valid? [True, True] Translation: X:177.94, Y:5.85, Z:-2.29 [[ 9.76519705e-01 -2.15218516e-01 -9.50028879e-03 1.77941456e+02] [ 2.15215302e-01 9.76565662e-01 -1.37148042e-03 5.84551536e+00] [ 9.57282379e-03 -7.05329865e-04 9.99953931e-01 -2.28930201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.725898227 meters 0.08003066162593399 Centerline is valid? [True, True] Translation: X:177.97, Y:5.85, Z:-2.29 [[ 9.76892029e-01 -2.13532719e-01 -9.25969592e-03 1.77969811e+02] [ 2.13529586e-01 9.76935683e-01 -1.33711560e-03 5.84942594e+00] [ 9.33164528e-03 -6.71001468e-04 9.99956234e-01 -2.28932038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.755898227 meters 0.07748565095367826 Centerline is valid? [True, True] Translation: X:178.00, Y:5.86, Z:-2.29 [[ 9.77217001e-01 -2.12052429e-01 -8.98331815e-03 1.77998547e+02] [ 2.12049417e-01 9.77258083e-01 -1.29739665e-03 5.85807972e+00] [ 9.05413639e-03 -6.37069313e-04 9.99958808e-01 -2.28887212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.785898227 meters 0.0819283309529902 Centerline is valid? [True, True] Translation: X:178.03, Y:5.86, Z:-2.29 [[ 9.77602792e-01 -2.10278830e-01 -8.69452625e-03 1.78027765e+02] [ 2.10275937e-01 9.77641270e-01 -1.25589193e-03 5.85828155e+00] [ 8.76421517e-03 -6.00486198e-04 9.99961413e-01 -2.28933955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.815898227 meters 0.06657262981429164 Centerline is valid? [True, True] Translation: X:178.05, Y:5.89, Z:-2.29 [[ 9.78626855e-01 -2.05446783e-01 -9.00543396e-03 1.78053448e+02] [ 2.05443475e-01 9.78668119e-01 -1.30086511e-03 5.88929893e+00] [ 9.08058966e-03 -5.77046114e-04 9.99958604e-01 -2.28768729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.845898227 meters 0.07089174641217501 Centerline is valid? [True, True] Translation: X:178.08, Y:5.89, Z:-2.29 [[ 9.79163452e-01 -2.02845805e-01 -9.61841467e-03 1.78082850e+02] [ 2.02841904e-01 9.79210514e-01 -1.38965470e-03 5.88787237e+00] [ 9.70033840e-03 -5.90318451e-04 9.99952776e-01 -2.28999669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.875898227 meters 0.06131863611205961 Centerline is valid? [True, True] Translation: X:178.11, Y:5.91, Z:-2.29 [[ 9.79497560e-01 -2.01200162e-01 -1.01501518e-02 1.78110002e+02] [ 2.01195727e-01 9.79549962e-01 -1.46673094e-03 5.90824755e+00] [ 1.02376873e-02 -6.05507789e-04 9.99947410e-01 -2.28900453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.905898227 meters 0.06269504830687823 Centerline is valid? [True, True] Translation: X:178.14, Y:5.92, Z:-2.29 [[ 9.80060600e-01 -1.98390340e-01 -1.10676686e-02 1.78138422e+02] [ 1.98384886e-01 9.80122889e-01 -1.59957719e-03 5.91518350e+00] [ 1.11650160e-02 -6.27975594e-04 9.99937472e-01 -2.29223702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.935898227 meters 0.06328704119021718 Centerline is valid? [True, True] Translation: X:178.17, Y:5.92, Z:-2.29 [[ 9.80235072e-01 -1.97533357e-01 -1.09442757e-02 1.78165940e+02] [ 1.97527962e-01 9.80295976e-01 -1.58245306e-03 5.92133636e+00] [ 1.10412167e-02 -6.10624488e-04 9.99938857e-01 -2.29193089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.965898227 meters 0.0678324443180913 Centerline is valid? [True, True] Translation: X:178.19, Y:5.92, Z:-2.29 [[ 9.80244508e-01 -1.97539546e-01 -9.94140233e-03 1.78194123e+02] [ 1.97535086e-01 9.80294762e-01 -1.43836417e-03 5.92236696e+00] [ 1.00296384e-02 -5.53827189e-04 9.99949549e-01 -2.29081988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.995898227 meters 0.06665765352752952 Centerline is valid? [True, True] Translation: X:178.22, Y:5.93, Z:-2.29 [[ 9.80042533e-01 -1.98611161e-01 -8.38090551e-03 1.78221861e+02] [ 1.98608018e-01 9.80078253e-01 -1.21409101e-03 5.93007817e+00] [ 8.45507526e-03 -4.74654201e-04 9.99964143e-01 -2.28707364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.025898227 meters 0.06640122592993875 Centerline is valid? [True, True] Translation: X:178.25, Y:5.94, Z:-2.28 [[ 9.79694947e-01 -2.00363468e-01 -7.23133103e-03 1.78250924e+02] [ 2.00361175e-01 9.79721543e-01 -1.04751490e-03 5.93676926e+00] [ 7.29457451e-03 -4.22632925e-04 9.99973305e-01 -2.28409609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.055898227 meters 0.06843368646155613 Centerline is valid? [True, True] Translation: X:178.28, Y:5.94, Z:-2.28 [[ 9.79382781e-01 -2.01901094e-01 -6.73168077e-03 1.78279424e+02] [ 2.01899141e-01 9.79405833e-01 -9.75523960e-04 5.94038821e+00] [ 6.79000677e-03 -4.03709199e-04 9.99976866e-01 -2.28312640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.085898227 meters 0.07039153493468288 Centerline is valid? [True, True] Translation: X:178.31, Y:5.95, Z:-2.28 [[ 9.79055935e-01 -2.03480726e-01 -6.71345017e-03 1.78307648e+02] [ 2.03478818e-01 9.79078865e-01 -9.73224296e-04 5.94922765e+00] [ 6.77102956e-03 -4.13203886e-04 9.99976991e-01 -2.28384713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.115898227 meters 0.07765576594564856 Centerline is valid? [True, True] Translation: X:178.34, Y:5.94, Z:-2.28 [[ 9.79140569e-01 -2.03100023e-01 -5.84187624e-03 1.78336831e+02] [ 2.03098569e-01 9.79157931e-01 -8.47241074e-04 5.94436227e+00] [ 5.89219413e-03 -3.56908597e-04 9.99982577e-01 -2.28371825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.145898227 meters 0.07165806946793397 Centerline is valid? [True, True] Translation: X:178.36, Y:5.96, Z:-2.28 [[ 9.79323241e-01 -2.02252622e-01 -4.45710782e-03 1.78364893e+02] [ 2.02251763e-01 9.79333347e-01 -6.47248120e-04 5.95575879e+00] [ 4.49590195e-03 -2.67592789e-04 9.99989858e-01 -2.27968513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.175898227 meters 0.06682412618119345 Centerline is valid? [True, True] Translation: X:178.39, Y:5.97, Z:-2.28 [[ 9.79713029e-01 -2.00379091e-01 -3.25574912e-03 1.78393662e+02] [ 2.00378623e-01 9.79718421e-01 -4.72651780e-04 5.96760526e+00] [ 3.28442692e-03 -1.89319418e-04 9.99994588e-01 -2.27678682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.205898227 meters 0.06760337838097345 Centerline is valid? [True, True] Translation: X:178.42, Y:5.97, Z:-2.28 [[ 9.80207583e-01 -1.97949632e-01 -3.00610644e-03 1.78422331e+02] [ 1.97949221e-01 9.80212179e-01 -4.36499318e-04 5.97203320e+00] [ 3.03302702e-03 -1.67196486e-04 9.99995386e-01 -2.27553686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.235898227 meters 0.06516979849663622 Centerline is valid? [True, True] Translation: X:178.45, Y:5.98, Z:-2.28 [[ 9.80780825e-01 -1.95076754e-01 -3.74617654e-03 1.78450548e+02] [ 1.95076095e-01 9.80787959e-01 -5.44024641e-04 5.98057384e+00] [ 3.78033141e-03 -1.97220554e-04 9.99992835e-01 -2.27666630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.265898227 meters 0.05592306812330933 Centerline is valid? [True, True] Translation: X:178.48, Y:6.00, Z:-2.28 [[ 9.81956669e-01 -1.89044441e-01 -4.82695101e-03 1.78478632e+02] [ 1.89043274e-01 9.81968507e-01 -7.00985639e-04 5.99848785e+00] [ 4.87243131e-03 -2.24165100e-04 9.99988105e-01 -2.27877056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.295898227 meters 0.053517746667428416 Centerline is valid? [True, True] Translation: X:178.51, Y:6.01, Z:-2.28 [[ 9.82617381e-01 -1.85604648e-01 -3.74128788e-03 1.78507370e+02] [ 1.85603922e-01 9.82624490e-01 -5.43421130e-04 6.00559485e+00] [ 3.77714259e-03 -1.60422658e-04 9.99992854e-01 -2.27686649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.325898227 meters 0.04878573603633472 Centerline is valid? [True, True] Translation: X:178.54, Y:6.02, Z:-2.27 [[ 9.83269728e-01 -1.82140146e-01 -2.36835882e-03 1.78536406e+02] [ 1.82139845e-01 9.83272576e-01 -3.44019650e-04 6.01598472e+00] [ 2.39140206e-03 -9.31084012e-05 9.99997136e-01 -2.27391365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.355898227 meters 0.04458185999673628 Centerline is valid? [True, True] Translation: X:178.57, Y:6.03, Z:-2.27 [[ 9.83907918e-01 -1.78665753e-01 -1.93825592e-03 1.78565462e+02] [ 1.78665544e-01 9.83909825e-01 -2.81572749e-04 6.02614274e+00] [ 1.95737645e-03 -6.92578923e-05 9.99998082e-01 -2.27252259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.385898227 meters 0.04083012421083544 Centerline is valid? [True, True] Translation: X:178.59, Y:6.04, Z:-2.27 [[ 9.84580768e-01 -1.74906411e-01 -2.90833442e-03 1.78594552e+02] [ 1.74905926e-01 9.84585059e-01 -4.22519132e-04 6.03617749e+00] [ 2.93740393e-03 -9.26807134e-05 9.99995682e-01 -2.27383414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.415898227 meters 0.03244189318742274 Centerline is valid? [True, True] Translation: X:178.62, Y:6.05, Z:-2.28 [[ 9.85307617e-01 -1.70725702e-01 -4.65140082e-03 1.78621910e+02] [ 1.70724412e-01 9.85318587e-01 -6.75871545e-04 6.05279332e+00] [ 4.69850033e-03 -1.28166290e-04 9.99988954e-01 -2.27507309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44589822700001 meters 0.026210699294850853 Centerline is valid? [True, True] Translation: X:178.65, Y:6.07, Z:-2.28 [[ 9.86822443e-01 -1.61697193e-01 -5.95690893e-03 1.78649085e+02] [ 1.61694912e-01 9.86840416e-01 -8.65674340e-04 6.06930872e+00] [ 6.01849559e-03 -1.08934998e-04 9.99981883e-01 -2.27932023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.475898227 meters 0.019299384447597635 Centerline is valid? [True, True] Translation: X:178.68, Y:6.09, Z:-2.28 [[ 9.87494603e-01 -1.57547468e-01 -5.76239907e-03 1.78676367e+02] [ 1.57545257e-01 9.87511412e-01 -8.38548643e-04 6.08552605e+00] [ 5.82254606e-03 -7.97763835e-05 9.99983046e-01 -2.27736730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.505898227 meters 0.0164042247879933 Centerline is valid? [True, True] Translation: X:178.70, Y:6.10, Z:-2.28 [[ 9.87974472e-01 -1.54508425e-01 -5.79559821e-03 1.78703484e+02] [ 1.54506129e-01 9.87991469e-01 -8.44372450e-04 6.09712636e+00] [ 5.85646425e-03 -6.12370212e-05 9.99982849e-01 -2.27703893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.535898227 meters 0.0164042247879933 Centerline is valid? [True, True] Translation: X:178.73, Y:6.10, Z:-2.28 [[ 9.87945454e-01 -1.54693866e-01 -5.79543328e-03 1.78730664e+02] [ 1.54691567e-01 9.87962451e-01 -8.45503923e-04 6.10128266e+00] [ 5.85646474e-03 -6.11929004e-05 9.99982849e-01 -2.27709021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.565898227 meters 0.01474604667912928 Centerline is valid? [True, True] Translation: X:178.76, Y:6.11, Z:-2.28 [[ 9.88252714e-01 -1.52701265e-01 -6.23668569e-03 1.78758334e+02] [ 1.52698558e-01 9.88272392e-01 -9.10851218e-04 6.11160479e+00] [ 6.30263242e-03 -5.21817221e-05 9.99980137e-01 -2.27788271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.595898227 meters 0.014559776732180417 Centerline is valid? [True, True] Translation: X:178.78, Y:6.12, Z:-2.28 [[ 9.88349959e-01 -1.52007990e-01 -7.61115833e-03 1.78784904e+02] [ 1.52003928e-01 9.88379263e-01 -1.11278442e-03 6.12092088e+00] [ 7.69186319e-03 -5.71055306e-05 9.99970416e-01 -2.28098231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.625898227 meters 0.01664209066959686 Centerline is valid? [True, True] Translation: X:178.81, Y:6.12, Z:-2.28 [[ 9.88190293e-01 -1.53042418e-01 -7.61331586e-03 1.78812993e+02] [ 1.53038382e-01 9.88219618e-01 -1.11335188e-03 6.12323494e+00] [ 7.69401816e-03 -6.49260185e-05 9.99970398e-01 -2.28300866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.655898227 meters 0.01580671701628476 Centerline is valid? [True, True] Translation: X:178.84, Y:6.13, Z:-2.28 [[ 9.87915043e-01 -1.54815905e-01 -7.47678860e-03 1.78841173e+02] [ 1.54812052e-01 9.87943333e-01 -1.09488678e-03 6.12932686e+00] [ 7.55614934e-03 -7.58418672e-05 9.99971449e-01 -2.27969549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.685898227 meters 0.018338480931990715 Centerline is valid? [True, True] Translation: X:178.87, Y:6.13, Z:-2.28 [[ 9.87572428e-01 -1.57013174e-01 -6.89659732e-03 1.78869215e+02] [ 1.57009948e-01 9.87596505e-01 -1.01016380e-03 6.13098765e+00] [ 6.96966443e-03 -8.52244695e-05 9.99975708e-01 -2.28033212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.715898227 meters 0.024330095521262186 Centerline is valid? [True, True] Translation: X:178.90, Y:6.14, Z:-2.28 [[ 9.87180504e-01 -1.59454807e-01 -6.98685591e-03 1.78897713e+02] [ 1.59451547e-01 9.87205224e-01 -1.02476307e-03 6.13558427e+00] [ 7.06086405e-03 -1.02438857e-04 9.99975067e-01 -2.27976042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.745898227 meters 0.02116343949772314 Centerline is valid? [True, True] Translation: X:178.93, Y:6.14, Z:-2.28 [[ 9.86861023e-01 -1.61443622e-01 -6.42486473e-03 1.78926148e+02] [ 1.61440900e-01 9.86881931e-01 -9.43459279e-04 6.14021911e+00] [ 6.49289839e-03 -1.06172759e-04 9.99978915e-01 -2.27862053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.775898227 meters 0.024659036512879456 Centerline is valid? [True, True] Translation: X:178.95, Y:6.15, Z:-2.28 [[ 9.86366609e-01 -1.64454742e-01 -5.96248856e-03 1.78953319e+02] [ 1.64452450e-01 9.86384623e-01 -8.75981391e-04 6.14522046e+00] [ 6.02536632e-03 -1.16507057e-04 9.99981841e-01 -2.27827422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.805898227 meters 0.029478985502365735 Centerline is valid? [True, True] Translation: X:178.98, Y:6.15, Z:-2.28 [[ 9.86162823e-01 -1.65673367e-01 -5.93488014e-03 1.78981672e+02] [ 1.65671112e-01 9.86180673e-01 -8.73066837e-04 6.15233280e+00] [ 5.99750802e-03 -1.22252137e-04 9.99982007e-01 -2.27801198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.835898227 meters 0.02590175974404961 Centerline is valid? [True, True] Translation: X:179.01, Y:6.16, Z:-2.28 [[ 9.86066165e-01 -1.66262647e-01 -5.50005898e-03 1.79009394e+02] [ 1.66260713e-01 9.86081497e-01 -8.10216643e-04 6.15786902e+00] [ 5.55821516e-03 -1.15516509e-04 9.99984546e-01 -2.27679543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.865898227 meters 0.02691935992663462 Centerline is valid? [True, True] Translation: X:179.04, Y:6.17, Z:-2.28 [[ 9.85983822e-01 -1.66757805e-01 -5.26653820e-03 1.79036772e+02] [ 1.66756038e-01 9.85997881e-01 -7.75902421e-04 6.16591014e+00] [ 5.32218329e-03 -1.13199812e-04 9.99985831e-01 -2.27618880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.895898227 meters 0.02776448209154838 Centerline is valid? [True, True] Translation: X:179.06, Y:6.17, Z:-2.28 [[ 9.85828479e-01 -1.67686081e-01 -4.85673216e-03 1.79064807e+02] [ 1.67684585e-01 9.85840437e-01 -7.16549222e-04 6.17281813e+00] [ 4.90811828e-03 -1.08004484e-04 9.99987949e-01 -2.27524848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.925898227 meters 0.028479220027401362 Centerline is valid? [True, True] Translation: X:179.09, Y:6.18, Z:-2.27 [[ 9.85599832e-01 -1.69043191e-01 -4.16786130e-03 1.79092299e+02] [ 1.69042101e-01 9.85608639e-01 -6.15005405e-04 6.17658911e+00] [ 4.21184258e-03 -9.83948088e-05 9.99991125e-01 -2.27401136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.955898227 meters 0.030289261146980946 Centerline is valid? [True, True] Translation: X:179.12, Y:6.18, Z:-2.27 [[ 9.85251057e-01 -1.71066193e-01 -4.08807389e-03 1.79120336e+02] [ 1.71065160e-01 9.85259533e-01 -6.03476980e-04 6.18023951e+00] [ 4.13104828e-03 -1.04750682e-04 9.99991462e-01 -2.27331611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.985898227 meters 0.03264378678834134 Centerline is valid? [True, True] Translation: X:179.15, Y:6.18, Z:-2.27 [[ 9.84863650e-01 -1.73284624e-01 -4.00376972e-03 1.79148757e+02] [ 1.73283648e-01 9.84871782e-01 -5.91894496e-04 6.18291578e+00] [ 4.04576604e-03 -1.10852451e-04 9.99991810e-01 -2.27284345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.015898227 meters 0.03341870049876027 Centerline is valid? [True, True] Translation: X:179.18, Y:6.19, Z:-2.27 [[ 9.84558896e-01 -1.75012060e-01 -3.81562280e-03 1.79176989e+02] [ 1.75011185e-01 9.84566283e-01 -5.64739630e-04 6.18785026e+00] [ 3.85556981e-03 -1.11757240e-04 9.99992561e-01 -2.27199926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.045898227 meters 0.03558395114946887 Centerline is valid? [True, True] Translation: X:179.20, Y:6.19, Z:-2.27 [[ 9.84424439e-01 -1.75757022e-01 -4.24174918e-03 1.79204355e+02] [ 1.75755947e-01 9.84433570e-01 -6.27827139e-04 6.19438443e+00] [ 4.28606531e-03 -1.27464264e-04 9.99990807e-01 -2.27113824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.075898227 meters 0.03406580604878972 Centerline is valid? [True, True] Translation: X:179.23, Y:6.20, Z:-2.27 [[ 9.84559509e-01 -1.74993626e-01 -4.45017979e-03 1.79232525e+02] [ 1.74992431e-01 9.84569558e-01 -6.59529796e-04 6.20431224e+00] [ 4.49692506e-03 -1.29401447e-04 9.99989880e-01 -2.27072209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.105898227 meters 0.03276730646748163 Centerline is valid? [True, True] Translation: X:179.26, Y:6.21, Z:-2.27 [[ 9.84814746e-01 -1.73552155e-01 -4.42326915e-03 1.79259638e+02] [ 1.73550957e-01 9.84824672e-01 -6.56290824e-04 6.21406664e+00] [ 4.47004527e-03 -1.21337712e-04 9.99990002e-01 -2.27088726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.135898227 meters 0.031009352852540997 Centerline is valid? [True, True] Translation: X:179.29, Y:6.22, Z:-2.27 [[ 9.85074950e-01 -1.72072938e-01 -4.27154552e-03 1.79287774e+02] [ 1.72071805e-01 9.85084206e-01 -6.33997341e-04 6.22462568e+00] [ 4.31692581e-03 -1.10477648e-04 9.99990676e-01 -2.27036690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.165898227 meters 0.029008056757408508 Centerline is valid? [True, True] Translation: X:179.31, Y:6.24, Z:-2.27 [[ 9.85431537e-01 -1.70043949e-01 -3.12117052e-03 1.79314797e+02] [ 1.70043334e-01 9.85436477e-01 -4.63374069e-04 6.23926604e+00] [ 3.15450924e-03 -7.41108194e-05 9.99995022e-01 -2.26906945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19589822700001 meters 0.029272620640369142 Centerline is valid? [True, True] Translation: X:179.34, Y:6.25, Z:-2.27 [[ 9.85327234e-01 -1.70662419e-01 -2.14017448e-03 1.79343204e+02] [ 1.70662130e-01 9.85329557e-01 -3.18328491e-04 6.24717345e+00] [ 2.16310388e-03 -5.15890041e-05 9.99997659e-01 -2.26796144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.225898227 meters 0.03130005920949629 Centerline is valid? [True, True] Translation: X:179.37, Y:6.25, Z:-2.27 [[ 9.85028863e-01 -1.72381083e-01 -1.70344278e-03 1.79370009e+02] [ 1.72380902e-01 9.85030335e-01 -2.53375550e-04 6.25214169e+00] [ 1.72161996e-03 -4.40587733e-05 9.99998517e-01 -2.26745711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.255898227 meters 0.032832030725209446 Centerline is valid? [True, True] Translation: X:179.40, Y:6.26, Z:-2.27 [[ 9.84544724e-01 -1.75128523e-01 -1.29857103e-03 1.79398558e+02] [ 1.75128420e-01 9.84545580e-01 -1.93167561e-04 6.25729935e+00] [ 1.31233152e-03 -3.72345893e-05 9.99999138e-01 -2.26708942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.285898227 meters 0.0502784228565478 Centerline is valid? [True, True] Translation: X:179.43, Y:6.25, Z:-2.27 [[ 9.83151804e-01 -1.82775387e-01 -2.38502615e-03 1.79429421e+02] [ 1.82775064e-01 9.83154693e-01 -3.54689774e-04 6.25120889e+00] [ 2.40967821e-03 -8.72094148e-05 9.99997093e-01 -2.27104288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.315898227 meters 0.045527350891526014 Centerline is valid? [True, True] Translation: X:179.46, Y:6.26, Z:-2.27 [[ 9.82486116e-01 -1.86304991e-01 -3.38860925e-03 1.79459154e+02] [ 1.86304359e-01 9.82491950e-01 -5.04002394e-04 6.25683060e+00] [ 3.42317947e-03 -1.36137320e-04 9.99994132e-01 -2.27155013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.345898227 meters 0.05278933227821277 Centerline is valid? [True, True] Translation: X:179.49, Y:6.25, Z:-2.27 [[ 9.81852400e-01 -1.89590398e-01 -4.62006006e-03 1.79489101e+02] [ 1.89589260e-01 9.81863249e-01 -6.87202731e-04 6.25487471e+00] [ 4.66655422e-03 -2.01182115e-04 9.99989091e-01 -2.27438862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.375898227 meters 0.05197889620027651 Centerline is valid? [True, True] Translation: X:179.52, Y:6.26, Z:-2.28 [[ 9.81397764e-01 -1.91895078e-01 -5.89128541e-03 1.79518002e+02] [ 1.91893268e-01 9.81415409e-01 -8.76349129e-04 6.26365876e+00] [ 5.94996537e-03 -2.70450931e-04 9.99982262e-01 -2.27567935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.405898227 meters 0.05379604324583104 Centerline is valid? [True, True] Translation: X:179.55, Y:6.27, Z:-2.28 [[ 9.81100037e-01 -1.93374559e-01 -6.99986660e-03 1.79547128e+02] [ 1.93372039e-01 9.81124951e-01 -1.04143350e-03 6.26969167e+00] [ 7.06913052e-03 -3.31828038e-04 9.99974958e-01 -2.27738833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.435898227 meters 0.05532775321993633 Centerline is valid? [True, True] Translation: X:179.57, Y:6.28, Z:-2.28 [[ 9.80932593e-01 -1.94195835e-01 -7.69579227e-03 1.79573737e+02] [ 1.94192807e-01 9.80962711e-01 -1.14588685e-03 6.27589412e+00] [ 7.77181170e-03 -3.70429747e-04 9.99969730e-01 -2.27778498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.465898227 meters 0.05718725907578345 Centerline is valid? [True, True] Translation: X:179.60, Y:6.29, Z:-2.28 [[ 9.80767609e-01 -1.95067177e-01 -6.61007714e-03 1.79600058e+02] [ 1.95064961e-01 9.80789830e-01 -9.84548609e-04 6.28563745e+00] [ 6.67514956e-03 -3.23781057e-04 9.99977669e-01 -2.27638383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.495898227 meters 0.05865725915186163 Centerline is valid? [True, True] Translation: X:179.63, Y:6.29, Z:-2.28 [[ 9.80581381e-01 -1.96016420e-01 -6.14158506e-03 1.79627625e+02] [ 1.96014522e-01 9.80600566e-01 -9.15348613e-04 6.29167880e+00] [ 6.20186514e-03 -3.06266052e-04 9.99980721e-01 -2.27522474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.525898227 meters 0.056744575747947015 Centerline is valid? [True, True] Translation: X:179.66, Y:6.30, Z:-2.27 [[ 9.80334666e-01 -1.97267520e-01 -5.42837631e-03 1.79655402e+02] [ 1.97266056e-01 9.80349656e-01 -8.09165926e-04 6.30231531e+00] [ 5.48132901e-03 -2.77580976e-04 9.99984939e-01 -2.27372257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.555898227 meters 0.061778140012051785 Centerline is valid? [True, True] Translation: X:179.68, Y:6.30, Z:-2.27 [[ 9.80158159e-01 -1.98146161e-01 -5.29931640e-03 1.79683452e+02] [ 1.98144776e-01 9.80172446e-01 -7.90277658e-04 6.30394069e+00] [ 5.35083440e-03 -2.75434768e-04 9.99985646e-01 -2.27460122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.585898227 meters 0.06297096695200857 Centerline is valid? [True, True] Translation: X:179.71, Y:6.31, Z:-2.27 [[ 9.80022838e-01 -1.98811496e-01 -5.40612089e-03 1.79711133e+02] [ 1.98810064e-01 9.80037707e-01 -8.06500159e-04 6.31113509e+00] [ 5.45854382e-03 -2.84402664e-04 9.99985062e-01 -2.27437842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.615898227 meters 0.06282103680016926 Centerline is valid? [True, True] Translation: X:179.74, Y:6.32, Z:-2.27 [[ 9.79993422e-01 -1.98942386e-01 -5.90086785e-03 1.79737164e+02] [ 1.98940674e-01 9.80011138e-01 -8.81574584e-04 6.32375553e+00] [ 5.95829877e-03 -3.09985335e-04 9.99982201e-01 -2.27483090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.645898227 meters 0.0638112483872578 Centerline is valid? [True, True] Translation: X:179.76, Y:6.33, Z:-2.28 [[ 9.80042692e-01 -1.98687134e-01 -6.30441062e-03 1.79764677e+02] [ 1.98685174e-01 9.80062913e-01 -9.41960451e-04 6.32969263e+00] [ 6.36587446e-03 -3.29431465e-04 9.99979683e-01 -2.27631342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.675898227 meters 0.05706700427437682 Centerline is valid? [True, True] Translation: X:179.79, Y:6.35, Z:-2.28 [[ 9.79954377e-01 -1.99100973e-01 -6.94410357e-03 1.79791801e+02] [ 1.99098597e-01 9.79978913e-01 -1.03886334e-03 6.34574173e+00] [ 7.01191377e-03 -3.64522601e-04 9.99975350e-01 -2.27575705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.705898227 meters 0.06537355072003291 Centerline is valid? [True, True] Translation: X:179.82, Y:6.34, Z:-2.28 [[ 9.79847238e-01 -1.99615064e-01 -7.29495837e-03 1.79820326e+02] [ 1.99612452e-01 9.79874317e-01 -1.09183114e-03 6.34204573e+00] [ 7.36608829e-03 -3.86336803e-04 9.99972795e-01 -2.27817342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.735898227 meters 0.06664512644289486 Centerline is valid? [True, True] Translation: X:179.85, Y:6.35, Z:-2.28 [[ 9.79700527e-01 -2.00320823e-01 -7.64497897e-03 1.79848324e+02] [ 2.00317973e-01 9.79730269e-01 -1.14456603e-03 6.34696269e+00] [ 7.71929772e-03 -4.10094743e-04 9.99970122e-01 -2.27886126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.765898227 meters 0.05761765931711041 Centerline is valid? [True, True] Translation: X:179.88, Y:6.37, Z:-2.28 [[ 9.79385631e-01 -2.01899904e-01 -6.34146564e-03 1.79875362e+02] [ 2.01897975e-01 9.79406099e-01 -9.49521168e-04 6.36539245e+00] [ 6.40257835e-03 -3.50381684e-04 9.99979442e-01 -2.27504892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.795898227 meters 0.07112436204225339 Centerline is valid? [True, True] Translation: X:179.90, Y:6.35, Z:-2.28 [[ 9.79210103e-01 -2.02753832e-01 -6.20145980e-03 1.79904758e+02] [ 2.02752000e-01 9.79229678e-01 -9.29344232e-04 6.35316082e+00] [ 6.26108159e-03 -3.47335117e-04 9.99980339e-01 -2.27657588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.825898227 meters 0.059673061146505516 Centerline is valid? [True, True] Translation: X:179.93, Y:6.37, Z:-2.27 [[ 9.79012591e-01 -2.03700564e-01 -6.35824871e-03 1.79930815e+02] [ 2.03698651e-01 9.79033171e-01 -9.53991775e-04 6.37372649e+00] [ 6.41926506e-03 -3.61196723e-04 9.99979331e-01 -2.27450151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.855898227 meters 0.06271337543345 Centerline is valid? [True, True] Translation: X:179.96, Y:6.38, Z:-2.28 [[ 9.78961197e-01 -2.03922817e-01 -7.10353011e-03 1.79958157e+02] [ 2.03920430e-01 9.78986885e-01 -1.06638832e-03 6.37559297e+00] [ 7.17172372e-03 -4.04602132e-04 9.99974201e-01 -2.27673248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.885898227 meters 0.06505556867755154 Centerline is valid? [True, True] Translation: X:179.99, Y:6.38, Z:-2.28 [[ 9.79120368e-01 -2.03141495e-01 -7.53911343e-03 1.79986738e+02] [ 2.03138774e-01 9.79149302e-01 -1.13297553e-03 6.38215126e+00] [ 7.61207200e-03 -4.22166840e-04 9.99970939e-01 -2.27983868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.915898227 meters 0.05836261831538414 Centerline is valid? [True, True] Translation: X:180.01, Y:6.39, Z:-2.28 [[ 9.79313750e-01 -2.02233822e-01 -6.78675557e-03 1.80014587e+02] [ 2.02231594e-01 9.79337195e-01 -1.02007027e-03 6.39179452e+00] [ 6.85281487e-03 -3.73527559e-04 9.99976449e-01 -2.27675714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94589822700001 meters 0.05769131645168071 Centerline is valid? [True, True] Translation: X:180.04, Y:6.40, Z:-2.28 [[ 9.79410932e-01 -2.01792831e-01 -5.82062813e-03 1.80042776e+02] [ 2.01791178e-01 9.79428177e-01 -8.76042247e-04 6.39710116e+00] [ 5.87766624e-03 -3.16546051e-04 9.99982676e-01 -2.27552211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.975898227 meters 0.06818338990862309 Centerline is valid? [True, True] Translation: X:180.07, Y:6.39, Z:-2.28 [[ 9.79481031e-01 -2.01463782e-01 -5.40873676e-03 1.80072753e+02] [ 2.01462345e-01 9.79495921e-01 -8.14951857e-04 6.38848529e+00] [ 5.46201888e-03 -2.91426904e-04 9.99985041e-01 -2.27677240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.005898227 meters 0.0578458788793216 Centerline is valid? [True, True] Translation: X:180.10, Y:6.41, Z:-2.28 [[ 9.79531494e-01 -2.01181234e-01 -6.64558795e-03 1.80098533e+02] [ 2.01179051e-01 9.79553972e-01 -1.00232963e-03 6.40874124e+00] [ 6.71136198e-03 -3.55139631e-04 9.99977415e-01 -2.27704864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.035898227 meters 0.058410127315613944 Centerline is valid? [True, True] Translation: X:180.13, Y:6.41, Z:-2.28 [[ 9.79520222e-01 -2.01197151e-01 -7.73563422e-03 1.80126051e+02] [ 2.01194192e-01 9.79550680e-01 -1.16694456e-03 6.41344968e+00] [ 7.81223168e-03 -4.13318882e-04 9.99969399e-01 -2.27913593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.065898227 meters 0.05608391857064196 Centerline is valid? [True, True] Translation: X:180.15, Y:6.42, Z:-2.28 [[ 9.79390988e-01 -2.01815525e-01 -7.98664107e-03 1.80154147e+02] [ 2.01812379e-01 9.79423457e-01 -1.20632526e-03 6.42151237e+00] [ 8.06575877e-03 -4.30338944e-04 9.99967379e-01 -2.27876468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.095898227 meters 0.06355567013197944 Centerline is valid? [True, True] Translation: X:180.18, Y:6.42, Z:-2.28 [[ 9.79296790e-01 -2.02305835e-01 -7.08136145e-03 1.80183118e+02] [ 2.02303373e-01 9.79322317e-01 -1.06984289e-03 6.41614685e+00] [ 7.15137076e-03 -3.84889598e-04 9.99974355e-01 -2.27932794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.125898227 meters 0.06135145839371888 Centerline is valid? [True, True] Translation: X:180.21, Y:6.42, Z:-2.28 [[ 9.79114586e-01 -2.03222066e-01 -5.95140482e-03 1.80211188e+02] [ 2.03220337e-01 9.79132618e-01 -9.00287270e-04 6.42391202e+00] [ 6.01017282e-03 -3.27962094e-04 9.99981885e-01 -2.27659231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.155898227 meters 0.06011712726451755 Centerline is valid? [True, True] Translation: X:180.24, Y:6.43, Z:-2.27 [[ 9.78918914e-01 -2.04219499e-01 -3.48653521e-03 1.80239169e+02] [ 2.04218910e-01 9.78925103e-01 -5.28113446e-04 6.43157361e+00] [ 3.52090790e-03 -1.95036178e-04 9.99993783e-01 -2.27217497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.185898227 meters 0.06448431079881664 Centerline is valid? [True, True] Translation: X:180.27, Y:6.43, Z:-2.27 [[ 9.78761304e-01 -2.04977160e-01 -3.26702003e-03 1.80267077e+02] [ 2.04976647e-01 9.78766739e-01 -4.94876959e-04 6.43151066e+00] [ 3.29908901e-03 -1.85296392e-04 9.99994541e-01 -2.27214962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.215898227 meters 0.06140167838416534 Centerline is valid? [True, True] Translation: X:180.29, Y:6.44, Z:-2.27 [[ 9.78486449e-01 -2.06268070e-01 -4.21339898e-03 1.80294873e+02] [ 2.06267227e-01 9.78495490e-01 -6.38306095e-04 6.44203804e+00] [ 4.25445406e-03 -2.44512259e-04 9.99990920e-01 -2.27250068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.245898227 meters 0.06813052812433873 Centerline is valid? [True, True] Translation: X:180.32, Y:6.44, Z:-2.28 [[ 9.78257368e-01 -2.07324019e-01 -5.41050207e-03 1.80324187e+02] [ 2.07322644e-01 9.78272278e-01 -8.19936770e-04 6.44055350e+00] [ 5.46293677e-03 -3.19610409e-04 9.99985027e-01 -2.27538860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.275898227 meters 0.06803662497213726 Centerline is valid? [True, True] Translation: X:180.35, Y:6.45, Z:-2.28 [[ 9.78179913e-01 -2.07651005e-01 -6.71703685e-03 1.80352100e+02] [ 2.07648885e-01 9.78202894e-01 -1.01916946e-03 6.44803140e+00] [ 6.78225645e-03 -3.97854123e-04 9.99976921e-01 -2.27767209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.305898227 meters 0.0649004875550563 Centerline is valid? [True, True] Translation: X:180.38, Y:6.46, Z:-2.28 [[ 9.78168465e-01 -2.07699711e-01 -6.87632707e-03 1.80378399e+02] [ 2.07697482e-01 9.78192550e-01 -1.04464915e-03 6.46027123e+00] [ 6.94334524e-03 -4.06352959e-04 9.99975812e-01 -2.27798462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.335898227 meters 0.06556349308686953 Centerline is valid? [True, True] Translation: X:180.40, Y:6.47, Z:-2.27 [[ 9.78086464e-01 -2.08166695e-01 -3.67376414e-03 1.80404911e+02] [ 2.08166061e-01 9.78093339e-01 -5.58376740e-04 6.46848514e+00] [ 3.70951967e-03 -2.18612280e-04 9.99993096e-01 -2.27326384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.365898227 meters 0.06291061784973499 Centerline is valid? [True, True] Translation: X:180.43, Y:6.48, Z:-2.27 [[ 9.77844750e-01 -2.09316676e-01 -2.48499844e-03 1.80432757e+02] [ 2.09316389e-01 9.77847895e-01 -3.77747583e-04 6.47939223e+00] [ 2.50901936e-03 -1.50772409e-04 9.99996841e-01 -2.27111097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.395898227 meters 0.06674018035538844 Centerline is valid? [True, True] Translation: X:180.46, Y:6.48, Z:-2.27 [[ 9.77474079e-01 -2.11040971e-01 -2.47676138e-03 1.80461441e+02] [ 2.11040691e-01 9.77477204e-01 -3.76649746e-04 6.48148327e+00] [ 2.50046632e-03 -1.54532071e-04 9.99996862e-01 -2.27182717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.425898227 meters 0.06764323592706856 Centerline is valid? [True, True] Translation: X:180.49, Y:6.49, Z:-2.27 [[ 9.76904760e-01 -2.13648474e-01 -3.37926105e-03 1.80491177e+02] [ 2.13647970e-01 9.76910580e-01 -5.13794508e-04 6.48711947e+00] [ 3.41100729e-03 -2.20043962e-04 9.99994158e-01 -2.27415354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.455898227 meters 0.0766028918115132 Centerline is valid? [True, True] Translation: X:180.52, Y:6.48, Z:-2.28 [[ 9.76180301e-01 -2.16917465e-01 -4.33963214e-03 1.80521285e+02] [ 2.16916666e-01 9.76189902e-01 -6.59722960e-04 6.48210888e+00] [ 4.37941051e-03 -2.97329979e-04 9.99990366e-01 -2.27708517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.485898227 meters 0.0766028918115132 Centerline is valid? [True, True] Translation: X:180.55, Y:6.49, Z:-2.28 [[ 9.76142232e-01 -2.17088718e-01 -4.33946366e-03 1.80548484e+02] [ 2.17087916e-01 9.76151833e-01 -6.60830566e-04 6.48641852e+00] [ 4.37943426e-03 -2.96980497e-04 9.99990366e-01 -2.27713655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.515898227 meters 0.0769669750163781 Centerline is valid? [True, True] Translation: X:180.58, Y:6.49, Z:-2.28 [[ 9.75465343e-01 -2.20085150e-01 -5.46736663e-03 1.80578280e+02] [ 2.20083925e-01 9.75480586e-01 -8.32181006e-04 6.49239987e+00] [ 5.51646069e-03 -3.91515775e-04 9.99984708e-01 -2.27829954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.545898227 meters 0.08577998965310071 Centerline is valid? [True, True] Translation: X:180.61, Y:6.49, Z:-2.28 [[ 9.74420873e-01 -2.24646680e-01 -6.15064892e-03 1.80608696e+02] [ 2.24645219e-01 9.74440172e-01 -9.36314724e-04 6.48903844e+00] [ 6.20377939e-03 -4.69349264e-04 9.99980646e-01 -2.28032643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.575898227 meters 0.08917734669616775 Centerline is valid? [True, True] Translation: X:180.64, Y:6.49, Z:-2.28 [[ 9.74145648e-01 -2.25823784e-01 -6.62376268e-03 1.80637081e+02] [ 2.25822115e-01 9.74168032e-01 -1.00867763e-03 6.49068100e+00] [ 6.68044126e-03 -5.13193169e-04 9.99977554e-01 -2.28173504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.605898227 meters 0.07765824486415761 Centerline is valid? [True, True] Translation: X:180.66, Y:6.51, Z:-2.28 [[ 9.74026736e-01 -2.26308294e-01 -7.51486551e-03 1.80663391e+02] [ 2.26306149e-01 9.74055550e-01 -1.14581642e-03 6.51166455e+00] [ 7.57920422e-03 -5.84604438e-04 9.99971107e-01 -2.28067397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.635898227 meters 0.07889640380683023 Centerline is valid? [True, True] Translation: X:180.69, Y:6.52, Z:-2.28 [[ 9.74057010e-01 -2.26150644e-01 -8.29626505e-03 1.80690430e+02] [ 2.26148022e-01 9.74092127e-01 -1.26521538e-03 6.51716316e+00] [ 8.36745574e-03 -6.43792015e-04 9.99964785e-01 -2.28328272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.665898227 meters 0.0849885543877826 Centerline is valid? [True, True] Translation: X:180.72, Y:6.51, Z:-2.28 [[ 9.74167901e-01 -2.25662671e-01 -8.55919971e-03 1.80718664e+02] [ 2.25659856e-01 9.74205278e-01 -1.30580241e-03 6.51496762e+00] [ 8.63308839e-03 -6.59396980e-04 9.99962517e-01 -2.28480249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69589822700001 meters 0.08499138480153418 Centerline is valid? [True, True] Translation: X:180.75, Y:6.52, Z:-2.28 [[ 9.74449999e-01 -2.24463535e-01 -7.95746626e-03 1.80747073e+02] [ 2.24461061e-01 9.74482303e-01 -1.21411979e-03 6.52222274e+00] [ 8.02693566e-03 -6.03042299e-04 9.99967602e-01 -2.28390848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.725898227 meters 0.07748840026178494 Centerline is valid? [True, True] Translation: X:180.77, Y:6.54, Z:-2.28 [[ 9.74589686e-01 -2.23879390e-01 -7.27761059e-03 1.80773937e+02] [ 2.23877302e-01 9.74616704e-01 -1.11077341e-03 6.53640924e+00] [ 7.34156012e-03 -5.46743513e-04 9.99972901e-01 -2.28153119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.755898227 meters 0.07738427644610117 Centerline is valid? [True, True] Translation: X:180.80, Y:6.54, Z:-2.28 [[ 9.74593232e-01 -2.23866432e-01 -7.20092634e-03 1.80801939e+02] [ 2.23864378e-01 9.74619684e-01 -1.10044967e-03 6.54085612e+00] [ 7.26451830e-03 -5.39540093e-04 9.99973467e-01 -2.28217968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.785898227 meters 0.0761041265653487 Centerline is valid? [True, True] Translation: X:180.83, Y:6.55, Z:-2.28 [[ 9.74537863e-01 -2.24089789e-01 -7.72790341e-03 1.80830609e+02] [ 2.24087420e-01 9.74568330e-01 -1.18222116e-03 6.54687989e+00] [ 7.79629361e-03 -5.79606653e-04 9.99969440e-01 -2.28317091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.815898227 meters 0.0750080606342985 Centerline is valid? [True, True] Translation: X:180.86, Y:6.55, Z:-2.28 [[ 9.74427772e-01 -2.24555296e-01 -8.08924675e-03 1.80859327e+02] [ 2.24552706e-01 9.74461158e-01 -1.23881441e-03 6.55238513e+00] [ 8.16083909e-03 -6.09327082e-04 9.99966514e-01 -2.28430303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.845898227 meters 0.08172886946242297 Centerline is valid? [True, True] Translation: X:180.89, Y:6.55, Z:-2.29 [[ 9.74273504e-01 -2.25244106e-01 -7.49875557e-03 1.80887910e+02] [ 2.25241897e-01 9.74302195e-01 -1.14892240e-03 6.54751595e+00] [ 7.56484201e-03 -5.69669269e-04 9.99971224e-01 -2.28546596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.875898227 meters 0.08950006881343707 Centerline is valid? [True, True] Translation: X:180.92, Y:6.54, Z:-2.28 [[ 9.73748183e-01 -2.27555953e-01 -5.72401606e-03 1.80918193e+02] [ 2.27554705e-01 9.73764903e-01 -8.77020679e-04 6.54185862e+00] [ 5.77341722e-03 -4.48529493e-04 9.99983233e-01 -2.28431310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.905898227 meters 0.08073297498500107 Centerline is valid? [True, True] Translation: X:180.95, Y:6.55, Z:-2.28 [[ 9.73374393e-01 -2.29139412e-01 -6.11731361e-03 1.80947108e+02] [ 2.29138018e-01 9.73393492e-01 -9.37336998e-04 6.55319183e+00] [ 6.16933411e-03 -4.89329283e-04 9.99980850e-01 -2.28219118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.935898227 meters 0.08553211138650196 Centerline is valid? [True, True] Translation: X:180.98, Y:6.55, Z:-2.28 [[ 9.72918228e-01 -2.31060889e-01 -6.40209871e-03 1.80977509e+02] [ 2.31059402e-01 9.72939150e-01 -9.81010241e-04 6.54940189e+00] [ 6.45552558e-03 -5.24822357e-04 9.99979025e-01 -2.28327275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.965898227 meters 0.08614170406694462 Centerline is valid? [True, True] Translation: X:181.01, Y:6.55, Z:-2.28 [[ 9.72451985e-01 -2.32998853e-01 -6.97652824e-03 1.81007894e+02] [ 2.32997137e-01 9.72476833e-01 -1.06907959e-03 6.55121776e+00] [ 7.03360641e-03 -5.85882535e-04 9.99975092e-01 -2.28420088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.995898227 meters 0.09484597391500897 Centerline is valid? [True, True] Translation: X:181.04, Y:6.54, Z:-2.29 [[ 9.72004584e-01 -2.34857201e-01 -7.01306248e-03 1.81038353e+02] [ 2.34855514e-01 9.72029697e-01 -1.07483961e-03 6.54300000e+00] [ 7.06933883e-03 -6.02307360e-04 9.99974831e-01 -2.28550563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.025898227 meters 0.09479737945897054 Centerline is valid? [True, True] Translation: X:181.07, Y:6.55, Z:-2.28 [[ 9.71566398e-01 -2.36668766e-01 -6.82850255e-03 1.81068052e+02] [ 2.36667211e-01 9.71590210e-01 -1.04659509e-03 6.54573258e+00] [ 6.88220259e-03 -5.99246026e-04 9.99976138e-01 -2.28472785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.055898227 meters 0.10182367802846011 Centerline is valid? [True, False] Translation: X:181.05, Y:6.53, Z:-2.29 [[ 9.75514659e-01 -2.19933970e-01 -4.46784579e-04 1.81050626e+02] [ 2.19926845e-01 9.75495896e-01 -6.31986155e-03 6.53392711e+00] [ 1.82578876e-03 6.06685767e-03 9.99979930e-01 -2.28553001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.085898227 meters 0.102066020506278 Centerline is valid? [False, False] Translation: X:181.04, Y:6.52, Z:-2.29 [[ 9.79357547e-01 -2.02058041e-01 5.59855961e-03 1.81036765e+02] [ 2.02104168e-01 9.79317984e-01 -9.49686076e-03 6.52420108e+00] [-3.56385303e-03 1.04323145e-02 9.99939231e-01 -2.28773064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.115898227 meters 0.09181848863877913 Centerline is valid? [False, True] Translation: X:181.02, Y:6.51, Z:-2.29 [[ 9.82990440e-01 -1.83307907e-01 1.13139798e-02 1.81022802e+02] [ 1.83441216e-01 9.82955642e-01 -1.21460056e-02 6.51445047e+00] [-8.89468139e-03 1.40148576e-02 9.99862225e-01 -2.28988637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.145898227 meters 0.09377843252279822 Centerline is valid? [True, True] Translation: X:181.05, Y:6.51, Z:-2.29 [[ 9.83057304e-01 -1.83018100e-01 1.01347000e-02 1.81051185e+02] [ 1.83017969e-01 9.83109111e-01 9.48266032e-04 6.50657114e+00] [-1.01370657e-02 9.22632358e-04 9.99948193e-01 -2.29070105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.175898227 meters 0.09171799224752146 Centerline is valid? [True, True] Translation: X:181.08, Y:6.51, Z:-2.29 [[ 9.83387012e-01 -1.81168161e-01 1.13173266e-02 1.81081017e+02] [ 1.81199635e-01 9.83444665e-01 -1.81186111e-03 6.51077143e+00] [-1.08017129e-02 3.83245613e-03 9.99934315e-01 -2.28932325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.205898227 meters 0.09539010101265448 Centerline is valid? [True, True] Translation: X:181.11, Y:6.50, Z:-2.29 [[ 9.83777462e-01 -1.78959925e-01 1.24599363e-02 1.81110782e+02] [ 1.78922822e-01 9.83854815e-01 4.04055570e-03 6.50326085e+00] [-1.29818659e-02 -1.74564067e-03 9.99914208e-01 -2.28836421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.235898227 meters 0.09532190169955468 Centerline is valid? [True, True] Translation: X:181.14, Y:6.50, Z:-2.29 [[ 9.83768864e-01 -1.78970971e-01 1.29697002e-02 1.81139802e+02] [ 1.78970389e-01 9.83853711e-01 1.21491113e-03 6.50499615e+00] [-1.29777215e-02 1.12600056e-03 9.99915152e-01 -2.28845612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.265898227 meters 0.09707764799291867 Centerline is valid? [True, True] Translation: X:181.17, Y:6.50, Z:-2.29 [[ 9.83625782e-01 -1.79760519e-01 1.29026196e-02 1.81168272e+02] [ 1.79759976e-01 9.83709756e-01 1.21129592e-03 6.50188433e+00] [-1.29101760e-02 1.12791271e-03 9.99916024e-01 -2.28989633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.295898227 meters 0.10065993454635012 Centerline is valid? [True, False] Translation: X:181.14, Y:6.49, Z:-2.29 [[ 9.86330161e-01 -1.64533917e-01 9.02241466e-03 1.81144534e+02] [ 1.64622036e-01 9.86305114e-01 -1.00899725e-02 6.49419956e+00] [-7.23871103e-03 1.14373325e-02 9.99908390e-01 -2.28637061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.325898227 meters 0.10151736266272444 Centerline is valid? [False, False] Translation: X:181.14, Y:6.49, Z:-2.29 [[ 9.88709645e-01 -1.49446416e-01 1.09090455e-02 1.81142033e+02] [ 1.49579461e-01 9.88669280e-01 -1.26111118e-02 6.48612423e+00] [-8.90075272e-03 1.41004971e-02 9.99860967e-01 -2.28597953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.355898227 meters 0.1057539881913508 Centerline is valid? [False, False] Translation: X:181.18, Y:6.48, Z:-2.29 [[ 9.90704805e-01 -1.35192293e-01 1.50676031e-02 1.81183429e+02] [ 1.35391715e-01 9.90705460e-01 -1.31062555e-02 6.48010105e+00] [-1.31556919e-02 1.50244589e-02 9.99800577e-01 -2.28955865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.385898227 meters 0.0904483636856438 Centerline is valid? [False, True] Translation: X:181.18, Y:6.47, Z:-2.29 [[ 9.92587499e-01 -1.20786723e-01 1.34396592e-02 1.81183415e+02] [ 1.20996198e-01 9.92523235e-01 -1.60483254e-02 6.47064001e+00] [-1.14007494e-02 1.75555148e-02 9.99780889e-01 -2.28854444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.415898227 meters 0.10554892442438096 Centerline is valid? [True, False] Translation: X:181.18, Y:6.47, Z:-2.29 [[ 9.94316371e-01 -1.05772259e-01 1.21318983e-02 1.81183919e+02] [ 1.05991250e-01 9.94183473e-01 -1.91069812e-02 6.46504065e+00] [-1.00403442e-02 2.02842593e-02 9.99743837e-01 -2.28845445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44589822700001 meters 0.10340190779974195 Centerline is valid? [False, False] Translation: X:181.18, Y:6.46, Z:-2.29 [[ 9.95907796e-01 -8.96863308e-02 1.11366083e-02 1.81183994e+02] [ 8.99067625e-02 9.95724827e-01 -2.11859353e-02 6.45928058e+00] [-9.18890853e-03 2.21004945e-02 9.99713525e-01 -2.28838593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.475898227 meters 0.10196804758137432 Centerline is valid? [False, False] Translation: X:181.18, Y:6.45, Z:-2.29 [[ 9.97248611e-01 -7.32994383e-02 1.10634885e-02 1.81183491e+02] [ 7.35393230e-02 9.97024588e-01 -2.31071212e-02 6.45419947e+00] [-9.33683103e-03 2.38571460e-02 9.99671776e-01 -2.28868929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.505898227 meters 0.09905544885306528 Centerline is valid? [False, True] Translation: X:181.23, Y:6.45, Z:-2.29 [[ 9.98206398e-01 -5.86007319e-02 1.22450261e-02 1.81226505e+02] [ 5.88874554e-02 9.97962993e-01 -2.45383708e-02 6.44749605e+00] [-1.07821164e-02 2.52154372e-02 9.99623893e-01 -2.29158504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.535898227 meters 0.0807841604551013 Centerline is valid? [True, True] Translation: X:181.26, Y:6.46, Z:-2.29 [[ 9.98368796e-01 -5.55889010e-02 1.30238748e-02 1.81257248e+02] [ 5.55974282e-02 9.98453224e-01 -2.93313645e-04 6.45751018e+00] [-1.29874248e-02 1.01692913e-03 9.99915143e-01 -2.28891471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.565898227 meters 0.08896776199539339 Centerline is valid? [True, True] Translation: X:181.29, Y:6.44, Z:-2.29 [[ 9.98711622e-01 -4.84859600e-02 1.49735393e-02 1.81285987e+02] [ 4.84964381e-02 9.98823299e-01 -3.37256235e-04 6.44210544e+00] [-1.49395677e-02 1.06298504e-03 9.99887833e-01 -2.28760777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.595898227 meters 0.08585974201741717 Centerline is valid? [True, True] Translation: X:181.32, Y:6.44, Z:-2.29 [[ 9.98844155e-01 -4.55226135e-02 1.54286967e-02 1.81316211e+02] [ 4.55333818e-02 9.98962757e-01 -3.47196594e-04 6.44368589e+00] [-1.53968881e-02 1.04931603e-03 9.99880910e-01 -2.28708703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.625898227 meters 0.08517699614901235 Centerline is valid? [True, True] Translation: X:181.35, Y:6.44, Z:-2.29 [[ 9.98946533e-01 -4.32816233e-02 1.52487828e-02 1.81346264e+02] [ 4.32918819e-02 9.99062408e-01 -3.43145076e-04 6.44259441e+00] [-1.52196338e-02 1.00293209e-03 9.99883672e-01 -2.28849860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.655898227 meters 0.07421762240939753 Centerline is valid? [True, True] Translation: X:181.38, Y:6.45, Z:-2.29 [[ 9.99020886e-01 -4.16522055e-02 1.49118246e-02 1.81377013e+02] [ 4.16618367e-02 9.99131712e-01 -3.35680715e-04 6.45454929e+00] [-1.48848950e-02 9.56606048e-04 9.99888756e-01 -2.28874881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.685898227 meters 0.08285761019482371 Centerline is valid? [True, True] Translation: X:181.41, Y:6.44, Z:-2.29 [[ 9.99062389e-01 -4.07531579e-02 1.46124572e-02 1.81406852e+02] [ 4.07623085e-02 9.99168818e-01 -3.28807662e-04 6.44132616e+00] [-1.45869116e-02 9.24136854e-04 9.99893178e-01 -2.29125046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.715898227 meters 0.06780986718404244 Centerline is valid? [True, True] Translation: X:181.44, Y:6.46, Z:-2.29 [[ 9.99083194e-01 -4.02160233e-02 1.46779690e-02 1.81438286e+02] [ 4.02252031e-02 9.99190584e-01 -3.30599625e-04 6.45795524e+00] [-1.46527930e-02 9.20720813e-04 9.99892218e-01 -2.29064482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.745898227 meters 0.07414061038824914 Centerline is valid? [True, True] Translation: X:181.47, Y:6.44, Z:-2.29 [[ 9.99044346e-01 -4.13226894e-02 1.42418398e-02 1.81468356e+02] [ 4.13314492e-02 9.99145439e-01 -3.21162045e-04 6.44420079e+00] [-1.42163980e-02 9.09491004e-04 9.99898528e-01 -2.29348715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.775898227 meters 0.0760227508261622 Centerline is valid? [True, True] Translation: X:181.50, Y:6.44, Z:-2.30 [[ 9.99018625e-01 -4.23013881e-02 1.31293020e-02 1.81498631e+02] [ 4.23089185e-02 9.99104533e-01 -2.96206436e-04 6.43817340e+00] [-1.31050152e-02 8.51402313e-04 9.99913763e-01 -2.29618357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.805898227 meters 0.07044576969798799 Centerline is valid? [True, True] Translation: X:181.53, Y:6.44, Z:-2.30 [[ 9.99001040e-01 -4.32027730e-02 1.14211269e-02 1.81530014e+02] [ 4.32085297e-02 9.99066042e-01 -2.57653049e-04 6.44186731e+00] [-1.13993287e-02 7.50885764e-04 9.99934744e-01 -2.29846612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.835898227 meters 0.07218327515579126 Centerline is valid? [True, True] Translation: X:181.56, Y:6.44, Z:-2.30 [[ 9.98977760e-01 -4.40266007e-02 1.02515561e-02 1.81560483e+02] [ 4.40312850e-02 9.99030126e-01 -2.31574333e-04 6.43684031e+00] [-1.02314180e-02 6.82726797e-04 9.99947425e-01 -2.30086062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.865898227 meters 0.07915703652421013 Centerline is valid? [True, True] Translation: X:181.59, Y:6.43, Z:-2.30 [[ 9.98973564e-01 -4.41879931e-02 9.96189350e-03 1.81589513e+02] [ 4.41924279e-02 9.99023012e-01 -2.25382277e-04 6.42548482e+00] [-9.94220166e-03 6.65391197e-04 9.99950354e-01 -2.30342399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.895898227 meters 0.07174049824014807 Centerline is valid? [True, True] Translation: X:181.62, Y:6.43, Z:-2.30 [[ 9.98998108e-01 -4.34679389e-02 1.06451059e-02 1.81620865e+02] [ 4.34729583e-02 9.99054575e-01 -2.40475766e-04 6.43305710e+00] [-1.06245887e-02 7.03009079e-04 9.99943310e-01 -2.30090969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.925898227 meters 0.07697797572967778 Centerline is valid? [True, True] Translation: X:181.65, Y:6.43, Z:-2.30 [[ 9.99035795e-01 -4.21611012e-02 1.22442187e-02 1.81650888e+02] [ 4.21676477e-02 9.99110511e-01 -2.76869386e-04 6.42566372e+00] [-1.22216545e-02 7.92912328e-04 9.99924998e-01 -2.29972878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.955898227 meters 0.07629279102742251 Centerline is valid? [True, True] Translation: X:181.68, Y:6.43, Z:-2.30 [[ 9.99147826e-01 -3.83511224e-02 1.52582500e-02 1.81680438e+02] [ 3.83608474e-02 9.99263892e-01 -3.45087832e-04 6.42936686e+00] [-1.52337838e-02 9.30113159e-04 9.99883527e-01 -2.29513956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.985898227 meters 0.06891579161904576 Centerline is valid? [True, True] Translation: X:181.71, Y:6.44, Z:-2.29 [[ 9.99196729e-01 -3.65123415e-02 1.65149866e-02 1.81711484e+02] [ 3.65234794e-02 9.99332725e-01 -3.73200255e-04 6.44110160e+00] [-1.64903402e-02 9.76085247e-04 9.99863549e-01 -2.29271178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.015898227 meters 0.0638122138022281 Centerline is valid? [True, True] Translation: X:181.74, Y:6.45, Z:-2.29 [[ 9.99216118e-01 -3.55327201e-02 1.74521073e-02 1.81743435e+02] [ 3.55450114e-02 9.99367999e-01 -3.94504003e-04 6.45335589e+00] [-1.74270598e-02 1.01453011e-03 9.99847623e-01 -2.29346597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.045898227 meters 0.06989745531785345 Centerline is valid? [True, True] Translation: X:181.77, Y:6.44, Z:-2.29 [[ 9.99237611e-01 -3.47387446e-02 1.78161593e-02 1.81774162e+02] [ 3.47514398e-02 9.99395905e-01 -4.03371614e-04 6.44395596e+00] [-1.77913840e-02 1.02220127e-03 9.99841198e-01 -2.29322385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.075898227 meters 0.0636031043996179 Centerline is valid? [True, True] Translation: X:181.81, Y:6.45, Z:-2.29 [[ 9.99234660e-01 -3.48675278e-02 1.77299196e-02 1.81806575e+02] [ 3.48801307e-02 9.99391422e-01 -4.01999112e-04 6.45443434e+00] [-1.77051129e-02 1.02011336e-03 9.99842732e-01 -2.29407692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.105898227 meters 0.06742100229349851 Centerline is valid? [True, True] Translation: X:181.84, Y:6.46, Z:-2.30 [[ 9.99113363e-01 -3.84733613e-02 1.70964246e-02 1.81837371e+02] [ 3.84856210e-02 9.99259079e-01 -3.88542997e-04 6.45795423e+00] [-1.70688090e-02 1.04616502e-03 9.99853770e-01 -2.29697851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.135898227 meters 0.07613600005688598 Centerline is valid? [True, True] Translation: X:181.87, Y:6.45, Z:-2.30 [[ 9.99011184e-01 -4.12007940e-02 1.67077552e-02 1.81867164e+02] [ 4.12128828e-02 9.99150316e-01 -3.79731091e-04 6.44711987e+00] [-1.66779136e-02 1.06793036e-03 9.99860344e-01 -2.29732487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.165898227 meters 0.07550614870622535 Centerline is valid? [True, True] Translation: X:181.90, Y:6.45, Z:-2.30 [[ 9.98859777e-01 -4.48476908e-02 1.63655258e-02 1.81898345e+02] [ 4.48597722e-02 9.98993225e-01 -3.71685724e-04 6.44945386e+00] [-1.63323802e-02 1.10541568e-03 9.99866007e-01 -2.29875078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19589822700001 meters 0.0760423584698834 Centerline is valid? [True, True] Translation: X:181.93, Y:6.45, Z:-2.30 [[ 9.98715552e-01 -4.82244333e-02 1.55450781e-02 1.81929333e+02] [ 4.82357447e-02 9.98835917e-01 -3.53317622e-04 6.45035938e+00] [-1.55099438e-02 1.10269222e-03 9.99879106e-01 -2.30004488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.225898227 meters 0.0875820561853139 Centerline is valid? [True, True] Translation: X:181.96, Y:6.44, Z:-2.30 [[ 9.98569627e-01 -5.11579664e-02 1.55422625e-02 1.81958785e+02] [ 5.11696288e-02 9.98689914e-01 -3.53366323e-04 6.44119033e+00] [-1.55038233e-02 1.14815268e-03 9.99879149e-01 -2.30308742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.255898227 meters 0.07998397953759183 Centerline is valid? [True, True] Translation: X:181.99, Y:6.45, Z:-2.30 [[ 9.98513725e-01 -5.20937011e-02 1.60183222e-02 1.81990392e+02] [ 5.21062240e-02 9.98641481e-01 -3.65148440e-04 6.45365085e+00] [-1.59775391e-02 1.19926001e-03 9.99871632e-01 -2.30123135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.285898227 meters 0.0795138976022039 Centerline is valid? [True, True] Translation: X:182.02, Y:6.46, Z:-2.30 [[ 9.98565804e-01 -5.11014607e-02 1.59679722e-02 1.82021850e+02] [ 5.11137846e-02 9.98692770e-01 -3.64356601e-04 6.45730909e+00] [-1.59284792e-02 1.18001753e-03 9.99872437e-01 -2.30217189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.315898227 meters 0.07606531597848483 Centerline is valid? [True, True] Translation: X:182.05, Y:6.46, Z:-2.30 [[ 9.98643853e-01 -4.95853447e-02 1.58665769e-02 1.82053021e+02] [ 4.95973286e-02 9.98769229e-01 -3.62447749e-04 6.46448237e+00] [-1.58290767e-02 1.14889605e-03 9.99874052e-01 -2.30305254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.345898227 meters 0.07606531597848483 Centerline is valid? [True, True] Translation: X:182.08, Y:6.46, Z:-2.30 [[ 9.98646090e-01 -4.95402660e-02 1.58665766e-02 1.82084759e+02] [ 4.95522445e-02 9.98771467e-01 -3.62461640e-04 6.46367477e+00] [-1.58291276e-02 1.14819538e-03 9.99874052e-01 -2.30371107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.375898227 meters 0.07443867608790536 Centerline is valid? [True, True] Translation: X:182.12, Y:6.47, Z:-2.31 [[ 9.98730739e-01 -4.78929533e-02 1.55941270e-02 1.82115715e+02] [ 4.79043375e-02 9.98851864e-01 -3.57100109e-04 6.46838040e+00] [-1.55591203e-02 1.10367318e-03 9.99878340e-01 -2.30509692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.405898227 meters 0.07178774279677974 Centerline is valid? [True, True] Translation: X:182.15, Y:6.48, Z:-2.31 [[ 9.98873232e-01 -4.52771097e-02 1.42214655e-02 1.82146512e+02] [ 4.52863165e-02 9.98973995e-01 -3.25855077e-04 6.47773554e+00] [-1.41921204e-02 9.69525700e-04 9.99898817e-01 -2.30808202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.435898227 meters 0.07358692215307587 Centerline is valid? [True, True] Translation: X:182.18, Y:6.48, Z:-2.31 [[ 9.98920689e-01 -4.43819791e-02 1.37002550e-02 1.82176755e+02] [ 4.43904346e-02 9.99014210e-01 -3.13550069e-04 6.47755678e+00] [-1.36728334e-02 9.21371924e-04 9.99906098e-01 -2.30985220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.465898227 meters 0.07211876839118338 Centerline is valid? [True, True] Translation: X:182.21, Y:6.48, Z:-2.31 [[ 9.98957673e-01 -4.36910280e-02 1.32159625e-02 1.82207966e+02] [ 4.36988503e-02 9.99044703e-01 -3.03548241e-04 6.48121466e+00] [-1.31900750e-02 8.80754213e-04 9.99912619e-01 -2.31089314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.495898227 meters 0.07144011549708189 Centerline is valid? [True, True] Translation: X:182.24, Y:6.48, Z:-2.31 [[ 9.98963527e-01 -4.37414917e-02 1.25918458e-02 1.82240243e+02] [ 4.37485975e-02 9.99042530e-01 -2.89289313e-04 6.48409401e+00] [-1.25671355e-02 8.39865066e-04 9.99920678e-01 -2.31162895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.525898227 meters 0.07990590269838777 Centerline is valid? [True, True] Translation: X:182.27, Y:6.47, Z:-2.31 [[ 9.98931270e-01 -4.44027171e-02 1.28341788e-02 1.82271394e+02] [ 4.44101622e-02 9.99013338e-01 -2.95542665e-04 6.47477748e+00] [-1.28083929e-02 8.65194773e-04 9.99917595e-01 -2.31283407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.555898227 meters 0.07465185904986729 Centerline is valid? [True, True] Translation: X:182.30, Y:6.48, Z:-2.31 [[ 9.98876116e-01 -4.55694492e-02 1.30357391e-02 1.82302910e+02] [ 4.55772358e-02 9.98960773e-01 -3.00720167e-04 6.48331325e+00] [-1.30084884e-02 8.94515149e-04 9.99914986e-01 -2.31128250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.585898227 meters 0.08295706979365997 Centerline is valid? [True, True] Translation: X:182.33, Y:6.48, Z:-2.31 [[ 9.98731450e-01 -4.86321730e-02 1.30538511e-02 1.82332137e+02] [ 4.86402485e-02 9.98816317e-01 -3.01674362e-04 6.47551062e+00] [-1.30237284e-02 9.36234235e-04 9.99914749e-01 -2.31152460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.615898227 meters 0.08238965971715793 Centerline is valid? [True, True] Translation: X:182.36, Y:6.48, Z:-2.31 [[ 9.98686528e-01 -4.96049477e-02 1.28283669e-02 1.82363704e+02] [ 4.96128218e-02 9.98768482e-01 -2.96099435e-04 6.47685829e+00] [-1.27978805e-02 9.32161997e-04 9.99917669e-01 -2.31217216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.645898227 meters 0.07831596087377454 Centerline is valid? [True, True] Translation: X:182.40, Y:6.48, Z:-2.31 [[ 9.98678001e-01 -4.98961821e-02 1.23539757e-02 1.82396483e+02] [ 4.99035074e-02 9.98754003e-01 -2.85207322e-04 6.48446718e+00] [-1.23243520e-02 9.01336997e-04 9.99923646e-01 -2.31227880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.675898227 meters 0.0734197774077067 Centerline is valid? [True, True] Translation: X:182.43, Y:6.49, Z:-2.31 [[ 9.98740480e-01 -4.87001409e-02 1.20726535e-02 1.82428626e+02] [ 4.87070569e-02 9.98813068e-01 -2.79331261e-04 6.48905728e+00] [-1.20447206e-02 8.67002860e-04 9.99927084e-01 -2.31195799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.705898227 meters 0.07685740299226945 Centerline is valid? [True, True] Translation: X:182.46, Y:6.49, Z:-2.31 [[ 9.98806146e-01 -4.74639000e-02 1.15525471e-02 1.82459548e+02] [ 4.74701561e-02 9.98872621e-01 -2.67769610e-04 6.48788094e+00] [-1.15268137e-02 8.15851148e-04 9.99933231e-01 -2.31378029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.735898227 meters 0.07224219997251728 Centerline is valid? [True, True] Translation: X:182.49, Y:6.49, Z:-2.31 [[ 9.98911602e-01 -4.52386553e-02 1.13611765e-02 1.82490501e+02] [ 4.52445667e-02 9.98975905e-01 -2.63697471e-04 6.49228181e+00] [-1.13376123e-02 7.77441972e-04 9.99935425e-01 -2.31317662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.765898227 meters 0.06495530055865867 Centerline is valid? [True, True] Translation: X:182.52, Y:6.50, Z:-2.31 [[ 9.99075530e-01 -4.06719939e-02 1.39238744e-02 1.82521352e+02] [ 4.06804346e-02 9.99172156e-01 -3.23394707e-04 6.50344847e+00] [-1.38991945e-02 8.89524999e-04 9.99903006e-01 -2.30865504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.795898227 meters 0.06463891638045248 Centerline is valid? [True, True] Translation: X:182.55, Y:6.50, Z:-2.31 [[ 9.99117745e-01 -3.90195512e-02 1.55308409e-02 1.82551468e+02] [ 3.90298572e-02 9.99237980e-01 -3.60921808e-04 6.50445011e+00] [-1.55049231e-02 9.66769886e-04 9.99879324e-01 -2.30674755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.825898227 meters 0.06821513925156807 Centerline is valid? [True, True] Translation: X:182.58, Y:6.50, Z:-2.31 [[ 9.99142957e-01 -3.81247900e-02 1.61199044e-02 1.82582215e+02] [ 3.81357751e-02 9.99272497e-01 -3.74505881e-04 6.50096869e+00] [-1.60938992e-02 9.88929964e-04 9.99869996e-01 -2.30650491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.855898227 meters 0.07180885625148598 Centerline is valid? [True, True] Translation: X:182.61, Y:6.50, Z:-2.31 [[ 9.99152629e-01 -3.78271263e-02 1.62213495e-02 1.82613732e+02] [ 3.78382163e-02 9.99283807e-01 -3.77189590e-04 6.50041266e+00] [-1.61954639e-02 9.90656902e-04 9.99868354e-01 -2.30832780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.885898227 meters 0.06966616446712263 Centerline is valid? [True, True] Translation: X:182.64, Y:6.50, Z:-2.31 [[ 9.99180349e-01 -3.72571339e-02 1.58283397e-02 1.82644754e+02] [ 3.72676297e-02 9.99305253e-01 -3.68558284e-04 6.50025487e+00] [-1.58036115e-02 9.58140896e-04 9.99874656e-01 -2.30877563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.915898227 meters 0.06833495859779785 Centerline is valid? [True, True] Translation: X:182.68, Y:6.50, Z:-2.31 [[ 9.99196286e-01 -3.69177680e-02 1.56160527e-02 1.82677430e+02] [ 3.69279489e-02 9.99317864e-01 -3.64006523e-04 6.50115407e+00] [-1.55919622e-02 9.40382764e-04 9.99877996e-01 -2.30920124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94589822700001 meters 0.0662002715929989 Centerline is valid? [True, True] Translation: X:182.71, Y:6.51, Z:-2.31 [[ 9.99205282e-01 -3.62205862e-02 1.66395386e-02 1.82710370e+02] [ 3.62320656e-02 9.99343328e-01 -3.88840801e-04 6.50594397e+00] [-1.66145279e-02 9.91416638e-04 9.99861478e-01 -2.30760788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.975898227 meters 0.06797804443850461 Centerline is valid? [True, True] Translation: X:182.74, Y:6.50, Z:-2.31 [[ 9.99253957e-01 -3.48075396e-02 1.67321278e-02 1.82740351e+02] [ 3.48189648e-02 9.99393559e-01 -3.91913577e-04 6.49791947e+00] [-1.67083392e-02 9.74216562e-04 9.99859931e-01 -2.30737039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.005898227 meters 0.061488390076636285 Centerline is valid? [True, True] Translation: X:182.77, Y:6.51, Z:-2.31 [[ 9.99320927e-01 -3.30223406e-02 1.63465375e-02 1.82772096e+02] [ 3.30330272e-02 9.99454187e-01 -3.84104910e-04 6.50702644e+00] [-1.63249313e-02 9.23819692e-04 9.99866313e-01 -2.30840760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.035898227 meters 0.05802355555009309 Centerline is valid? [True, True] Translation: X:182.80, Y:6.51, Z:-2.31 [[ 9.99420490e-01 -3.01777006e-02 1.57477345e-02 1.82803392e+02] [ 3.01872762e-02 9.99544192e-01 -3.70657287e-04 6.50818763e+00] [-1.57293709e-02 8.45823697e-04 9.99875928e-01 -2.30899158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.065898227 meters 0.056868623885978985 Centerline is valid? [True, True] Translation: X:182.83, Y:6.51, Z:-2.31 [[ 9.99515899e-01 -2.67624990e-02 1.58661799e-02 1.82832642e+02] [ 2.67717947e-02 9.99641501e-01 -3.73737505e-04 6.50788702e+00] [-1.58504897e-02 7.98322689e-04 9.99874054e-01 -2.31055963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.095898227 meters 0.05206906251839003 Centerline is valid? [True, True] Translation: X:182.86, Y:6.51, Z:-2.31 [[ 9.99611101e-01 -2.27494544e-02 1.61278948e-02 1.82863586e+02] [ 2.27585348e-02 9.99740919e-01 -3.79688526e-04 6.51280542e+00] [-1.61150786e-02 7.46588120e-04 9.99869865e-01 -2.31060748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.125898227 meters 0.043394714234205066 Centerline is valid? [True, True] Translation: X:182.89, Y:6.52, Z:-2.31 [[ 9.99745856e-01 -1.43841702e-02 1.73585280e-02 1.82894437e+02] [ 1.43934305e-02 9.99896326e-01 -4.08651612e-04 6.52070708e+00] [-1.73508503e-02 6.58396522e-04 9.99849246e-01 -2.30941504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.155898227 meters 0.038143274527374656 Centerline is valid? [True, True] Translation: X:182.93, Y:6.53, Z:-2.31 [[ 9.99791079e-01 -1.06161285e-02 1.74669969e-02 1.82925628e+02] [ 1.06249313e-02 9.99943469e-01 -4.11240038e-04 6.52555683e+00] [-1.74616437e-02 5.96739763e-04 9.99847356e-01 -2.31038217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.185898227 meters 0.03410874722019183 Centerline is valid? [True, True] Translation: X:182.96, Y:6.53, Z:-2.31 [[ 9.99820356e-01 -7.50083242e-03 1.74067005e-02 1.82957531e+02] [ 7.50910499e-03 9.99971722e-01 -4.09940768e-04 6.52849446e+00] [-1.74031334e-02 5.40575866e-04 9.99848408e-01 -2.31230912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.215898227 meters 0.03176335524724463 Centerline is valid? [True, True] Translation: X:182.99, Y:6.53, Z:-2.31 [[ 9.99840466e-01 -5.04757343e-03 1.71337274e-02 1.82989381e+02] [ 5.05523787e-03 9.99987141e-01 -4.04049387e-04 6.52855764e+00] [-1.71314676e-02 4.90599995e-04 9.99853125e-01 -2.31405672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.245898227 meters 0.037123671131176 Centerline is valid? [True, True] Translation: X:183.02, Y:6.52, Z:-2.32 [[ 9.99851943e-01 -3.34108522e-03 1.68798334e-02 1.83020111e+02] [ 3.34829563e-03 9.99994315e-01 -3.98917935e-04 6.52316617e+00] [-1.68784046e-02 4.55377545e-04 9.99857446e-01 -2.31762158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.275898227 meters 0.027711472089336144 Centerline is valid? [True, True] Translation: X:183.05, Y:6.53, Z:-2.32 [[ 9.99874766e-01 -1.02463691e-04 1.58253334e-02 1.83051933e+02] [ 1.08402894e-04 9.99999924e-01 -3.74439838e-04 6.52599862e+00] [-1.58252938e-02 3.76108458e-04 9.99874701e-01 -2.31739192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.305898227 meters 0.026355158451775974 Centerline is valid? [True, True] Translation: X:183.08, Y:6.52, Z:-2.32 [[ 9.99888030e-01 2.10305966e-03 1.48157127e-02 1.83083498e+02] [-2.09808625e-03 9.99997737e-01 -3.51220363e-04 6.52481582e+00] [-1.48164178e-02 3.20096394e-04 9.99890180e-01 -2.32000557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.335898227 meters 0.029603248534046788 Centerline is valid? [True, True] Translation: X:183.12, Y:6.52, Z:-2.32 [[ 9.99899111e-01 4.46228680e-03 1.34854185e-02 1.83115437e+02] [-4.45837363e-03 9.99990010e-01 -3.20226660e-04 6.52467081e+00] [-1.34867127e-02 2.60071319e-04 9.99909016e-01 -2.32401991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.365898227 meters 0.021719670175766252 Centerline is valid? [True, True] Translation: X:183.15, Y:6.53, Z:-2.32 [[ 9.99887991e-01 7.73673997e-03 1.28120681e-02 1.83146263e+02] [-7.73346846e-03 9.99970050e-01 -3.04870069e-04 6.52546764e+00] [-1.28140431e-02 2.05754197e-04 9.99917876e-01 -2.32486869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.395898227 meters 0.017685941269266987 Centerline is valid? [True, True] Translation: X:183.18, Y:6.53, Z:-2.32 [[ 9.99846229e-01 1.13958634e-02 1.33286675e-02 1.83178236e+02] [-1.13926541e-02 9.99935051e-01 -3.16685242e-04 6.52926428e+00] [-1.33314107e-02 1.64787646e-04 9.99911119e-01 -2.32398062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.425898227 meters 0.014800868243274444 Centerline is valid? [True, True] Translation: X:183.21, Y:6.53, Z:-2.32 [[ 9.99775347e-01 1.55984161e-02 1.43507935e-02 1.83209649e+02] [-1.55950910e-02 9.99878330e-01 -3.43580780e-04 6.53265810e+00] [-1.43544067e-02 1.19701663e-04 9.99896963e-01 -2.32265214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.455898227 meters 0.011047892618137722 Centerline is valid? [True, True] Translation: X:183.24, Y:6.54, Z:-2.32 [[ 9.99594926e-01 2.40254322e-02 1.52565630e-02 1.83241961e+02] [-2.40226048e-02 9.99711348e-01 -3.68584979e-04 6.54489707e+00] [-1.52610145e-02 1.93329149e-06 9.99883544e-01 -2.32150289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.485898227 meters 0.012057585362111486 Centerline is valid? [True, True] Translation: X:183.27, Y:6.55, Z:-2.32 [[ 9.99495373e-01 2.82035516e-02 1.46136564e-02 1.83274598e+02] [-2.82014049e-02 9.99602199e-01 -3.52985648e-04 6.55083634e+00] [-1.46177986e-02 -5.93181215e-05 9.99893153e-01 -2.32319455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.515898227 meters 0.013932114166145376 Centerline is valid? [True, True] Translation: X:183.31, Y:6.56, Z:-2.33 [[ 9.99405185e-01 3.15439480e-02 1.39375808e-02 1.83306108e+02] [-3.15422776e-02 9.99502361e-01 -3.39708477e-04 6.55602715e+00] [-1.39413607e-02 -1.00116631e-04 9.99902809e-01 -2.32562428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.545898227 meters 0.016216605843458496 Centerline is valid? [True, True] Translation: X:183.34, Y:6.56, Z:-2.33 [[ 9.99317636e-01 3.43446899e-02 1.35906178e-02 1.83336037e+02] [-3.43433543e-02 9.99410038e-01 -3.31720169e-04 6.56075840e+00] [-1.35939927e-02 -1.35253588e-04 9.99907588e-01 -2.32679478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.575898227 meters 0.018617291524455015 Centerline is valid? [True, True] Translation: X:183.37, Y:6.57, Z:-2.33 [[ 9.99233289e-01 3.66037013e-02 1.38925242e-02 1.83365180e+02] [-3.66025271e-02 9.99329846e-01 -3.38853844e-04 6.56593130e+00] [-1.38956174e-02 -1.69907454e-04 9.99903437e-01 -2.32737300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.605898227 meters 0.016739457014566934 Centerline is valid? [True, True] Translation: X:183.40, Y:6.56, Z:-2.33 [[ 9.99255463e-01 3.59999802e-02 1.38751724e-02 1.83395590e+02] [-3.59987409e-02 9.99351778e-01 -3.39142931e-04 6.56286432e+00] [-1.38783873e-02 -1.60598309e-04 9.99903678e-01 -2.32689849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.635898227 meters 0.016778847904104718 Centerline is valid? [True, True] Translation: X:183.43, Y:6.56, Z:-2.33 [[ 9.99303669e-01 3.45405575e-02 1.41112244e-02 1.83425558e+02] [-3.45391302e-02 9.99403287e-01 -3.44912615e-04 6.56273119e+00] [-1.41147175e-02 -1.42716975e-04 9.99900372e-01 -2.32898272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.665898227 meters 0.014860007912193706 Centerline is valid? [True, True] Translation: X:183.46, Y:6.56, Z:-2.33 [[ 9.99375139e-01 3.23164813e-02 1.43170054e-02 1.83457169e+02] [-3.23147860e-02 9.99477680e-01 -3.49796790e-04 6.55871848e+00] [-1.43208316e-02 -1.13072750e-04 9.99897445e-01 -2.32964431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69589822700001 meters 0.013383787309180365 Centerline is valid? [True, True] Translation: X:183.49, Y:6.55, Z:-2.33 [[ 9.99428244e-01 3.03590202e-02 1.48834093e-02 1.83488162e+02] [-3.03569657e-02 9.99539055e-01 -3.63992465e-04 6.55478982e+00] [-1.48875993e-02 -8.80307958e-05 9.99889170e-01 -2.32985616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.725898227 meters 0.012587457041923877 Centerline is valid? [True, True] Translation: X:183.52, Y:6.55, Z:-2.33 [[ 9.99442809e-01 2.93080450e-02 1.59721379e-02 1.83519685e+02] [-2.93055435e-02 9.99570424e-01 -3.90691667e-04 6.55176487e+00] [-1.59767271e-02 -7.75982057e-05 9.99872361e-01 -2.32855385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.755898227 meters 0.021679422948059964 Centerline is valid? [True, True] Translation: X:183.55, Y:6.55, Z:-2.33 [[ 9.99427991e-01 2.90727899e-02 1.72760858e-02 1.83551653e+02] [-2.90698030e-02 9.99577294e-01 -4.24042083e-04 6.54885299e+00] [-1.72811112e-02 -7.84128852e-05 9.99850667e-01 -2.32694864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.785898227 meters 0.012614590656969793 Centerline is valid? [True, True] Translation: X:183.58, Y:6.55, Z:-2.33 [[ 9.99400496e-01 3.00411615e-02 1.72097903e-02 1.83583546e+02] [-3.00382896e-02 9.99548658e-01 -4.25406411e-04 6.54948019e+00] [-1.72148025e-02 -9.18012856e-05 9.99851810e-01 -2.32645636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.815898227 meters 0.013728663676981686 Centerline is valid? [True, True] Translation: X:183.62, Y:6.55, Z:-2.33 [[ 9.99348543e-01 3.18311490e-02 1.70078615e-02 1.83615661e+02] [-3.18285724e-02 9.99493253e-01 -4.22226725e-04 6.55071789e+00] [-1.70126828e-02 -1.19384288e-04 9.99855267e-01 -2.32740783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.845898227 meters 0.023374236791826694 Centerline is valid? [True, True] Translation: X:183.65, Y:6.55, Z:-2.33 [[ 9.99281381e-01 3.39642924e-02 1.68270059e-02 1.83647385e+02] [-3.39620238e-02 9.99423036e-01 -4.20646209e-04 6.55181648e+00] [-1.68315842e-02 -1.51135249e-04 9.99858327e-01 -2.32901018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.875898227 meters 0.026517726591160463 Centerline is valid? [True, True] Translation: X:183.68, Y:6.55, Z:-2.33 [[ 9.99180794e-01 3.68541806e-02 1.67185463e-02 1.83678140e+02] [-3.68523154e-02 9.99320635e-01 -4.19734917e-04 6.55481248e+00] [-1.67226573e-02 -1.96726074e-04 9.99860147e-01 -2.33014219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.905898227 meters 0.023062350253264148 Centerline is valid? [True, True] Translation: X:183.71, Y:6.56, Z:-2.33 [[ 9.98967715e-01 4.24138009e-02 1.62657506e-02 1.83708164e+02] [-4.24127681e-02 9.99100090e-01 -4.08603209e-04 6.56211327e+00] [-1.62684433e-02 -2.81694094e-04 9.99867620e-01 -2.33012542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.935898227 meters 0.026680500887408753 Centerline is valid? [True, True] Translation: X:183.74, Y:6.56, Z:-2.33 [[ 9.98884180e-01 4.42232275e-02 1.65740904e-02 1.83737399e+02] [-4.42224034e-02 9.99021624e-01 -4.16397035e-04 6.56395585e+00] [-1.65762891e-02 -3.17013699e-04 9.99862554e-01 -2.33166542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.965898227 meters 0.025163389845925876 Centerline is valid? [True, True] Translation: X:183.77, Y:6.56, Z:-2.33 [[ 9.98825680e-01 4.55089811e-02 1.66190746e-02 1.83767361e+02] [-4.55083328e-02 9.98963872e-01 -4.17384595e-04 6.56181907e+00] [-1.66208499e-02 -3.39411924e-04 9.99861807e-01 -2.33127792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.995898227 meters 0.02658190486826109 Centerline is valid? [True, True] Translation: X:183.80, Y:6.56, Z:-2.33 [[ 9.98798486e-01 4.59946055e-02 1.69139212e-02 1.83795833e+02] [-4.59940104e-02 9.98941625e-01 -4.24388083e-04 6.56129900e+00] [-1.69155395e-02 -3.54060891e-04 9.99856859e-01 -2.33197121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.025898227 meters 0.029449476881497415 Centerline is valid? [True, True] Translation: X:183.83, Y:6.56, Z:-2.34 [[ 9.98852602e-01 4.53167700e-02 1.54877152e-02 1.83825211e+02] [-4.53161956e-02 9.98972618e-01 -3.88212707e-04 6.55606004e+00] [-1.54893959e-02 -3.14077057e-04 9.99879983e-01 -2.33559012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.055898227 meters 0.027311525850007796 Centerline is valid? [True, True] Translation: X:183.85, Y:6.56, Z:-2.34 [[ 9.98851961e-01 4.56526058e-02 1.45120372e-02 1.83853984e+02] [-4.56521403e-02 9.98957331e-01 -3.63518546e-04 6.55561240e+00] [-1.45135015e-02 -2.99404344e-04 9.99894629e-01 -2.33723775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.085898227 meters 0.027681222713716966 Centerline is valid? [True, True] Translation: X:183.88, Y:6.55, Z:-2.34 [[ 9.98834720e-01 4.63789722e-02 1.33488776e-02 1.83883883e+02] [-4.63786497e-02 9.98923876e-01 -3.33885930e-04 6.55338000e+00] [-1.33499978e-02 -2.85606059e-04 9.99910844e-01 -2.33899938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.115898227 meters 0.02799967001172508 Centerline is valid? [True, True] Translation: X:183.91, Y:6.55, Z:-2.34 [[ 9.98786533e-01 4.75751073e-02 1.27306945e-02 1.83913109e+02] [-4.75749146e-02 9.98867622e-01 -3.18153221e-04 6.55088990e+00] [-1.27314147e-02 -2.87894553e-04 9.99918911e-01 -2.34020011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.145898227 meters 0.030617349134714856 Centerline is valid? [True, True] Translation: X:183.94, Y:6.55, Z:-2.34 [[ 9.98716186e-01 4.90353593e-02 1.27088006e-02 1.83941655e+02] [-4.90352880e-02 9.98796996e-01 -3.17399035e-04 6.55163431e+00] [-1.27090757e-02 -3.06188145e-04 9.99919190e-01 -2.34141033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.175898227 meters 0.03296443870460258 Centerline is valid? [True, True] Translation: X:183.97, Y:6.55, Z:-2.34 [[ 9.98616930e-01 5.09530785e-02 1.29619314e-02 1.83971200e+02] [-5.09531731e-02 9.98700991e-01 -3.23150722e-04 6.55201952e+00] [-1.29615592e-02 -3.37747752e-04 9.99915938e-01 -2.34176667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.205898227 meters 0.036554282537282795 Centerline is valid? [True, True] Translation: X:184.00, Y:6.55, Z:-2.34 [[ 9.98401188e-01 5.51206456e-02 1.25213086e-02 1.84001060e+02] [-5.51210659e-02 9.98479630e-01 -3.11797614e-04 6.55329123e+00] [-1.25194581e-02 -3.78888770e-04 9.99921557e-01 -2.34190482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.235898227 meters 0.04038953893807787 Centerline is valid? [True, True] Translation: X:184.03, Y:6.56, Z:-2.34 [[ 9.98285231e-01 5.72231082e-02 1.23334603e-02 1.84029897e+02] [-5.72236756e-02 9.98361336e-01 -3.07175094e-04 6.55649972e+00] [-1.23308274e-02 -3.99117570e-04 9.99923893e-01 -2.34397053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.265898227 meters 0.043062345527938084 Centerline is valid? [True, True] Translation: X:184.06, Y:6.56, Z:-2.34 [[ 9.98207668e-01 5.85407884e-02 1.24268899e-02 1.84058270e+02] [-5.85414724e-02 9.98284930e-01 -3.09024118e-04 6.55835432e+00] [-1.24236674e-02 -4.19018188e-04 9.99922735e-01 -2.34474882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.295898227 meters 0.043062345527938084 Centerline is valid? [True, True] Translation: X:184.09, Y:6.56, Z:-2.35 [[ 9.98210338e-01 5.84952465e-02 1.24268966e-02 1.84086596e+02] [-5.84959303e-02 9.98287599e-01 -3.08755272e-04 6.55774497e+00] [-1.24236775e-02 -4.18720171e-04 9.99922735e-01 -2.34533661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.325898227 meters 0.041745232900496976 Centerline is valid? [True, True] Translation: X:184.12, Y:6.56, Z:-2.34 [[ 9.98137849e-01 5.95484849e-02 1.32216438e-02 1.84115726e+02] [-5.95493599e-02 9.98225308e-01 -3.27848103e-04 6.55508754e+00] [-1.32177024e-02 -4.60102828e-04 9.99912536e-01 -2.34420378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.355898227 meters 0.044261312727622903 Centerline is valid? [True, True] Translation: X:184.14, Y:6.56, Z:-2.34 [[ 9.98088371e-01 6.01816620e-02 1.40631300e-02 1.84143811e+02] [-6.01827232e-02 9.98187316e-01 -3.48112635e-04 6.55771029e+00] [-1.40585880e-02 -4.98910289e-04 9.99901049e-01 -2.34366256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.385898227 meters 0.043079849429441944 Centerline is valid? [True, True] Translation: X:184.17, Y:6.55, Z:-2.34 [[ 9.98043733e-01 6.08298385e-02 1.44373657e-02 1.84172362e+02] [-6.08310406e-02 9.98148014e-01 -3.56275675e-04 6.55465653e+00] [-1.44323000e-02 -5.22661272e-04 9.99895712e-01 -2.34277864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.415898227 meters 0.04197312895310061 Centerline is valid? [True, True] Translation: X:184.20, Y:6.55, Z:-2.34 [[ 9.98039085e-01 6.10433316e-02 1.38454710e-02 1.84200551e+02] [-6.10444648e-02 9.98134989e-01 -3.41147335e-04 6.54818570e+00] [-1.38404739e-02 -5.04710996e-04 9.99904089e-01 -2.34403970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44589822700001 meters 0.04456890579385827 Centerline is valid? [True, True] Translation: X:184.23, Y:6.55, Z:-2.35 [[ 9.98051444e-01 6.07804923e-02 1.41084230e-02 1.84227967e+02] [-6.07816550e-02 9.98151026e-01 -3.46757009e-04 6.54844962e+00] [-1.41034129e-02 -5.11451964e-04 9.99900411e-01 -2.34538545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.475898227 meters 0.041960522951399515 Centerline is valid? [True, True] Translation: X:184.26, Y:6.54, Z:-2.34 [[ 9.98074558e-01 6.02998577e-02 1.45294132e-02 1.84256943e+02] [-6.03010542e-02 9.98180172e-01 -3.56123195e-04 6.54200241e+00] [-1.45244464e-02 -5.20701435e-04 9.99894379e-01 -2.34483649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.505898227 meters 0.04264130592293459 Centerline is valid? [True, True] Translation: X:184.29, Y:6.54, Z:-2.34 [[ 9.98077335e-01 5.98867173e-02 1.59754228e-02 1.84285489e+02] [-5.98881257e-02 9.98205019e-01 -3.90654119e-04 6.54025570e+00] [-1.59701422e-02 -5.66835104e-04 9.99872308e-01 -2.34375932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.535898227 meters 0.045022628733841864 Centerline is valid? [True, True] Translation: X:184.31, Y:6.54, Z:-2.34 [[ 9.98059531e-01 5.98490355e-02 1.71833198e-02 1.84314302e+02] [-5.98506708e-02 9.98207254e-01 -4.19526606e-04 6.54034845e+00] [-1.71776227e-02 -6.09720691e-04 9.99852268e-01 -2.34276128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.565898227 meters 0.04594752778599367 Centerline is valid? [True, True] Translation: X:184.34, Y:6.54, Z:-2.34 [[ 9.97971989e-01 6.09767991e-02 1.82685076e-02 1.84344233e+02] [-6.09788493e-02 9.98138959e-01 -4.45311314e-04 6.53602874e+00] [-1.82616628e-02 -6.69584353e-04 9.99833018e-01 -2.34157132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.595898227 meters 0.04432897425776345 Centerline is valid? [True, True] Translation: X:184.37, Y:6.53, Z:-2.34 [[ 9.97902949e-01 6.23584089e-02 1.73531620e-02 1.84373565e+02] [-6.23604737e-02 9.98053602e-01 -4.22631074e-04 6.53123708e+00] [-1.73457404e-02 -6.60406604e-04 9.99849333e-01 -2.34294116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.625898227 meters 0.050893515512782796 Centerline is valid? [True, True] Translation: X:184.40, Y:6.54, Z:-2.35 [[ 9.97820850e-01 6.39040746e-02 1.64262033e-02 1.84402428e+02] [-6.39061388e-02 9.97955834e-01 -3.99744653e-04 6.53784608e+00] [-1.64181707e-02 -6.50861679e-04 9.99865001e-01 -2.34528617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.655898227 meters 0.054062370857399636 Centerline is valid? [True, True] Translation: X:184.43, Y:6.54, Z:-2.35 [[ 9.97720348e-01 6.56752554e-02 1.55199042e-02 1.84431325e+02] [-6.56773199e-02 9.97840843e-01 -3.77175718e-04 6.54007760e+00] [-1.55111654e-02 -6.42989825e-04 9.99879488e-01 -2.34742976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.685898227 meters 0.0557484980504685 Centerline is valid? [True, True] Translation: X:184.46, Y:6.54, Z:-2.35 [[ 9.97520612e-01 6.87850039e-02 1.48745455e-02 1.84461440e+02] [-6.87872540e-02 9.97631286e-01 -3.60900310e-04 6.53873270e+00] [-1.48641365e-02 -6.63173639e-04 9.99889303e-01 -2.34892067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.715898227 meters 0.05375211464439325 Centerline is valid? [True, True] Translation: X:184.49, Y:6.53, Z:-2.35 [[ 9.97416415e-01 7.03007063e-02 1.47752042e-02 1.84490827e+02] [-7.03030938e-02 9.97525612e-01 -3.58397237e-04 6.53377898e+00] [-1.47638402e-02 -6.81271281e-04 9.99890776e-01 -2.34942967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.745898227 meters 0.05331120328798567 Centerline is valid? [True, True] Translation: X:184.52, Y:6.53, Z:-2.35 [[ 9.97339444e-01 7.15252108e-02 1.40775259e-02 1.84519971e+02] [-7.15275029e-02 9.97438569e-01 -3.41249856e-04 6.53144663e+00] [-1.40658752e-02 -6.66588332e-04 9.99900848e-01 -2.35017152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.775898227 meters 0.062426291063533014 Centerline is valid? [True, True] Translation: X:184.55, Y:6.54, Z:-2.35 [[ 9.97251104e-01 7.27634617e-02 1.39897938e-02 1.84549166e+02] [-7.27658537e-02 9.97348994e-01 -3.38630151e-04 6.54149696e+00] [-1.39773466e-02 -6.80279995e-04 9.99902081e-01 -2.35283048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.805898227 meters 0.05393416801186252 Centerline is valid? [True, True] Translation: X:184.58, Y:6.53, Z:-2.35 [[ 9.97210547e-01 7.34638603e-02 1.31979616e-02 1.84577229e+02] [-7.34660535e-02 9.97297667e-01 -3.19225416e-04 6.52856219e+00] [-1.31857479e-02 -6.51267203e-04 9.99912852e-01 -2.35281709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.835898227 meters 0.05192467214478758 Centerline is valid? [True, True] Translation: X:184.61, Y:6.52, Z:-2.35 [[ 9.97221379e-01 7.34412595e-02 1.24861179e-02 1.84606109e+02] [-7.34432303e-02 9.97299354e-01 -3.01238964e-04 6.52356699e+00] [-1.24745207e-02 -6.16618900e-04 9.99922000e-01 -2.35424417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.865898227 meters 0.0551996849837371 Centerline is valid? [True, True] Translation: X:184.63, Y:6.52, Z:-2.36 [[ 9.97286516e-01 7.25445478e-02 1.25257126e-02 1.84633906e+02] [-7.25464670e-02 9.97364988e-01 -3.01679100e-04 6.52180303e+00] [-1.25145923e-02 -6.07835695e-04 9.99921505e-01 -2.35658771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.895898227 meters 0.056998263673615934 Centerline is valid? [True, True] Translation: X:184.66, Y:6.52, Z:-2.36 [[ 9.97338979e-01 7.18269292e-02 1.24841521e-02 1.84661956e+02] [-7.18287892e-02 9.97416931e-01 -2.99906250e-04 6.52073219e+00] [-1.24734461e-02 -5.97613340e-04 9.99922025e-01 -2.35808245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.925898227 meters 0.053122298141494016 Centerline is valid? [True, True] Translation: X:184.69, Y:6.51, Z:-2.36 [[ 9.97411996e-01 7.08011587e-02 1.25102517e-02 1.84690951e+02] [-7.08029547e-02 9.97490277e-01 -2.99834829e-04 6.51250487e+00] [-1.25000831e-02 -5.86703931e-04 9.99921699e-01 -2.35845539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.955898227 meters 0.053024823178799786 Centerline is valid? [True, True] Translation: X:184.72, Y:6.51, Z:-2.36 [[ 9.97492440e-01 6.96881077e-02 1.23450104e-02 1.84719065e+02] [-6.96897825e-02 9.97568668e-01 -2.94977346e-04 6.50907700e+00] [-1.23355519e-02 -5.66083414e-04 9.99923754e-01 -2.35949048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.985898227 meters 0.051879133416293736 Centerline is valid? [True, True] Translation: X:184.75, Y:6.50, Z:-2.36 [[ 9.97564580e-01 6.86503474e-02 1.23303859e-02 1.84747745e+02] [-6.86519464e-02 9.97640629e-01 -2.94044256e-04 6.50364805e+00] [-1.23214801e-02 -5.53176854e-04 9.99923935e-01 -2.36010196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.015898227 meters 0.04631004649584523 Centerline is valid? [True, True] Translation: X:184.78, Y:6.49, Z:-2.36 [[ 9.97658301e-01 6.69786343e-02 1.38483755e-02 1.84777611e+02] [-6.69805032e-02 9.97754230e-01 -3.29330979e-04 6.48965392e+00] [-1.38393333e-02 -5.99011372e-04 9.99904052e-01 -2.35752446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.045898227 meters 0.0503563077114436 Centerline is valid? [True, True] Translation: X:184.81, Y:6.49, Z:-2.36 [[ 9.97666869e-01 6.67188380e-02 1.44712108e-02 1.84806468e+02] [-6.67208563e-02 9.97771622e-01 -3.43820369e-04 6.49128513e+00] [-1.44619027e-02 -6.22513383e-04 9.99895227e-01 -2.35762434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.075898227 meters 0.05045175738152236 Centerline is valid? [True, True] Translation: X:184.84, Y:6.49, Z:-2.36 [[ 9.97650704e-01 6.68964922e-02 1.47625355e-02 1.84836467e+02] [-6.68986213e-02 9.97759717e-01 -3.50109410e-04 6.48819696e+00] [-1.47528843e-02 -6.38306371e-04 9.99890967e-01 -2.35726295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.105898227 meters 0.05346206680900968 Centerline is valid? [True, True] Translation: X:184.86, Y:6.49, Z:-2.36 [[ 9.97616972e-01 6.73799553e-02 1.48431202e-02 1.84864640e+02] [-6.73821688e-02 9.97727177e-01 -3.51501778e-04 6.48928239e+00] [-1.48330686e-02 -6.49497489e-04 9.99889773e-01 -2.35785837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.135898227 meters 0.05005782029541182 Centerline is valid? [True, True] Translation: X:184.89, Y:6.48, Z:-2.36 [[ 9.97589177e-01 6.78346592e-02 1.46387396e-02 1.84894062e+02] [-6.78368572e-02 9.97696367e-01 -3.46922353e-04 6.48214903e+00] [-1.46285507e-02 -6.46960103e-04 9.99892788e-01 -2.35742015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.165898227 meters 0.056728588417306776 Centerline is valid? [True, True] Translation: X:184.92, Y:6.49, Z:-2.36 [[ 9.97539158e-01 6.85619803e-02 1.46588748e-02 1.84922520e+02] [-6.85642672e-02 9.97646641e-01 -3.47088049e-04 6.48526327e+00] [-1.46481743e-02 -6.58841091e-04 9.99892493e-01 -2.35814592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19589822700001 meters 0.05173681252169918 Centerline is valid? [True, True] Translation: X:184.95, Y:6.48, Z:-2.36 [[ 9.97511044e-01 6.88275915e-02 1.53127447e-02 1.84952317e+02] [-6.88301260e-02 9.97628329e-01 -3.62069448e-04 6.47593049e+00] [-1.53013483e-02 -6.92809874e-04 9.99882687e-01 -2.35661830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.225898227 meters 0.0522192511616348 Centerline is valid? [True, True] Translation: X:184.98, Y:6.47, Z:-2.36 [[ 9.97484605e-01 6.88802920e-02 1.67322325e-02 1.84981441e+02] [-6.88833330e-02 9.97624644e-01 -3.95197446e-04 6.47211811e+00] [-1.67197088e-02 -7.58368573e-04 9.99859928e-01 -2.35532144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.255898227 meters 0.05683602900040127 Centerline is valid? [True, True] Translation: X:185.01, Y:6.48, Z:-2.35 [[ 9.97439881e-01 6.90341047e-02 1.86541032e-02 1.85010242e+02] [-6.90379204e-02 9.97613939e-01 -4.40118303e-04 6.47705194e+00] [-1.86399766e-02 -8.48848944e-04 9.99825900e-01 -2.35208890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.285898227 meters 0.04669520949961998 Centerline is valid? [True, True] Translation: X:185.04, Y:6.46, Z:-2.35 [[ 9.97424253e-01 6.88754574e-02 2.00257321e-02 1.85040052e+02] [-6.88798389e-02 9.97624852e-01 -4.71698441e-04 6.46101105e+00] [-2.00106564e-02 -9.08885732e-04 9.99799354e-01 -2.35011507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.315898227 meters 0.059031251852427066 Centerline is valid? [True, True] Translation: X:185.07, Y:6.47, Z:-2.35 [[ 9.97336402e-01 7.04854331e-02 1.87591520e-02 1.85069267e+02] [-7.04895627e-02 9.97512419e-01 -4.41817398e-04 6.47237924e+00] [-1.87436288e-02 -8.81683847e-04 9.99823934e-01 -2.35298499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.345898227 meters 0.052583955708919494 Centerline is valid? [True, True] Translation: X:185.10, Y:6.46, Z:-2.36 [[ 9.97264895e-01 7.19686300e-02 1.68299175e-02 1.85098776e+02] [-7.19721566e-02 9.97406563e-01 -3.96832863e-04 6.45974215e+00] [-1.68148297e-02 -8.15537975e-04 9.99858288e-01 -2.35680286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.375898227 meters 0.0539137467634835 Centerline is valid? [True, True] Translation: X:185.13, Y:6.46, Z:-2.36 [[ 9.97108189e-01 7.42734021e-02 1.60847836e-02 1.85129463e+02] [-7.42769229e-02 9.97237582e-01 -3.79224609e-04 6.46037904e+00] [-1.60685170e-02 -8.16600271e-04 9.99870560e-01 -2.35784002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.405898227 meters 0.061419346631364655 Centerline is valid? [True, True] Translation: X:185.16, Y:6.47, Z:-2.36 [[ 9.96941708e-01 7.66942479e-02 1.50074282e-02 1.85158288e+02] [-7.66975842e-02 9.97054339e-01 -3.53961416e-04 6.46711095e+00] [-1.49903683e-02 -7.98154593e-04 9.99887320e-01 -2.36078227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.435898227 meters 0.06519639769285648 Centerline is valid? [True, True] Translation: X:185.19, Y:6.47, Z:-2.36 [[ 9.96617224e-01 8.09113314e-02 1.44036467e-02 1.85188695e+02] [-8.09148504e-02 9.96720960e-01 -3.39239789e-04 6.46707774e+00] [-1.43838649e-02 -8.27376705e-04 9.99896205e-01 -2.36286937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.465898227 meters 0.06520171207741665 Centerline is valid? [True, True] Translation: X:185.22, Y:6.47, Z:-2.36 [[ 9.96502842e-01 8.23343346e-02 1.42528587e-02 1.85217676e+02] [-8.23379219e-02 9.96604412e-01 -3.35926313e-04 6.46564924e+00] [-1.42321201e-02 -8.38799237e-04 9.99898366e-01 -2.36298408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.495898227 meters 0.06547503832635145 Centerline is valid? [True, True] Translation: X:185.25, Y:6.46, Z:-2.36 [[ 9.96451894e-01 8.29649738e-02 1.41575746e-02 1.85246868e+02] [-8.29685837e-02 9.96552108e-01 -3.33194633e-04 6.46451205e+00] [-1.41364043e-02 -8.42621487e-04 9.99899721e-01 -2.36415131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.525898227 meters 0.06646529666164465 Centerline is valid? [True, True] Translation: X:185.27, Y:6.46, Z:-2.36 [[ 9.96462277e-01 8.28105293e-02 1.43299316e-02 1.85274814e+02] [-8.28142168e-02 9.96564946e-01 -3.36891123e-04 6.46440505e+00] [-1.43086056e-02 -8.51022766e-04 9.99897265e-01 -2.36497359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.555898227 meters 0.06596423064023452 Centerline is valid? [True, True] Translation: X:185.30, Y:6.46, Z:-2.37 [[ 9.96503016e-01 8.22892574e-02 1.44988771e-02 1.85303940e+02] [-8.22929907e-02 9.96608122e-01 -3.39944003e-04 6.46198672e+00] [-1.44776724e-02 -8.54400733e-04 9.99894828e-01 -2.36534163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.585898227 meters 0.06543915744505711 Centerline is valid? [True, True] Translation: X:185.33, Y:6.46, Z:-2.37 [[ 9.96525698e-01 8.20198222e-02 1.44665734e-02 1.85332449e+02] [-8.20235202e-02 9.96630336e-01 -3.38523715e-04 6.45973295e+00] [-1.44455915e-02 -8.49251692e-04 9.99895296e-01 -2.36533190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.615898227 meters 0.0596584453536141 Centerline is valid? [True, True] Translation: X:185.36, Y:6.45, Z:-2.36 [[ 9.96530297e-01 8.18016355e-02 1.53577318e-02 1.85361469e+02] [-8.18057911e-02 9.96648225e-01 -3.58487096e-04 6.44894035e+00] [-1.53355810e-02 -8.99108147e-04 9.99881999e-01 -2.36373406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.645898227 meters 0.06629635872062996 Centerline is valid? [True, True] Translation: X:185.39, Y:6.46, Z:-2.37 [[ 9.96508565e-01 8.20928419e-02 1.52133035e-02 1.85389707e+02] [-8.20969570e-02 9.96624284e-01 -3.54883880e-04 6.45511357e+00] [-1.51910812e-02 -8.95321101e-04 9.99884208e-01 -2.36515686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.675898227 meters 0.0661337255104322 Centerline is valid? [True, True] Translation: X:185.42, Y:6.45, Z:-2.37 [[ 9.96542118e-01 8.18139639e-02 1.45011340e-02 1.85418730e+02] [-8.18176828e-02 9.96647256e-01 -3.37610802e-04 6.45220411e+00] [-1.44801367e-02 -8.50005803e-04 9.99894796e-01 -2.36652688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.705898227 meters 0.06522237659493225 Centerline is valid? [True, True] Translation: X:185.45, Y:6.45, Z:-2.37 [[ 9.96592411e-01 8.13870430e-02 1.34057732e-02 1.85447125e+02] [-8.13901899e-02 9.96682266e-01 -3.11569272e-04 6.44815196e+00] [-1.33866541e-02 -7.80590855e-04 9.99910090e-01 -2.36818817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.735898227 meters 0.06491861156137317 Centerline is valid? [True, True] Translation: X:185.48, Y:6.45, Z:-2.37 [[ 9.96661793e-01 8.06080316e-02 1.29466202e-02 1.85476352e+02] [-8.06109107e-02 9.96745600e-01 -3.00156666e-04 6.44501506e+00] [-1.29286818e-02 -7.44484167e-04 9.99916144e-01 -2.36949716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.765898227 meters 0.06339240408738944 Centerline is valid? [True, True] Translation: X:185.51, Y:6.44, Z:-2.37 [[ 9.96721307e-01 7.96145987e-02 1.44274446e-02 1.85506286e+02] [-7.96180757e-02 9.96825386e-01 -3.34131786e-04 6.43809607e+00] [-1.44082448e-02 -8.15649106e-04 9.99895863e-01 -2.36783615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.795898227 meters 0.061874912450497824 Centerline is valid? [True, True] Translation: X:185.54, Y:6.43, Z:-2.37 [[ 9.96673230e-01 7.99754534e-02 1.56971462e-02 1.85535391e+02] [-7.99796210e-02 9.96796433e-01 -3.63094936e-04 6.43360869e+00] [-1.56758980e-02 -8.93564802e-04 9.99876726e-01 -2.36577562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.825898227 meters 0.06327336449196534 Centerline is valid? [True, True] Translation: X:185.56, Y:6.43, Z:-2.37 [[ 9.96623962e-01 8.04528277e-02 1.63713143e-02 1.85563830e+02] [-8.04574356e-02 9.96757974e-01 -3.78054660e-04 6.43334986e+00] [-1.63486536e-02 -9.40415631e-04 9.99865910e-01 -2.36552762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.855898227 meters 0.05971859339599845 Centerline is valid? [True, True] Translation: X:185.59, Y:6.43, Z:-2.37 [[ 9.96507387e-01 8.20093390e-02 1.57320170e-02 1.85593474e+02] [-8.20137949e-02 9.96631128e-01 -3.62803887e-04 6.42703212e+00] [-1.57087712e-02 -9.28705662e-04 9.99876178e-01 -2.36612434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.885898227 meters 0.0667838565058953 Centerline is valid? [True, True] Translation: X:185.62, Y:6.44, Z:-2.37 [[ 9.96427320e-01 8.31226891e-02 1.49403851e-02 1.85622962e+02] [-8.31268350e-02 9.96538916e-01 -3.44379849e-04 6.43586713e+00] [-1.49173009e-02 -8.98797434e-04 9.99888327e-01 -2.36850484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.915898227 meters 0.0673870977825466 Centerline is valid? [True, True] Translation: X:185.65, Y:6.44, Z:-2.37 [[ 9.96365338e-01 8.39899777e-02 1.42055480e-02 1.85652719e+02] [-8.39938147e-02 9.96466222e-01 -3.27356079e-04 6.43600934e+00] [-1.41828434e-02 -8.67011918e-04 9.99899043e-01 -2.37072397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94589822700001 meters 0.07116271959323665 Centerline is valid? [True, True] Translation: X:185.68, Y:6.44, Z:-2.37 [[ 9.96315373e-01 8.47436177e-02 1.31983727e-02 1.85681254e+02] [-8.47469981e-02 9.96402456e-01 -3.03962137e-04 6.43853217e+00] [-1.31766499e-02 -8.15680319e-04 9.99912851e-01 -2.37344714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.975898227 meters 0.0704257385801502 Centerline is valid? [True, True] Translation: X:185.71, Y:6.44, Z:-2.37 [[ 9.96267025e-01 8.53275108e-02 1.30855517e-02 1.85709852e+02] [-8.53308885e-02 9.96352623e-01 -3.01006289e-04 6.43834762e+00] [-1.30635078e-02 -8.16719109e-04 9.99914335e-01 -2.37368111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.005898227 meters 0.0686404833980323 Centerline is valid? [True, True] Translation: X:185.74, Y:6.43, Z:-2.37 [[ 9.96320377e-01 8.46540282e-02 1.33940849e-02 1.85739207e+02] [-8.46575170e-02 9.96410061e-01 -3.07310810e-04 6.43244125e+00] [-1.33720160e-02 -8.27729944e-04 9.99910248e-01 -2.37388223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.035898227 meters 0.06491931641243671 Centerline is valid? [True, True] Translation: X:185.77, Y:6.42, Z:-2.37 [[ 9.96583720e-01 8.12266255e-02 1.49373238e-02 1.85769755e+02] [-8.12305890e-02 9.96695277e-01 -3.42189755e-04 6.42319178e+00] [-1.49157550e-02 -8.72346873e-04 9.99888373e-01 -2.37184512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.065898227 meters 0.06330541612250189 Centerline is valid? [True, True] Translation: X:185.80, Y:6.42, Z:-2.37 [[ 9.96756316e-01 7.88594189e-02 1.60636076e-02 1.85799197e+02] [-7.88636959e-02 9.96885340e-01 -3.68022795e-04 6.42423358e+00] [-1.60425970e-02 -9.00006418e-04 9.99870904e-01 -2.37110775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.095898227 meters 0.056725955089118575 Centerline is valid? [True, True] Translation: X:185.83, Y:6.41, Z:-2.37 [[ 9.96980895e-01 7.59224287e-02 1.62751035e-02 1.85829987e+02] [-7.59264351e-02 9.97113352e-01 -3.72480980e-04 6.41304092e+00] [-1.62564026e-02 -8.64354165e-04 9.99867482e-01 -2.37129192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.125898227 meters 0.05622543866784614 Centerline is valid? [True, True] Translation: X:185.86, Y:6.41, Z:-2.37 [[ 9.97188953e-01 7.31905469e-02 1.60417173e-02 1.85859468e+02] [-7.31940838e-02 9.97317648e-01 -3.67312781e-04 6.40952011e+00] [-1.60255715e-02 -8.07878550e-04 9.99871256e-01 -2.37265793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.155898227 meters 0.05622543866784614 Centerline is valid? [True, True] Translation: X:185.89, Y:6.41, Z:-2.37 [[ 9.97188953e-01 7.31905469e-02 1.60417173e-02 1.85889492e+02] [-7.31940838e-02 9.97317648e-01 -3.67312781e-04 6.40883264e+00] [-1.60255715e-02 -8.07878550e-04 9.99871256e-01 -2.37328086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.185898227 meters 0.05110686287119801 Centerline is valid? [True, True] Translation: X:185.92, Y:6.40, Z:-2.37 [[ 9.97509844e-01 6.89099568e-02 1.50176239e-02 1.85919612e+02] [-6.89125724e-02 9.97622644e-01 -3.43862836e-04 6.39633652e+00] [-1.50056173e-02 -6.91896533e-04 9.99887170e-01 -2.37481255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.215898227 meters 0.05106214931750634 Centerline is valid? [True, True] Translation: X:185.95, Y:6.39, Z:-2.38 [[ 9.97555804e-01 6.82607008e-02 1.49296810e-02 1.85950826e+02] [-6.82632263e-02 9.97667287e-01 -3.40974699e-04 6.39279995e+00] [-1.49181295e-02 -6.79006904e-04 9.99888488e-01 -2.37568483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.245898227 meters 0.051698373968684194 Centerline is valid? [True, True] Translation: X:185.98, Y:6.39, Z:-2.38 [[ 9.97543901e-01 6.84784709e-02 1.47263333e-02 1.85981555e+02] [-6.84809194e-02 9.97652369e-01 -3.38524398e-04 6.39025253e+00] [-1.47149429e-02 -6.70779893e-04 9.99891504e-01 -2.37584353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.275898227 meters 0.05372665742478779 Centerline is valid? [True, True] Translation: X:186.01, Y:6.39, Z:-2.38 [[ 9.97480113e-01 6.93340399e-02 1.50404476e-02 1.86012151e+02] [-6.93366444e-02 9.97593258e-01 -3.48853089e-04 6.38961073e+00] [-1.50284365e-02 -6.94880146e-04 9.99886825e-01 -2.37585912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.305898227 meters 0.054156033487849045 Centerline is valid? [True, True] Translation: X:186.04, Y:6.39, Z:-2.38 [[ 9.97378678e-01 7.06953052e-02 1.54254944e-02 1.86043492e+02] [-7.06982053e-02 9.97497687e-01 -3.57904993e-04 6.38674946e+00] [-1.54121972e-02 -7.33587964e-04 9.99880956e-01 -2.37560050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.335898227 meters 0.05556139626032585 Centerline is valid? [True, True] Translation: X:186.07, Y:6.38, Z:-2.38 [[ 9.97228987e-01 7.26344637e-02 1.60804627e-02 1.86074691e+02] [-7.26378606e-02 9.97358312e-01 -3.73489810e-04 6.38486119e+00] [-1.60651113e-02 -7.95595540e-04 9.99870631e-01 -2.37541364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.365898227 meters 0.055929844737460474 Centerline is valid? [True, True] Translation: X:186.11, Y:6.38, Z:-2.38 [[ 9.96870101e-01 7.76046288e-02 1.50839075e-02 1.86105868e+02] [-7.76081797e-02 9.96983875e-01 -3.50681081e-04 6.37828959e+00] [-1.50656270e-02 -8.21051116e-04 9.99886170e-01 -2.37646907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.395898227 meters 0.06496662490135101 Centerline is valid? [True, True] Translation: X:186.14, Y:6.39, Z:-2.38 [[ 9.96672385e-01 8.03549620e-02 1.36834745e-02 1.86135874e+02] [-8.03581364e-02 9.96766005e-01 -3.18555349e-04 6.38653838e+00] [-1.36648197e-02 -7.82083188e-04 9.99906326e-01 -2.38016581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.425898227 meters 0.07091671758303368 Centerline is valid? [True, True] Translation: X:186.17, Y:6.39, Z:-2.38 [[ 9.96447479e-01 8.32461664e-02 1.27474183e-02 1.86165869e+02] [-8.32491607e-02 9.96528720e-01 -2.96476696e-04 6.39088462e+00] [-1.27278490e-02 -7.65788419e-04 9.99918704e-01 -2.38290830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.455898227 meters 0.07320812425572994 Centerline is valid? [True, True] Translation: X:186.20, Y:6.39, Z:-2.38 [[ 9.96076954e-01 8.76573102e-02 1.21200979e-02 1.86195632e+02] [-8.76603379e-02 9.96150383e-01 -2.82231192e-04 6.38577027e+00] [-1.20981798e-02 -7.81327888e-04 9.99926509e-01 -2.38424871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.485898227 meters 0.07350257392527682 Centerline is valid? [True, True] Translation: X:186.23, Y:6.39, Z:-2.38 [[ 9.95874550e-01 8.98303611e-02 1.28213253e-02 1.86226158e+02] [-8.98339314e-02 9.95956714e-01 -2.98343609e-04 6.38599613e+00] [-1.27962853e-02 -8.54677250e-04 9.99917759e-01 -2.38264904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.515898227 meters 0.081558139117538 Centerline is valid? [True, True] Translation: X:186.26, Y:6.39, Z:-2.38 [[ 9.95773536e-01 9.08741473e-02 1.33024313e-02 1.86255931e+02] [-9.08780822e-02 9.95861978e-01 -3.09622801e-04 6.39133318e+00] [-1.32755222e-02 -9.00585254e-04 9.99911471e-01 -2.38306964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.545898227 meters 0.08301092935959256 Centerline is valid? [True, True] Translation: X:186.29, Y:6.39, Z:-2.38 [[ 9.95665320e-01 9.20619091e-02 1.32354161e-02 1.86285206e+02] [-9.20659139e-02 9.95752867e-01 -3.07693540e-04 6.39121127e+00] [-1.32075304e-02 -9.12170893e-04 9.99912361e-01 -2.38337607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.575898227 meters 0.08434641691318584 Centerline is valid? [True, True] Translation: X:186.31, Y:6.39, Z:-2.39 [[ 9.95611359e-01 9.27442219e-02 1.25112128e-02 1.86314301e+02] [-9.27478461e-02 9.95689586e-01 -2.91479933e-04 6.38974801e+00] [-1.24843174e-02 -8.70187305e-04 9.99921689e-01 -2.38532098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.605898227 meters 0.0833641465971838 Centerline is valid? [True, True] Translation: X:186.34, Y:6.39, Z:-2.39 [[ 9.95597080e-01 9.29419798e-02 1.21754806e-02 1.86343349e+02] [-9.29454314e-02 9.95671164e-01 -2.83280993e-04 6.38563002e+00] [-1.21491037e-02 -8.49621569e-04 9.99925836e-01 -2.38696228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.635898227 meters 0.07256123930124847 Centerline is valid? [True, True] Translation: X:186.37, Y:6.36, Z:-2.38 [[ 9.95673960e-01 9.19592319e-02 1.32990341e-02 1.86373807e+02] [-9.19632737e-02 9.95762352e-01 -3.08593742e-04 6.36313891e+00] [-1.32710555e-02 -9.15763963e-04 9.99911516e-01 -2.38493894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.665898227 meters 0.07025942804891734 Centerline is valid? [True, True] Translation: X:186.40, Y:6.36, Z:-2.38 [[ 9.95642184e-01 9.22023793e-02 1.39772216e-02 1.86404051e+02] [-9.22068693e-02 9.95739819e-01 -3.24227716e-04 6.36117568e+00] [-1.39475707e-02 -9.65981052e-04 9.99902261e-01 -2.38392037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69589822700001 meters 0.07149241839259274 Centerline is valid? [True, True] Translation: X:186.43, Y:6.36, Z:-2.38 [[ 9.95590354e-01 9.27040990e-02 1.43456391e-02 1.86434287e+02] [-9.27088644e-02 9.95693203e-01 -3.33909942e-04 6.36091283e+00] [-1.43148102e-02 -9.97530396e-04 9.99897040e-01 -2.38316582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.725898227 meters 0.07374037123764894 Centerline is valid? [True, True] Translation: X:186.46, Y:6.36, Z:-2.38 [[ 9.95476563e-01 9.39248484e-02 1.43015859e-02 1.86464212e+02] [-9.39297152e-02 9.95578775e-01 -3.32511689e-04 6.36284834e+00] [-1.42695865e-02 -1.01233630e-03 9.99897672e-01 -2.38408145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.755898227 meters 0.0779968028766043 Centerline is valid? [True, True] Translation: X:186.49, Y:6.37, Z:-2.39 [[ 9.95233594e-01 9.67972239e-02 1.18487041e-02 1.86493324e+02] [-9.68007527e-02 9.95303741e-01 -2.76667981e-04 6.36887244e+00] [-1.18198402e-02 -8.71614204e-04 9.99929763e-01 -2.38835582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.785898227 meters 0.08128369079267057 Centerline is valid? [True, True] Translation: X:186.52, Y:6.37, Z:-2.39 [[ 9.95183727e-01 9.73454659e-02 1.15416128e-02 1.86523371e+02] [-9.73488533e-02 9.95250284e-01 -2.69277570e-04 6.37068518e+00] [-1.15130064e-02 -8.55582115e-04 9.99933357e-01 -2.39059690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.815898227 meters 0.07946410784164604 Centerline is valid? [True, True] Translation: X:186.55, Y:6.37, Z:-2.39 [[ 9.95128362e-01 9.78726874e-02 1.18523982e-02 1.86553359e+02] [-9.78763003e-02 9.95198550e-01 -2.76241856e-04 6.37188167e+00] [-1.18225261e-02 -8.85172783e-04 9.99929720e-01 -2.39061264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.845898227 meters 0.08030977425380008 Centerline is valid? [True, True] Translation: X:186.58, Y:6.37, Z:-2.39 [[ 9.95186911e-01 9.71914216e-02 1.25236055e-02 1.86582645e+02] [-9.71954056e-02 9.95265275e-01 -2.91570363e-04 6.37365743e+00] [-1.24926478e-02 -9.27069907e-04 9.99921534e-01 -2.39042685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.875898227 meters 0.07967062801619819 Centerline is valid? [True, True] Translation: X:186.61, Y:6.37, Z:-2.39 [[ 9.95301551e-01 9.59080559e-02 1.32841346e-02 1.86612723e+02] [-9.59124304e-02 9.95389728e-01 -3.08860459e-04 6.37311258e+00] [-1.32525133e-02 -9.66704343e-04 9.99911714e-01 -2.39015167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.905898227 meters 0.07957109854957886 Centerline is valid? [True, True] Translation: X:186.64, Y:6.37, Z:-2.39 [[ 9.95492395e-01 9.38619545e-02 1.35950665e-02 1.86643350e+02] [-9.38663492e-02 9.95584757e-01 -3.15881419e-04 6.37062704e+00] [-1.35646902e-02 -9.61661710e-04 9.99907533e-01 -2.39094145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.935898227 meters 0.07607250583437455 Centerline is valid? [True, True] Translation: X:186.67, Y:6.37, Z:-2.39 [[ 9.95837817e-01 9.03186835e-02 1.22302099e-02 1.86673863e+02] [-9.03219749e-02 9.95912577e-01 -2.84090462e-04 6.36681631e+00] [-1.22058786e-02 -8.21748689e-04 9.99925168e-01 -2.39368924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.965898227 meters 0.07582245026889929 Centerline is valid? [True, True] Translation: X:186.70, Y:6.37, Z:-2.40 [[ 9.95899128e-01 8.97276502e-02 1.15704401e-02 1.86703067e+02] [-8.97305541e-02 9.95966041e-01 -2.68954584e-04 6.36803508e+00] [-1.15478981e-02 -7.70370363e-04 9.99933024e-01 -2.39607499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.995898227 meters 0.07572673596765828 Centerline is valid? [True, True] Translation: X:186.73, Y:6.37, Z:-2.40 [[ 9.95949110e-01 8.91888220e-02 1.14334489e-02 1.86732877e+02] [-8.91916251e-02 9.96014449e-01 -2.65517245e-04 6.36854216e+00] [-1.14115614e-02 -7.55326221e-04 9.99934601e-01 -2.39755120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.025898227 meters 0.07656372740099286 Centerline is valid? [True, True] Translation: X:186.76, Y:6.37, Z:-2.40 [[ 9.95943201e-01 8.92562524e-02 1.14219472e-02 1.86761132e+02] [-8.92590560e-02 9.96008409e-01 -2.65097771e-04 6.36978549e+00] [-1.14000171e-02 -7.55489902e-04 9.99934732e-01 -2.39808468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.055898227 meters 0.07952037288269992 Centerline is valid? [True, True] Translation: X:186.79, Y:6.37, Z:-2.39 [[ 9.95700209e-01 9.16175245e-02 1.36865806e-02 1.86791170e+02] [-9.16217827e-02 9.95793828e-01 -3.16905502e-04 6.37438163e+00] [-1.36580465e-02 -9.38446033e-04 9.99906284e-01 -2.39346471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.085898227 meters 0.08189031480180749 Centerline is valid? [True, True] Translation: X:186.82, Y:6.38, Z:-2.39 [[ 9.95493638e-01 9.35856652e-02 1.53016515e-02 1.86820432e+02] [-9.35912212e-02 9.95610646e-01 -3.54164247e-04 6.37778598e+00] [-1.52676318e-02 -1.07953199e-03 9.99882860e-01 -2.39079139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.115898227 meters 0.08445532736355861 Centerline is valid? [True, True] Translation: X:186.85, Y:6.38, Z:-2.39 [[ 9.95303489e-01 9.54557034e-02 1.60988421e-02 1.86850791e+02] [-9.54621038e-02 9.95432995e-01 -3.72184998e-04 6.38102368e+00] [-1.60608458e-02 -1.16639231e-03 9.99870336e-01 -2.39001406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.145898227 meters 0.08683702759361474 Centerline is valid? [True, True] Translation: X:186.88, Y:6.39, Z:-2.39 [[ 9.95066700e-01 9.79105354e-02 1.59934499e-02 1.86880791e+02] [-9.79171712e-02 9.95194499e-01 -3.69515477e-04 6.38505893e+00] [-1.59527728e-02 -1.19834083e-03 9.99872028e-01 -2.39046904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.175898227 meters 0.09091480385143433 Centerline is valid? [True, True] Translation: X:186.91, Y:6.39, Z:-2.39 [[ 9.94877910e-01 9.99183738e-02 1.53056747e-02 1.86910344e+02] [-9.99246856e-02 9.94994941e-01 -3.53730458e-04 6.39068113e+00] [-1.52644131e-02 -1.17749612e-03 9.99882799e-01 -2.39328545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.205898227 meters 0.09353643590597628 Centerline is valid? [True, True] Translation: X:186.94, Y:6.40, Z:-2.40 [[ 9.94595373e-01 1.02848601e-01 1.42200627e-02 1.86940555e+02] [-1.02854349e-01 9.94696373e-01 -3.28423264e-04 6.39599992e+00] [-1.41784226e-02 -1.13594703e-03 9.99898836e-01 -2.39558383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.235898227 meters 0.09282847789285212 Centerline is valid? [True, True] Translation: X:186.97, Y:6.40, Z:-2.39 [[ 9.94408699e-01 1.04584653e-01 1.46078611e-02 1.86970804e+02] [-1.04590908e-01 9.94515273e-01 -3.37233725e-04 6.39619068e+00] [-1.45630105e-02 -1.19250131e-03 9.99893243e-01 -2.39495599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.265898227 meters 0.0999967920745798 Centerline is valid? [True, True] Translation: X:187.00, Y:6.41, Z:-2.40 [[ 9.94169241e-01 1.06816822e-01 1.47541987e-02 1.87000759e+02] [-1.06823449e-01 9.94277946e-01 -3.40449499e-04 6.40750310e+00] [-1.47061401e-02 -1.23762996e-03 9.99891093e-01 -2.39549834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.295898227 meters 0.09232490755419781 Centerline is valid? [True, True] Translation: X:187.03, Y:6.40, Z:-2.40 [[ 9.93880203e-01 1.09476954e-01 1.47288320e-02 1.87031345e+02] [-1.09483852e-01 9.93988516e-01 -3.39625689e-04 6.39960957e+00] [-1.46774711e-02 -1.27502201e-03 9.99891467e-01 -2.39512250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.325898227 meters 0.10722877778020173 Centerline is valid? [True, False] Translation: X:187.03, Y:6.41, Z:-2.40 [[ 9.94881499e-01 9.99672584e-02 1.47427735e-02 1.87032390e+02] [-1.00096256e-01 9.94943252e-01 8.28637301e-03 6.40611202e+00] [-1.38398571e-02 -9.71965564e-03 9.99856983e-01 -2.39626955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.355898227 meters 0.10555033924202695 Centerline is valid? [False, False] Translation: X:187.03, Y:6.41, Z:-2.40 [[ 9.96102990e-01 8.70712321e-02 1.40510951e-02 1.87032850e+02] [-8.72639860e-02 9.96090428e-01 1.37424556e-02 6.41128322e+00] [-1.27995888e-02 -1.49150557e-02 9.99806837e-01 -2.39674963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.385898227 meters 0.10026828819293279 Centerline is valid? [False, False] Translation: X:187.03, Y:6.42, Z:-2.40 [[ 9.97238296e-01 7.30904665e-02 1.31744217e-02 1.87032238e+02] [-7.33212189e-02 9.97146342e-01 1.79769602e-02 6.41661997e+00] [-1.18228820e-02 -1.88932778e-02 9.99751601e-01 -2.39649856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.415898227 meters 0.09899710841993503 Centerline is valid? [False, True] Translation: X:187.03, Y:6.42, Z:-2.40 [[ 9.98194869e-01 5.88977275e-02 1.17499126e-02 1.87031710e+02] [-5.91464547e-02 9.98005058e-01 2.20816698e-02 6.42125483e+00] [-1.04259121e-02 -2.27367751e-02 9.99687121e-01 -2.39608504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.445898227 meters 0.0934840552036112 Centerline is valid? [True, True] Translation: X:187.06, Y:6.43, Z:-2.39 [[ 9.98233743e-01 5.78770010e-02 1.34032647e-02 1.87062724e+02] [-5.78879439e-02 9.98322995e-01 4.29593749e-04 6.42640583e+00] [-1.33559237e-02 -1.20472241e-03 9.99910080e-01 -2.39284029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.475898227 meters 0.08748969938881729 Centerline is valid? [True, True] Translation: X:187.09, Y:6.42, Z:-2.39 [[ 9.98322188e-01 5.60853902e-02 1.43957391e-02 1.87093146e+02] [-5.60978249e-02 9.98425171e-01 4.61116150e-04 6.42190900e+00] [-1.43472063e-02 -1.26791213e-03 9.99896270e-01 -2.39120895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.505898227 meters 0.08741319057607039 Centerline is valid? [True, True] Translation: X:187.12, Y:6.43, Z:-2.39 [[ 9.98493150e-01 5.25045688e-02 1.59593202e-02 1.87123228e+02] [-5.25194005e-02 9.98619773e-01 5.11361827e-04 6.42862523e+00] [-1.59104439e-02 -1.34876521e-03 9.99872511e-01 -2.38951757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.535898227 meters 0.09043130641071112 Centerline is valid? [True, True] Translation: X:187.15, Y:6.44, Z:-2.39 [[ 9.98561792e-01 5.11067121e-02 1.62003340e-02 1.87152708e+02] [-5.11218085e-02 9.98692291e-01 5.18842044e-04 6.43652530e+00] [-1.61526324e-02 -1.34628621e-03 9.99868631e-01 -2.39036100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.565898227 meters 0.08348494564935158 Centerline is valid? [True, True] Translation: X:187.18, Y:6.44, Z:-2.39 [[ 9.98681213e-01 4.90099787e-02 1.52923953e-02 1.87182936e+02] [-4.90231862e-02 9.98797521e-01 4.89775627e-04 6.43504316e+00] [-1.52500027e-02 -1.23881166e-03 9.99882945e-01 -2.39232351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.595898227 meters 0.08130238459293927 Centerline is valid? [True, True] Translation: X:187.21, Y:6.44, Z:-2.39 [[ 9.98736127e-01 4.80077701e-02 1.48795712e-02 1.87213642e+02] [-4.80201632e-02 9.98846253e-01 4.76532503e-04 6.43624957e+00] [-1.48395267e-02 -1.19044967e-03 9.99889179e-01 -2.39341838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.625898227 meters 0.08656846577160328 Centerline is valid? [True, True] Translation: X:187.24, Y:6.45, Z:-2.40 [[ 9.98791916e-01 4.71364283e-02 1.38876210e-02 1.87243487e+02] [-4.71471424e-02 9.98887856e-01 4.44917796e-04 6.44649831e+00] [-1.38512042e-02 -1.09914194e-03 9.99903463e-01 -2.39558458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.655898227 meters 0.08610776488787476 Centerline is valid? [True, True] Translation: X:187.27, Y:6.45, Z:-2.40 [[ 9.98846590e-01 4.61269784e-02 1.33338671e-02 1.87274049e+02] [-4.61367489e-02 9.98935042e-01 4.25918580e-04 6.44961681e+00] [-1.33000208e-02 -1.04060860e-03 9.99911009e-01 -2.39749395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.685898227 meters 0.07928127090159602 Centerline is valid? [True, True] Translation: X:187.31, Y:6.44, Z:-2.40 [[ 9.98918006e-01 4.47141611e-02 1.27852005e-02 1.87305086e+02] [-4.47230302e-02 9.98999341e-01 4.08491042e-04 6.44367181e+00] [-1.27541416e-02 -9.79841966e-04 9.99918183e-01 -2.39799684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.715898227 meters 0.08257742653362046 Centerline is valid? [True, True] Translation: X:187.33, Y:6.45, Z:-2.40 [[ 9.99003259e-01 4.28648195e-02 1.24537731e-02 1.87334455e+02] [-4.28730880e-02 9.99080447e-01 3.97600373e-04 6.44960282e+00] [-1.24252781e-02 -9.31135778e-04 9.99922370e-01 -2.39980420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.745898227 meters 0.0801066770449942 Centerline is valid? [True, True] Translation: X:187.37, Y:6.45, Z:-2.40 [[ 9.99122049e-01 3.98520314e-02 1.29207657e-02 1.87365226e+02] [-3.98606817e-02 9.99205162e-01 4.12547896e-04 6.44954143e+00] [-1.28940549e-02 -9.27216228e-04 9.99916438e-01 -2.40033141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.775898227 meters 0.0723647173382234 Centerline is valid? [True, True] Translation: X:187.40, Y:6.44, Z:-2.40 [[ 9.99158800e-01 3.86960598e-02 1.35759868e-02 1.87396633e+02] [-3.87055034e-02 9.99250567e-01 4.33461783e-04 6.44060475e+00] [-1.35490393e-02 -9.58562560e-04 9.99907748e-01 -2.39974170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.805898227 meters 0.07914779972051038 Centerline is valid? [True, True] Translation: X:187.43, Y:6.45, Z:-2.40 [[ 9.99164759e-01 3.82212096e-02 1.44542204e-02 1.87427167e+02] [-3.82318599e-02 9.99268789e-01 4.61128497e-04 6.44996409e+00] [-1.44260265e-02 -1.01335508e-03 9.99895426e-01 -2.39945221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.835898227 meters 0.07779446020757368 Centerline is valid? [True, True] Translation: X:187.46, Y:6.45, Z:-2.40 [[ 9.99140391e-01 3.86364262e-02 1.50234971e-02 1.87458601e+02] [-3.86479732e-02 9.99252773e-01 4.78916756e-04 6.44893441e+00] [-1.49937675e-02 -1.05913279e-03 9.99887026e-01 -2.39891916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.865898227 meters 0.07963633785159101 Centerline is valid? [True, True] Translation: X:187.49, Y:6.45, Z:-2.40 [[ 9.99041848e-01 4.11080710e-02 1.50170925e-02 1.87488846e+02] [-4.11198797e-02 9.99154106e-01 4.78297129e-04 6.45222295e+00] [-1.49847278e-02 -1.09533989e-03 9.99887123e-01 -2.39865238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.895898227 meters 0.08527341615513816 Centerline is valid? [True, True] Translation: X:187.52, Y:6.46, Z:-2.40 [[ 9.98992905e-01 4.24261028e-02 1.46014158e-02 1.87518365e+02] [-4.24374090e-02 9.99099019e-01 4.65216577e-04 6.46092427e+00] [-1.45685229e-02 -1.08439432e-03 9.99893285e-01 -2.40016775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.925898227 meters 0.07876287711113533 Centerline is valid? [True, True] Translation: X:187.55, Y:6.45, Z:-2.40 [[ 9.98951386e-01 4.35097266e-02 1.42489030e-02 1.87549446e+02] [-4.35205911e-02 9.99052427e-01 4.53142722e-04 6.45389640e+00] [-1.42156850e-02 -1.07278823e-03 9.99898377e-01 -2.40108951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.955898227 meters 0.08345567948107166 Centerline is valid? [True, True] Translation: X:187.58, Y:6.46, Z:-2.40 [[ 9.98931769e-01 4.40083621e-02 1.40920449e-02 1.87579613e+02] [-4.40190296e-02 9.99030592e-01 4.47557403e-04 6.46125891e+00] [-1.40586877e-02 -1.06739745e-03 9.99900602e-01 -2.40264438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.985898227 meters 0.08031915114103698 Centerline is valid? [True, True] Translation: X:187.61, Y:6.46, Z:-2.40 [[ 9.98962199e-01 4.32818491e-02 1.41847521e-02 1.87610540e+02] [-4.32925822e-02 9.99062335e-01 4.50336021e-04 6.45947136e+00] [-1.41519602e-02 -1.06396321e-03 9.99899290e-01 -2.40354475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.015898227 meters 0.08024641263217774 Centerline is valid? [True, True] Translation: X:187.64, Y:6.46, Z:-2.40 [[ 9.99005117e-01 4.22830551e-02 1.41746321e-02 1.87641404e+02] [-4.22936706e-02 9.99105121e-01 4.49851579e-04 6.46064592e+00] [-1.41429264e-02 -1.04890125e-03 9.99899434e-01 -2.40373056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.045898227 meters 0.078771768578744 Centerline is valid? [True, True] Translation: X:187.67, Y:6.46, Z:-2.40 [[ 9.99049985e-01 4.10449392e-02 1.46437577e-02 1.87672681e+02] [-4.10561349e-02 9.99156733e-01 4.64612621e-04 6.45963407e+00] [-1.46123391e-02 -1.06538733e-03 9.99892666e-01 -2.40387242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.075898227 meters 0.07906244799401353 Centerline is valid? [True, True] Translation: X:187.70, Y:6.46, Z:-2.40 [[ 9.99102465e-01 3.97155599e-02 1.47288588e-02 1.87703655e+02] [-3.97267374e-02 9.99210472e-01 4.66969040e-04 6.46116283e+00] [-1.46986841e-02 -1.05167943e-03 9.99891415e-01 -2.40430258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.105898227 meters 0.07906244799401353 Centerline is valid? [True, True] Translation: X:187.73, Y:6.46, Z:-2.40 [[ 9.99101562e-01 3.97382495e-02 1.47288696e-02 1.87734553e+02] [-3.97494245e-02 9.99209570e-01 4.66629290e-04 6.46209836e+00] [-1.46986844e-02 -1.05167414e-03 9.99891415e-01 -2.40488212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.135898227 meters 0.07324232275808407 Centerline is valid? [True, True] Translation: X:187.77, Y:6.45, Z:-2.41 [[ 9.99163443e-01 3.80408459e-02 1.50102787e-02 1.87765352e+02] [-3.80522549e-02 9.99275638e-01 4.75110647e-04 6.45236874e+00] [-1.49813322e-02 -1.04588814e-03 9.99887227e-01 -2.40538416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.165898227 meters 0.07443533918157877 Centerline is valid? [True, True] Translation: X:187.80, Y:6.46, Z:-2.40 [[ 9.99206208e-01 3.66341454e-02 1.56490818e-02 1.87796225e+02] [-3.66463759e-02 9.99328173e-01 4.95403947e-04 6.45798081e+00] [-1.56204196e-02 -1.06849283e-03 9.99877423e-01 -2.40489797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.195898227 meters 0.06772607336770797 Centerline is valid? [True, True] Translation: X:187.83, Y:6.45, Z:-2.41 [[ 9.99278396e-01 3.45958539e-02 1.56784362e-02 1.87827198e+02] [-3.46078743e-02 9.99400845e-01 4.95931604e-04 6.44838504e+00] [-1.56518852e-02 -1.03817109e-03 9.99876963e-01 -2.40552591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.225898227 meters 0.0738779701828347 Centerline is valid? [True, True] Translation: X:187.86, Y:6.46, Z:-2.41 [[ 9.99284308e-01 3.45206891e-02 1.54658975e-02 1.87858503e+02] [-3.45323802e-02 9.99403460e-01 4.89432122e-04 6.45599571e+00] [-1.54397759e-02 -1.02315609e-03 9.99880276e-01 -2.40651525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.255898227 meters 0.06932836676290491 Centerline is valid? [True, True] Translation: X:187.89, Y:6.45, Z:-2.41 [[ 9.99285984e-01 3.47903740e-02 1.47360773e-02 1.87890808e+02] [-3.48009860e-02 9.99394154e-01 4.64248295e-04 6.44884211e+00] [-1.47109981e-02 -9.76746834e-04 9.99891310e-01 -2.40784962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.285898227 meters 0.0755995172848099 Centerline is valid? [True, True] Translation: X:187.92, Y:6.45, Z:-2.41 [[ 9.99278402e-01 3.53186219e-02 1.39739054e-02 1.87921613e+02] [-3.53281853e-02 9.99375669e-01 4.38044580e-04 6.45358553e+00] [-1.39497099e-02 -9.31401206e-04 9.99902264e-01 -2.41054238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.315898227 meters 0.07599960546668469 Centerline is valid? [True, True] Translation: X:187.95, Y:6.45, Z:-2.41 [[ 9.99195155e-01 3.77134977e-02 1.36650505e-02 1.87952014e+02] [-3.77228282e-02 9.99288150e-01 4.25595595e-04 6.45198590e+00] [-1.36392724e-02 -9.40737410e-04 9.99906538e-01 -2.41129216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.345898227 meters 0.07750809718303184 Centerline is valid? [True, True] Translation: X:187.98, Y:6.45, Z:-2.41 [[ 9.99151277e-01 3.89027815e-02 1.35387898e-02 1.87983144e+02] [-3.89120500e-02 9.99242550e-01 4.21738393e-04 6.45208737e+00] [-1.35121281e-02 -9.48202521e-04 9.99908257e-01 -2.41233495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.375898227 meters 0.07829716422314513 Centerline is valid? [True, True] Translation: X:188.01, Y:6.45, Z:-2.41 [[ 9.99099486e-01 4.01742163e-02 1.36473345e-02 1.88014412e+02] [-4.01837477e-02 9.99192217e-01 4.24806063e-04 6.44947131e+00] [-1.36192442e-02 -9.72824565e-04 9.99906781e-01 -2.41237837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.405898227 meters 0.0793176062476746 Centerline is valid? [True, True] Translation: X:188.05, Y:6.45, Z:-2.41 [[ 9.99073885e-01 4.06672946e-02 1.40550323e-02 1.88046118e+02] [-4.06774480e-02 9.99172234e-01 4.37164069e-04 6.45038888e+00] [-1.40256197e-02 -1.00848205e-03 9.99901128e-01 -2.41197751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.435898227 meters 0.07958893109110816 Centerline is valid? [True, True] Translation: X:188.08, Y:6.45, Z:-2.41 [[ 9.99037030e-01 4.13317921e-02 1.47205903e-02 1.88077940e+02] [-4.13430039e-02 9.99144908e-01 4.58014819e-04 6.45048758e+00] [-1.46890722e-02 -1.06616719e-03 9.99891541e-01 -2.41147854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.465898227 meters 0.07936000451299301 Centerline is valid? [True, True] Translation: X:188.11, Y:6.45, Z:-2.41 [[ 9.99010488e-01 4.16788678e-02 1.55215221e-02 1.88109573e+02] [-4.16913307e-02 9.99130423e-01 4.80092615e-04 6.45005065e+00] [-1.54880152e-02 -1.12673047e-03 9.99879419e-01 -2.41087784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.495898227 meters 0.07021217658430615 Centerline is valid? [True, True] Translation: X:188.14, Y:6.44, Z:-2.41 [[ 9.99005363e-01 4.15940868e-02 1.60691470e-02 1.88142320e+02] [-4.16074340e-02 9.99133912e-01 4.97039136e-04 6.43842801e+00] [-1.60345558e-02 -1.16514074e-03 9.99870759e-01 -2.41017853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.525898227 meters 0.08223347934494755 Centerline is valid? [True, True] Translation: X:188.17, Y:6.45, Z:-2.41 [[ 9.99112623e-01 3.90185123e-02 1.58594479e-02 1.88171811e+02] [-3.90311407e-02 9.99237876e-01 4.87409935e-04 6.45203534e+00] [-1.58283431e-02 -1.10598976e-03 9.99874112e-01 -2.41169076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.555898227 meters 0.07350000436027736 Centerline is valid? [True, True] Translation: X:188.20, Y:6.44, Z:-2.41 [[ 9.99221392e-01 3.59821082e-02 1.61832223e-02 1.88202743e+02] [-3.59948642e-02 9.99351851e-01 4.97545375e-04 6.44011294e+00] [-1.61548304e-02 -1.07967087e-03 9.99868919e-01 -2.41143017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.585898227 meters 0.06641600424651627 Centerline is valid? [True, True] Translation: X:188.23, Y:6.43, Z:-2.41 [[ 9.99333520e-01 3.23611665e-02 1.68899366e-02 1.88233775e+02] [-3.23745463e-02 9.99475672e-01 5.19283697e-04 6.43033287e+00] [-1.68642761e-02 -1.06574164e-03 9.99857220e-01 -2.41056447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.615898227 meters 0.06614685669215943 Centerline is valid? [True, True] Translation: X:188.26, Y:6.43, Z:-2.41 [[ 9.99428015e-01 2.87499698e-02 1.78067926e-02 1.88263486e+02] [-2.87642691e-02 9.99586073e-01 5.47372098e-04 6.42962456e+00] [-1.77836850e-02 -1.05925838e-03 9.99841297e-01 -2.40879828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.645898227 meters 0.06946615466967908 Centerline is valid? [True, True] Translation: X:188.29, Y:6.43, Z:-2.41 [[ 9.99509177e-01 2.51753397e-02 1.86442296e-02 1.88292882e+02] [-2.51904004e-02 9.99682507e-01 5.73348205e-04 6.43398552e+00] [-1.86238760e-02 -1.04272240e-03 9.99826017e-01 -2.40813858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.675898227 meters 0.056125233073848195 Centerline is valid? [True, True] Translation: X:188.32, Y:6.42, Z:-2.41 [[ 9.99628439e-01 1.88446707e-02 1.96942127e-02 1.88323782e+02] [-1.88602550e-02 9.99821946e-01 6.05860850e-04 6.41643277e+00] [-1.96792888e-02 -9.77073610e-04 9.99805867e-01 -2.40639430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.705898227 meters 0.05161889416520417 Centerline is valid? [True, True] Translation: X:188.35, Y:6.41, Z:-2.41 [[ 9.99671466e-01 1.61050418e-02 1.99395837e-02 1.88354710e+02] [-1.61204715e-02 9.99869869e-01 6.13321671e-04 6.41118511e+00] [-1.99271114e-02 -9.34555666e-04 9.99800999e-01 -2.40653382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.735898227 meters 0.05124203163952005 Centerline is valid? [True, True] Translation: X:188.38, Y:6.41, Z:-2.41 [[ 9.99713129e-01 1.34788943e-02 1.97984394e-02 1.88384696e+02] [-1.34935879e-02 9.99908772e-01 6.08752427e-04 6.41205486e+00] [-1.97884279e-02 -8.75729777e-04 9.99803806e-01 -2.40757929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.765898227 meters 0.043560038064025905 Centerline is valid? [True, True] Translation: X:188.42, Y:6.40, Z:-2.41 [[ 9.99752590e-01 1.13321960e-02 1.91400172e-02 1.88416228e+02] [-1.13455316e-02 9.99935464e-01 5.88288610e-04 6.40350604e+00] [-1.91321154e-02 -8.05296731e-04 9.99816640e-01 -2.40873578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.795898227 meters 0.04944445411531471 Centerline is valid? [True, True] Translation: X:188.45, Y:6.41, Z:-2.41 [[ 9.99794744e-01 8.12434595e-03 1.85597880e-02 1.88446172e+02] [-8.13632503e-03 9.99966737e-01 5.70011478e-04 6.40762411e+00] [-1.85545397e-02 -7.20902947e-04 9.99827590e-01 -2.41157547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.825898227 meters 0.04303831233035128 Centerline is valid? [True, True] Translation: X:188.48, Y:6.41, Z:-2.41 [[ 9.99797322e-01 7.20517082e-03 1.87989282e-02 1.88478438e+02] [-7.21729823e-03 9.99973788e-01 5.77346089e-04 6.40512413e+00] [-1.87942756e-02 -7.12906546e-04 9.99823118e-01 -2.41175610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.855898227 meters 0.041189719850484086 Centerline is valid? [True, True] Translation: X:188.51, Y:6.40, Z:-2.41 [[ 9.99804365e-01 5.42318681e-03 1.90215843e-02 1.88509804e+02] [-5.43522252e-03 9.99985060e-01 5.81098051e-04 6.40387720e+00] [-1.90181487e-02 -6.84370911e-04 9.99818904e-01 -2.41145368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.885898227 meters 0.03685439658531033 Centerline is valid? [True, True] Translation: X:188.54, Y:6.40, Z:-2.41 [[ 9.99828382e-01 1.12486041e-03 1.84916304e-02 1.88540522e+02] [-1.13549266e-03 9.99999196e-01 5.64487349e-04 6.40002489e+00] [-1.84909806e-02 -5.85387583e-04 9.99828856e-01 -2.41239548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.915898227 meters 0.03416668730328135 Centerline is valid? [True, True] Translation: X:188.57, Y:6.40, Z:-2.41 [[ 9.99843993e-01 -1.34892416e-03 1.76116226e-02 1.88571857e+02] [ 1.33966651e-03 9.99998958e-01 5.37442964e-04 6.39797224e+00] [-1.76123292e-02 -5.13765419e-04 9.99844759e-01 -2.41485305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.945898227 meters 0.0322370933395292 Centerline is valid? [True, True] Translation: X:188.60, Y:6.40, Z:-2.42 [[ 9.99864536e-01 -3.63436822e-03 1.60530576e-02 1.88601964e+02] [ 3.62697703e-03 9.99993303e-01 4.89512669e-04 6.39644974e+00] [-1.60547291e-02 -4.31222287e-04 9.99871022e-01 -2.41811100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.975898227 meters 0.03377611513149057 Centerline is valid? [True, True] Translation: X:188.63, Y:6.40, Z:-2.42 [[ 9.99874779e-01 -5.59401108e-03 1.48031427e-02 1.88632975e+02] [ 5.58793503e-03 9.99984285e-01 4.51786987e-04 6.39542568e+00] [-1.48054374e-02 -3.69011415e-04 9.99890325e-01 -2.42177198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.005898227 meters 0.029203602123114642 Centerline is valid? [True, True] Translation: X:188.67, Y:6.39, Z:-2.42 [[ 9.99882159e-01 -6.78512173e-03 1.37706103e-02 1.88665450e+02] [ 6.78000943e-03 9.99976928e-01 4.17898387e-04 6.39473998e+00] [-1.37731281e-02 -3.24484273e-04 9.99905093e-01 -2.42399895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.035898227 meters 0.027484641337574993 Centerline is valid? [True, True] Translation: X:188.70, Y:6.39, Z:-2.43 [[ 9.99879328e-01 -7.87198673e-03 1.33925709e-02 1.88697476e+02] [ 7.86725666e-03 9.99968970e-01 4.05833768e-04 6.39413145e+00] [-1.33953501e-02 -3.00422003e-04 9.99910233e-01 -2.42525753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.065898227 meters 0.025939759299085246 Centerline is valid? [True, True] Translation: X:188.73, Y:6.39, Z:-2.42 [[ 9.99846986e-01 -9.72015789e-03 1.45438016e-02 1.88729206e+02] [ 9.71478603e-03 9.99952714e-01 4.39962138e-04 6.39478779e+00] [-1.45473904e-02 -2.98604897e-04 9.99894137e-01 -2.42346714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.095898227 meters 0.023696431795826266 Centerline is valid? [True, True] Translation: X:188.76, Y:6.39, Z:-2.42 [[ 9.99821697e-01 -1.08005405e-02 1.54894280e-02 1.88761271e+02] [ 1.07945889e-02 9.99941627e-01 4.67794853e-04 6.39326077e+00] [-1.54935763e-02 -3.00509437e-04 9.99879922e-01 -2.42203479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.125898227 meters 0.022533560185428236 Centerline is valid? [True, True] Translation: X:188.79, Y:6.39, Z:-2.42 [[ 9.99804612e-01 -1.20663260e-02 1.56570197e-02 1.88794019e+02] [ 1.20604113e-02 9.99927159e-01 4.72141503e-04 6.39294020e+00] [-1.56615762e-02 -2.83219156e-04 9.99877310e-01 -2.42148565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.155898227 meters 0.021771947183350352 Centerline is valid? [True, True] Translation: X:188.83, Y:6.39, Z:-2.42 [[ 9.99794799e-01 -1.31032511e-02 1.54487476e-02 1.88825383e+02] [ 1.30976286e-02 9.99914114e-01 4.65071513e-04 6.39228937e+00] [-1.54535148e-02 -2.62634122e-04 9.99880553e-01 -2.42213517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.185898227 meters 0.01936011593840386 Centerline is valid? [True, True] Translation: X:188.86, Y:6.39, Z:-2.43 [[ 9.99787489e-01 -1.59249278e-02 1.30909855e-02 1.88858057e+02] [ 1.59211463e-02 9.99873173e-01 3.93032702e-04 6.38797434e+00] [-1.30955843e-02 -1.84525682e-04 9.99914232e-01 -2.42667903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.215898227 meters 0.018731601494874746 Centerline is valid? [True, True] Translation: X:188.89, Y:6.39, Z:-2.43 [[ 9.99782245e-01 -1.66369291e-02 1.25966465e-02 1.88890590e+02] [ 1.66334967e-02 9.99861583e-01 3.77213600e-04 6.38704258e+00] [-1.26011786e-02 -1.67605181e-04 9.99920588e-01 -2.42899158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.245898227 meters 0.021970393316326577 Centerline is valid? [True, True] Translation: X:188.92, Y:6.39, Z:-2.43 [[ 9.99769518e-01 -1.71058738e-02 1.29730647e-02 1.88922976e+02] [ 1.71022809e-02 9.99853670e-01 3.87848572e-04 6.38751957e+00] [-1.29778008e-02 -1.65890183e-04 9.99915771e-01 -2.42912529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.275898227 meters 0.022221386611726127 Centerline is valid? [True, True] Translation: X:188.95, Y:6.39, Z:-2.43 [[ 9.99759476e-01 -1.66639317e-02 1.42584529e-02 1.88954674e+02] [ 1.66595572e-02 9.99861129e-01 4.25526509e-04 6.38918275e+00] [-1.42635638e-02 -1.87884648e-04 9.99898253e-01 -2.42757584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.305898227 meters 0.01924571349093803 Centerline is valid? [True, True] Translation: X:188.99, Y:6.39, Z:-2.42 [[ 9.99752142e-01 -1.55371647e-02 1.59452644e-02 1.88986681e+02] [ 1.55315642e-02 9.99879265e-01 4.75014105e-04 6.39250529e+00] [-1.59507196e-02 -2.27241472e-04 9.99872753e-01 -2.42473356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.335898227 meters 0.0212064776171621 Centerline is valid? [True, True] Translation: X:189.02, Y:6.40, Z:-2.42 [[ 9.99745100e-01 -1.42963645e-02 1.74742185e-02 1.89017796e+02] [ 1.42894649e-02 9.99897765e-01 5.19643612e-04 6.39701804e+00] [-1.74798610e-02 -2.69813923e-04 9.99847179e-01 -2.42282334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.365898227 meters 0.022321715043297684 Centerline is valid? [True, True] Translation: X:189.05, Y:6.40, Z:-2.42 [[ 9.99774441e-01 -1.21518501e-02 1.74183784e-02 1.89049863e+02] [ 1.21446795e-02 9.99926117e-01 5.17390525e-04 6.39984319e+00] [-1.74233787e-02 -3.05733200e-04 9.99848155e-01 -2.42227085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.395898227 meters 0.024739592487364157 Centerline is valid? [True, True] Translation: X:189.08, Y:6.40, Z:-2.42 [[ 9.99796663e-01 -1.17435750e-02 1.63927063e-02 1.89080518e+02] [ 1.17371815e-02 9.99930999e-01 4.86178547e-04 6.40482849e+00] [-1.63972847e-02 -2.93675519e-04 9.99865512e-01 -2.42457792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.425898227 meters 0.022844993593828983 Centerline is valid? [True, True] Translation: X:189.11, Y:6.40, Z:-2.43 [[ 9.99815721e-01 -1.18314714e-02 1.51175688e-02 1.89113391e+02] [ 1.18260493e-02 9.99929969e-01 4.48008117e-04 6.40423309e+00] [-1.51218107e-02 -2.69144443e-04 9.99885623e-01 -2.42716679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.455898227 meters 0.02369149853050954 Centerline is valid? [True, True] Translation: X:189.14, Y:6.41, Z:-2.43 [[ 9.99822035e-01 -1.23353957e-02 1.42735946e-02 1.89144456e+02] [ 1.23306282e-02 9.99923886e-01 4.21968939e-04 6.40709841e+00] [-1.42777133e-02 -2.45891455e-04 9.99898038e-01 -2.43001167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.485898227 meters 0.021111904186226084 Centerline is valid? [True, True] Translation: X:189.18, Y:6.41, Z:-2.43 [[ 9.99803737e-01 -1.36454070e-02 1.43628046e-02 1.89176396e+02] [ 1.36407244e-02 9.99906871e-01 4.23941509e-04 6.40500417e+00] [-1.43672519e-02 -2.27939246e-04 9.99896760e-01 -2.43130816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.515898227 meters 0.017022097320828707 Centerline is valid? [True, True] Translation: X:189.21, Y:6.40, Z:-2.43 [[ 9.99711012e-01 -1.77388718e-02 1.62242010e-02 1.89207907e+02] [ 1.77334506e-02 9.99842636e-01 4.77957288e-04 6.40024312e+00] [-1.62301263e-02 -1.90108096e-04 9.99868265e-01 -2.43096653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.545898227 meters 0.014996857953834854 Centerline is valid? [True, True] Translation: X:189.24, Y:6.40, Z:-2.43 [[ 9.99646065e-01 -2.01443991e-02 1.73766229e-02 1.89239264e+02] [ 2.01385510e-02 9.99797068e-01 5.11484022e-04 6.39825885e+00] [-1.73834002e-02 -1.61362982e-04 9.99848884e-01 -2.42946548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.575898227 meters 0.013251810138527553 Centerline is valid? [True, True] Translation: X:189.27, Y:6.40, Z:-2.43 [[ 9.99595117e-01 -2.21748217e-02 1.78291474e-02 1.89271483e+02] [ 2.21689992e-02 9.99754100e-01 5.24174047e-04 6.39663691e+00] [-1.78363866e-02 -1.28707465e-04 9.99840911e-01 -2.42897171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.605898227 meters 0.024469536142560762 Centerline is valid? [True, True] Translation: X:189.30, Y:6.40, Z:-2.43 [[ 9.99572606e-01 -2.36452280e-02 1.71903559e-02 1.89303451e+02] [ 2.36400460e-02 9.99720408e-01 5.04620321e-04 6.39574863e+00] [-1.71974815e-02 -9.80238452e-05 9.99852108e-01 -2.43075166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.635898227 meters 0.012238321598881831 Centerline is valid? [True, True] Translation: X:189.33, Y:6.40, Z:-2.43 [[ 9.99608156e-01 -2.38281920e-02 1.46884808e-02 1.89334421e+02] [ 2.38244378e-02 9.99716065e-01 4.30543510e-04 6.39816921e+00] [-1.46945693e-02 -8.04300070e-05 9.99892026e-01 -2.43460392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.665898227 meters 0.020148722493626484 Centerline is valid? [True, True] Translation: X:189.37, Y:6.40, Z:-2.44 [[ 9.99631597e-01 -2.29658880e-02 1.44650840e-02 1.89366073e+02] [ 2.29621636e-02 9.99736245e-01 4.23528149e-04 6.40203939e+00] [-1.44709955e-02 -9.12224938e-05 9.99895286e-01 -2.43647169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.695898227 meters 0.013548789451295081 Centerline is valid? [True, True] Translation: X:189.40, Y:6.41, Z:-2.44 [[ 9.99655226e-01 -2.15280355e-02 1.50323758e-02 1.89397850e+02] [ 2.15238622e-02 9.99768238e-01 4.39372683e-04 6.40666167e+00] [-1.50383507e-02 -1.15666414e-04 9.99886911e-01 -2.43558714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.725898227 meters 0.014732474368785985 Centerline is valid? [True, True] Translation: X:189.43, Y:6.41, Z:-2.43 [[ 9.99674121e-01 -2.00313469e-02 1.58239429e-02 1.89428416e+02] [ 2.00265462e-02 9.99799342e-01 4.61801905e-04 6.41143777e+00] [-1.58300182e-02 -1.44752490e-04 9.99874687e-01 -2.43480970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.755898227 meters 0.01609164163902628 Centerline is valid? [True, True] Translation: X:189.46, Y:6.42, Z:-2.44 [[ 9.99714669e-01 -1.83700772e-02 1.52683171e-02 1.89460033e+02] [ 1.83654347e-02 9.99831242e-01 4.44234933e-04 6.41640667e+00] [-1.52739011e-02 -1.63698899e-04 9.99883334e-01 -2.43666551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.785898227 meters 0.01647094906834668 Centerline is valid? [True, True] Translation: X:189.49, Y:6.42, Z:-2.44 [[ 9.99735681e-01 -1.81628397e-02 1.40953874e-02 1.89491010e+02] [ 1.81588717e-02 9.99835030e-01 4.09453868e-04 6.41812126e+00] [-1.41004989e-02 -1.53389310e-04 9.99900571e-01 -2.43990421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.815898227 meters 0.01673719873776305 Centerline is valid? [True, True] Translation: X:189.52, Y:6.42, Z:-2.44 [[ 9.99756396e-01 -1.82104706e-02 1.24710912e-02 1.89522392e+02] [ 1.82073694e-02 9.99834167e-01 3.62167140e-04 6.41934596e+00] [-1.24756183e-02 -1.35013149e-04 9.99922167e-01 -2.44366400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.845898227 meters 0.01651387398378245 Centerline is valid? [True, True] Translation: X:189.55, Y:6.42, Z:-2.45 [[ 9.99764117e-01 -1.85857602e-02 1.12374539e-02 1.89554719e+02] [ 1.85832767e-02 9.99827263e-01 3.25387430e-04 6.41989513e+00] [-1.12415603e-02 -1.16481961e-04 9.99936805e-01 -2.44668935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.875898227 meters 0.015989576951274634 Centerline is valid? [True, True] Translation: X:189.59, Y:6.42, Z:-2.45 [[ 9.99754587e-01 -1.93662783e-02 1.07569898e-02 1.89586393e+02] [ 1.93640528e-02 9.99812451e-01 3.11008607e-04 6.42006860e+00] [-1.07609954e-02 -1.02633363e-04 9.99942094e-01 -2.44804068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.905898227 meters 0.013996964159690347 Centerline is valid? [True, True] Translation: X:189.62, Y:6.42, Z:-2.44 [[ 9.99696324e-01 -2.13036774e-02 1.23860019e-02 1.89618451e+02] [ 2.13008842e-02 9.99773047e-01 3.57402613e-04 6.41865561e+00] [-1.23908049e-02 -9.34612844e-05 9.99923227e-01 -2.44414947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.935898227 meters 0.013499611856010204 Centerline is valid? [True, True] Translation: X:189.65, Y:6.42, Z:-2.44 [[ 9.99666689e-01 -2.20775592e-02 1.33825518e-02 1.89649438e+02] [ 2.20743749e-02 9.99756257e-01 3.85627091e-04 6.41848813e+00] [-1.33878036e-02 -9.00870912e-05 9.99910375e-01 -2.44281632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.965898227 meters 0.013499611856010204 Centerline is valid? [True, True] Translation: X:189.68, Y:6.42, Z:-2.44 [[ 9.99667708e-01 -2.20313236e-02 1.33825870e-02 1.89681094e+02] [ 2.20281516e-02 9.99757277e-01 3.84400081e-04 6.41930376e+00] [-1.33878076e-02 -8.94786926e-05 9.99910375e-01 -2.44341007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.995898227 meters 0.01284623347362355 Centerline is valid? [True, True] Translation: X:189.71, Y:6.42, Z:-2.44 [[ 9.99658752e-01 -2.23177335e-02 1.35756885e-02 1.89713060e+02] [ 2.23145043e-02 9.99750925e-01 3.89319134e-04 6.41816109e+00] [-1.35809959e-02 -8.62515193e-05 9.99907770e-01 -2.44268650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.025898227 meters 0.013130510853916876 Centerline is valid? [True, True] Translation: X:189.74, Y:6.42, Z:-2.44 [[ 9.99667037e-01 -2.22404551e-02 1.30834395e-02 1.89743750e+02] [ 2.22374580e-02 9.99752647e-01 3.74526269e-04 6.41888485e+00] [-1.30885329e-02 -8.34591303e-05 9.99914338e-01 -2.44480717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.055898227 meters 0.014138373364009783 Centerline is valid? [True, True] Translation: X:189.78, Y:6.42, Z:-2.45 [[ 9.99707853e-01 -2.08985963e-02 1.21431862e-02 1.89776067e+02] [ 2.08959195e-02 9.99781596e-01 3.47290322e-04 6.41989467e+00] [-1.21477920e-02 -9.34458219e-05 9.99926208e-01 -2.44691146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.085898227 meters 0.016009911362766995 Centerline is valid? [True, True] Translation: X:189.81, Y:6.42, Z:-2.45 [[ 9.99726017e-01 -1.92069729e-02 1.33784851e-02 1.89807504e+02] [ 1.92035828e-02 9.99815521e-01 3.81834410e-04 6.42398217e+00] [-1.33833509e-02 -1.24814949e-04 9.99910431e-01 -2.44588544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.115898227 meters 0.022900155985899305 Centerline is valid? [True, True] Translation: X:189.84, Y:6.43, Z:-2.44 [[ 9.99743315e-01 -1.69638753e-02 1.50176903e-02 1.89838813e+02] [ 1.69593596e-02 9.99856088e-01 4.28003832e-04 6.42869245e+00] [-1.50227897e-02 -1.73203559e-04 9.99887137e-01 -2.44321824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.145898227 meters 0.019592982445748624 Centerline is valid? [True, True] Translation: X:189.87, Y:6.43, Z:-2.44 [[ 9.99759444e-01 -1.41966477e-02 1.67185611e-02 1.89870994e+02] [ 1.41906744e-02 9.99899194e-01 4.75870900e-04 6.43153562e+00] [-1.67236316e-02 -2.38508769e-04 9.99860122e-01 -2.43940734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.175898227 meters 0.02236756559093918 Centerline is valid? [True, True] Translation: X:189.90, Y:6.44, Z:-2.44 [[ 9.99772898e-01 -1.12415222e-02 1.81047313e-02 1.89903142e+02] [ 1.12340494e-02 9.99936764e-01 5.14405753e-04 6.43686594e+00] [-1.81093691e-02 -3.10899484e-04 9.99835964e-01 -2.43761078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.205898227 meters 0.02553760106331997 Centerline is valid? [True, True] Translation: X:189.93, Y:6.44, Z:-2.44 [[ 9.99815008e-01 -5.96387330e-03 1.82861234e-02 1.89934243e+02] [ 5.95538364e-03 9.99982132e-01 5.18687875e-04 6.44254905e+00] [-1.82888901e-02 -4.09691041e-04 9.99832660e-01 -2.43935152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.235898227 meters 0.030247061782308928 Centerline is valid? [True, True] Translation: X:189.96, Y:6.45, Z:-2.44 [[ 9.99838371e-01 -4.07022201e-03 1.75118608e-02 1.89964933e+02] [ 4.06215280e-03 9.99991626e-01 4.96331727e-04 6.45027272e+00] [-1.75137344e-02 -4.25115651e-04 9.99846532e-01 -2.44196381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.265898227 meters 0.030790419445538116 Centerline is valid? [True, True] Translation: X:190.00, Y:6.45, Z:-2.44 [[ 9.99855807e-01 -2.71553753e-03 1.67627891e-02 1.89996798e+02] [ 2.70796318e-03 9.99996221e-01 4.74536621e-04 6.45205565e+00] [-1.67640144e-02 -4.29075180e-04 9.99859382e-01 -2.44432141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.295898227 meters 0.038385828924081926 Centerline is valid? [True, True] Translation: X:190.03, Y:6.46, Z:-2.45 [[ 9.99862238e-01 -2.08458652e-03 1.64669210e-02 1.90028092e+02] [ 2.07720460e-03 9.99997734e-01 4.65378771e-04 6.45530330e+00] [-1.64678538e-02 -4.31109495e-04 9.99864303e-01 -2.44650390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.325898227 meters 0.03554966479131436 Centerline is valid? [True, True] Translation: X:190.06, Y:6.46, Z:-2.44 [[ 9.99846325e-01 -4.48698455e-04 1.75249725e-02 1.90058850e+02] [ 4.40097663e-04 9.99999781e-01 4.94627080e-04 6.45993846e+00] [-1.75251906e-02 -4.86838369e-04 9.99846304e-01 -2.44457879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.355898227 meters 0.03630917020997113 Centerline is valid? [True, True] Translation: X:190.09, Y:6.46, Z:-2.44 [[ 9.99834282e-01 2.10119099e-04 1.82034358e-02 1.90090655e+02] [-2.19496138e-04 9.99999844e-01 5.13128252e-04 6.46208403e+00] [-1.82033252e-02 -5.17038801e-04 9.99834172e-01 -2.44344106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.385898227 meters 0.03375811557370566 Centerline is valid? [True, True] Translation: X:190.12, Y:6.46, Z:-2.44 [[ 9.99822208e-01 1.18338749e-03 1.88189451e-02 1.90122758e+02] [-1.19356541e-03 9.99999147e-01 5.29611163e-04 6.46006391e+00] [-1.88183023e-02 -5.51978644e-04 9.99822768e-01 -2.44362915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.415898227 meters 0.03214244389067911 Centerline is valid? [True, True] Translation: X:190.15, Y:6.46, Z:-2.44 [[ 9.99816066e-01 2.16939020e-03 1.90559248e-02 1.90154455e+02] [-2.17998774e-03 9.99997481e-01 5.35373258e-04 6.45965638e+00] [-1.90547153e-02 -5.76816467e-04 9.99818276e-01 -2.44477241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.445898227 meters 0.039073870717195064 Centerline is valid? [True, True] Translation: X:190.18, Y:6.47, Z:-2.45 [[ 9.99825488e-01 3.16728044e-03 1.84108954e-02 1.90184879e+02] [-3.17732979e-03 9.99994819e-01 5.16611642e-04 6.47033779e+00] [-1.84091637e-02 -5.75018973e-04 9.99830372e-01 -2.44693389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.475898227 meters 0.041136813095779295 Centerline is valid? [True, True] Translation: X:190.22, Y:6.47, Z:-2.45 [[ 9.99837270e-01 4.11172181e-03 1.75649158e-02 1.90215618e+02] [-4.12098922e-03 9.99991388e-01 4.91446343e-04 6.47383389e+00] [-1.75627438e-02 -5.63751199e-04 9.99845604e-01 -2.45008275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.505898227 meters 0.03985615475050736 Centerline is valid? [True, True] Translation: X:190.25, Y:6.47, Z:-2.46 [[ 9.99869247e-01 5.75723208e-03 1.51110499e-02 1.90247766e+02] [-5.76426081e-03 9.99983298e-01 4.21625282e-04 6.47126367e+00] [-1.51083702e-02 -5.08674186e-04 9.99885733e-01 -2.45541810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.535898227 meters 0.03772012798473653 Centerline is valid? [True, True] Translation: X:190.28, Y:6.47, Z:-2.46 [[ 9.99869764e-01 6.72922459e-03 1.46687303e-02 1.90280309e+02] [-6.73595011e-03 9.99977230e-01 4.09134592e-04 6.46781427e+00] [-1.46656432e-02 -5.07889144e-04 9.99892325e-01 -2.45630340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.565898227 meters 0.04132285169144284 Centerline is valid? [True, True] Translation: X:190.31, Y:6.47, Z:-2.46 [[ 9.99863656e-01 7.80429550e-03 1.45520601e-02 1.90310869e+02] [-7.81098404e-03 9.99969413e-01 4.02847861e-04 6.47187295e+00] [-1.45484711e-02 -5.16458844e-04 9.99894032e-01 -2.45687420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.595898227 meters 0.042301875160109054 Centerline is valid? [True, True] Translation: X:190.34, Y:6.47, Z:-2.46 [[ 9.99860107e-01 8.98626036e-03 1.41072131e-02 1.90342476e+02] [-8.99266732e-03 9.99959489e-01 3.90792893e-04 6.47222127e+00] [-1.41031299e-02 -5.17599698e-04 9.99900412e-01 -2.45766585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.625898227 meters 0.04364964849982101 Centerline is valid? [True, True] Translation: X:190.37, Y:6.47, Z:-2.46 [[ 9.99868911e-01 9.80331310e-03 1.28862430e-02 1.90373304e+02] [-9.80869986e-03 9.99951831e-01 3.54887573e-04 6.47273240e+00] [-1.28821432e-02 -4.81238341e-04 9.99916906e-01 -2.46048963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.655898227 meters 0.04687752492178847 Centerline is valid? [True, True] Translation: X:190.41, Y:6.47, Z:-2.46 [[ 9.99883573e-01 9.75226358e-03 1.17359958e-02 1.90406724e+02] [-9.75672609e-03 9.99952350e-01 3.23045537e-04 6.47171821e+00] [-1.17322861e-02 -4.37512821e-04 9.99931079e-01 -2.46365601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.685898227 meters 0.04566758813879482 Centerline is valid? [True, True] Translation: X:190.44, Y:6.47, Z:-2.46 [[ 9.99871400e-01 1.16449136e-02 1.10262771e-02 1.90438395e+02] [-1.16489338e-02 9.99932104e-01 3.00442732e-04 6.47095742e+00] [-1.10220298e-02 -4.28848466e-04 9.99939164e-01 -2.46460194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.715898227 meters 0.047187017094963674 Centerline is valid? [True, True] Translation: X:190.47, Y:6.47, Z:-2.46 [[ 9.99838942e-01 1.33667803e-02 1.19758109e-02 1.90470701e+02] [-1.33716442e-02 9.99910542e-01 3.26159639e-04 6.47117542e+00] [-1.19703799e-02 -4.86243391e-04 9.99928234e-01 -2.46354540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.745898227 meters 0.04896910055041467 Centerline is valid? [True, True] Translation: X:190.50, Y:6.47, Z:-2.46 [[ 9.99791626e-01 1.54796170e-02 1.33073729e-02 1.90501532e+02] [-1.54857993e-02 9.99880022e-01 3.61651260e-04 6.47083170e+00] [-1.33001781e-02 -5.67651208e-04 9.99911388e-01 -2.46148668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.775898227 meters 0.05553464775102053 Centerline is valid? [True, True] Translation: X:190.53, Y:6.47, Z:-2.46 [[ 9.99718722e-01 1.83810587e-02 1.49871237e-02 1.90532532e+02] [-1.83892154e-02 9.99830821e-01 4.06610683e-04 6.46914736e+00] [-1.49771143e-02 -6.82097758e-04 9.99887604e-01 -2.45898423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.805898227 meters 0.05301604998563656 Centerline is valid? [True, True] Translation: X:190.56, Y:6.47, Z:-2.46 [[ 9.99694930e-01 1.98906909e-02 1.46426644e-02 1.90564626e+02] [-1.98986382e-02 9.99801924e-01 3.97242295e-04 6.46911040e+00] [-1.46318626e-02 -6.88490190e-04 9.99892712e-01 -2.45901220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.835898227 meters 0.05429989563456321 Centerline is valid? [True, True] Translation: X:190.60, Y:6.47, Z:-2.46 [[ 9.99683362e-01 2.07939576e-02 1.41699618e-02 1.90595247e+02] [-2.08014838e-02 9.99783552e-01 3.83947324e-04 6.46920838e+00] [-1.41589110e-02 -6.78581984e-04 9.99899527e-01 -2.46030570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.865898227 meters 0.05606210808250592 Centerline is valid? [True, True] Translation: X:190.63, Y:6.47, Z:-2.46 [[ 9.99672612e-01 2.15236446e-02 1.38347923e-02 1.90625865e+02] [-2.15308699e-02 9.99768114e-01 3.73506035e-04 6.46960294e+00] [-1.38235450e-02 -6.71258867e-04 9.99904225e-01 -2.46186566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.895898227 meters 0.05623282853231847 Centerline is valid? [True, True] Translation: X:190.66, Y:6.47, Z:-2.46 [[ 9.99656707e-01 2.20665914e-02 1.41256332e-02 1.90658561e+02] [-2.20741819e-02 9.99756263e-01 3.81652740e-04 6.46775621e+00] [-1.41137685e-02 -6.93333519e-04 9.99900155e-01 -2.46222680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.925898227 meters 0.05400813844206659 Centerline is valid? [True, True] Translation: X:190.69, Y:6.46, Z:-2.46 [[ 9.99641493e-01 2.23100802e-02 1.48036030e-02 1.90692010e+02] [-2.23184083e-02 9.99750834e-01 3.97582613e-04 6.46267160e+00] [-1.47910444e-02 -7.27832933e-04 9.99890342e-01 -2.46091109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.955898227 meters 0.05643335556775152 Centerline is valid? [True, True] Translation: X:190.72, Y:6.46, Z:-2.46 [[ 9.99576881e-01 2.31951247e-02 1.75512036e-02 1.90723673e+02] [-2.32068987e-02 9.99730574e-01 4.67435062e-04 6.46160335e+00] [-1.75356327e-02 -8.74546286e-04 9.99845856e-01 -2.45655385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.985898227 meters 0.05651008098504254 Centerline is valid? [True, True] Translation: X:190.76, Y:6.46, Z:-2.46 [[ 9.99536104e-01 2.48002753e-02 1.76783241e-02 1.90755310e+02] [-2.48124213e-02 9.99692015e-01 4.68016971e-04 6.46040369e+00] [-1.76612724e-02 -9.06441885e-04 9.99843617e-01 -2.45676475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.015898227 meters 0.060257399337863726 Centerline is valid? [True, True] Translation: X:190.79, Y:6.46, Z:-2.46 [[ 9.99489148e-01 2.71930447e-02 1.67923163e-02 1.90785351e+02] [-2.72043335e-02 9.99629795e-01 4.44151058e-04 6.46490477e+00] [-1.67740219e-02 -9.00747935e-04 9.99858900e-01 -2.45835075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.045898227 meters 0.05985073801772668 Centerline is valid? [True, True] Translation: X:190.82, Y:6.46, Z:-2.46 [[ 9.99424194e-01 2.99773959e-02 1.58945197e-02 1.90816510e+02] [-2.99878614e-02 9.99550175e-01 4.20452738e-04 6.46499301e+00] [-1.58747658e-02 -8.96853292e-04 9.99873586e-01 -2.45995547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.075898227 meters 0.0647631564642109 Centerline is valid? [True, True] Translation: X:190.85, Y:6.47, Z:-2.46 [[ 9.99255086e-01 3.49024381e-02 1.64649131e-02 1.90847087e+02] [-3.49143291e-02 9.99390214e-01 4.35221035e-04 6.47389206e+00] [-1.64396828e-02 -1.00975823e-03 9.99864349e-01 -2.46014405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.105898227 meters 0.07471362735190416 Centerline is valid? [True, True] Translation: X:190.88, Y:6.49, Z:-2.46 [[ 9.99186601e-01 3.62316512e-02 1.77032203e-02 1.90878049e+02] [-3.62456078e-02 9.99342802e-01 4.68038670e-04 6.48828603e+00] [-1.76746279e-02 -1.10932195e-03 9.99843176e-01 -2.45954648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.135898227 meters 0.0751186278050031 Centerline is valid? [True, True] Translation: X:190.91, Y:6.49, Z:-2.46 [[ 9.99177481e-01 3.62491522e-02 1.81758168e-02 1.90910513e+02] [-3.62638160e-02 9.99342137e-01 4.77732260e-04 6.48705881e+00] [-1.81465422e-02 -1.13646379e-03 9.99834692e-01 -2.46031825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.165898227 meters 0.06749024568202669 Centerline is valid? [True, True] Translation: X:190.94, Y:6.48, Z:-2.46 [[ 9.99196335e-01 3.59814057e-02 1.76641533e-02 1.90942553e+02] [-3.59951670e-02 9.99351857e-01 4.61629056e-04 6.48024085e+00] [-1.76360944e-02 -1.09708221e-03 9.99843870e-01 -2.46111561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.195898227 meters 0.0640711450663734 Centerline is valid? [True, True] Translation: X:190.97, Y:6.48, Z:-2.47 [[ 9.99287223e-01 3.45254966e-02 1.52655464e-02 1.90974046e+02] [-3.45355663e-02 9.99403391e-01 3.96433703e-04 6.47546268e+00] [-1.52427518e-02 -9.23355424e-04 9.99883396e-01 -2.46511056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.225898227 meters 0.06732614743791293 Centerline is valid? [True, True] Translation: X:191.00, Y:6.48, Z:-2.47 [[ 9.99412475e-01 3.20199920e-02 1.22239126e-02 1.91003342e+02] [-3.20262564e-02 9.99486978e-01 3.17019259e-04 6.47501955e+00] [-1.22074905e-02 -7.08319161e-04 9.99925235e-01 -2.47155685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.255898227 meters 0.06289553268103036 Centerline is valid? [True, True] Translation: X:191.03, Y:6.47, Z:-2.47 [[ 9.99541564e-01 2.82201966e-02 1.09673678e-02 1.91033784e+02] [-2.82250134e-02 9.99601554e-01 2.84628056e-04 6.46788010e+00] [-1.09549656e-02 -5.94051675e-04 9.99939816e-01 -2.47374770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.285898227 meters 0.05877539440566734 Centerline is valid? [True, True] Translation: X:191.07, Y:6.47, Z:-2.47 [[ 9.99526780e-01 2.77705101e-02 1.32293293e-02 1.91066394e+02] [-2.77774913e-02 9.99614072e-01 3.44215942e-04 6.46534149e+00] [-1.32146646e-02 -7.11530629e-04 9.99912429e-01 -2.46993310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.315898227 meters 0.060073289013692285 Centerline is valid? [True, True] Translation: X:191.10, Y:6.47, Z:-2.47 [[ 9.99513875e-01 2.75255513e-02 1.46409399e-02 1.91097736e+02] [-2.75340358e-02 9.99620795e-01 3.78209793e-04 6.46702282e+00] [-1.46249775e-02 -7.81150100e-04 9.99892744e-01 -2.46733991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.345898227 meters 0.06328332256938708 Centerline is valid? [True, True] Translation: X:191.13, Y:6.47, Z:-2.47 [[ 9.99508656e-01 2.86166343e-02 1.27880740e-02 1.91129510e+02] [-2.86231761e-02 9.99590219e-01 3.28790729e-04 6.46657118e+00] [-1.27734248e-02 -6.94664474e-04 9.99918175e-01 -2.47134191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.375898227 meters 0.06627694708562346 Centerline is valid? [True, True] Translation: X:191.16, Y:6.47, Z:-2.48 [[ 9.99489058e-01 3.00234467e-02 1.09643317e-02 1.91159386e+02] [-3.00283137e-02 9.99549009e-01 2.79508165e-04 6.47070465e+00] [-1.09509951e-02 -6.08605744e-04 9.99939851e-01 -2.47514010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.405898227 meters 0.06450791948546045 Centerline is valid? [True, True] Translation: X:191.19, Y:6.47, Z:-2.48 [[ 9.99421034e-01 3.24595565e-02 1.01967288e-02 1.91190608e+02] [-3.24638933e-02 9.99472875e-01 2.60037775e-04 6.46907327e+00] [-1.01829131e-02 -5.90912736e-04 9.99947978e-01 -2.47551913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.435898227 meters 0.06297295058315232 Centerline is valid? [True, True] Translation: X:191.22, Y:6.47, Z:-2.47 [[ 9.99318059e-01 3.52215823e-02 1.10841064e-02 1.91221451e+02] [-3.52268744e-02 9.99379301e-01 2.82517074e-04 6.46663302e+00] [-1.10672758e-02 -6.72782838e-04 9.99938529e-01 -2.47370904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.465898227 meters 0.07024658616825863 Centerline is valid? [True, True] Translation: X:191.25, Y:6.48, Z:-2.47 [[ 9.99009818e-01 4.23972825e-02 1.34853040e-02 1.91250333e+02] [-4.24057650e-02 9.99100412e-01 3.43568793e-04 6.47598060e+00] [-1.34586064e-02 -9.15083228e-04 9.99909010e-01 -2.46989422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.495898227 meters 0.0781970738919136 Centerline is valid? [True, True] Translation: X:191.28, Y:6.49, Z:-2.47 [[ 9.98835296e-01 4.63960761e-02 1.32459993e-02 1.91279946e+02] [-4.64046090e-02 9.98922669e-01 3.37402796e-04 6.48719351e+00] [-1.32160749e-02 -9.51685243e-04 9.99912211e-01 -2.47108567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.525898227 meters 0.08136671754973904 Centerline is valid? [True, True] Translation: X:191.31, Y:6.49, Z:-2.47 [[ 9.98674279e-01 4.99757582e-02 1.23331948e-02 1.91310332e+02] [-4.99834188e-02 9.98749999e-01 3.13481682e-04 6.49254880e+00] [-1.23021118e-02 -9.29521332e-04 9.99923894e-01 -2.47308338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.555898227 meters 0.08370397574439281 Centerline is valid? [True, True] Translation: X:191.34, Y:6.50, Z:-2.47 [[ 9.98523769e-01 5.30121675e-02 1.18318439e-02 1.91341349e+02] [-5.30194259e-02 9.98593436e-01 3.00421554e-04 6.49742543e+00] [-1.17992757e-02 -9.27295633e-04 9.99929956e-01 -2.47459786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.585898227 meters 0.08646612380487101 Centerline is valid? [True, True] Translation: X:191.37, Y:6.50, Z:-2.48 [[ 9.98401622e-01 5.52228918e-02 1.20263748e-02 1.91371707e+02] [-5.52305464e-02 9.98473582e-01 3.05038513e-04 6.50329731e+00] [-1.19911724e-02 -9.68774199e-04 9.99927634e-01 -2.47565760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.615898227 meters 0.08435822170343524 Centerline is valid? [True, True] Translation: X:191.40, Y:6.51, Z:-2.47 [[ 9.98295665e-01 5.66853378e-02 1.38757827e-02 1.91402757e+02] [-5.66956685e-02 9.98391445e-01 3.51958910e-04 6.50502390e+00] [-1.38335118e-02 -1.13805583e-03 9.99903665e-01 -2.47430429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.645898227 meters 0.08979916426656737 Centerline is valid? [True, True] Translation: X:191.43, Y:6.51, Z:-2.47 [[ 9.98322963e-01 5.60135600e-02 1.46199390e-02 1.91432781e+02] [-5.60249544e-02 9.98429300e-01 3.70653825e-04 6.51421015e+00] [-1.45762138e-02 -1.18911364e-03 9.99893054e-01 -2.47461349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.675898227 meters 0.08241617529768237 Centerline is valid? [True, True] Translation: X:191.46, Y:6.51, Z:-2.48 [[ 9.98448339e-01 5.37489543e-02 1.45590072e-02 1.91463660e+02] [-5.37600116e-02 9.98553817e-01 3.68901225e-04 6.50522131e+00] [-1.45181241e-02 -1.15102121e-03 9.99893944e-01 -2.47507417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.705898227 meters 0.08398249472338315 Centerline is valid? [True, True] Translation: X:191.49, Y:6.51, Z:-2.48 [[ 9.98582868e-01 5.14694790e-02 1.35332725e-02 1.91493384e+02] [-5.14788239e-02 9.98674027e-01 3.42837577e-04 6.50855383e+00] [-1.34976820e-02 -1.03902868e-03 9.99908362e-01 -2.47705655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.735898227 meters 0.07885585878839475 Centerline is valid? [True, True] Translation: X:191.52, Y:6.51, Z:-2.48 [[ 9.98824231e-01 4.69038100e-02 1.22551433e-02 1.91522512e+02] [-4.69111325e-02 9.98899019e-01 3.10567525e-04 6.51237870e+00] [-1.22270838e-02 -8.85105019e-04 9.99924855e-01 -2.47939313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.765898227 meters 0.0833221989579411 Centerline is valid? [True, True] Translation: X:191.55, Y:6.52, Z:-2.48 [[ 9.98911535e-01 4.49392444e-02 1.24983712e-02 1.91552092e+02] [-4.49467091e-02 9.98989336e-01 3.16862761e-04 6.52185736e+00] [-1.24715000e-02 -8.78278522e-04 9.99921842e-01 -2.48080878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.795898227 meters 0.076596676451726 Centerline is valid? [True, True] Translation: X:191.58, Y:6.52, Z:-2.48 [[ 9.98975662e-01 4.32426435e-02 1.33304365e-02 1.91583431e+02] [-4.32509858e-02 9.99064181e-01 3.38018393e-04 6.51670416e+00] [-1.33033448e-02 -9.14226666e-04 9.99911089e-01 -2.47950169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.825898227 meters 0.0699713564273651 Centerline is valid? [True, True] Translation: X:191.61, Y:6.51, Z:-2.48 [[ 9.99044188e-01 4.14310573e-02 1.39347682e-02 1.91614762e+02] [-4.14399955e-02 9.99140932e-01 3.53177805e-04 6.51105900e+00] [-1.39081648e-02 -9.30296966e-04 9.99902844e-01 -2.47852495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.855898227 meters 0.07132426764288839 Centerline is valid? [True, True] Translation: X:191.65, Y:6.52, Z:-2.48 [[ 9.99103960e-01 3.99287448e-02 1.40347033e-02 1.91645714e+02] [-3.99376626e-02 9.99202110e-01 3.55600869e-04 6.51521884e+00] [-1.40093065e-02 -9.15795481e-04 9.99901445e-01 -2.47847520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.885898227 meters 0.07073301437590622 Centerline is valid? [True, True] Translation: X:191.68, Y:6.52, Z:-2.48 [[ 9.99167405e-01 3.84396919e-02 1.36706891e-02 1.91677538e+02] [-3.84480108e-02 9.99260542e-01 3.46127685e-04 6.51677709e+00] [-1.36472752e-02 -8.71450302e-04 9.99906492e-01 -2.47909421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.915898227 meters 0.07073301437590622 Centerline is valid? [True, True] Translation: X:191.71, Y:6.52, Z:-2.48 [[ 9.99161257e-01 3.85991651e-02 1.36706849e-02 1.91709282e+02] [-3.86075012e-02 9.99254393e-01 3.46296150e-04 6.51744290e+00] [-1.36471252e-02 -8.73796680e-04 9.99906492e-01 -2.47968950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.945898227 meters 0.06342282908700651 Centerline is valid? [True, True] Translation: X:191.74, Y:6.51, Z:-2.48 [[ 9.99261724e-01 3.62729318e-02 1.26602414e-02 1.91740232e+02] [-3.62798609e-02 9.99341619e-01 3.17999804e-04 6.51093732e+00] [-1.26403714e-02 -7.77076830e-04 9.99919805e-01 -2.48158466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.975898227 meters 0.0653560628148578 Centerline is valid? [True, True] Translation: X:191.77, Y:6.51, Z:-2.48 [[ 9.99277846e-01 3.56794948e-02 1.30675426e-02 1.91771323e+02] [-3.56868347e-02 9.99362968e-01 3.28867348e-04 6.51484131e+00] [-1.30474843e-02 -7.94969087e-04 9.99914562e-01 -2.48189571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.005898227 meters 0.0665800755385433 Centerline is valid? [True, True] Translation: X:191.80, Y:6.52, Z:-2.48 [[ 9.99280032e-01 3.53581177e-02 1.37557510e-02 1.91802956e+02] [-3.53661905e-02 9.99374361e-01 3.43985245e-04 6.51780353e+00] [-1.37349822e-02 -8.30226098e-04 9.99905326e-01 -2.48211241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.035898227 meters 0.06671277601821411 Centerline is valid? [True, True] Translation: X:191.84, Y:6.52, Z:-2.48 [[ 9.99271794e-01 3.54527240e-02 1.41062107e-02 1.91835059e+02] [-3.54611896e-02 9.99370993e-01 3.50380147e-04 6.51971595e+00] [-1.40849158e-02 -8.50348009e-04 9.99900441e-01 -2.48232818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.065898227 meters 0.06573198618705017 Centerline is valid? [True, True] Translation: X:191.87, Y:6.52, Z:-2.48 [[ 9.99256112e-01 3.60238827e-02 1.37659867e-02 1.91866801e+02] [-3.60319687e-02 9.99350580e-01 3.39745794e-04 6.52001781e+00] [-1.37448078e-02 -8.35508663e-04 9.99905187e-01 -2.48277948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.095898227 meters 0.06919837586683127 Centerline is valid? [True, True] Translation: X:191.90, Y:6.53, Z:-2.48 [[ 9.99198029e-01 3.80619585e-02 1.24332913e-02 1.91896311e+02] [-3.80686835e-02 9.99275079e-01 3.04586406e-04 6.52650539e+00] [-1.24126850e-02 -7.77661167e-04 9.99922657e-01 -2.48464246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.125898227 meters 0.0769718771928466 Centerline is valid? [True, True] Translation: X:191.93, Y:6.54, Z:-2.49 [[ 9.99162130e-01 3.94785304e-02 1.07928000e-02 1.91925907e+02] [-3.94836724e-02 9.99220181e-01 2.63685400e-04 6.53789063e+00] [-1.07739736e-02 -6.89603843e-04 9.99941721e-01 -2.48824986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.155898227 meters 0.07283264213857141 Centerline is valid? [True, True] Translation: X:191.96, Y:6.53, Z:-2.49 [[ 9.99103109e-01 4.13816342e-02 8.97425549e-03 1.91956981e+02] [-4.13852668e-02 9.99143239e-01 2.19367381e-04 6.53409091e+00] [-8.95748892e-03 -5.90572590e-04 9.99959706e-01 -2.49048008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.185898227 meters 0.07456766154081146 Centerline is valid? [True, True] Translation: X:191.99, Y:6.54, Z:-2.49 [[ 9.99041374e-01 4.29602653e-02 8.41122304e-03 1.91987278e+02] [-4.29635103e-02 9.99076621e-01 2.05403250e-04 6.53833928e+00] [-8.39463211e-03 -5.66582013e-04 9.99964604e-01 -2.49301693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.215898227 meters 0.07697403540377049 Centerline is valid? [True, True] Translation: X:192.02, Y:6.54, Z:-2.49 [[ 9.98902588e-01 4.57955629e-02 9.81762584e-03 1.92017343e+02] [-4.58001202e-02 9.98950595e-01 2.39751744e-04 6.54474598e+00] [-9.79634361e-03 -6.89137082e-04 9.99951777e-01 -2.49103151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.245898227 meters 0.08384303528433212 Centerline is valid? [True, True] Translation: X:192.05, Y:6.56, Z:-2.49 [[ 9.98841219e-01 4.68121057e-02 1.11734839e-02 1.92046076e+02] [-4.68180744e-02 9.98903395e-01 2.73073328e-04 6.55554489e+00] [-1.11484479e-02 -7.95877898e-04 9.99937537e-01 -2.48986215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.275898227 meters 0.0793308912137366 Centerline is valid? [True, True] Translation: X:192.08, Y:6.55, Z:-2.49 [[ 9.98794757e-01 4.76216081e-02 1.18834022e-02 1.92076178e+02] [-4.76284087e-02 9.98865081e-01 2.89765681e-04 6.55196028e+00] [-1.18561164e-02 -8.55403980e-04 9.99929348e-01 -2.48809083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.305898227 meters 0.07727065084477897 Centerline is valid? [True, True] Translation: X:192.11, Y:6.55, Z:-2.49 [[ 9.98788318e-01 4.80338947e-02 1.07070057e-02 1.92106994e+02] [-4.80394409e-02 9.98845405e-01 2.61271453e-04 6.55435652e+00] [-1.06820935e-02 -7.75313441e-04 9.99942644e-01 -2.48952314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.335898227 meters 0.07934410267281594 Centerline is valid? [True, True] Translation: X:192.14, Y:6.56, Z:-2.49 [[ 9.98814859e-01 4.75041175e-02 1.05941224e-02 1.92136358e+02] [-4.75095168e-02 9.98870752e-01 2.58423369e-04 6.56062431e+00] [-1.05698828e-02 -7.61438737e-04 9.99943847e-01 -2.49128574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.365898227 meters 0.07825817214760325 Centerline is valid? [True, True] Translation: X:192.17, Y:6.56, Z:-2.49 [[ 9.98824357e-01 4.71200588e-02 1.13843889e-02 1.92166923e+02] [-4.71262716e-02 9.98888901e-01 2.77931588e-04 6.56327736e+00] [-1.13586435e-02 -8.14108641e-04 9.99935157e-01 -2.49082607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.395898227 meters 0.07962088254789426 Centerline is valid? [True, True] Translation: X:192.20, Y:6.57, Z:-2.49 [[ 9.98803179e-01 4.72801362e-02 1.25218896e-02 1.92196559e+02] [-4.72876642e-02 9.98881266e-01 3.05631012e-04 6.56868340e+00] [-1.24934307e-02 -8.97396137e-04 9.99921551e-01 -2.48899691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.425898227 meters 0.07916512535764858 Centerline is valid? [True, True] Translation: X:192.23, Y:6.57, Z:-2.49 [[ 9.98737048e-01 4.79910566e-02 1.48716778e-02 1.92226960e+02] [-4.80017577e-02 9.98847185e-01 3.63237534e-04 6.56917335e+00] [-1.48371013e-02 -1.07664546e-03 9.99889345e-01 -2.48622533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.455898227 meters 0.08223238859903562 Centerline is valid? [True, True] Translation: X:192.26, Y:6.58, Z:-2.48 [[ 9.98653197e-01 4.91826797e-02 1.65183496e-02 1.92256717e+02] [-4.91960443e-02 9.98789060e-01 4.03457139e-04 6.58118507e+00] [-1.64785037e-02 -1.21555122e-03 9.99863481e-01 -2.48272223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.485898227 meters 0.08275280295509202 Centerline is valid? [True, True] Translation: X:192.29, Y:6.59, Z:-2.48 [[ 9.98510269e-01 5.18791459e-02 1.69055472e-02 1.92286668e+02] [-5.18935287e-02 9.98652538e-01 4.12917733e-04 6.59206725e+00] [-1.68613458e-02 -1.28959109e-03 9.99857006e-01 -2.48121126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.515898227 meters 0.07929616549345926 Centerline is valid? [True, True] Translation: X:192.32, Y:6.59, Z:-2.48 [[ 9.98459969e-01 5.31592310e-02 1.58677858e-02 1.92317066e+02] [-5.31720621e-02 9.98585290e-01 3.87538078e-04 6.59275134e+00] [-1.58247362e-02 -1.23066415e-03 9.99874024e-01 -2.48340588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.545898227 meters 0.08171499157352695 Centerline is valid? [True, True] Translation: X:192.35, Y:6.60, Z:-2.49 [[ 9.98449468e-01 5.36257243e-02 1.49312394e-02 1.92345795e+02] [-5.36371358e-02 9.98560426e-01 3.64576090e-04 6.60073644e+00] [-1.48901941e-02 -1.16487972e-03 9.99888456e-01 -2.48596044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.575898227 meters 0.08540979148020313 Centerline is valid? [True, True] Translation: X:192.37, Y:6.61, Z:-2.49 [[ 9.98472166e-01 5.33105200e-02 1.45369124e-02 1.92374679e+02] [-5.33213081e-02 9.98577344e-01 3.55276528e-04 6.61010869e+00] [-1.44972914e-02 -1.12986091e-03 9.99894270e-01 -2.48746066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.605898227 meters 0.08981992533626074 Centerline is valid? [True, True] Translation: X:192.40, Y:6.62, Z:-2.48 [[ 9.98543854e-01 5.13116860e-02 1.66518010e-02 1.92404138e+02] [-5.13255735e-02 9.98681891e-01 4.07426718e-04 6.62194969e+00] [-1.66089464e-02 -1.26149668e-03 9.99861266e-01 -2.48480758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.635898227 meters 0.08255042833749204 Centerline is valid? [True, True] Translation: X:192.43, Y:6.61, Z:-2.48 [[ 9.98598590e-01 4.98473201e-02 1.77792090e-02 1.92434366e+02] [-4.98629261e-02 9.98755976e-01 4.35279801e-04 6.61497922e+00] [-1.77353937e-02 -1.32119318e-03 9.99841843e-01 -2.48301872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.665898227 meters 0.08062473559747715 Centerline is valid? [True, True] Translation: X:192.47, Y:6.61, Z:-2.48 [[ 9.98664635e-01 4.83903248e-02 1.80920811e-02 1.92465613e+02] [-4.84062513e-02 9.98827632e-01 4.43166188e-04 6.61482335e+00] [-1.80494256e-02 -1.31834423e-03 9.99836227e-01 -2.48232323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.695898227 meters 0.07827701573503938 Centerline is valid? [True, True] Translation: X:192.50, Y:6.61, Z:-2.48 [[ 9.98716444e-01 4.75596068e-02 1.74226461e-02 1.92496135e+02] [-4.75742454e-02 9.98867614e-01 4.26467696e-04 6.61387223e+00] [-1.73826343e-02 -1.25478954e-03 9.99848123e-01 -2.48384693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.725898227 meters 0.07654973818607308 Centerline is valid? [True, True] Translation: X:192.53, Y:6.61, Z:-2.49 [[ 9.98755956e-01 4.72366575e-02 1.59761635e-02 1.92526385e+02] [-4.72489248e-02 9.98883069e-01 3.91061015e-04 6.61401413e+00] [-1.59398469e-02 -1.14543107e-03 9.99872296e-01 -2.48686626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.755898227 meters 0.08931399973328669 Centerline is valid? [True, True] Translation: X:192.56, Y:6.63, Z:-2.49 [[ 9.98726558e-01 4.85648526e-02 1.36644705e-02 1.92555014e+02] [-4.85739506e-02 9.98819533e-01 3.34527603e-04 6.63301130e+00] [-1.36320938e-02 -9.97838918e-04 9.99906581e-01 -2.49238915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.785898227 meters 0.08209375073326575 Centerline is valid? [True, True] Translation: X:192.59, Y:6.62, Z:-2.49 [[ 9.98696640e-01 4.93434054e-02 1.30479572e-02 1.92585125e+02] [-4.93517629e-02 9.98781408e-01 3.19122577e-04 6.62498114e+00] [-1.30163104e-02 -9.62646333e-04 9.99914821e-01 -2.49296933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.815898227 meters 0.08228938260266162 Centerline is valid? [True, True] Translation: X:192.62, Y:6.63, Z:-2.49 [[ 9.98667959e-01 5.00245632e-02 1.26431849e-02 1.92615113e+02] [-5.00324679e-02 9.98747544e-01 3.09497095e-04 6.62613211e+00] [-1.26118674e-02 -9.41654575e-04 9.99920024e-01 -2.49382199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.845898227 meters 0.08347015974098013 Centerline is valid? [True, True] Translation: X:192.64, Y:6.63, Z:-2.49 [[ 9.98646486e-01 5.05541971e-02 1.22257851e-02 1.92644197e+02] [-5.05616303e-02 9.98720898e-01 2.99469630e-04 6.62849178e+00] [-1.21950076e-02 -9.17219917e-04 9.99925217e-01 -2.49495169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.875898227 meters 0.08000056976433759 Centerline is valid? [True, True] Translation: X:192.67, Y:6.62, Z:-2.50 [[ 9.98627720e-01 5.13077254e-02 1.04973240e-02 1.92673312e+02] [-5.13132493e-02 9.98682574e-01 2.57391708e-04 6.62470588e+00] [-1.04702884e-02 -7.95690300e-04 9.99944868e-01 -2.49788021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.905898227 meters 0.08615167462575919 Centerline is valid? [True, True] Translation: X:192.70, Y:6.63, Z:-2.50 [[ 9.98615039e-01 5.16164990e-02 1.01853334e-02 1.92702068e+02] [-5.16217194e-02 9.98666679e-01 2.50129655e-04 6.63249581e+00] [-1.01588422e-02 -7.75567657e-04 9.99948097e-01 -2.50182308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.935898227 meters 0.080727016026816 Centerline is valid? [True, True] Translation: X:192.73, Y:6.63, Z:-2.50 [[ 9.98627124e-01 5.14529052e-02 9.82170295e-03 1.92731216e+02] [-5.14577527e-02 9.98675143e-01 2.41315456e-04 6.62753316e+00] [-9.79627421e-03 -7.46386921e-04 9.99951737e-01 -2.50150940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.965898227 meters 0.08106953358339879 Centerline is valid? [True, True] Translation: X:192.76, Y:6.63, Z:-2.50 [[ 9.98624747e-01 5.13808747e-02 1.04221459e-02 1.92760399e+02] [-5.13863347e-02 9.98678817e-01 2.56607104e-04 6.62961064e+00] [-1.03951916e-02 -7.91810083e-04 9.99945655e-01 -2.50129069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.995898227 meters 0.08199797682559426 Centerline is valid? [True, True] Translation: X:192.79, Y:6.63, Z:-2.50 [[ 9.98612661e-01 5.13547579e-02 1.16379539e-02 1.92789498e+02] [-5.13615720e-02 9.98680082e-01 2.87185617e-04 6.63297418e+00] [-1.16078444e-02 -8.84530802e-04 9.99932235e-01 -2.50074624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.025898227 meters 0.08388937308718535 Centerline is valid? [True, True] Translation: X:192.82, Y:6.64, Z:-2.50 [[ 9.98599719e-01 5.14380450e-02 1.23583512e-02 1.92817294e+02] [-5.14457420e-02 9.98675744e-01 3.05514788e-04 6.63793677e+00] [-1.23262705e-02 -9.40871527e-04 9.99923586e-01 -2.50020374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.055898227 meters 0.08378890698794758 Centerline is valid? [True, True] Translation: X:192.85, Y:6.64, Z:-2.50 [[ 9.98577706e-01 5.19273925e-02 1.20876314e-02 1.92846504e+02] [-5.19348015e-02 9.98650433e-01 2.99646482e-04 6.64169636e+00] [-1.20557585e-02 -9.26989034e-04 9.99926897e-01 -2.50013545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.085898227 meters 0.08441804417903692 Centerline is valid? [True, True] Translation: X:192.88, Y:6.65, Z:-2.50 [[ 9.98596252e-01 5.17286516e-02 1.13874070e-02 1.92875659e+02] [-5.17352173e-02 9.98660797e-01 2.82561853e-04 6.64538812e+00] [-1.13575404e-02 -8.71295184e-04 9.99935121e-01 -2.50155895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.115898227 meters 0.08496458532615603 Centerline is valid? [True, True] Translation: X:192.90, Y:6.65, Z:-2.50 [[ 9.98623549e-01 5.13528945e-02 1.06718021e-02 1.92904048e+02] [-5.13586442e-02 9.98680239e-01 2.65240278e-04 6.64923486e+00] [-1.06440970e-02 -8.12964476e-04 9.99943020e-01 -2.50308864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.145898227 meters 0.08409294760882131 Centerline is valid? [True, True] Translation: X:192.93, Y:6.65, Z:-2.50 [[ 9.98632215e-01 5.11628769e-02 1.07731007e-02 1.92932501e+02] [-5.11687306e-02 9.98689986e-01 2.68254670e-04 6.65167464e+00] [-1.07452632e-02 -8.19133645e-04 9.99941932e-01 -2.50308094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.175898227 meters 0.08337937712669417 Centerline is valid? [True, True] Translation: X:192.96, Y:6.66, Z:-2.50 [[ 9.98545032e-01 5.17143380e-02 1.52789447e-02 1.92961195e+02] [-5.17261935e-02 9.98661232e-01 3.81510848e-04 6.65717634e+00] [-1.52387601e-02 -1.17127741e-03 9.99883197e-01 -2.49635945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.205898227 meters 0.08364630800834567 Centerline is valid? [True, True] Translation: X:192.99, Y:6.66, Z:-2.49 [[ 9.98474970e-01 5.24198551e-02 1.73174307e-02 1.92990971e+02] [-5.24352075e-02 9.98624234e-01 4.33356970e-04 6.66101538e+00] [-1.72708895e-02 -1.34073916e-03 9.99849948e-01 -2.49318894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.235898227 meters 0.08878389504067911 Centerline is valid? [True, True] Translation: X:193.02, Y:6.67, Z:-2.49 [[ 9.98401663e-01 5.35288746e-02 1.81322584e-02 1.93019548e+02] [-5.35458956e-02 9.98565286e-01 4.54177621e-04 6.67092207e+00] [-1.80819321e-02 -1.42435971e-03 9.99835494e-01 -2.49231356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.265898227 meters 0.08277621776616752 Centerline is valid? [True, True] Translation: X:193.05, Y:6.67, Z:-2.49 [[ 9.98365468e-01 5.43964132e-02 1.75334521e-02 1.93048827e+02] [-5.44124724e-02 9.98518447e-01 4.39817356e-04 6.66663433e+00] [-1.74835509e-02 -1.39313694e-03 9.99846180e-01 -2.49308237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.295898227 meters 0.08649806711995783 Centerline is valid? [True, True] Translation: X:193.08, Y:6.68, Z:-2.50 [[ 9.98355641e-01 5.50965281e-02 1.58236030e-02 1.93077538e+02] [-5.51097028e-02 9.98480227e-01 3.97428263e-04 6.67528127e+00] [-1.57776578e-02 -1.26880881e-03 9.99874720e-01 -2.49641749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.325898227 meters 0.08153945035943203 Centerline is valid? [True, True] Translation: X:193.11, Y:6.67, Z:-2.50 [[ 9.98359927e-01 5.57790168e-02 1.28902167e-02 1.93106693e+02] [-5.57878198e-02 9.98442594e-01 3.24076336e-04 6.67444135e+00] [-1.28520648e-02 -1.04266191e-03 9.99916865e-01 -2.50156695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.355898227 meters 0.08131447566787281 Centerline is valid? [True, True] Translation: X:193.14, Y:6.68, Z:-2.50 [[ 9.98402497e-01 5.52210250e-02 1.19620970e-02 1.93135773e+02] [-5.52285696e-02 9.98473692e-01 3.01040430e-04 6.67670658e+00] [-1.19272154e-02 -9.61209025e-04 9.99928406e-01 -2.50407630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.385898227 meters 0.08536543049991467 Centerline is valid? [True, True] Translation: X:193.16, Y:6.68, Z:-2.51 [[ 9.98465244e-01 5.40379622e-02 1.21266167e-02 1.93164714e+02] [-5.40456381e-02 9.98538420e-01 3.05929368e-04 6.68438544e+00] [-1.20923609e-02 -9.60850578e-04 9.99926423e-01 -2.50522474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.415898227 meters 0.09317772880570455 Centerline is valid? [True, True] Translation: X:193.19, Y:6.70, Z:-2.51 [[ 9.98559335e-01 5.19959063e-02 1.32544054e-02 1.93193770e+02] [-5.20049031e-02 9.98646773e-01 3.34788806e-04 6.69645927e+00] [-1.32190616e-02 -1.02360056e-03 9.99912100e-01 -2.50543130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.445898227 meters 0.07432189198670368 Centerline is valid? [True, True] Translation: X:193.22, Y:6.67, Z:-2.50 [[ 9.98824318e-01 4.60906610e-02 1.50210495e-02 1.93224741e+02] [-4.61015564e-02 9.98936686e-01 3.79702585e-04 6.67431016e+00] [-1.49875766e-02 -1.07174993e-03 9.99887106e-01 -2.50239149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.475898227 meters 0.06878231371883672 Centerline is valid? [True, True] Translation: X:193.26, Y:6.67, Z:-2.50 [[ 9.98980686e-01 4.27122186e-02 1.46032462e-02 1.93255301e+02] [-4.27221578e-02 9.99086924e-01 3.69193521e-04 6.66746151e+00] [-1.45741433e-02 -9.92699386e-04 9.99893299e-01 -2.50363265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.505898227 meters 0.07784102110042161 Centerline is valid? [True, True] Translation: X:193.28, Y:6.68, Z:-2.51 [[ 9.99122378e-01 3.98023671e-02 1.30478079e-02 1.93283911e+02] [-3.98100539e-02 9.99207211e-01 3.29819357e-04 6.67917475e+00] [-1.30243362e-02 -8.48963836e-04 9.99914819e-01 -2.50812475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.535898227 meters 0.06785586342654332 Centerline is valid? [True, True] Translation: X:193.31, Y:6.67, Z:-2.51 [[ 9.99244273e-01 3.72240923e-02 1.11914861e-02 1.93314855e+02] [-3.72295882e-02 9.99306698e-01 2.83070841e-04 6.66573393e+00] [-1.11731900e-02 -6.99511335e-04 9.99937333e-01 -2.51105373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.565898227 meters 0.06898904864948462 Centerline is valid? [True, True] Translation: X:193.34, Y:6.67, Z:-2.51 [[ 9.99342505e-01 3.48882384e-02 9.86752955e-03 1.93344280e+02] [-3.48923975e-02 9.99391044e-01 2.49602144e-04 6.66621838e+00] [-9.85281248e-03 -5.93739795e-04 9.99951284e-01 -2.51468811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.595898227 meters 0.0748164428073678 Centerline is valid? [True, True] Translation: X:193.37, Y:6.67, Z:-2.52 [[ 9.99406835e-01 3.29989118e-02 9.85137864e-03 1.93373780e+02] [-3.30029670e-02 9.99455223e-01 2.49312008e-04 6.66814294e+00] [-9.83778481e-03 -5.74288849e-04 9.99951443e-01 -2.51843832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.625898227 meters 0.06106124055440881 Centerline is valid? [True, True] Translation: X:193.41, Y:6.65, Z:-2.51 [[ 9.99481470e-01 3.01781289e-02 1.12281706e-02 1.93405361e+02] [-3.01832221e-02 9.99544342e-01 2.84397863e-04 6.64770107e+00] [-1.12144718e-02 -6.23152761e-04 9.99936922e-01 -2.51342686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.655898227 meters 0.05751529670803114 Centerline is valid? [True, True] Translation: X:193.44, Y:6.64, Z:-2.51 [[ 9.99493136e-01 2.92674855e-02 1.25253560e-02 1.93436387e+02] [-2.92737525e-02 9.99571382e-01 3.17257949e-04 6.63955475e+00] [-1.25107020e-02 -6.83761313e-04 9.99921504e-01 -2.51086731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.685898227 meters 0.0663173579779878 Centerline is valid? [True, True] Translation: X:193.47, Y:6.65, Z:-2.51 [[ 9.99499640e-01 2.87972511e-02 1.30839196e-02 1.93466333e+02] [-2.88040502e-02 9.99585022e-01 3.31473648e-04 6.64659507e+00] [-1.30689445e-02 -7.08177669e-04 9.99914347e-01 -2.51126077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.715898227 meters 0.058779431487785805 Centerline is valid? [True, True] Translation: X:193.50, Y:6.63, Z:-2.51 [[ 9.99509987e-01 2.83177826e-02 1.33375406e-02 1.93498452e+02] [-2.83248041e-02 9.99598715e-01 3.37797947e-04 6.63231622e+00] [-1.33226228e-02 -7.15415646e-04 9.99910994e-01 -2.51048951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.745898227 meters 0.059964270069614356 Centerline is valid? [True, True] Translation: X:193.53, Y:6.62, Z:-2.51 [[ 9.99504694e-01 2.85478801e-02 1.32432870e-02 1.93530246e+02] [-2.85548235e-02 9.99592172e-01 3.35467810e-04 6.62379850e+00] [-1.32283091e-02 -7.13461374e-04 9.99912248e-01 -2.51072940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.775898227 meters 0.059964270069614356 Centerline is valid? [True, True] Translation: X:193.56, Y:6.62, Z:-2.51 [[ 9.99504031e-01 2.85710765e-02 1.32433264e-02 1.93561115e+02] [-2.85780013e-02 9.99591510e-01 3.33903886e-04 6.62453327e+00] [-1.32283767e-02 -7.12206080e-04 9.99912248e-01 -2.51130816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.805898227 meters 0.059746066083421465 Centerline is valid? [True, True] Translation: X:193.59, Y:6.62, Z:-2.51 [[ 9.99470554e-01 2.96231792e-02 1.34565608e-02 1.93592890e+02] [-2.96304290e-02 9.99560865e-01 3.39656920e-04 6.61768662e+00] [-1.34405898e-02 -7.38200758e-04 9.99909399e-01 -2.51271491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.835898227 meters 0.05897949369507521 Centerline is valid? [True, True] Translation: X:193.62, Y:6.62, Z:-2.51 [[ 9.99414518e-01 3.13357212e-02 1.37365643e-02 1.93624456e+02] [-3.13433981e-02 9.99508616e-01 3.43880451e-04 6.61581334e+00] [-1.37190386e-02 -7.74229717e-04 9.99905590e-01 -2.51086965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.865898227 meters 0.06642836464310252 Centerline is valid? [True, True] Translation: X:193.65, Y:6.62, Z:-2.51 [[ 9.99333847e-01 3.36113471e-02 1.42175964e-02 1.93653897e+02] [-3.36197971e-02 9.99434632e-01 3.55676802e-04 6.62270774e+00] [-1.41976034e-02 -8.33432573e-04 9.99898862e-01 -2.51057046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.895898227 meters 0.06993908676464243 Centerline is valid? [True, True] Translation: X:193.68, Y:6.63, Z:-2.51 [[ 9.99238449e-01 3.62626860e-02 1.44062699e-02 1.93683419e+02] [-3.62716227e-02 9.99341904e-01 3.59448610e-04 6.62521892e+00] [-1.43837546e-02 -8.81713656e-04 9.99896160e-01 -2.51044660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.925898227 meters 0.07410806757892288 Centerline is valid? [True, True] Translation: X:193.71, Y:6.63, Z:-2.51 [[ 9.99054182e-01 4.10122185e-02 1.44478139e-02 1.93714000e+02] [-4.10217036e-02 9.99158191e-01 3.60641112e-04 6.62706138e+00] [-1.44208609e-02 -9.52973949e-04 9.99895560e-01 -2.51148140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.955898227 meters 0.07479388792329524 Centerline is valid? [True, True] Translation: X:193.75, Y:6.63, Z:-2.51 [[ 9.98975763e-01 4.28862166e-02 1.44290664e-02 1.93745292e+02] [-4.28958740e-02 9.99079483e-01 3.60336028e-04 6.62723365e+00] [-1.44003308e-02 -9.78914373e-04 9.99895831e-01 -2.51216209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.985898227 meters 0.07667914125749016 Centerline is valid? [True, True] Translation: X:193.78, Y:6.63, Z:-2.51 [[ 9.98887407e-01 4.46614543e-02 1.51427195e-02 1.93775960e+02] [-4.46722876e-02 9.99001624e-01 3.77748114e-04 6.62883779e+00] [-1.51107305e-02 -1.05378775e-03 9.99885271e-01 -2.51273301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.015898227 meters 0.0799108522793327 Centerline is valid? [True, True] Translation: X:193.81, Y:6.63, Z:-2.51 [[ 9.98748717e-01 4.68338046e-02 1.75383931e-02 1.93805882e+02] [-4.68486672e-02 9.98901903e-01 4.37310483e-04 6.63188137e+00] [-1.74986534e-02 -1.25841363e-03 9.99846095e-01 -2.50949271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.045898227 meters 0.0734189746665363 Centerline is valid? [True, True] Translation: X:193.84, Y:6.62, Z:-2.51 [[ 9.98700935e-01 4.76289665e-02 1.81086689e-02 1.93837282e+02] [-4.76449278e-02 9.98864234e-01 4.50765387e-04 6.62348582e+00] [-1.80666322e-02 -1.31296604e-03 9.99835923e-01 -2.50931854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.075898227 meters 0.08120606860476416 Centerline is valid? [True, True] Translation: X:193.87, Y:6.63, Z:-2.51 [[ 9.98682334e-01 4.84669854e-02 1.68685221e-02 1.93867599e+02] [-4.84809473e-02 9.98824019e-01 4.19504777e-04 6.63364282e+00] [-1.68283529e-02 -1.23675394e-03 9.99857628e-01 -2.51140301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.105898227 meters 0.082847692827989 Centerline is valid? [True, True] Translation: X:193.90, Y:6.64, Z:-2.51 [[ 9.98650933e-01 4.96460862e-02 1.52177677e-02 1.93898479e+02] [-4.96575825e-02 9.98766230e-01 3.78292741e-04 6.63564990e+00] [-1.51802118e-02 -1.13345996e-03 9.99884132e-01 -2.51462180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.135898227 meters 0.08125313603210799 Centerline is valid? [True, True] Translation: X:193.93, Y:6.63, Z:-2.52 [[ 9.98608437e-01 5.08521179e-02 1.39732246e-02 1.93929241e+02] [-5.08619251e-02 9.98705634e-01 3.47160426e-04 6.63450145e+00] [-1.39374843e-02 -1.05738243e-03 9.99902309e-01 -2.51729054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.165898227 meters 0.08256719273658776 Centerline is valid? [True, True] Translation: X:193.96, Y:6.64, Z:-2.52 [[ 9.98540911e-01 5.21253559e-02 1.41066329e-02 1.93959016e+02] [-5.21354769e-02 9.98639960e-01 3.50421415e-04 6.63726876e+00] [-1.40691815e-02 -1.08536615e-03 9.99900435e-01 -2.51807362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.195898227 meters 0.07954290775364145 Centerline is valid? [True, True] Translation: X:193.99, Y:6.64, Z:-2.52 [[ 9.98455661e-01 5.34346858e-02 1.51995914e-02 1.93989874e+02] [-5.34465904e-02 9.98570638e-01 3.77804597e-04 6.63519058e+00] [-1.51576779e-02 -1.18958748e-03 9.99884408e-01 -2.51629470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.225898227 meters 0.08815165629340158 Centerline is valid? [True, True] Translation: X:194.02, Y:6.65, Z:-2.52 [[ 9.98300338e-01 5.59282437e-02 1.63849490e-02 1.94019023e+02] [-5.59424117e-02 9.98433914e-01 4.07274544e-04 6.64719825e+00] [-1.63365106e-02 -1.32319587e-03 9.99865675e-01 -2.51578493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.255898227 meters 0.08857506711405759 Centerline is valid? [True, True] Translation: X:194.05, Y:6.65, Z:-2.52 [[ 9.98261620e-01 5.69014275e-02 1.53611436e-02 1.94049323e+02] [-5.69139937e-02 9.98379012e-01 3.81778296e-04 6.64798764e+00] [-1.53145196e-02 -1.25537865e-03 9.99881938e-01 -2.51838549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.285898227 meters 0.09168649381102388 Centerline is valid? [True, True] Translation: X:194.08, Y:6.65, Z:-2.52 [[ 9.98269636e-01 5.71170032e-02 1.39779253e-02 1.94077981e+02] [-5.71274266e-02 9.98366835e-01 3.47238851e-04 6.65230403e+00] [-1.39352638e-02 -1.14516090e-03 9.99902244e-01 -2.52106551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.315898227 meters 0.08909448497804077 Centerline is valid? [True, True] Translation: X:194.11, Y:6.65, Z:-2.52 [[ 9.98363141e-01 5.56269067e-02 1.32922997e-02 1.94107730e+02] [-5.56362077e-02 9.98451052e-01 3.30688816e-04 6.64901243e+00] [-1.32533154e-02 -1.06968067e-03 9.99911599e-01 -2.52373452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.345898227 meters 0.08529864635528081 Centerline is valid? [True, True] Translation: X:194.14, Y:6.64, Z:-2.52 [[ 9.98443214e-01 5.41243169e-02 1.34798327e-02 1.94137368e+02] [-5.41337503e-02 9.98533637e-01 3.35661069e-04 6.64322708e+00] [-1.34418989e-02 -1.06485241e-03 9.99909087e-01 -2.52401986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.375898227 meters 0.07876869013795457 Centerline is valid? [True, True] Translation: X:194.17, Y:6.63, Z:-2.52 [[ 9.98534406e-01 5.22973292e-02 1.39294554e-02 1.94167890e+02] [-5.23072315e-02 9.98630979e-01 3.47265122e-04 6.63373738e+00] [-1.38922246e-02 -1.07536742e-03 9.99902920e-01 -2.52374904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.405898227 meters 0.08134184082710078 Centerline is valid? [True, True] Translation: X:194.20, Y:6.64, Z:-2.52 [[ 9.98604941e-01 5.08432999e-02 1.42523728e-02 1.94197719e+02] [-5.08535215e-02 9.98706059e-01 3.55458296e-04 6.63617209e+00] [-1.42158584e-02 -1.07974576e-03 9.99898367e-01 -2.52363748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.435898227 meters 0.08089979586518002 Centerline is valid? [True, True] Translation: X:194.23, Y:6.64, Z:-2.52 [[ 9.98630520e-01 5.01926162e-02 1.47575683e-02 1.94228172e+02] [-5.02035047e-02 9.98738941e-01 3.68058018e-04 6.63528959e+00] [-1.47204843e-02 -1.10843562e-03 9.99891033e-01 -2.52300010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.465898227 meters 0.08125569597874947 Centerline is valid? [True, True] Translation: X:194.26, Y:6.64, Z:-2.52 [[ 9.98597841e-01 5.06022468e-02 1.55488033e-02 1.94258767e+02] [-5.06143837e-02 9.98718195e-01 3.87791646e-04 6.63619781e+00] [-1.55092496e-02 -1.17424099e-03 9.99879035e-01 -2.52291345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.495898227 meters 0.0860968650779998 Centerline is valid? [True, True] Translation: X:194.29, Y:6.64, Z:-2.53 [[ 9.98457067e-01 5.34356614e-02 1.51034751e-02 1.94288307e+02] [-5.34474346e-02 9.98570593e-01 3.76650053e-04 6.64433354e+00] [-1.50617595e-02 -1.18331090e-03 9.99885865e-01 -2.52513963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.525898227 meters 0.08615338688942994 Centerline is valid? [True, True] Translation: X:194.32, Y:6.65, Z:-2.53 [[ 9.98411772e-01 5.46197583e-02 1.38063364e-02 1.94318739e+02] [-5.46297107e-02 9.98506623e-01 3.44466795e-04 6.64571527e+00] [-1.37669037e-02 -1.09815587e-03 9.99904629e-01 -2.52845527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.555898227 meters 0.08752258028621489 Centerline is valid? [True, True] Translation: X:194.35, Y:6.65, Z:-2.53 [[ 9.98386169e-01 5.53127639e-02 1.28668303e-02 1.94348060e+02] [-5.53214632e-02 9.98468544e-01 3.20892596e-04 6.64835971e+00] [-1.28293758e-02 -1.03218661e-03 9.99917167e-01 -2.53112224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.585898227 meters 0.0902954963495696 Centerline is valid? [True, True] Translation: X:194.38, Y:6.65, Z:-2.53 [[ 9.98398425e-01 5.49852308e-02 1.33119789e-02 1.94376229e+02] [-5.49945169e-02 9.98486601e-01 3.32250718e-04 6.65261718e+00] [-1.32735637e-02 -1.06380445e-03 9.99911336e-01 -2.53133744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.615898227 meters 0.09020886566797462 Centerline is valid? [True, True] Translation: X:194.40, Y:6.65, Z:-2.53 [[ 9.98438196e-01 5.39318879e-02 1.45780957e-02 1.94404815e+02] [-5.39429232e-02 9.98543954e-01 3.64538953e-04 6.65325365e+00] [-1.45372090e-02 -1.15035471e-03 9.99893667e-01 -2.53041175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.645898227 meters 0.08463031875076214 Centerline is valid? [True, True] Translation: X:194.44, Y:6.65, Z:-2.53 [[ 9.98599107e-01 5.02933161e-02 1.64440276e-02 1.94436046e+02] [-5.03068683e-02 9.98733723e-01 4.11271392e-04 6.64717409e+00] [-1.64025207e-02 -1.23794278e-03 9.99864703e-01 -2.52868744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.675898227 meters 0.080030230634144 Centerline is valid? [True, True] Translation: X:194.47, Y:6.64, Z:-2.53 [[ 9.98672237e-01 4.88200700e-02 1.64427717e-02 1.94466472e+02] [-4.88334192e-02 9.98806852e-01 4.11090074e-04 6.64080680e+00] [-1.64030836e-02 -1.21350100e-03 9.99864724e-01 -2.52992443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.705898227 meters 0.07003053569856169 Centerline is valid? [True, True] Translation: X:194.50, Y:6.63, Z:-2.53 [[ 9.98726398e-01 4.78328417e-02 1.60499642e-02 1.94498138e+02] [-4.78454348e-02 9.98854671e-01 4.01335101e-04 6.62921527e+00] [-1.60123847e-02 -1.16874147e-03 9.99871110e-01 -2.53035599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.735898227 meters 0.0784266743958686 Centerline is valid? [True, True] Translation: X:194.53, Y:6.64, Z:-2.53 [[ 9.98741113e-01 4.77140520e-02 1.54776724e-02 1.94528438e+02] [-4.77257425e-02 9.98860403e-01 3.86622866e-04 6.64062139e+00] [-1.54415868e-02 -1.12481956e-03 9.99880139e-01 -2.53170119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.765898227 meters 0.07963035129102926 Centerline is valid? [True, True] Translation: X:194.56, Y:6.64, Z:-2.53 [[ 9.98725965e-01 4.79295438e-02 1.57862712e-02 1.94558591e+02] [-4.79417289e-02 9.98850056e-01 3.94134276e-04 6.64317263e+00] [-1.57492272e-02 -1.15045327e-03 9.99875311e-01 -2.53199934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.795898227 meters 0.08808327927432963 Centerline is valid? [True, True] Translation: X:194.59, Y:6.66, Z:-2.53 [[ 9.98683565e-01 4.86427338e-02 1.62794912e-02 1.94587694e+02] [-4.86557830e-02 9.98815523e-01 4.06227902e-04 6.65530122e+00] [-1.62404485e-02 -1.19778452e-03 9.99867398e-01 -2.53224369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.825898227 meters 0.09323521858055761 Centerline is valid? [True, True] Translation: X:194.62, Y:6.66, Z:-2.53 [[ 9.98569801e-01 5.10346790e-02 1.59315316e-02 1.94618236e+02] [-5.10474790e-02 9.98696148e-01 3.97548624e-04 6.65981566e+00] [-1.58904705e-02 -1.21024458e-03 9.99873006e-01 -2.53338070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.855898227 meters 0.09310857523150663 Centerline is valid? [True, True] Translation: X:194.65, Y:6.66, Z:-2.54 [[ 9.98535706e-01 5.18924695e-02 1.52844875e-02 1.94647986e+02] [-5.19043488e-02 9.98651988e-01 3.81289950e-04 6.66266380e+00] [-1.52440978e-02 -1.17406300e-03 9.99883113e-01 -2.53507990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.885898227 meters 0.08356092797736497 Centerline is valid? [True, True] Translation: X:194.68, Y:6.65, Z:-2.54 [[ 9.98529876e-01 5.21642399e-02 1.47301919e-02 1.94678649e+02] [-5.21753054e-02 9.98637873e-01 3.67658066e-04 6.65041184e+00] [-1.46909489e-02 -1.13566982e-03 9.99891437e-01 -2.53604000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.915898227 meters 0.08041169883673699 Centerline is valid? [True, True] Translation: X:194.71, Y:6.65, Z:-2.54 [[ 9.98539628e-01 5.18523635e-02 1.51638625e-02 1.94709610e+02] [-5.18640546e-02 9.98654083e-01 3.78482263e-04 6.64634335e+00] [-1.51238280e-02 -1.16438893e-03 9.99884950e-01 -2.53642458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.945898227 meters 0.0823587241645447 Centerline is valid? [True, True] Translation: X:194.74, Y:6.65, Z:-2.53 [[ 9.98568007e-01 5.09767469e-02 1.62267204e-02 1.94739094e+02] [-5.09900191e-02 9.98699081e-01 4.04981467e-04 6.64857271e+00] [-1.61849661e-02 -1.23180232e-03 9.99868256e-01 -2.53499612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.975898227 meters 0.0798030784897799 Centerline is valid? [True, True] Translation: X:194.77, Y:6.64, Z:-2.53 [[ 9.98596955e-01 4.98477214e-02 1.78697233e-02 1.94769514e+02] [-4.98636425e-02 9.98755935e-01 4.46226614e-04 6.64442181e+00] [-1.78252488e-02 -1.33665003e-03 9.99840224e-01 -2.53285609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.005898227 meters 0.0779929821370987 Centerline is valid? [True, True] Translation: X:194.80, Y:6.64, Z:-2.53 [[ 9.98702059e-01 4.70608931e-02 1.94799910e-02 1.94799102e+02] [-4.70792864e-02 9.98891037e-01 4.86445248e-04 6.63819773e+00] [-1.94354959e-02 -1.40291795e-03 9.99810129e-01 -2.53102233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.035898227 meters 0.09159761405689601 Centerline is valid? [True, True] Translation: X:194.83, Y:6.65, Z:-2.53 [[ 9.98780027e-01 4.57035011e-02 1.86988551e-02 1.94828905e+02] [-4.57202157e-02 9.98954175e-01 4.67145982e-04 6.65334974e+00] [-1.86579492e-02 -1.32149177e-03 9.99825052e-01 -2.53277874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.065898227 meters 0.08130801856070852 Centerline is valid? [True, True] Translation: X:194.86, Y:6.64, Z:-2.54 [[ 9.98824833e-01 4.51219515e-02 1.76907245e-02 1.94861452e+02] [-4.51368206e-02 9.98980717e-01 4.41919441e-04 6.63845991e+00] [-1.76527524e-02 -1.23990317e-03 9.99843409e-01 -2.53522306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.095898227 meters 0.07749075032919761 Centerline is valid? [True, True] Translation: X:194.89, Y:6.63, Z:-2.54 [[ 9.98846703e-01 4.49326953e-02 1.69208856e-02 1.94893646e+02] [-4.49462288e-02 9.98989319e-01 4.20179675e-04 6.63382403e+00] [-1.68849042e-02 -1.18022508e-03 9.99856743e-01 -2.53652066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.125898227 meters 0.0804205169219952 Centerline is valid? [True, True] Translation: X:194.92, Y:6.64, Z:-2.54 [[ 9.98836944e-01 4.50721464e-02 1.71248394e-02 1.94924486e+02] [-4.50859813e-02 9.98983021e-01 4.22474125e-04 6.63589219e+00] [-1.70883820e-02 -1.19407295e-03 9.99853270e-01 -2.53666938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.155898227 meters 0.07829543951136687 Centerline is valid? [True, True] Translation: X:194.96, Y:6.63, Z:-2.53 [[ 9.98788227e-01 4.52421606e-02 1.93707125e-02 1.94956801e+02] [-4.52598329e-02 9.98975136e-01 4.74675488e-04 6.62713658e+00] [-1.93293848e-02 -1.35081550e-03 9.99812257e-01 -2.53327764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.185898227 meters 0.07892502152325556 Centerline is valid? [True, True] Translation: X:194.99, Y:6.63, Z:-2.53 [[ 9.98782313e-01 4.55416156e-02 1.89697754e-02 1.94989268e+02] [-4.55585623e-02 9.98961563e-01 4.61933042e-04 6.62549787e+00] [-1.89290393e-02 -1.32560625e-03 9.99819951e-01 -2.53426272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.215898227 meters 0.07928142090714885 Centerline is valid? [True, True] Translation: X:195.02, Y:6.62, Z:-2.54 [[ 9.98797291e-01 4.55392531e-02 1.81699923e-02 1.95021458e+02] [-4.55547510e-02 9.98961747e-01 4.39737632e-04 6.62372692e+00] [-1.81311020e-02 -1.26693823e-03 9.99834815e-01 -2.53703877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.245898227 meters 0.07922147986793066 Centerline is valid? [True, True] Translation: X:195.05, Y:6.62, Z:-2.54 [[ 9.98842642e-01 4.49428376e-02 1.71323903e-02 1.95053895e+02] [-4.49564856e-02 9.98988861e-01 4.12119712e-04 6.62117234e+00] [-1.70965452e-02 -1.18185480e-03 9.99853145e-01 -2.53959363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.275898227 meters 0.07794014019416254 Centerline is valid? [True, True] Translation: X:195.09, Y:6.62, Z:-2.54 [[ 9.98906414e-01 4.37032772e-02 1.66132569e-02 1.95085868e+02] [-4.37158941e-02 9.99043925e-01 3.96879561e-04 6.61665176e+00] [-1.65800285e-02 -1.12270892e-03 9.99861912e-01 -2.54108053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.305898227 meters 0.07777027944143043 Centerline is valid? [True, True] Translation: X:195.12, Y:6.61, Z:-2.54 [[ 9.98965466e-01 4.21817728e-02 1.69910766e-02 1.95115433e+02] [-4.21947400e-02 9.99109323e-01 4.05247711e-04 6.61324709e+00] [-1.69588490e-02 -1.12176253e-03 9.99855559e-01 -2.54079708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.335898227 meters 0.07477350750203116 Centerline is valid? [True, True] Translation: X:195.15, Y:6.60, Z:-2.54 [[ 9.99045954e-01 3.92773737e-02 1.90911057e-02 1.95146552e+02] [-3.92932215e-02 9.99227619e-01 4.55566458e-04 6.60100833e+00] [-1.90584666e-02 -1.20528287e-03 9.99817644e-01 -2.53678280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.365898227 meters 0.06810596505041654 Centerline is valid? [True, True] Translation: X:195.18, Y:6.59, Z:-2.54 [[ 9.99076484e-01 3.81564593e-02 1.97550962e-02 1.95178545e+02] [-3.81732094e-02 9.99271026e-01 4.71351746e-04 6.58852119e+00] [-1.97227101e-02 -1.22503187e-03 9.99804738e-01 -2.53617756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.395898227 meters 0.07520908928172727 Centerline is valid? [True, True] Translation: X:195.21, Y:6.59, Z:-2.54 [[ 9.99102096e-01 3.76414835e-02 1.94453361e-02 1.95209255e+02] [-3.76575941e-02 9.99290594e-01 4.62872703e-04 6.59328284e+00] [-1.94141183e-02 -1.19472166e-03 9.99810814e-01 -2.53724493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.425898227 meters 0.0767358841193187 Centerline is valid? [True, True] Translation: X:195.24, Y:6.59, Z:-2.54 [[ 9.99094290e-01 3.88782601e-02 1.72939273e-02 1.95240964e+02] [-3.88911479e-02 9.99243369e-01 4.09402843e-04 6.58789416e+00] [-1.72649253e-02 -1.08161273e-03 9.99850365e-01 -2.54168726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.455898227 meters 0.07676427787282526 Centerline is valid? [True, True] Translation: X:195.27, Y:6.58, Z:-2.54 [[ 9.99048546e-01 4.04113145e-02 1.63990531e-02 1.95271908e+02] [-4.04230689e-02 9.99182579e-01 3.85798376e-04 6.58492230e+00] [-1.63700576e-02 -1.04833136e-03 9.99865452e-01 -2.54407412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.485898227 meters 0.07151476887326412 Centerline is valid? [True, True] Translation: X:195.30, Y:6.58, Z:-2.55 [[ 9.98969133e-01 4.25989151e-02 1.56845231e-02 1.95303210e+02] [-4.26099282e-02 9.99091717e-01 3.68505457e-04 6.57509749e+00] [-1.56545792e-02 -1.03644198e-03 9.99876922e-01 -2.54510108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.515898227 meters 0.08081206507235147 Centerline is valid? [True, True] Translation: X:195.33, Y:6.58, Z:-2.55 [[ 9.98864053e-01 4.49839350e-02 1.57178184e-02 1.95332535e+02] [-4.49952863e-02 9.98987131e-01 3.69123936e-04 6.58481341e+00] [-1.56852937e-02 -1.07593237e-03 9.99876399e-01 -2.54627399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.545898227 meters 0.07655343222100694 Centerline is valid? [True, True] Translation: X:195.36, Y:6.58, Z:-2.55 [[ 9.98763797e-01 4.71024976e-02 1.58818110e-02 1.95364164e+02] [-4.71143499e-02 9.98889433e-01 3.72746650e-04 6.57712593e+00] [-1.58466159e-02 -1.12054706e-03 9.99873807e-01 -2.54577517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.575898227 meters 0.08060678844367175 Centerline is valid? [True, True] Translation: X:195.39, Y:6.58, Z:-2.55 [[ 9.98618561e-01 5.00422074e-02 1.60233206e-02 1.95393276e+02] [-5.00546406e-02 9.98746410e-01 3.75590610e-04 6.57871209e+00] [-1.59844385e-02 -1.17711331e-03 9.99871548e-01 -2.54594144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.605898227 meters 0.08291728942030605 Centerline is valid? [True, True] Translation: X:195.42, Y:6.58, Z:-2.55 [[ 9.98558425e-01 5.11580220e-02 1.62458743e-02 1.95423181e+02] [-5.11709585e-02 9.98689836e-01 3.81338701e-04 6.58021389e+00] [-1.62050810e-02 -1.21210593e-03 9.99867954e-01 -2.54702578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.635898227 meters 0.08784586924978298 Centerline is valid? [True, True] Translation: X:195.45, Y:6.59, Z:-2.55 [[ 9.98501097e-01 5.23669540e-02 1.59141921e-02 1.95452925e+02] [-5.23795040e-02 9.98627182e-01 3.72529360e-04 6.58534839e+00] [-1.58728366e-02 -1.20554846e-03 9.99873292e-01 -2.54803914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.665898227 meters 0.08711573681976392 Centerline is valid? [True, True] Translation: X:195.48, Y:6.58, Z:-2.55 [[ 9.98432678e-01 5.37109168e-02 1.57265830e-02 1.95484309e+02] [-5.37233394e-02 9.98555791e-01 3.68204262e-04 6.58342941e+00] [-1.56840940e-02 -1.21251173e-03 9.99876262e-01 -2.54901974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.695898227 meters 0.08711573681976392 Centerline is valid? [True, True] Translation: X:195.52, Y:6.58, Z:-2.55 [[ 9.98424340e-01 5.38656900e-02 1.57265818e-02 1.95516080e+02] [-5.38781325e-02 9.98547451e-01 3.68258116e-04 6.58403794e+00] [-1.56839017e-02 -1.21499673e-03 9.99876262e-01 -2.54961554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.725898227 meters 0.08824087067244278 Centerline is valid? [True, True] Translation: X:195.55, Y:6.58, Z:-2.55 [[ 9.98337979e-01 5.54424421e-02 1.57294136e-02 1.95546900e+02] [-5.54550384e-02 9.98461119e-01 3.65449982e-04 6.58481392e+00] [-1.56849465e-02 -1.23711783e-03 9.99876218e-01 -2.55018416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.755898227 meters 0.09574494803928177 Centerline is valid? [True, True] Translation: X:195.58, Y:6.59, Z:-2.55 [[ 9.98116935e-01 5.90373768e-02 1.66484666e-02 1.95576026e+02] [-5.90519810e-02 9.98254834e-01 3.86553191e-04 6.59403167e+00] [-1.65965912e-02 -1.36895022e-03 9.99861330e-01 -2.54932536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.785898227 meters 0.09670285370440053 Centerline is valid? [True, True] Translation: X:195.61, Y:6.60, Z:-2.55 [[ 9.98005633e-01 6.07818496e-02 1.70388750e-02 1.95607257e+02] [-6.07974044e-02 9.98150048e-01 3.95915151e-04 6.59615340e+00] [-1.69832895e-02 -1.43104492e-03 9.99854749e-01 -2.54844443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.815898227 meters 0.09085983059166916 Centerline is valid? [True, True] Translation: X:195.64, Y:6.59, Z:-2.55 [[ 9.97895171e-01 6.24706217e-02 1.73968122e-02 1.95638718e+02] [-6.24870868e-02 9.98045691e-01 4.03944030e-04 6.58974715e+00] [-1.73375788e-02 -1.49016991e-03 9.99848582e-01 -2.54854865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.845898227 meters 0.08530203456403875 Centerline is valid? [True, True] Translation: X:195.67, Y:6.58, Z:-2.55 [[ 9.97803247e-01 6.40295731e-02 1.69968697e-02 1.95669822e+02] [-6.40455110e-02 9.97946901e-01 3.94476737e-04 6.58328622e+00] [-1.69367152e-02 -1.48218337e-03 9.99855465e-01 -2.54897708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.875898227 meters 0.09407485479200961 Centerline is valid? [True, True] Translation: X:195.70, Y:6.60, Z:-2.55 [[ 9.97691297e-01 6.57808823e-02 1.68805294e-02 1.95698734e+02] [-6.57968475e-02 9.97832963e-01 3.91542473e-04 6.59623536e+00] [-1.68181927e-02 -1.50132414e-03 9.99857437e-01 -2.55103219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.905898227 meters 0.09438279202196727 Centerline is valid? [True, True] Translation: X:195.73, Y:6.60, Z:-2.55 [[ 9.97730579e-01 6.50524342e-02 1.73744865e-02 1.95730419e+02] [-6.50692416e-02 9.97880670e-01 4.03207685e-04 6.59786120e+00] [-1.73114346e-02 -1.53283730e-03 9.99848971e-01 -2.55155967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.935898227 meters 0.09344266816200804 Centerline is valid? [True, True] Translation: X:195.76, Y:6.60, Z:-2.55 [[ 9.97828380e-01 6.33570115e-02 1.80114682e-02 1.95761599e+02] [-6.33747885e-02 9.97989710e-01 4.17340148e-04 6.59720788e+00] [-1.79488185e-02 -1.55790683e-03 9.99837693e-01 -2.55177687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.965898227 meters 0.0872736776700444 Centerline is valid? [True, True] Translation: X:195.79, Y:6.59, Z:-2.55 [[ 9.97992921e-01 6.05502190e-02 1.85418586e-02 1.95792256e+02] [-6.05685736e-02 9.98163946e-01 4.29418545e-04 6.58895689e+00] [-1.84818134e-02 -1.55161060e-03 9.99827993e-01 -2.55197846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.995898227 meters 0.08566918550251656 Centerline is valid? [True, True] Translation: X:195.82, Y:6.59, Z:-2.55 [[ 9.98198490e-01 5.69732119e-02 1.88103086e-02 1.95821627e+02] [-5.69914713e-02 9.98374570e-01 4.35649112e-04 6.58568292e+00] [-1.87549134e-02 -1.50689145e-03 9.99822976e-01 -2.55186770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.025898227 meters 0.08330666145975489 Centerline is valid? [True, True] Translation: X:195.85, Y:6.58, Z:-2.55 [[ 9.98392522e-01 5.33520307e-02 1.91293662e-02 1.95852358e+02] [-5.33702588e-02 9.98574694e-01 4.43273269e-04 6.58160054e+00] [-1.90784515e-02 -1.46349994e-03 9.99816919e-01 -2.55197972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.055898227 meters 0.07670822875794009 Centerline is valid? [True, True] Translation: X:195.88, Y:6.57, Z:-2.55 [[ 9.98611484e-01 4.93190437e-02 1.85131454e-02 1.95883664e+02] [-4.93354234e-02 9.98782175e-01 4.28810817e-04 6.56988474e+00] [-1.84694511e-02 -1.34156927e-03 9.99828525e-01 -2.55226975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.085898227 meters 0.0815482905658293 Centerline is valid? [True, True] Translation: X:195.92, Y:6.58, Z:-2.55 [[ 9.98626582e-01 4.92016947e-02 1.80039501e-02 1.95915028e+02] [-4.92171652e-02 9.98788014e-01 4.16940736e-04 6.57543212e+00] [-1.79616154e-02 -1.30247149e-03 9.99837829e-01 -2.55331784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.115898227 meters 0.07917748056285104 Centerline is valid? [True, True] Translation: X:195.95, Y:6.57, Z:-2.55 [[ 9.98581288e-01 5.01273972e-02 1.79625967e-02 1.95946852e+02] [-5.01428972e-02 9.98741968e-01 4.13282304e-04 6.57178205e+00] [-1.79192824e-02 -1.31339262e-03 9.99838574e-01 -2.55368060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.145898227 meters 0.07630108889880914 Centerline is valid? [True, True] Translation: X:195.98, Y:6.57, Z:-2.55 [[ 9.98512814e-01 5.13507330e-02 1.83101919e-02 1.95977796e+02] [-5.13670156e-02 9.98679755e-01 4.19751482e-04 6.56772481e+00] [-1.82644635e-02 -1.35966715e-03 9.99832266e-01 -2.55433683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.175898227 meters 0.07430383381687625 Centerline is valid? [True, True] Translation: X:196.01, Y:6.56, Z:-2.55 [[ 9.98442485e-01 5.22304656e-02 1.96107852e-02 1.96010064e+02] [-5.22493073e-02 9.98633971e-01 4.49293127e-04 6.56393205e+00] [-1.95605295e-02 -1.47324329e-03 9.99807589e-01 -2.55323669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.205898227 meters 0.07784934935618086 Centerline is valid? [True, True] Translation: X:196.04, Y:6.57, Z:-2.55 [[ 9.98451683e-01 5.19004967e-02 2.00143888e-02 1.96040943e+02] [-5.19200344e-02 9.98651141e-01 4.57445579e-04 6.56787271e+00] [-1.99636505e-02 -1.49588506e-03 9.99799587e-01 -2.55328695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.235898227 meters 0.07267491458898705 Centerline is valid? [True, True] Translation: X:196.07, Y:6.56, Z:-2.56 [[ 9.98509749e-01 5.08917314e-02 1.97056770e-02 1.96072375e+02] [-5.09104199e-02 9.98703123e-01 4.47560112e-04 6.56073534e+00] [-1.96573441e-02 -1.45011743e-03 9.99805724e-01 -2.55513910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.265898227 meters 0.07525242389248017 Centerline is valid? [True, True] Translation: X:196.10, Y:6.56, Z:-2.56 [[ 9.98589091e-01 4.96471801e-02 1.88410680e-02 1.96103351e+02] [-4.96640359e-02 9.98765889e-01 4.27499010e-04 6.56351034e+00] [-1.87965919e-02 -1.36261932e-03 9.99822400e-01 -2.55668893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.295898227 meters 0.07301674765675693 Centerline is valid? [True, True] Translation: X:196.13, Y:6.56, Z:-2.56 [[ 9.98551908e-01 5.02560359e-02 1.91942266e-02 1.96134909e+02] [-5.03419460e-02 9.98723954e-01 4.01888019e-03 6.55799462e+00] [-1.89677609e-02 -4.97933520e-03 9.99807697e-01 -2.55892249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.325898227 meters 0.07579150303371528 Centerline is valid? [True, True] Translation: X:196.17, Y:6.57, Z:-2.56 [[ 9.98715280e-01 4.78352820e-02 1.67204944e-02 1.96165093e+02] [-4.77884026e-02 9.98852380e-01 -3.19233304e-03 6.56658208e+00] [-1.68540118e-02 2.38918607e-03 9.99855107e-01 -2.56131604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.355898227 meters 0.08624896640826318 Centerline is valid? [True, True] Translation: X:196.20, Y:6.58, Z:-2.56 [[ 9.98752330e-01 4.69680457e-02 1.69642827e-02 1.96195357e+02] [-4.69812727e-02 9.98895697e-01 3.81791275e-04 6.57983764e+00] [-1.69276170e-02 -1.17831852e-03 9.99856023e-01 -2.56192523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.385898227 meters 0.0737354613038895 Centerline is valid? [True, True] Translation: X:196.23, Y:6.57, Z:-2.56 [[ 9.98781215e-01 4.60728559e-02 1.77024510e-02 1.96227679e+02] [-4.60871161e-02 9.98937345e-01 3.98216094e-04 6.56518077e+00] [-1.76652924e-02 -1.21358567e-03 9.99843220e-01 -2.56091137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.415898227 meters 0.07343536191132691 Centerline is valid? [True, True] Translation: X:196.26, Y:6.57, Z:-2.56 [[ 9.98797793e-01 4.54585663e-02 1.83436191e-02 1.96260435e+02] [-4.54737635e-02 9.98965448e-01 4.11996234e-04 6.56610434e+00] [-1.83059129e-02 -1.24565432e-03 9.99831657e-01 -2.56128297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.445898227 meters 0.07229161045629495 Centerline is valid? [True, True] Translation: X:196.29, Y:6.56, Z:-2.56 [[ 9.98851026e-01 4.45711062e-02 1.76080689e-02 1.96291727e+02] [-4.45849540e-02 9.99005519e-01 3.94477124e-04 6.56455725e+00] [-1.75729757e-02 -1.17907882e-03 9.99844888e-01 -2.56329992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.475898227 meters 0.07103415807278446 Centerline is valid? [True, True] Translation: X:196.32, Y:6.57, Z:-2.57 [[ 9.98944825e-01 4.34715976e-02 1.48140497e-02 1.96322292e+02] [-4.34812744e-02 9.99054187e-01 3.31608320e-04 6.56505039e+00] [-1.47856228e-02 -9.75392174e-04 9.99890211e-01 -2.56790501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.505898227 meters 0.07246358799022272 Centerline is valid? [True, True] Translation: X:196.35, Y:6.57, Z:-2.57 [[ 9.98976207e-01 4.30235928e-02 1.39824200e-02 1.96353324e+02] [-4.30321739e-02 9.99073638e-01 3.13283611e-04 6.56793143e+00] [-1.39559886e-02 -9.14656801e-04 9.99902192e-01 -2.56967586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.535898227 meters 0.0737629499313206 Centerline is valid? [True, True] Translation: X:196.38, Y:6.57, Z:-2.57 [[ 9.98994272e-01 4.27034651e-02 1.36696473e-02 1.96384405e+02] [-4.27116102e-02 9.99087396e-01 3.04332337e-04 6.57022795e+00] [-1.36441763e-02 -8.87878909e-04 9.99906520e-01 -2.57021871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.565898227 meters 0.07488780312487614 Centerline is valid? [True, True] Translation: X:196.42, Y:6.57, Z:-2.57 [[ 9.98987304e-01 4.25116499e-02 1.47351895e-02 1.96415454e+02] [-4.25210588e-02 9.99095518e-01 3.25685763e-04 6.57243326e+00] [-1.47080163e-02 -9.51911801e-04 9.99891378e-01 -2.56913289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.595898227 meters 0.06881641044478179 Centerline is valid? [True, True] Translation: X:196.45, Y:6.56, Z:-2.57 [[ 9.98966225e-01 4.25702486e-02 1.59453934e-02 1.96448373e+02] [-4.25812302e-02 9.99092947e-01 3.49673433e-04 6.56339274e+00] [-1.59160444e-02 -1.02828642e-03 9.99872803e-01 -2.56716407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.625898227 meters 0.07136363339803437 Centerline is valid? [True, True] Translation: X:196.48, Y:6.57, Z:-2.57 [[ 9.98860622e-01 4.43535187e-02 1.76131788e-02 1.96478868e+02] [-4.43671732e-02 9.99015218e-01 3.85056916e-04 6.56673118e+00] [-1.75787550e-02 -1.16606515e-03 9.99844802e-01 -2.56544577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.655898227 meters 0.06552137590085157 Centerline is valid? [True, True] Translation: X:196.51, Y:6.55, Z:-2.57 [[ 9.98676709e-01 4.73679871e-02 2.00275888e-02 1.96507730e+02] [-4.74872331e-02 9.98856588e-01 5.52076768e-03 6.55425785e+00] [-1.97431813e-02 -6.46451688e-03 9.99784185e-01 -2.56532307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.685898227 meters 0.07362863214954193 Centerline is valid? [True, True] Translation: X:196.54, Y:6.57, Z:-2.57 [[ 9.98778621e-01 4.62849467e-02 1.72907715e-02 1.96540188e+02] [-4.62110268e-02 9.98920874e-01 -4.65067601e-03 6.56969633e+00] [-1.74873689e-02 3.84597147e-03 9.99839687e-01 -2.56692024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.715898227 meters 0.07855270081001291 Centerline is valid? [True, True] Translation: X:196.57, Y:6.57, Z:-2.57 [[ 9.98686602e-01 4.84108332e-02 1.67768589e-02 1.96569612e+02] [-4.84237581e-02 9.98826815e-01 3.64797322e-04 6.57066885e+00] [-1.67395164e-02 -1.17671675e-03 9.99859192e-01 -2.56743649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.745898227 meters 0.07918039534595915 Centerline is valid? [True, True] Translation: X:196.60, Y:6.57, Z:-2.57 [[ 9.98622064e-01 4.95885257e-02 1.71741416e-02 1.96600678e+02] [-4.96022466e-02 9.98768981e-01 3.73623483e-04 6.57013615e+00] [-1.71344725e-02 -1.22498466e-03 9.99852444e-01 -2.56706482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.775898227 meters 0.08607464644173275 Centerline is valid? [True, True] Translation: X:196.63, Y:6.58, Z:-2.57 [[ 9.98550452e-01 5.06114061e-02 1.83161296e-02 1.96630307e+02] [-5.06271800e-02 9.98717543e-01 3.98243775e-04 6.57803255e+00] [-1.82724842e-02 -1.32496049e-03 9.99832166e-01 -2.56581408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.805898227 meters 0.07733326172116269 Centerline is valid? [True, True] Translation: X:196.66, Y:6.57, Z:-2.57 [[ 9.98492339e-01 5.15555873e-02 1.88432939e-02 1.96662299e+02] [-5.15724494e-02 9.98669172e-01 4.09693236e-04 6.56647041e+00] [-1.87970948e-02 -1.38087038e-03 9.99822365e-01 -2.56541354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.835898227 meters 0.08844229538837543 Centerline is valid? [True, True] Translation: X:196.69, Y:6.58, Z:-2.57 [[ 9.98423662e-01 5.26662873e-02 1.94024226e-02 1.96692904e+02] [-5.26843175e-02 9.98611129e-01 4.18943379e-04 6.58076981e+00] [-1.93534109e-02 -1.44048637e-03 9.99811668e-01 -2.56581553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.865898227 meters 0.0750093212758199 Centerline is valid? [True, True] Translation: X:196.73, Y:6.56, Z:-2.57 [[ 9.98378208e-01 5.36049235e-02 1.91694106e-02 1.96725499e+02] [-5.36226669e-02 9.98561185e-01 4.12436584e-04 6.56401716e+00] [-1.91197207e-02 -1.43968262e-03 9.99816165e-01 -2.56691780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.895898227 meters 0.09032073792862758 Centerline is valid? [True, True] Translation: X:196.75, Y:6.58, Z:-2.57 [[ 9.98258836e-01 5.62434832e-02 1.77754332e-02 1.96754888e+02] [-5.62591406e-02 9.98416127e-01 3.81622745e-04 6.58404140e+00] [-1.77258154e-02 -1.38098888e-03 9.99841932e-01 -2.56998953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.925898227 meters 0.09105546504741754 Centerline is valid? [True, True] Translation: X:196.79, Y:6.59, Z:-2.57 [[ 9.98211096e-01 5.72385161e-02 1.72731306e-02 1.96786739e+02] [-5.72534555e-02 9.98359607e-01 3.71222201e-04 6.58625317e+00] [-1.72235477e-02 -1.35950454e-03 9.99850739e-01 -2.57073605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.955898227 meters 0.09093381102227355 Centerline is valid? [True, True] Translation: X:196.82, Y:6.59, Z:-2.57 [[ 9.98186793e-01 5.76914374e-02 1.71704677e-02 1.96818798e+02] [-5.77062256e-02 9.98333540e-01 3.66638569e-04 6.58796332e+00] [-1.71207019e-02 -1.35681666e-03 9.99852509e-01 -2.57130282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.985898227 meters 0.08490587100764159 Centerline is valid? [True, True] Translation: X:196.85, Y:6.58, Z:-2.57 [[ 9.98178912e-01 5.79344883e-02 1.68063963e-02 1.96852430e+02] [-5.79486493e-02 9.98319501e-01 3.56429022e-04 6.57990174e+00] [-1.67575037e-02 -1.32968790e-03 9.99858699e-01 -2.57235619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.015898227 meters 0.08382986655870708 Centerline is valid? [True, True] Translation: X:196.88, Y:6.58, Z:-2.57 [[ 9.98179687e-01 5.83224472e-02 1.53559557e-02 1.96883758e+02] [-5.83342712e-02 9.98297054e-01 3.22829255e-04 6.58469829e+00] [-1.53109771e-02 -1.21802009e-03 9.99882038e-01 -2.57447645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.045898227 meters 0.07941772314284173 Centerline is valid? [True, True] Translation: X:196.91, Y:6.58, Z:-2.58 [[ 9.98228530e-01 5.75168323e-02 1.52189248e-02 1.96914994e+02] [-5.75283305e-02 9.98343823e-01 3.18457142e-04 6.58017071e+00] [-1.51754029e-02 -1.19341234e-03 9.99884135e-01 -2.57508159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.075898227 meters 0.08312415043493153 Centerline is valid? [True, True] Translation: X:196.95, Y:6.59, Z:-2.57 [[ 9.98285271e-01 5.63678962e-02 1.57853958e-02 1.96945009e+02] [-5.63801172e-02 9.98409322e-01 3.29892480e-04 6.58613134e+00] [-1.57416909e-02 -1.21930927e-03 9.99875348e-01 -2.57483192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.105898227 meters 0.07960385608639163 Centerline is valid? [True, True] Translation: X:196.98, Y:6.58, Z:-2.57 [[ 9.98407502e-01 5.40898469e-02 1.60233911e-02 1.96975683e+02] [-5.41021440e-02 9.98535350e-01 3.34648839e-04 6.58279912e+00] [-1.59818213e-02 -1.20101572e-03 9.99871561e-01 -2.57428806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.135898227 meters 0.08128081854113059 Centerline is valid? [True, True] Translation: X:197.00, Y:6.58, Z:-2.58 [[ 9.98319590e-01 5.44615935e-02 1.97972656e-02 1.97002445e+02] [-5.46931140e-02 9.98438734e-01 1.13471570e-02 6.57851179e+00] [-1.91483725e-02 -1.24108632e-02 9.99739621e-01 -2.57532418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.165898227 meters 0.07733480387247205 Centerline is valid? [True, True] Translation: X:197.04, Y:6.58, Z:-2.58 [[ 9.98640361e-01 4.94931677e-02 1.63662851e-02 1.97037427e+02] [-4.93241522e-02 9.98726843e-01 -1.05745395e-02 6.58455011e+00] [-1.68688157e-02 9.75290883e-03 9.99810144e-01 -2.57534810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.195898227 meters 0.07089196410880395 Centerline is valid? [True, True] Translation: X:197.07, Y:6.57, Z:-2.58 [[ 9.98832971e-01 4.55499582e-02 1.60591563e-02 1.97068827e+02] [-4.55611936e-02 9.98961494e-01 3.34267063e-04 6.56881670e+00] [-1.60272529e-02 -1.06555129e-03 9.99870988e-01 -2.57566488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.225898227 meters 0.07355787165049851 Centerline is valid? [True, True] Translation: X:197.10, Y:6.57, Z:-2.58 [[ 9.98848448e-01 4.51333588e-02 1.62713790e-02 1.97100019e+02] [-4.51448418e-02 9.98980394e-01 3.38916869e-04 6.57082782e+00] [-1.62394921e-02 -1.07309542e-03 9.99867555e-01 -2.57649836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.255898227 meters 0.07155141492622577 Centerline is valid? [True, True] Translation: X:197.13, Y:6.57, Z:-2.58 [[ 9.98841585e-01 4.53374316e-02 1.61246613e-02 1.97132785e+02] [-4.53486983e-02 9.98971163e-01 3.33583967e-04 6.56666493e+00] [-1.60929478e-02 -1.06442994e-03 9.99869934e-01 -2.57721725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.285898227 meters 0.07260460485686367 Centerline is valid? [True, True] Translation: X:197.16, Y:6.56, Z:-2.58 [[ 9.98751719e-01 4.73027643e-02 1.60453395e-02 1.97164064e+02] [-4.73141193e-02 9.98880006e-01 3.28593685e-04 6.56205995e+00] [-1.60118254e-02 -1.08735461e-03 9.99871211e-01 -2.57785049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.315898227 meters 0.0724873513728321 Centerline is valid? [True, True] Translation: X:197.19, Y:6.56, Z:-2.58 [[ 9.98682011e-01 4.87433295e-02 1.60725977e-02 1.97194734e+02] [-4.87549057e-02 9.98810718e-01 3.28968445e-04 6.55927218e+00] [-1.60374478e-02 -1.11215285e-03 9.99870773e-01 -2.57819361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.345898227 meters 0.07615208509541041 Centerline is valid? [True, True] Translation: X:197.22, Y:6.56, Z:-2.58 [[ 9.98605804e-01 5.03179718e-02 1.59546303e-02 1.97224461e+02] [-5.03295753e-02 9.98732611e-01 3.26340975e-04 6.56232851e+00] [-1.59179888e-02 -1.12887576e-03 9.99872664e-01 -2.57902256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.375898227 meters 0.08400184770556247 Centerline is valid? [True, True] Translation: X:197.25, Y:6.57, Z:-2.58 [[ 9.98508353e-01 5.23132708e-02 1.56330114e-02 1.97254259e+02] [-5.23246542e-02 9.98630076e-01 3.19755105e-04 6.57164353e+00] [-1.55948679e-02 -1.13727006e-03 9.99877746e-01 -2.58033318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.405898227 meters 0.0785436668056765 Centerline is valid? [True, True] Translation: X:197.28, Y:6.56, Z:-2.58 [[ 9.98373992e-01 5.47883268e-02 1.57356651e-02 1.97284789e+02] [-5.48001667e-02 9.98497290e-01 3.21906499e-04 6.56429246e+00] [-1.56943822e-02 -1.18370015e-03 9.99876135e-01 -2.58104900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.435898227 meters 0.09077130540526059 Centerline is valid? [True, True] Translation: X:197.31, Y:6.58, Z:-2.58 [[ 9.98091983e-01 5.98339336e-02 1.52411617e-02 1.97314127e+02] [-5.98456251e-02 9.98207596e-01 3.11762704e-04 6.57582556e+00] [-1.51951893e-02 -1.22328470e-03 9.99883798e-01 -2.58286463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.465898227 meters 0.08381574042316906 Centerline is valid? [True, True] Translation: X:197.34, Y:6.57, Z:-2.58 [[ 9.97960202e-01 6.20030637e-02 1.52004724e-02 1.97344829e+02] [-6.20149418e-02 9.98075173e-01 3.10872708e-04 6.56920554e+00] [-1.51519390e-02 -1.25289500e-03 9.99884418e-01 -2.58298671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.495898227 meters 0.08874114216679185 Centerline is valid? [True, True] Translation: X:197.37, Y:6.58, Z:-2.58 [[ 9.97902084e-01 6.30850143e-02 1.45502876e-02 1.97374330e+02] [-6.30960115e-02 9.98007417e-01 2.97538302e-04 6.57588043e+00] [-1.45025247e-02 -1.21497920e-03 9.99894095e-01 -2.58465398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.525898227 meters 0.09481368502608253 Centerline is valid? [True, True] Translation: X:197.41, Y:6.58, Z:-2.59 [[ 9.97894771e-01 6.33616594e-02 1.38320844e-02 1.97405109e+02] [-6.33716298e-02 9.97989958e-01 2.83270020e-04 6.58425606e+00] [-1.37863328e-02 -1.15923540e-03 9.99904292e-01 -2.58733235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.555898227 meters 0.08922692999112522 Centerline is valid? [True, True] Translation: X:197.44, Y:6.58, Z:-2.59 [[ 9.97921677e-01 6.30042158e-02 1.35202012e-02 1.97437299e+02] [-6.30136989e-02 9.98012624e-01 2.76126714e-04 6.57738219e+00] [-1.34759343e-02 -1.12751072e-03 9.99908560e-01 -2.58788884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.585898227 meters 0.08922692999112522 Centerline is valid? [True, True] Translation: X:197.47, Y:6.58, Z:-2.59 [[ 9.97910330e-01 6.31836732e-02 1.35202417e-02 1.97469919e+02] [-6.31931457e-02 9.98001278e-01 2.74125007e-04 6.57787481e+00] [-1.34758983e-02 -1.12793878e-03 9.99908560e-01 -2.58849929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.615898227 meters 0.08732226052002727 Centerline is valid? [True, True] Translation: X:197.50, Y:6.58, Z:-2.59 [[ 9.98021501e-01 6.11536780e-02 1.46052012e-02 1.97500717e+02] [-6.11644633e-02 9.98127659e-01 2.92494998e-04 6.57570856e+00] [-1.45599681e-02 -1.18523559e-03 9.99893296e-01 -2.58732945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.645898227 meters 0.09139003487388953 Centerline is valid? [True, True] Translation: X:197.53, Y:6.58, Z:-2.59 [[ 9.98073115e-01 6.02164798e-02 1.49677412e-02 1.97531551e+02] [-6.02277032e-02 9.98184619e-01 2.99806248e-04 6.58210011e+00] [-1.49225158e-02 -1.20070123e-03 9.99887932e-01 -2.58720065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.675898227 meters 0.0920643597567644 Centerline is valid? [True, True] Translation: X:197.56, Y:6.58, Z:-2.59 [[ 9.98115185e-01 5.95356742e-02 1.48856286e-02 1.97562358e+02] [-5.95466947e-02 9.98225477e-01 2.97829509e-04 6.58474036e+00] [-1.48414822e-02 -1.18365813e-03 9.99889159e-01 -2.58763624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.705898227 meters 0.09161935364085338 Centerline is valid? [True, True] Translation: X:197.59, Y:6.59, Z:-2.59 [[ 9.98096983e-01 5.98941302e-02 1.46665066e-02 1.97594270e+02] [-5.99048701e-02 9.98204047e-01 2.93657082e-04 6.58758909e+00] [-1.46225780e-02 -1.17169342e-03 9.99892398e-01 -2.58777637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.735898227 meters 0.09262918644292469 Centerline is valid? [True, True] Translation: X:197.63, Y:6.59, Z:-2.59 [[ 9.98041754e-01 6.06330304e-02 1.53718390e-02 1.97625940e+02] [-6.06448769e-02 9.98159359e-01 3.05269375e-04 6.59081767e+00] [-1.53250356e-02 -1.23689487e-03 9.99881800e-01 -2.58714432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.765898227 meters 0.08726074972129519 Centerline is valid? [True, True] Translation: X:197.66, Y:6.59, Z:-2.59 [[ 9.97972927e-01 6.14703645e-02 1.64751942e-02 1.97658006e+02] [-6.14840418e-02 9.98108014e-01 3.24467820e-04 6.58645300e+00] [-1.64240782e-02 -1.33677163e-03 9.99864222e-01 -2.58572135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.795898227 meters 0.08570696664025007 Centerline is valid? [True, True] Translation: X:197.69, Y:6.59, Z:-2.58 [[ 9.97912701e-01 6.21835196e-02 1.74198701e-02 1.97690040e+02] [-6.21989042e-02 9.98063715e-01 3.42246683e-04 6.58765239e+00] [-1.73648582e-02 -1.42502915e-03 9.99848204e-01 -2.58489881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.825898227 meters 0.09210271883270355 Centerline is valid? [True, True] Translation: X:197.72, Y:6.60, Z:-2.59 [[ 9.97842973e-01 6.32097468e-02 1.77180267e-02 1.97721250e+02] [-6.32258106e-02 9.97999186e-01 3.47384842e-04 6.59918443e+00] [-1.76606182e-02 -1.46687213e-03 9.99842963e-01 -2.58565650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.855898227 meters 0.0942596195446474 Centerline is valid? [True, True] Translation: X:197.75, Y:6.61, Z:-2.59 [[ 9.97817493e-01 6.38956728e-02 1.66611606e-02 1.97752537e+02] [-6.39099338e-02 9.97955618e-01 3.24362131e-04 6.60521167e+00] [-1.66063735e-02 -1.38846788e-03 9.99861141e-01 -2.58865228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.885898227 meters 0.08805594445445822 Centerline is valid? [True, True] Translation: X:197.78, Y:6.60, Z:-2.60 [[ 9.97901196e-01 6.33528550e-02 1.34021961e-02 1.97784307e+02] [-6.33620161e-02 9.97990575e-01 2.59617517e-04 6.60176560e+00] [-1.33588179e-02 -1.10826279e-03 9.99910153e-01 -2.59527680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.915898227 meters 0.09072428708633228 Centerline is valid? [True, True] Translation: X:197.81, Y:6.61, Z:-2.60 [[ 9.97967568e-01 6.23536741e-02 1.31435584e-02 1.97814658e+02] [-6.23623619e-02 9.98053542e-01 2.51785508e-04 6.60664720e+00] [-1.31022753e-02 -1.07093712e-03 9.99913588e-01 -2.59672636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.945898227 meters 0.0855704033925146 Centerline is valid? [True, True] Translation: X:197.85, Y:6.60, Z:-2.60 [[ 9.98042827e-01 6.10046903e-02 1.37456633e-02 1.97845292e+02] [-6.10140623e-02 9.98136872e-01 2.63098144e-04 6.60162149e+00] [-1.37040031e-02 -1.10126197e-03 9.99905489e-01 -2.59605867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.975898227 meters 0.08300355045984467 Centerline is valid? [True, True] Translation: X:197.88, Y:6.60, Z:-2.60 [[ 9.98123242e-01 5.94773690e-02 1.45751777e-02 1.97876419e+02] [-5.94877453e-02 9.98228997e-01 2.79022285e-04 6.59984408e+00] [-1.45327695e-02 -1.14554309e-03 9.99893738e-01 -2.59526594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.005898227 meters 0.08333491613267038 Centerline is valid? [True, True] Translation: X:197.91, Y:6.60, Z:-2.60 [[ 9.98204186e-01 5.80120866e-02 1.49331946e-02 1.97905734e+02] [-5.80228121e-02 9.98315217e-01 2.85616174e-04 6.60181107e+00] [-1.48914662e-02 -1.15156921e-03 9.99888453e-01 -2.59541991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.035898227 meters 0.08326581124983802 Centerline is valid? [True, True] Translation: X:197.94, Y:6.60, Z:-2.60 [[ 9.98262868e-01 5.69479878e-02 1.51053862e-02 1.97935844e+02] [-5.69588448e-02 9.98376485e-01 2.89162716e-04 6.60251776e+00] [-1.50643952e-02 -1.14904575e-03 9.99885865e-01 -2.59580955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.065898227 meters 0.0814137575141022 Centerline is valid? [True, True] Translation: X:197.97, Y:6.60, Z:-2.60 [[ 9.98367180e-01 5.51716030e-02 1.48009525e-02 1.97966286e+02] [-5.51818296e-02 9.98476282e-01 2.83127838e-04 6.59946046e+00] [-1.47627794e-02 -1.09940918e-03 9.99890420e-01 -2.59688952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.095898227 meters 0.08127558872044376 Centerline is valid? [True, True] Translation: X:198.00, Y:6.60, Z:-2.60 [[ 9.98386751e-01 5.49736285e-02 1.42054773e-02 1.97998919e+02] [-5.49830323e-02 9.98487252e-01 2.71988761e-04 6.59855220e+00] [-1.41690358e-02 -1.05261019e-03 9.99899060e-01 -2.59835181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.125898227 meters 0.08286632888837589 Centerline is valid? [True, True] Translation: X:198.03, Y:6.60, Z:-2.60 [[ 9.98378159e-01 5.52250194e-02 1.38292749e-02 1.98029662e+02] [-5.52339513e-02 9.98473405e-01 2.64471243e-04 6.59905734e+00] [-1.37935578e-02 -1.02788781e-03 9.99904336e-01 -2.59977258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.155898227 meters 0.08325130354245816 Centerline is valid? [True, True] Translation: X:198.06, Y:6.60, Z:-2.60 [[ 9.98361767e-01 5.55482958e-02 1.37174400e-02 1.98061530e+02] [-5.55570880e-02 9.98455478e-01 2.60423619e-04 6.59849490e+00] [-1.36817870e-02 -1.02209801e-03 9.99905878e-01 -2.60044036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.185898227 meters 0.0851405025353741 Centerline is valid? [True, True] Translation: X:198.09, Y:6.60, Z:-2.60 [[ 9.98311477e-01 5.60108545e-02 1.53941448e-02 1.98092479e+02] [-5.60219398e-02 9.98429496e-01 2.89475100e-04 6.59831506e+00] [-1.53537545e-02 -1.15139617e-03 9.99881461e-01 -2.59787281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.215898227 meters 0.08082390066520062 Centerline is valid? [True, True] Translation: X:198.12, Y:6.59, Z:-2.60 [[ 9.98263029e-01 5.65174011e-02 1.66345340e-02 1.98124427e+02] [-5.65303725e-02 9.98400832e-01 3.10233549e-04 6.59163670e+00] [-1.65903990e-02 -1.25005108e-03 9.99861588e-01 -2.59610167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.245898227 meters 0.07085907472148159 Centerline is valid? [True, True] Translation: X:198.16, Y:6.58, Z:-2.60 [[ 9.98234246e-01 5.68701838e-02 1.71514542e-02 1.98156777e+02] [-5.68839783e-02 9.98380745e-01 3.17095711e-04 6.57730670e+00] [-1.71056484e-02 -1.29217875e-03 9.99852853e-01 -2.59501388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.275898227 meters 0.08953940698284156 Centerline is valid? [True, True] Translation: X:198.19, Y:6.60, Z:-2.60 [[ 9.98181330e-01 5.76662480e-02 1.75680659e-02 1.98187663e+02] [-5.76807902e-02 9.98335025e-01 3.21763210e-04 6.59994052e+00] [-1.75202607e-02 -1.33451795e-03 9.99845618e-01 -2.59560837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.305898227 meters 0.08006153034796298 Centerline is valid? [True, True] Translation: X:198.22, Y:6.59, Z:-2.60 [[ 9.98136183e-01 5.84289347e-02 1.76130566e-02 1.98220302e+02] [-5.84436192e-02 9.98290660e-01 3.19722612e-04 6.58654520e+00] [-1.75642689e-02 -1.34849748e-03 9.99844827e-01 -2.59625369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.335898227 meters 0.08169789741605608 Centerline is valid? [True, True] Translation: X:198.25, Y:6.59, Z:-2.60 [[ 9.98061264e-01 5.97264892e-02 1.75060176e-02 1.98250231e+02] [-5.97411805e-02 9.98213850e-01 3.16995555e-04 6.58789966e+00] [-1.74558162e-02 -1.36221114e-03 9.99846708e-01 -2.59675783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.365898227 meters 0.07877959112829985 Centerline is valid? [True, True] Translation: X:198.28, Y:6.58, Z:-2.60 [[ 9.97813820e-01 6.35331317e-02 1.81967653e-02 1.98280921e+02] [-6.35496151e-02 9.97978626e-01 3.28450850e-04 6.58347492e+00] [-1.81391153e-02 -1.48413023e-03 9.99834371e-01 -2.59697498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.395898227 meters 0.08951316057143398 Centerline is valid? [True, True] Translation: X:198.31, Y:6.60, Z:-2.60 [[ 9.97657392e-01 6.59613501e-02 1.81336087e-02 1.98309725e+02] [-6.59781177e-02 9.97821016e-01 3.27313406e-04 6.59754439e+00] [-1.80725058e-02 -1.52296801e-03 9.99835519e-01 -2.59777486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.425898227 meters 0.10607837484994373 Centerline is valid? [True, False] Translation: X:198.31, Y:6.60, Z:-2.60 [[ 9.98230177e-01 5.69599811e-02 1.70901647e-02 1.98310831e+02] [-5.71477222e-02 9.98308335e-01 1.07053949e-02 6.59751328e+00] [-1.64514747e-02 -1.16631123e-02 9.99796640e-01 -2.59809123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.455898227 meters 0.09156279316804734 Centerline is valid? [False, True] Translation: X:198.31, Y:6.60, Z:-2.60 [[ 9.98755995e-01 4.67090433e-02 1.74564359e-02 1.98311323e+02] [-4.70452026e-02 9.98704943e-01 1.93696872e-02 6.59967560e+00] [-1.65290893e-02 -2.01668328e-02 9.99659986e-01 -2.59928968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.485898227 meters 0.09630707762865263 Centerline is valid? [True, True] Translation: X:198.34, Y:6.62, Z:-2.60 [[ 9.98614577e-01 4.97361008e-02 1.71827567e-02 1.98340153e+02] [-4.97558720e-02 9.98761147e-01 7.24797914e-04 6.62008705e+00] [-1.71254211e-02 -1.57873680e-03 9.99852103e-01 -2.60123341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.515898227 meters 0.09631289220646057 Centerline is valid? [True, True] Translation: X:198.37, Y:6.63, Z:-2.60 [[ 9.98372928e-01 5.42934584e-02 1.74275049e-02 1.98370339e+02] [-5.43144865e-02 9.98523608e-01 7.35216168e-04 6.62796098e+00] [-1.73618576e-02 -1.68058590e-03 9.99847859e-01 -2.60208799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.545898227 meters 0.10139726599208672 Centerline is valid? [True, False] Translation: X:198.37, Y:6.63, Z:-2.60 [[ 9.98866391e-01 4.48117843e-02 1.60573224e-02 1.98369556e+02] [-4.49806528e-02 9.98934611e-01 1.03142993e-02 6.63085944e+00] [-1.55780130e-02 -1.10248758e-02 9.99817872e-01 -2.60059556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.575898227 meters 0.10246178991573207 Centerline is valid? [False, False] Translation: X:198.37, Y:6.63, Z:-2.60 [[ 9.99328528e-01 3.39556512e-02 1.37661807e-02 1.98369961e+02] [-3.42023135e-02 9.99251069e-01 1.80970175e-02 6.63495926e+00] [-1.31413747e-02 -1.85557011e-02 9.99741462e-01 -2.59970644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.605898227 meters 0.09197336178150882 Centerline is valid? [False, True] Translation: X:198.33, Y:6.64, Z:-2.60 [[ 9.99568190e-01 2.64869681e-02 1.27230012e-02 1.98331421e+02] [-2.66162502e-02 9.99594683e-01 1.01017449e-02 6.64095189e+00] [-1.24502798e-02 -1.04360214e-02 9.99868031e-01 -2.60324128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.635898227 meters 0.097114892988807 Centerline is valid? [True, True] Translation: X:198.36, Y:6.66, Z:-2.61 [[ 9.99730140e-01 2.04174954e-02 1.10803201e-02 1.98359970e+02] [-2.04272722e-02 9.99791045e-01 7.69889251e-04 6.65740335e+00] [-1.10622856e-02 -9.96022203e-04 9.99938315e-01 -2.60831017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.665898227 meters 0.0924188823566823 Centerline is valid? [True, True] Translation: X:198.39, Y:6.66, Z:-2.61 [[ 9.99815376e-01 1.61237874e-02 1.04517151e-02 1.98391028e+02] [-1.61322554e-02 9.99869603e-01 7.26400647e-04 6.65636505e+00] [-1.04386399e-02 -8.94876274e-04 9.99945115e-01 -2.60935586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.695898227 meters 0.0844305384456992 Centerline is valid? [True, True] Translation: X:198.42, Y:6.65, Z:-2.61 [[ 9.99880558e-01 1.12154122e-02 1.06341033e-02 1.98422447e+02] [-1.12239031e-02 9.99936737e-01 7.39117701e-04 6.65014145e+00] [-1.06251411e-02 -8.58385565e-04 9.99943183e-01 -2.60876562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.725898227 meters 0.07521560308192504 Centerline is valid? [True, True] Translation: X:198.45, Y:6.64, Z:-2.61 [[ 9.99908161e-01 6.80027697e-03 1.17228820e-02 1.98453341e+02] [-6.81029217e-03 9.99976478e-01 8.14620968e-04 6.64273521e+00] [-1.17170666e-02 -8.94382405e-04 9.99930953e-01 -2.60718531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.755898227 meters 0.07881683121893991 Centerline is valid? [True, True] Translation: X:198.48, Y:6.65, Z:-2.61 [[ 9.99907877e-01 3.33433876e-03 1.31574692e-02 1.98481972e+02] [-3.34665576e-03 9.99993982e-01 9.14215545e-04 6.65172206e+00] [-1.31543417e-02 -9.58164845e-04 9.99913019e-01 -2.60595193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.785898227 meters 0.08047079313546046 Centerline is valid? [True, True] Translation: X:198.51, Y:6.66, Z:-2.61 [[ 9.99898556e-01 1.08491688e-03 1.42021559e-02 1.98511438e+02] [-1.09904488e-03 9.99998909e-01 9.87011851e-04 6.65512309e+00] [-1.42010696e-02 -1.00252053e-03 9.99898657e-01 -2.60541789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.815898227 meters 0.07037367449277813 Centerline is valid? [True, True] Translation: X:198.54, Y:6.65, Z:-2.61 [[ 9.99912454e-01 -9.26729875e-04 1.31994431e-02 1.98542336e+02] [ 9.14699518e-04 9.99999161e-01 9.17436983e-04 6.64874063e+00] [-1.32002822e-02 -9.05283141e-04 9.99912463e-01 -2.60773619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.845898227 meters 0.07053241917291662 Centerline is valid? [True, True] Translation: X:198.57, Y:6.65, Z:-2.61 [[ 9.99935963e-01 -7.91779238e-04 1.12890983e-02 1.98574071e+02] [ 7.82968235e-04 9.99999385e-01 7.84886028e-04 6.65142078e+00] [-1.12897128e-02 -7.75996761e-04 9.99935968e-01 -2.61107310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.875898227 meters 0.07323181339790813 Centerline is valid? [True, True] Translation: X:198.61, Y:6.66, Z:-2.61 [[ 9.99951122e-01 -2.81673843e-04 9.88305220e-03 1.98605220e+02] [ 2.74900646e-04 9.99999726e-01 6.86686261e-04 6.65717487e+00] [-9.88324292e-03 -6.83935840e-04 9.99950926e-01 -2.61396464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.905898227 meters 0.07311598984218816 Centerline is valid? [True, True] Translation: X:198.64, Y:6.66, Z:-2.61 [[ 9.99953055e-01 1.22606136e-04 9.68876669e-03 1.98637238e+02] [-1.29132052e-04 9.99999765e-01 6.72932206e-04 6.65926736e+00] [-9.68868191e-03 -6.74151746e-04 9.99952836e-01 -2.61461022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.935898227 meters 0.07491686287692247 Centerline is valid? [True, True] Translation: X:198.67, Y:6.66, Z:-2.61 [[ 9.99940545e-01 7.00112111e-05 1.09041657e-02 1.98667780e+02] [-7.82701653e-05 9.99999710e-01 7.56987847e-04 6.66320106e+00] [-1.09041095e-02 -7.57796312e-04 9.99940261e-01 -2.61360981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.965898227 meters 0.07414039911251662 Centerline is valid? [True, True] Translation: X:198.70, Y:6.66, Z:-2.61 [[ 9.99916943e-01 -6.90726646e-04 1.28697077e-02 1.98699388e+02] [ 6.79306014e-04 9.99999372e-01 8.91754442e-04 6.66344450e+00] [-1.28703156e-02 -8.82937906e-04 9.99916784e-01 -2.61092810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.995898227 meters 0.07313299069464013 Centerline is valid? [True, True] Translation: X:198.73, Y:6.66, Z:-2.61 [[ 9.99878935e-01 -3.36580292e-03 1.51916676e-02 1.98729171e+02] [ 3.35020313e-03 9.99993834e-01 1.05219694e-03 6.66055885e+00] [-1.51951154e-02 -1.00117438e-03 9.99884046e-01 -2.60839453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.025898227 meters 0.07148738924470764 Centerline is valid? [True, True] Translation: X:198.76, Y:6.66, Z:-2.61 [[ 9.99875461e-01 -4.49716646e-03 1.51273703e-02 1.98760594e+02] [ 4.48182441e-03 9.99989407e-01 1.04793943e-03 6.65830127e+00] [-1.51319229e-02 -9.80010702e-04 9.99885026e-01 -2.60880902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.055898227 meters 0.07169705900433263 Centerline is valid? [True, True] Translation: X:198.79, Y:6.66, Z:-2.61 [[ 9.99862401e-01 -4.96044828e-03 1.58295204e-02 1.98791668e+02] [ 4.94371247e-03 9.99987179e-01 1.09620897e-03 6.65651912e+00] [-1.58347551e-02 -1.01780154e-03 9.99874104e-01 -2.60790927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.085898227 meters 0.0748732165413149 Centerline is valid? [True, True] Translation: X:198.82, Y:6.66, Z:-2.61 [[ 9.99861564e-01 -3.68896381e-03 1.62248005e-02 1.98821966e+02] [ 3.67122404e-03 9.99992630e-01 1.12302223e-03 6.66111708e+00] [-1.62288237e-02 -1.06330188e-03 9.99867739e-01 -2.60699472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.115898227 meters 0.07716915701695225 Centerline is valid? [True, True] Translation: X:198.85, Y:6.67, Z:-2.61 [[ 9.99868687e-01 -1.74840220e-03 1.61106212e-02 1.98852633e+02] [ 1.73066334e-03 9.99997881e-01 1.11494187e-03 6.66505951e+00] [-1.61125364e-02 -1.08691340e-03 9.99869594e-01 -2.60718864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.145898227 meters 0.07988995962711781 Centerline is valid? [True, True] Translation: X:198.88, Y:6.67, Z:-2.61 [[ 9.99881623e-01 6.24484807e-04 1.53736567e-02 1.98883223e+02] [-6.40911431e-04 9.99999229e-01 1.06358799e-03 6.66962854e+00] [-1.53729807e-02 -1.07331524e-03 9.99881253e-01 -2.60824485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.175898227 meters 0.08314221198361872 Centerline is valid? [True, True] Translation: X:198.91, Y:6.68, Z:-2.61 [[ 9.99890630e-01 3.24004512e-03 1.44301807e-02 1.98913070e+02] [-3.25478777e-03 9.99994205e-01 9.98286283e-04 6.67511872e+00] [-1.44268626e-02 -1.04514428e-03 9.99895381e-01 -2.61056620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.205898227 meters 0.0860989342605475 Centerline is valid? [True, True] Translation: X:198.94, Y:6.68, Z:-2.61 [[ 9.99888951e-01 5.84700546e-03 1.37075972e-02 1.98942912e+02] [-5.86055188e-03 9.99982377e-01 9.48281006e-04 6.68037125e+00] [-1.37018110e-02 -1.02850978e-03 9.99905597e-01 -2.61233695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.235898227 meters 0.0931383315733949 Centerline is valid? [True, True] Translation: X:198.97, Y:6.69, Z:-2.61 [[ 9.99842056e-01 1.11614653e-02 1.38305920e-02 1.98971872e+02] [-1.11757597e-02 9.99937092e-01 9.56678144e-04 6.69164964e+00] [-1.38190440e-02 -1.11109441e-03 9.99903895e-01 -2.61322135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.265898227 meters 0.09670634535723385 Centerline is valid? [True, True] Translation: X:199.00, Y:6.70, Z:-2.61 [[ 9.99805044e-01 1.37555026e-02 1.41654893e-02 1.99002380e+02] [-1.37707588e-02 9.99904698e-01 9.80016768e-04 6.69810301e+00] [-1.41506587e-02 -1.17489524e-03 9.99899184e-01 -2.61249762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.295898227 meters 0.1004634686157339 Centerline is valid? [True, False] Translation: X:198.98, Y:6.70, Z:-2.61 [[ 9.99854728e-01 1.21045059e-02 1.20001657e-02 1.98983348e+02] [-1.22324012e-02 9.99868546e-01 1.06423085e-02 6.69570569e+00] [-1.18697684e-02 -1.07875533e-02 9.99871360e-01 -2.61238166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.325898227 meters 0.10267530373066983 Centerline is valid? [False, False] Translation: X:198.98, Y:6.70, Z:-2.61 [[ 9.99898271e-01 7.50093170e-03 1.21319466e-02 1.98982984e+02] [-7.56626775e-03 9.99957071e-01 5.34855200e-03 6.69977343e+00] [-1.20913067e-02 -5.43980145e-03 9.99912101e-01 -2.61271448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.355898227 meters 0.1055181733644855 Centerline is valid? [False, False] Translation: X:198.98, Y:6.70, Z:-2.61 [[ 9.99899315e-01 7.32585986e-03 1.21528245e-02 1.98983015e+02] [-7.38604443e-03 9.99960645e-01 4.91484279e-03 6.70170795e+00] [-1.21163408e-02 -5.00410924e-03 9.99914073e-01 -2.61294614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.385898227 meters 0.10875714630048092 Centerline is valid? [False, False] Translation: X:198.96, Y:6.70, Z:-2.61 [[ 9.99907913e-01 1.05950006e-02 8.48003429e-03 1.98964165e+02] [-1.05765911e-02 9.99941618e-01 -2.21283726e-03 6.70353505e+00] [-8.50298422e-03 2.12294364e-03 9.99961595e-01 -2.61169926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.415898227 meters 0.11125035549222372 Centerline is valid? [False, False] Translation: X:198.95, Y:6.70, Z:-2.61 [[ 9.99948854e-01 9.29520204e-03 3.98605202e-03 1.98946281e+02] [-9.32210968e-03 9.99933523e-01 6.78585604e-03 6.70496217e+00] [-3.92271114e-03 -6.82266739e-03 9.99969031e-01 -2.61053429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.445898227 meters 0.11207182675476095 Centerline is valid? [False, False] Translation: X:198.95, Y:6.71, Z:-2.61 [[ 9.99950489e-01 9.11916655e-03 3.98260848e-03 1.98946322e+02] [-9.14437666e-03 9.99937974e-01 6.35839111e-03 6.70687643e+00] [-3.92437823e-03 -6.39449476e-03 9.99971854e-01 -2.61063376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.475898227 meters 0.11250972651653916 Centerline is valid? [False, False] Translation: X:198.95, Y:6.71, Z:-2.61 [[ 9.99981697e-01 4.47638933e-03 4.07028536e-03 1.98945993e+02] [-4.48107331e-03 9.99989307e-01 1.14238213e-03 6.71072683e+00] [-4.06512809e-03 -1.16060047e-03 9.99991064e-01 -2.61070255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.505898227 meters 0.11250972651653916 Centerline is valid? [False, False] Translation: X:198.95, Y:6.71, Z:-2.61 [[ 9.99981697e-01 4.47638933e-03 4.07028536e-03 1.98945993e+02] [-4.48107331e-03 9.99989307e-01 1.14238213e-03 6.71072683e+00] [-4.06512809e-03 -1.16060047e-03 9.99991064e-01 -2.61070255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.535898227 meters 0.11253288351260894 Centerline is valid? [False, False] Translation: X:198.97, Y:6.71, Z:-2.61 [[ 9.99990616e-01 6.93473393e-05 4.33163235e-03 1.98965981e+02] [-9.88701464e-05 9.99976767e-01 6.81578862e-03 6.71267347e+00] [-4.33105906e-03 -6.81615293e-03 9.99967390e-01 -2.60900434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.565898227 meters 0.10020160810237207 Centerline is valid? [False, False] Translation: X:198.97, Y:6.71, Z:-2.61 [[ 9.99991057e-01 6.66600962e-05 4.22859747e-03 1.98966282e+02] [-9.54646724e-05 9.99976793e-01 6.81201501e-03 6.71268409e+00] [-4.22804525e-03 -6.81235777e-03 9.99967857e-01 -2.60897807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.595898227 meters 0.10925477948106639 Centerline is valid? [False, False] Translation: X:198.97, Y:6.71, Z:-2.61 [[ 9.99991367e-01 6.36265016e-05 4.15477432e-03 1.98966532e+02] [-9.19074620e-05 9.99976828e-01 6.80702226e-03 6.71269670e+00] [-4.15424494e-03 -6.80734534e-03 9.99968201e-01 -2.60903415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.625898227 meters 0.10519858737867496 Centerline is valid? [False, False] Translation: X:198.97, Y:6.72, Z:-2.61 [[ 9.99981097e-01 -4.49084308e-03 4.19968587e-03 1.98966491e+02] [ 4.48286953e-03 9.99988135e-01 1.90609634e-03 6.71521192e+00] [-4.20819602e-03 -1.88723367e-03 9.99989365e-01 -2.60922588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.655898227 meters 0.08308384260005178 Centerline is valid? [False, True] Translation: X:198.97, Y:6.71, Z:-2.61 [[ 9.99981479e-01 -4.42154475e-03 4.18217724e-03 1.98966441e+02] [ 4.41287411e-03 9.99988100e-01 2.08019537e-03 6.71444761e+00] [-4.19132515e-03 -2.06170143e-03 9.99989091e-01 -2.60898151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.685898227 meters 0.09925438246834324 Centerline is valid? [True, True] Translation: X:198.99, Y:6.74, Z:-2.61 [[ 9.99960138e-01 -6.99585957e-03 5.54802644e-03 1.98993808e+02] [ 6.99342201e-03 9.99975441e-01 4.58633609e-04 6.73781350e+00] [-5.55109872e-03 -4.19815636e-04 9.99984504e-01 -2.60779155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.715898227 meters 0.0809650120365928 Centerline is valid? [True, True] Translation: X:199.03, Y:6.71, Z:-2.61 [[ 9.99933609e-01 -9.56465295e-03 6.42611651e-03 1.99026705e+02] [ 9.56143491e-03 9.99954147e-01 5.31309914e-04 6.71245875e+00] [-6.43090365e-03 -4.69831745e-04 9.99979211e-01 -2.60650432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.745898227 meters 0.07450437767012914 Centerline is valid? [True, True] Translation: X:199.06, Y:6.71, Z:-2.61 [[ 9.99912727e-01 -1.16521764e-02 6.22620710e-03 1.99057922e+02] [ 1.16491957e-02 9.99932013e-01 5.14785272e-04 6.70888555e+00] [-6.23178217e-03 -4.42210039e-04 9.99980484e-01 -2.60710060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.775898227 meters 0.07852935353825866 Centerline is valid? [True, True] Translation: X:199.09, Y:6.71, Z:-2.61 [[ 9.99876561e-01 -1.54262925e-02 2.98193682e-03 1.99087299e+02] [ 1.54256256e-02 9.99880988e-01 2.46520070e-04 6.71375715e+00] [-2.98538483e-03 -2.00491399e-04 9.99995524e-01 -2.61284755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.805898227 meters 0.07322296129339743 Centerline is valid? [True, True] Translation: X:199.12, Y:6.71, Z:-2.61 [[ 9.99860307e-01 -1.66271439e-02 1.70446143e-03 1.99118307e+02] [ 1.66269277e-02 9.99861753e-01 1.40885889e-04 6.70772498e+00] [-1.70656832e-03 -1.12526251e-04 9.99998537e-01 -2.61475604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.835898227 meters 0.07308484741665039 Centerline is valid? [True, True] Translation: X:199.15, Y:6.71, Z:-2.62 [[ 9.99846687e-01 -1.74440005e-02 1.51941137e-03 1.99148294e+02] [ 1.74438297e-02 9.99847837e-01 1.25590182e-04 6.70775994e+00] [-1.52137097e-03 -9.90665744e-05 9.99998838e-01 -2.61537569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.865898227 meters 0.06838037167206938 Centerline is valid? [True, True] Translation: X:199.18, Y:6.70, Z:-2.61 [[ 9.99826475e-01 -1.84550122e-02 2.53617201e-03 1.99180306e+02] [ 1.84545394e-02 9.99829678e-01 2.09681718e-04 6.69724036e+00] [-2.53960973e-03 -1.62841447e-04 9.99996762e-01 -2.61392000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.895898227 meters 0.06357096463088982 Centerline is valid? [True, True] Translation: X:199.21, Y:6.70, Z:-2.61 [[ 9.99823926e-01 -1.84698357e-02 3.31402227e-03 1.99211649e+02] [ 1.84690287e-02 9.99829395e-01 2.73967979e-04 6.69644582e+00] [-3.31851702e-03 -2.12712968e-04 9.99994471e-01 -2.61205169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.925898227 meters 0.07578903630418277 Centerline is valid? [True, True] Translation: X:199.24, Y:6.71, Z:-2.61 [[ 9.99847699e-01 -1.70223884e-02 3.84928886e-03 1.99240421e+02] [ 1.70212896e-02 9.99855077e-01 3.18033555e-04 6.71241570e+00] [-3.85414470e-03 -2.52465257e-04 9.99992541e-01 -2.61107112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.955898227 meters 0.07275966275012519 Centerline is valid? [True, True] Translation: X:199.27, Y:6.71, Z:-2.61 [[ 9.99877186e-01 -1.52699228e-02 3.52746869e-03 1.99271414e+02] [ 1.52689892e-02 9.99883380e-01 2.91444329e-04 6.71030846e+00] [-3.53150765e-03 -2.37547654e-04 9.99993736e-01 -2.61121998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.985898227 meters 0.07809613298448435 Centerline is valid? [True, True] Translation: X:199.30, Y:6.72, Z:-2.61 [[ 9.99910750e-01 -1.29601325e-02 3.24438021e-03 1.99300324e+02] [ 1.29593307e-02 9.99915988e-01 2.68024275e-04 6.71932611e+00] [-3.24758127e-03 -2.25955358e-04 9.99994701e-01 -2.61177987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.015898227 meters 0.08077500663305126 Centerline is valid? [True, True] Translation: X:199.33, Y:6.73, Z:-2.61 [[ 9.99965090e-01 -7.15867920e-03 4.30956918e-03 1.99330476e+02] [ 7.15721058e-03 9.99974323e-01 3.56108382e-04 6.72666179e+00] [-4.31200779e-03 -3.25251456e-04 9.99990650e-01 -2.61015037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.045898227 meters 0.08028834428707199 Centerline is valid? [True, True] Translation: X:199.36, Y:6.73, Z:-2.61 [[ 9.99979047e-01 -3.70544833e-03 5.30804968e-03 1.99361031e+02] [ 3.70317212e-03 9.99993047e-01 4.38585627e-04 6.73026278e+00] [-5.30963793e-03 -4.18919815e-04 9.99985816e-01 -2.60889225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.075898227 meters 0.09147051348462096 Centerline is valid? [True, True] Translation: X:199.39, Y:6.75, Z:-2.61 [[ 9.99984148e-01 -1.73935788e-04 5.62785433e-03 1.99389233e+02] [ 1.71321342e-04 9.99999877e-01 4.65033416e-04 6.74935244e+00] [-5.62793452e-03 -4.64061873e-04 9.99984055e-01 -2.60849420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.105898227 meters 0.10583387176089125 Centerline is valid? [True, False] Translation: X:199.39, Y:6.75, Z:-2.61 [[ 9.99983791e-01 -4.20172032e-04 5.67816907e-03 1.99389207e+02] [ 4.21287179e-04 9.99999892e-01 -1.95197251e-04 6.75224159e+00] [-5.67808645e-03 1.97586227e-04 9.99983860e-01 -2.60881857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.135898227 meters 0.09499867035727189 Centerline is valid? [False, True] Translation: X:199.38, Y:6.75, Z:-2.61 [[ 9.99978628e-01 7.77304127e-04 6.49149744e-03 1.99384531e+02] [-7.83062917e-04 9.99999302e-01 8.84633676e-04 6.75223978e+00] [-6.49080528e-03 -8.89698021e-04 9.99978539e-01 -2.60572496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.165898227 meters 0.10127935178835688 Centerline is valid? [True, False] Translation: X:199.38, Y:6.75, Z:-2.61 [[ 9.99978842e-01 5.33272758e-04 6.48314661e-03 1.99384761e+02] [-5.34993809e-04 9.99999822e-01 2.63733968e-04 6.75497538e+00] [-6.48300482e-03 -2.67196832e-04 9.99978949e-01 -2.60623317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.195898227 meters 0.10064759223831228 Centerline is valid? [False, False] Translation: X:199.38, Y:6.76, Z:-2.61 [[ 9.99978865e-01 1.62448064e-04 6.49941870e-03 1.99384883e+02] [-1.58201082e-04 9.99999774e-01 -6.53949197e-04 6.75905347e+00] [-6.49952346e-03 6.52907161e-04 9.99978665e-01 -2.60663930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.225898227 meters 0.10116965974359893 Centerline is valid? [False, False] Translation: X:199.38, Y:6.76, Z:-2.61 [[ 9.99978971e-01 6.90166615e-05 6.48480461e-03 1.99384833e+02] [-6.33313953e-05 9.99999614e-01 -8.76907112e-04 6.76006567e+00] [-6.48486262e-03 8.76477980e-04 9.99978589e-01 -2.60645816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.255898227 meters 0.09339915446409475 Centerline is valid? [False, True] Translation: X:199.37, Y:6.76, Z:-2.60 [[ 9.99993731e-01 -2.72913090e-03 2.25595379e-03 1.99365064e+02] [ 2.71344418e-03 9.99972323e-01 6.92753203e-03 6.75752265e+00] [-2.27479749e-03 -6.92136720e-03 9.99973460e-01 -2.60370235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.285898227 meters 0.09858890189805081 Centerline is valid? [True, True] Translation: X:199.39, Y:6.77, Z:-2.60 [[ 9.99980631e-01 -5.47897071e-03 2.95263777e-03 1.99394003e+02] [ 5.47819560e-03 9.99984958e-01 2.70539236e-04 6.77191375e+00] [-2.95407563e-03 -2.54358869e-04 9.99995604e-01 -2.60379979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.315898227 meters 0.08803133865337853 Centerline is valid? [True, True] Translation: X:199.43, Y:6.76, Z:-2.60 [[ 9.99976831e-01 -6.04873645e-03 3.12255551e-03 1.99426064e+02] [ 6.04787208e-03 9.99981671e-01 2.86184716e-04 6.76233227e+00] [-3.12422933e-03 -2.67293269e-04 9.99995084e-01 -2.60237826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.345898227 meters 0.10339363366069265 Centerline is valid? [True, False] Translation: X:199.43, Y:6.76, Z:-2.60 [[ 9.99975928e-01 -6.18760204e-03 3.13974450e-03 1.99426017e+02] [ 6.18778891e-03 9.99980854e-01 -4.98089788e-05 6.76383917e+00] [-3.13937618e-03 6.92358560e-05 9.99995070e-01 -2.60241834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.375898227 meters 0.09253548965148545 Centerline is valid? [False, True] Translation: X:199.45, Y:6.77, Z:-2.60 [[ 9.99995318e-01 -1.13040960e-03 -2.84354648e-03 1.99445055e+02] [ 1.12424173e-03 9.99997014e-01 -2.16974001e-03 6.76651981e+00] [ 2.84599069e-03 2.16653302e-03 9.99993603e-01 -2.59668576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.405898227 meters 0.09312815457467719 Centerline is valid? [True, True] Translation: X:199.48, Y:6.77, Z:-2.60 [[ 9.99993764e-01 5.97203522e-04 -3.48064435e-03 1.99475301e+02] [-5.98279510e-04 9.99999774e-01 -3.08101830e-04 6.77260603e+00] [ 3.48045956e-03 3.10182307e-04 9.99993895e-01 -2.59736331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.435898227 meters 0.09695475785496571 Centerline is valid? [True, True] Translation: X:199.50, Y:6.78, Z:-2.60 [[ 9.99986429e-01 3.12270458e-03 -4.17023280e-03 1.99503572e+02] [-3.12427072e-03 9.99995051e-01 -3.69090793e-04 6.78342873e+00] [ 4.16905960e-03 3.82114721e-04 9.99991236e-01 -2.59806691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.465898227 meters 0.09880583427555949 Centerline is valid? [True, True] Translation: X:199.53, Y:6.79, Z:-2.60 [[ 9.99969146e-01 7.49245863e-03 -2.36020961e-03 1.99532893e+02] [-7.49297242e-03 9.99971905e-01 -2.08921370e-04 6.79461436e+00] [ 2.35857796e-03 2.26599909e-04 9.99997193e-01 -2.59627650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.495898227 meters 0.11428220299735434 Centerline is valid? [True, False] Translation: X:199.53, Y:6.80, Z:-2.60 [[ 9.99971042e-01 7.24882601e-03 -2.31732952e-03 1.99532661e+02] [-7.25071221e-03 9.99973388e-01 -8.06591275e-04 6.79728570e+00] [ 2.31142101e-03 8.23370207e-04 9.99996990e-01 -2.59605555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.525898227 meters 0.12182904436783135 Centerline is valid? [False, False] Translation: X:199.53, Y:6.80, Z:-2.60 [[ 9.99972901e-01 7.01302878e-03 -2.23939064e-03 1.99532396e+02] [-7.01611545e-03 9.99974444e-01 -1.37348638e-03 6.79982445e+00] [ 2.22970111e-03 1.38916098e-03 9.99996549e-01 -2.59601454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.555898227 meters 0.10700380928920283 Centerline is valid? [False, False] Translation: X:199.53, Y:6.80, Z:-2.60 [[ 9.99974279e-01 6.80940407e-03 -2.25232452e-03 1.99532451e+02] [-6.81357464e-03 9.99975077e-01 -1.84921180e-03 6.80196124e+00] [ 2.23967635e-03 1.86451061e-03 9.99995754e-01 -2.59606087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.585898227 meters 0.10891739477834346 Centerline is valid? [False, False] Translation: X:199.53, Y:6.80, Z:-2.60 [[ 9.99975730e-01 6.60282635e-03 -2.22325309e-03 1.99532475e+02] [-6.60800689e-03 9.99975450e-01 -2.33093938e-03 6.80411957e+00] [ 2.20780772e-03 2.34557408e-03 9.99994812e-01 -2.59631833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.615898227 meters 0.10868200488798463 Centerline is valid? [False, False] Translation: X:199.52, Y:6.80, Z:-2.60 [[ 9.99979605e-01 2.31154332e-03 -5.95371669e-03 1.99515102e+02] [-2.28893736e-03 9.99990157e-01 3.80096963e-03 6.80475421e+00] [ 5.96244419e-03 -3.78726442e-03 9.99975053e-01 -2.59665654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.645898227 meters 0.09796725646249557 Centerline is valid? [False, True] Translation: X:199.52, Y:6.81, Z:-2.60 [[ 9.99980425e-01 1.95935114e-03 -5.94230302e-03 1.99515142e+02] [-1.94166254e-03 9.99993672e-01 2.98103443e-03 6.80843229e+00] [ 5.94810631e-03 -2.96943813e-03 9.99977901e-01 -2.59685543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.675898227 meters 0.0942848108707338 Centerline is valid? [True, True] Translation: X:199.54, Y:6.81, Z:-2.60 [[ 9.99982578e-01 1.58206110e-03 -5.68687887e-03 1.99544163e+02] [-1.58509319e-03 9.99998604e-01 -5.28705558e-04 6.81057732e+00] [ 5.68603449e-03 5.37710580e-04 9.99983690e-01 -2.59575601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.705898227 meters 0.10123761590847626 Centerline is valid? [True, False] Translation: X:199.54, Y:6.81, Z:-2.60 [[ 9.99982945e-01 1.34851950e-03 -5.68261128e-03 1.99544118e+02] [-1.35471510e-03 9.99998492e-01 -1.08656494e-03 6.81307106e+00] [ 5.68113746e-03 1.09424473e-03 9.99983264e-01 -2.59571473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.735898227 meters 0.10859119796083722 Centerline is valid? [False, False] Translation: X:199.54, Y:6.82, Z:-2.60 [[ 9.99983172e-01 1.10316066e-03 -5.69542517e-03 1.99544159e+02] [-1.11267883e-03 9.99997989e-01 -1.66829875e-03 6.81567249e+00] [ 5.69357332e-03 1.67460785e-03 9.99982389e-01 -2.59574534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.765898227 meters 0.10053360657260595 Centerline is valid? [False, False] Translation: X:199.55, Y:6.82, Z:-2.60 [[ 9.99971864e-01 3.24883577e-03 -6.76141590e-03 1.99550594e+02] [-3.24963434e-03 9.99994714e-01 -1.07123048e-04 6.82126220e+00] [ 6.76103214e-03 1.29092164e-04 9.99977136e-01 -2.60029400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.795898227 meters 0.11198251612053436 Centerline is valid? [False, False] Translation: X:199.55, Y:6.82, Z:-2.60 [[ 9.99972837e-01 2.98763169e-03 -6.73785517e-03 1.99550567e+02] [-2.99252332e-03 9.99995266e-01 -7.16027117e-04 6.82400050e+00] [ 6.73568404e-03 7.36170856e-04 9.99977044e-01 -2.60041060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.825898227 meters 0.09983943769321725 Centerline is valid? [False, True] Translation: X:199.55, Y:6.83, Z:-2.60 [[ 9.99973742e-01 2.71494317e-03 -6.71888769e-03 1.99550527e+02] [-2.72408629e-03 9.99995376e-01 -1.35203125e-03 6.82685062e+00] [ 6.71518593e-03 1.37029858e-03 9.99976514e-01 -2.60047927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.855898227 meters 0.09924862764572877 Centerline is valid? [True, True] Translation: X:199.58, Y:6.83, Z:-2.60 [[ 9.99977104e-01 1.95726050e-03 -6.47769607e-03 1.99579593e+02] [-1.96110171e-03 9.99997905e-01 -5.86691348e-04 6.83181387e+00] [ 6.47653420e-03 5.99381336e-04 9.99978847e-01 -2.60088502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.885898227 meters 0.09487426588824864 Centerline is valid? [True, True] Translation: X:199.61, Y:6.83, Z:-2.60 [[ 9.99977632e-01 8.08615694e-04 -6.63936811e-03 1.99609453e+02] [-8.12627201e-04 9.99999489e-01 -6.01524713e-04 6.83218118e+00] [ 6.63887831e-03 6.06906589e-04 9.99977778e-01 -2.60081797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.915898227 meters 0.09641943875329517 Centerline is valid? [True, True] Translation: X:199.64, Y:6.84, Z:-2.60 [[ 9.99975713e-01 -1.41844362e-03 -6.82359182e-03 1.99638142e+02] [ 1.41425697e-03 9.99998809e-01 -6.18340141e-04 6.84247183e+00] [ 6.82446077e-03 6.08674811e-04 9.99976528e-01 -2.60015124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.945898227 meters 0.09476144159889703 Centerline is valid? [True, True] Translation: X:199.67, Y:6.85, Z:-2.60 [[ 9.99971498e-01 -2.46750322e-03 -7.13547898e-03 1.99667857e+02] [ 2.46295096e-03 9.99996758e-01 -6.46692660e-04 6.84619693e+00] [ 7.13705156e-03 6.29099893e-04 9.99974333e-01 -2.60025131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.975898227 meters 0.11042704444689136 Centerline is valid? [True, False] Translation: X:199.67, Y:6.85, Z:-2.60 [[ 9.99970836e-01 -2.69372700e-03 -7.14644760e-03 1.99667866e+02] [ 2.68538862e-03 9.99995703e-01 -1.17612625e-03 6.84856897e+00] [ 7.14958505e-03 1.15690096e-03 9.99973772e-01 -2.60023092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.005898227 meters 0.09808165237380682 Centerline is valid? [False, True] Translation: X:199.67, Y:6.85, Z:-2.60 [[ 9.99970399e-01 -2.86858980e-03 -7.13943193e-03 1.99667857e+02] [ 2.85734994e-03 9.99994663e-01 -1.58403761e-03 6.85039887e+00] [ 7.14393778e-03 1.56359086e-03 9.99973259e-01 -2.60028328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.035898227 meters 0.09208938637165168 Centerline is valid? [True, True] Translation: X:199.70, Y:6.85, Z:-2.60 [[ 9.99953601e-01 -6.02708691e-03 -7.51462193e-03 1.99698336e+02] [ 6.02225656e-03 9.99981645e-01 -6.65255532e-04 6.85182697e+00] [ 7.51849355e-03 6.19969684e-04 9.99971544e-01 -2.60049405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.065898227 meters 0.0796486569187026 Centerline is valid? [True, True] Translation: X:199.73, Y:6.84, Z:-2.60 [[ 9.99941393e-01 -7.89604427e-03 -7.40693077e-03 1.99729648e+02] [ 7.89140179e-03 9.99968647e-01 -6.55793527e-04 6.84081864e+00] [ 7.41187672e-03 5.97304026e-04 9.99972353e-01 -2.59935821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.095898227 meters 0.07449763188373439 Centerline is valid? [True, True] Translation: X:199.76, Y:6.84, Z:-2.60 [[ 9.99927038e-01 -1.00165163e-02 -6.75193681e-03 1.99760278e+02] [ 1.00127063e-02 9.99949693e-01 -5.97850582e-04 6.83861336e+00] [ 6.75758552e-03 5.30201801e-04 9.99977027e-01 -2.59818996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.125898227 meters 0.08318100202195335 Centerline is valid? [True, True] Translation: X:199.79, Y:6.85, Z:-2.60 [[ 9.99914133e-01 -1.18065821e-02 -5.68610776e-03 1.99787712e+02] [ 1.18039085e-02 9.99930205e-01 -5.03532027e-04 6.85452556e+00] [ 5.69165588e-03 4.36370495e-04 9.99983707e-01 -2.59706792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.155898227 meters 0.0780922367751023 Centerline is valid? [True, True] Translation: X:199.82, Y:6.85, Z:-2.60 [[ 9.99888861e-01 -1.39178333e-02 -5.34402733e-03 1.99818117e+02] [ 1.39155012e-02 9.99903063e-01 -4.73330857e-04 6.85197764e+00] [ 5.35009704e-03 3.98913433e-04 9.99985609e-01 -2.59629386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.185898227 meters 0.07724262334525174 Centerline is valid? [True, True] Translation: X:199.85, Y:6.85, Z:-2.60 [[ 9.99830575e-01 -1.75826408e-02 -5.44719698e-03 1.99847390e+02] [ 1.75802717e-02 9.99845339e-01 -4.82501960e-04 6.85498479e+00] [ 5.45483817e-03 3.86657009e-04 9.99985048e-01 -2.59620602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.215898227 meters 0.08093509568743879 Centerline is valid? [True, True] Translation: X:199.88, Y:6.86, Z:-2.60 [[ 9.99802221e-01 -1.92258919e-02 -5.08769761e-03 1.99875611e+02] [ 1.92238460e-02 9.99815103e-01 -4.50721390e-04 6.86253614e+00] [ 5.09542243e-03 3.52827132e-04 9.99986956e-01 -2.59642934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.245898227 meters 0.07411346854382307 Centerline is valid? [True, True] Translation: X:199.91, Y:6.86, Z:-2.60 [[ 9.99777678e-01 -2.05146346e-02 -4.87281250e-03 1.99906906e+02] [ 2.05127730e-02 9.99789498e-01 -4.31726295e-04 6.85643561e+00] [ 4.88064347e-03 3.31675416e-04 9.99988035e-01 -2.59582819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.275898227 meters 0.07362349697391771 Centerline is valid? [True, True] Translation: X:199.94, Y:6.86, Z:-2.60 [[ 9.99761270e-01 -2.13267535e-02 -4.75102307e-03 1.99936986e+02] [ 2.13249927e-02 9.99772508e-01 -4.20973849e-04 6.85816144e+00] [ 4.75892026e-03 3.19557817e-04 9.99988625e-01 -2.59586654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.305898227 meters 0.07317651137764279 Centerline is valid? [True, True] Translation: X:199.97, Y:6.86, Z:-2.60 [[ 9.99751394e-01 -2.15155066e-02 -5.85099328e-03 1.99967665e+02] [ 2.15128381e-02 9.99768438e-01 -5.18628583e-04 6.85928871e+00] [ 5.86079697e-03 3.92628177e-04 9.99982748e-01 -2.59681278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.335898227 meters 0.06899271249250866 Centerline is valid? [True, True] Translation: X:200.00, Y:6.86, Z:-2.60 [[ 9.99757292e-01 -2.10612777e-02 -6.46375680e-03 1.99997764e+02] [ 2.10580112e-02 9.99778091e-01 -5.73006660e-04 6.85571296e+00] [ 6.47439069e-03 4.36753723e-04 9.99978946e-01 -2.59715163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.365898227 meters 0.0827167312724405 Centerline is valid? [True, True] Translation: X:200.03, Y:6.87, Z:-2.60 [[ 9.99777910e-01 -1.99313654e-02 -6.84628126e-03 2.00025928e+02] [ 1.99276736e-02 9.99801240e-01 -6.07048961e-04 6.87481403e+00] [ 6.85701980e-03 4.70483684e-04 9.99976380e-01 -2.59879540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.395898227 meters 0.0827167312724405 Centerline is valid? [True, True] Translation: X:200.06, Y:6.88, Z:-2.60 [[ 9.99777475e-01 -1.99531746e-02 -6.84627143e-03 2.00055040e+02] [ 1.99494825e-02 9.99800805e-01 -6.07159798e-04 6.87744061e+00] [ 6.85702245e-03 4.70445118e-04 9.99976380e-01 -2.59868355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.425898227 meters 0.08529593628601063 Centerline is valid? [True, True] Translation: X:200.08, Y:6.88, Z:-2.60 [[ 9.99800127e-01 -1.87323738e-02 -6.98599853e-03 2.00083788e+02] [ 1.87284987e-02 9.99824414e-01 -6.19706451e-04 6.88234755e+00] [ 6.99638046e-03 4.88745324e-04 9.99975406e-01 -2.59894779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.455898227 meters 0.08070520222848752 Centerline is valid? [True, True] Translation: X:200.11, Y:6.88, Z:-2.60 [[ 9.99824442e-01 -1.73603903e-02 -7.04996912e-03 2.00113224e+02] [ 1.73564082e-02 9.99849170e-01 -6.25631017e-04 6.87784294e+00] [ 7.05976698e-03 5.03159040e-04 9.99974953e-01 -2.59875181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.485898227 meters 0.08055219454524092 Centerline is valid? [True, True] Translation: X:200.14, Y:6.88, Z:-2.60 [[ 9.99861917e-01 -1.53808573e-02 -6.29103232e-03 2.00142954e+02] [ 1.53776461e-02 9.99881601e-01 -5.58483609e-04 6.87878243e+00] [ 6.29887743e-03 4.61665223e-04 9.99980055e-01 -2.59786242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.515898227 meters 0.08528921980091479 Centerline is valid? [True, True] Translation: X:200.17, Y:6.89, Z:-2.60 [[ 9.99873522e-01 -1.46370214e-02 -6.22073183e-03 2.00171046e+02] [ 1.46338664e-02 9.99892767e-01 -5.52397424e-04 6.88658363e+00] [ 6.22815021e-03 4.61294200e-04 9.99980498e-01 -2.59759458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.545898227 meters 0.0806794749126742 Centerline is valid? [True, True] Translation: X:200.20, Y:6.88, Z:-2.60 [[ 9.99883254e-01 -1.39871032e-02 -6.15141035e-03 2.00201487e+02] [ 1.39840045e-02 9.99902070e-01 -5.46470032e-04 6.88265101e+00] [ 6.15845148e-03 4.60384884e-04 9.99980931e-01 -2.59767247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.575898227 meters 0.08339328183133415 Centerline is valid? [True, True] Translation: X:200.23, Y:6.89, Z:-2.60 [[ 9.99889284e-01 -1.36297431e-02 -5.97067666e-03 2.00230151e+02] [ 1.36268165e-02 9.99907010e-01 -5.30573527e-04 6.88801751e+00] [ 5.97735303e-03 4.49153469e-04 9.99982035e-01 -2.59713547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.605898227 meters 0.07696388525110898 Centerline is valid? [True, True] Translation: X:200.26, Y:6.88, Z:-2.60 [[ 9.99887912e-01 -1.37156810e-02 -6.00356788e-03 2.00260582e+02] [ 1.37127225e-02 9.99905834e-01 -5.33679616e-04 6.88159746e+00] [ 6.01032233e-03 4.51294537e-04 9.99981836e-01 -2.59660539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.635898227 meters 0.0896413515706762 Centerline is valid? [True, True] Translation: X:200.29, Y:6.90, Z:-2.60 [[ 9.99887211e-01 -1.37771826e-02 -5.97946555e-03 2.00288638e+02] [ 1.37742482e-02 9.99904989e-01 -5.31651962e-04 6.89960565e+00] [ 5.98622210e-03 4.49229354e-04 9.99981982e-01 -2.59625219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.665898227 meters 0.08961947112098363 Centerline is valid? [True, True] Translation: X:200.32, Y:6.90, Z:-2.59 [[ 9.99889302e-01 -1.38401045e-02 -5.46211784e-03 2.00317854e+02] [ 1.38376567e-02 9.99904137e-01 -4.85689053e-04 6.90033512e+00] [ 5.46831621e-03 4.10052377e-04 9.99984965e-01 -2.59494746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.695898227 meters 0.0807682252689006 Centerline is valid? [True, True] Translation: X:200.35, Y:6.89, Z:-2.59 [[ 9.99892524e-01 -1.37623211e-02 -5.05357442e-03 2.00348234e+02] [ 1.37602246e-02 9.99905223e-01 -4.49379693e-04 6.89077619e+00] [ 5.05927996e-03 3.79793076e-04 9.99987130e-01 -2.59354151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.725898227 meters 0.08742325512111386 Centerline is valid? [True, True] Translation: X:200.38, Y:6.90, Z:-2.59 [[ 9.99900213e-01 -1.33548151e-02 -4.60567408e-03 2.00376707e+02] [ 1.33530691e-02 9.99910760e-01 -4.09639790e-04 6.90158245e+00] [ 4.61073373e-03 3.48099029e-04 9.99989310e-01 -2.59293842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.755898227 meters 0.0816702931086201 Centerline is valid? [True, True] Translation: X:200.41, Y:6.89, Z:-2.59 [[ 9.99903235e-01 -1.31757964e-02 -4.46317852e-03 2.00407067e+02] [ 1.31741548e-02 9.99913138e-01 -3.97023324e-04 6.89411228e+00] [ 4.46802194e-03 3.38186301e-04 9.99989961e-01 -2.59331689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.785898227 meters 0.08430710990908165 Centerline is valid? [True, True] Translation: X:200.44, Y:6.90, Z:-2.59 [[ 9.99905309e-01 -1.31579552e-02 -4.02992403e-03 2.00436370e+02] [ 1.31566163e-02 9.99913384e-01 -3.58565618e-04 6.90029139e+00] [ 4.03429296e-03 3.05511501e-04 9.99991816e-01 -2.59290653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.815898227 meters 0.07314849871880963 Centerline is valid? [True, True] Translation: X:200.47, Y:6.89, Z:-2.59 [[ 9.99893732e-01 -1.39329838e-02 -4.28919328e-03 2.00467317e+02] [ 1.39314740e-02 9.99902879e-01 -3.81692808e-04 6.89061657e+00] [ 4.29409483e-03 3.21897461e-04 9.99990729e-01 -2.59197332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.845898227 meters 0.0812966456148236 Centerline is valid? [True, True] Translation: X:200.50, Y:6.90, Z:-2.59 [[ 9.99870658e-01 -1.52179120e-02 -5.20405853e-03 2.00495651e+02] [ 1.52157061e-02 9.99884127e-01 -4.63217237e-04 6.90347548e+00] [ 5.21050473e-03 3.83973898e-04 9.99986352e-01 -2.59322028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.875898227 meters 0.07977975733526835 Centerline is valid? [True, True] Translation: X:200.53, Y:6.90, Z:-2.59 [[ 9.99846262e-01 -1.64900507e-02 -5.96075905e-03 2.00525621e+02] [ 1.64871789e-02 9.99863936e-01 -5.30596291e-04 6.90402974e+00] [ 5.96869757e-03 4.32238618e-04 9.99982094e-01 -2.59467021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.905898227 meters 0.07650786165558879 Centerline is valid? [True, True] Translation: X:200.56, Y:6.90, Z:-2.60 [[ 9.99790678e-01 -1.93788461e-02 -6.56205708e-03 2.00556672e+02] [ 1.93754275e-02 9.99812108e-01 -5.84142309e-04 6.90352186e+00] [ 6.57214413e-03 4.56877373e-04 9.99978299e-01 -2.59507228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.935898227 meters 0.07612601141075487 Centerline is valid? [True, True] Translation: X:200.59, Y:6.91, Z:-2.59 [[ 9.99767154e-01 -2.05783156e-02 -6.49390542e-03 2.00585912e+02] [ 2.05749904e-02 9.99788145e-01 -5.78436832e-04 6.90671943e+00] [ 6.50443291e-03 4.44690104e-04 9.99978747e-01 -2.59481091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.965898227 meters 0.07457379739620017 Centerline is valid? [True, True] Translation: X:200.62, Y:6.91, Z:-2.59 [[ 9.99754028e-01 -2.12557673e-02 -6.33060476e-03 2.00615605e+02] [ 2.12526170e-02 9.99773978e-01 -5.64499216e-04 6.90817049e+00] [ 6.34117277e-03 4.29818447e-04 9.99979802e-01 -2.59396129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.995898227 meters 0.0739296018286236 Centerline is valid? [True, True] Translation: X:200.64, Y:6.91, Z:-2.59 [[ 9.99748899e-01 -2.17314103e-02 -5.46677705e-03 2.00644863e+02] [ 2.17290675e-02 9.99763777e-01 -4.87585296e-04 6.91091273e+00] [ 5.47608158e-03 3.68674895e-04 9.99984938e-01 -2.59261655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.025898227 meters 0.07278986406529811 Centerline is valid? [True, True] Translation: X:200.67, Y:6.91, Z:-2.59 [[ 9.99757566e-01 -2.15020942e-02 -4.74014072e-03 2.00674929e+02] [ 2.15003299e-02 9.99768752e-01 -4.22852088e-04 6.91281150e+00] [ 4.74813678e-03 3.20834984e-04 9.99988676e-01 -2.59068858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.055898227 meters 0.08221382427243534 Centerline is valid? [True, True] Translation: X:200.70, Y:6.93, Z:-2.59 [[ 9.99767096e-01 -2.10239000e-02 -4.87333738e-03 2.00703080e+02] [ 2.10220294e-02 9.99778918e-01 -4.34746390e-04 6.92906802e+00] [ 4.88140004e-03 3.32197694e-04 9.99988031e-01 -2.59091366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.085898227 meters 0.07398382911835157 Centerline is valid? [True, True] Translation: X:200.73, Y:6.92, Z:-2.59 [[ 9.99742995e-01 -2.14716693e-02 -7.27399960e-03 2.00733446e+02] [ 2.14675119e-02 9.99769336e-01 -6.49153482e-04 6.92414504e+00] [ 7.28626015e-03 4.92831973e-04 9.99973333e-01 -2.59424470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.115898227 meters 0.07344335675012896 Centerline is valid? [True, True] Translation: X:200.76, Y:6.93, Z:-2.60 [[ 9.99715464e-01 -2.24733146e-02 -7.99626277e-03 2.00762541e+02] [ 2.24683199e-02 9.99747301e-01 -7.13925446e-04 6.92754295e+00] [ 8.01028639e-03 5.34059719e-04 9.99967775e-01 -2.59578650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.145898227 meters 0.07075820274979013 Centerline is valid? [True, True] Translation: X:200.79, Y:6.93, Z:-2.60 [[ 9.99685717e-01 -2.37665894e-02 -7.97593000e-03 2.00792748e+02] [ 2.37616592e-02 9.99717398e-01 -7.12338333e-04 6.92832419e+00] [ 7.99060584e-03 5.22593127e-04 9.99967938e-01 -2.59518042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.175898227 meters 0.06421180505594488 Centerline is valid? [True, True] Translation: X:200.82, Y:6.93, Z:-2.59 [[ 9.99637336e-01 -2.61914180e-02 -6.26146041e-03 2.00823084e+02] [ 2.61884263e-02 9.99656868e-01 -5.59325925e-04 6.92644089e+00] [ 6.27396144e-03 3.95145284e-04 9.99980240e-01 -2.59250475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.205898227 meters 0.06825048053488803 Centerline is valid? [True, True] Translation: X:200.85, Y:6.94, Z:-2.59 [[ 9.99603417e-01 -2.76021554e-02 -5.57942657e-03 2.00851586e+02] [ 2.75998016e-02 9.99618929e-01 -4.98453999e-04 6.93578319e+00] [ 5.59105882e-03 3.44265254e-04 9.99984311e-01 -2.59192276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.235898227 meters 0.06095229527967866 Centerline is valid? [True, True] Translation: X:200.88, Y:6.93, Z:-2.59 [[ 9.99544153e-01 -2.97169978e-02 -5.32796707e-03 2.00882011e+02] [ 2.97148805e-02 9.99558302e-01 -4.76122178e-04 6.92976881e+00] [ 5.33976264e-03 3.17585234e-04 9.99985693e-01 -2.59148404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.265898227 meters 0.06119215273975619 Centerline is valid? [True, True] Translation: X:200.91, Y:6.93, Z:-2.59 [[ 9.99459277e-01 -3.23780381e-02 -5.72858877e-03 2.00911104e+02] [ 3.23756332e-02 9.99475641e-01 -5.12080489e-04 6.93328590e+00] [ 5.74216509e-03 3.26336907e-04 9.99983460e-01 -2.59209949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.295898227 meters 0.05606264038378709 Centerline is valid? [True, True] Translation: X:200.94, Y:6.93, Z:-2.59 [[ 9.99345684e-01 -3.56320719e-02 -6.20956950e-03 2.00942294e+02] [ 3.56293084e-02 9.99364920e-01 -5.55121962e-04 6.92989179e+00] [ 6.22540608e-03 3.33516070e-04 9.99980566e-01 -2.59254504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.325898227 meters 0.05846439840376267 Centerline is valid? [True, True] Translation: X:200.97, Y:6.93, Z:-2.59 [[ 9.99237189e-01 -3.84315010e-02 -6.93256188e-03 2.00971109e+02] [ 3.84281235e-02 9.99261175e-01 -6.19789840e-04 6.93298593e+00] [ 6.95125939e-03 3.52911713e-04 9.99975777e-01 -2.59417865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.355898227 meters 0.055704313332829644 Centerline is valid? [True, True] Translation: X:201.00, Y:6.94, Z:-2.59 [[ 9.99080348e-01 -4.22535449e-02 -7.28674817e-03 2.01000556e+02] [ 4.22499139e-02 9.99106861e-01 -6.51599862e-04 6.93566808e+00] [ 7.30777249e-03 3.43136134e-04 9.99973239e-01 -2.59411867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.385898227 meters 0.05251406048290291 Centerline is valid? [True, True] Translation: X:201.03, Y:6.94, Z:-2.59 [[ 9.99041238e-01 -4.32052466e-02 -7.06478459e-03 2.01029978e+02] [ 4.32018562e-02 9.99066164e-01 -6.31878730e-04 6.93562145e+00] [ 7.08548772e-03 3.26061101e-04 9.99974844e-01 -2.59324414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.415898227 meters 0.04895392025094374 Centerline is valid? [True, True] Translation: X:201.06, Y:6.94, Z:-2.59 [[ 9.99059290e-01 -4.28234148e-02 -6.83308039e-03 2.01059500e+02] [ 4.28202332e-02 9.99082606e-01 -6.11314406e-04 6.93536002e+00] [ 6.85299034e-03 3.18145240e-04 9.99976467e-01 -2.59215166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.445898227 meters 0.04978752241343757 Centerline is valid? [True, True] Translation: X:201.09, Y:6.94, Z:-2.59 [[ 9.99106374e-01 -4.16802799e-02 -7.01483501e-03 2.01088472e+02] [ 4.16768974e-02 9.99130943e-01 -6.27748219e-04 6.94106237e+00] [ 7.03490344e-03 3.34830688e-04 9.99975199e-01 -2.59201905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.475898227 meters 0.058104386897587304 Centerline is valid? [True, True] Translation: X:201.12, Y:6.96, Z:-2.59 [[ 9.99272950e-01 -3.73865266e-02 -7.47122016e-03 2.01116845e+02] [ 3.73825688e-02 9.99300804e-01 -6.68732738e-04 6.95798217e+00] [ 7.49099791e-03 3.88953134e-04 9.99971866e-01 -2.59284347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.505898227 meters 0.0656688412464658 Centerline is valid? [True, True] Translation: X:201.15, Y:6.97, Z:-2.59 [[ 9.99341163e-01 -3.55505363e-02 -7.30746577e-03 2.01145296e+02] [ 3.55467006e-02 9.99367802e-01 -6.54161252e-04 6.97117837e+00] [ 7.32610179e-03 3.93973969e-04 9.99973086e-01 -2.59268280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.535898227 meters 0.05692504888797054 Centerline is valid? [True, True] Translation: X:201.18, Y:6.96, Z:-2.59 [[ 9.99376247e-01 -3.46718145e-02 -6.70692397e-03 2.01175703e+02] [ 3.46685629e-02 9.99398684e-01 -6.00511894e-04 6.96287613e+00] [ 6.72371183e-03 3.67617907e-04 9.99977328e-01 -2.59016196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.565898227 meters 0.05755443117072641 Centerline is valid? [True, True] Translation: X:201.21, Y:6.97, Z:-2.59 [[ 9.99388717e-01 -3.44751310e-02 -5.80151124e-03 2.01205491e+02] [ 3.44726940e-02 9.99405505e-01 -5.19572514e-04 6.96564066e+00] [ 5.81597460e-03 3.19261187e-04 9.99983036e-01 -2.58834916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.595898227 meters 0.05840037867302426 Centerline is valid? [True, True] Translation: X:201.24, Y:6.97, Z:-2.59 [[ 9.99380271e-01 -3.48568435e-02 -4.90649820e-03 2.01235221e+02] [ 3.48551046e-02 9.99392280e-01 -4.39507490e-04 6.96795441e+00] [ 4.91883627e-03 2.68218607e-04 9.99987866e-01 -2.58743938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.625898227 meters 0.05711964418261005 Centerline is valid? [True, True] Translation: X:201.27, Y:6.97, Z:-2.59 [[ 9.99365730e-01 -3.53244542e-02 -4.50781729e-03 2.01265845e+02] [ 3.53229909e-02 9.99375867e-01 -4.03836887e-04 6.96749013e+00] [ 4.51926913e-03 2.44351156e-04 9.99989758e-01 -2.58716045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.655898227 meters 0.06389307082753849 Centerline is valid? [True, True] Translation: X:201.30, Y:6.97, Z:-2.59 [[ 9.99325290e-01 -3.64479966e-02 -4.52870604e-03 2.01295420e+02] [ 3.64465312e-02 9.99335522e-01 -4.05708224e-04 6.97470064e+00] [ 4.54048407e-03 2.40378863e-04 9.99989663e-01 -2.58892759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.685898227 meters 0.05830599900030748 Centerline is valid? [True, True] Translation: X:201.33, Y:6.97, Z:-2.59 [[ 9.99316669e-01 -3.67076831e-02 -4.32920106e-03 2.01326144e+02] [ 3.67063464e-02 9.99326020e-01 -3.87835391e-04 6.97203021e+00] [ 4.34051980e-03 2.28661217e-04 9.99990554e-01 -2.58796986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.715898227 meters 0.05831106400623302 Centerline is valid? [True, True] Translation: X:201.36, Y:6.97, Z:-2.59 [[ 9.99314938e-01 -3.67241718e-02 -4.58140195e-03 2.01357079e+02] [ 3.67226750e-02 9.99325411e-01 -4.10429035e-04 6.97381714e+00] [ 4.59338405e-03 2.41906531e-04 9.99989421e-01 -2.58779662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.745898227 meters 0.05958920740730744 Centerline is valid? [True, True] Translation: X:201.39, Y:6.98, Z:-2.59 [[ 9.99317152e-01 -3.65981917e-02 -5.07966346e-03 2.01386317e+02] [ 3.65963500e-02 9.99330026e-01 -4.55066089e-04 6.97683731e+00] [ 5.09291481e-03 2.68858206e-04 9.99986995e-01 -2.58819328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.775898227 meters 0.061471742946142424 Centerline is valid? [True, True] Translation: X:201.42, Y:6.98, Z:-2.59 [[ 9.99367625e-01 -3.48905919e-02 -6.85536416e-03 2.01416741e+02] [ 3.48871975e-02 9.99391068e-01 -6.14143164e-04 6.97958449e+00] [ 6.87261753e-03 3.74590352e-04 9.99976313e-01 -2.59032725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.805898227 meters 0.05960466177743996 Centerline is valid? [True, True] Translation: X:201.45, Y:6.98, Z:-2.59 [[ 9.99391290e-01 -3.39726086e-02 -7.93172317e-03 2.01446533e+02] [ 3.39680350e-02 9.99422667e-01 -7.10669255e-04 6.97616504e+00] [ 7.95128722e-03 4.40811613e-04 9.99968291e-01 -2.59167373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.835898227 meters 0.06435561573840724 Centerline is valid? [True, True] Translation: X:201.47, Y:6.99, Z:-2.59 [[ 9.99432625e-01 -3.26924249e-02 -8.10146357e-03 2.01474744e+02] [ 3.26876109e-02 9.99465354e-01 -7.25953798e-04 6.98787775e+00] [ 8.12086534e-03 4.60724421e-04 9.99966919e-01 -2.59234920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.865898227 meters 0.06022763485151833 Centerline is valid? [True, True] Translation: X:201.50, Y:6.99, Z:-2.59 [[ 9.99468369e-01 -3.16513598e-02 -7.82120651e-03 2.01504348e+02] [ 3.16468403e-02 9.99498868e-01 -7.00969043e-04 6.98589551e+00] [ 7.83947368e-03 4.53079912e-04 9.99969168e-01 -2.59071610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.895898227 meters 0.06055248549521828 Centerline is valid? [True, True] Translation: X:201.53, Y:6.99, Z:-2.59 [[ 9.99500699e-01 -3.08322772e-02 -6.90822169e-03 2.01533324e+02] [ 3.08287301e-02 9.99524490e-01 -6.19375816e-04 6.99030142e+00] [ 6.92403352e-03 4.06094859e-04 9.99975946e-01 -2.58877127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.925898227 meters 0.06305572001803861 Centerline is valid? [True, True] Translation: X:201.56, Y:7.00, Z:-2.59 [[ 9.99517182e-01 -3.04344118e-02 -6.25688983e-03 2.01561609e+02] [ 3.04314932e-02 9.99536697e-01 -5.61161547e-04 6.99907812e+00] [ 6.27106962e-03 3.70484108e-04 9.99980268e-01 -2.58782894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.955898227 meters 0.06162585721626051 Centerline is valid? [True, True] Translation: X:201.59, Y:7.00, Z:-2.59 [[ 9.99470991e-01 -3.18595150e-02 -6.53517992e-03 2.01591477e+02] [ 3.18563603e-02 9.99492285e-01 -5.86280132e-04 7.00052979e+00] [ 6.55054051e-03 3.77782939e-04 9.99978474e-01 -2.58832799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.985898227 meters 0.06830885831263868 Centerline is valid? [True, True] Translation: X:201.62, Y:7.01, Z:-2.59 [[ 9.99388488e-01 -3.42838734e-02 -6.87506789e-03 2.01619623e+02] [ 3.42804381e-02 9.99412063e-01 -6.16934423e-04 7.01252139e+00] [ 6.89217668e-03 3.80876821e-04 9.99976176e-01 -2.58925471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.015898227 meters 0.057359161184053 Centerline is valid? [True, True] Translation: X:201.65, Y:7.00, Z:-2.59 [[ 9.99265880e-01 -3.76914499e-02 -6.85971100e-03 2.01650630e+02] [ 3.76881093e-02 9.99289361e-01 -6.15647322e-04 7.00247150e+00] [ 6.87804087e-03 3.56665825e-04 9.99976282e-01 -2.58833432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.045898227 meters 0.05358393957401405 Centerline is valid? [True, True] Translation: X:201.68, Y:7.00, Z:-2.59 [[ 9.99121620e-01 -4.14122490e-02 -6.40426509e-03 2.01681591e+02] [ 4.14094135e-02 9.99142097e-01 -5.74785299e-04 7.00190554e+00] [ 6.42257401e-03 3.09083557e-04 9.99979327e-01 -2.58647949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.075898227 meters 0.05044998082245939 Centerline is valid? [True, True] Translation: X:201.71, Y:7.00, Z:-2.58 [[ 9.98971664e-01 -4.50374539e-02 -5.21945090e-03 2.01712421e+02] [ 4.50356198e-02 9.98985272e-01 -4.68460854e-04 7.00211628e+00] [ 5.23525286e-03 2.32917912e-04 9.99986269e-01 -2.58401013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.105898227 meters 0.04522017204010872 Centerline is valid? [True, True] Translation: X:201.74, Y:7.00, Z:-2.58 [[ 9.98693761e-01 -5.10150933e-02 -2.86903546e-03 2.01742012e+02] [ 5.10145638e-02 9.98697876e-01 -2.57496695e-04 7.00020450e+00] [ 2.87843584e-03 1.10797750e-04 9.99995851e-01 -2.57930869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.135898227 meters 0.04280527628760556 Centerline is valid? [True, True] Translation: X:201.77, Y:7.00, Z:-2.58 [[ 9.98573431e-01 -5.33574548e-02 -2.02128353e-03 2.01772080e+02] [ 5.33571967e-02 9.98575474e-01 -1.81440484e-04 7.00108537e+00] [ 2.02808536e-03 7.33316239e-05 9.99997941e-01 -2.57753951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.165898227 meters 0.03715783488623857 Centerline is valid? [True, True] Translation: X:201.80, Y:7.00, Z:-2.58 [[ 9.98486999e-01 -5.49571188e-02 -1.85160675e-03 2.01802913e+02] [ 5.49569049e-02 9.98488713e-01 -1.66249763e-04 6.99805774e+00] [ 1.85794505e-03 6.42396507e-05 9.99998272e-01 -2.57692275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.195898227 meters 0.04030677037753458 Centerline is valid? [True, True] Translation: X:201.83, Y:7.01, Z:-2.58 [[ 9.98447433e-01 -5.56818475e-02 -1.50158965e-03 2.01831627e+02] [ 5.56817076e-02 9.98448561e-01 -1.34794910e-04 7.00683599e+00] [ 1.50676565e-03 5.09745562e-05 9.99998864e-01 -2.57660408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.225898227 meters 0.04098356137986871 Centerline is valid? [True, True] Translation: X:201.86, Y:7.01, Z:-2.58 [[ 9.98455313e-01 -5.55316211e-02 -1.79660071e-03 2.01860669e+02] [ 5.55314206e-02 9.98456927e-01 -1.61309505e-04 7.01200041e+00] [ 1.80278620e-03 6.12925422e-05 9.99998373e-01 -2.57644520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.255898227 meters 0.041926477465032704 Centerline is valid? [True, True] Translation: X:201.89, Y:7.02, Z:-2.58 [[ 9.98437199e-01 -5.58486967e-02 -2.02081921e-03 2.01890065e+02] [ 5.58484437e-02 9.98439241e-01 -1.81470154e-04 7.01879317e+00] [ 2.02780008e-03 6.83269439e-05 9.99997942e-01 -2.57744272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.285898227 meters 0.034360400634808164 Centerline is valid? [True, True] Translation: X:201.92, Y:7.01, Z:-2.58 [[ 9.98398208e-01 -5.65032235e-02 -2.89893643e-03 2.01921229e+02] [ 5.65027053e-02 9.98402412e-01 -2.60387552e-04 7.01269456e+00] [ 2.90901786e-03 9.61727145e-05 9.99995764e-01 -2.57857166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.315898227 meters 0.034360400634808164 Centerline is valid? [True, True] Translation: X:201.95, Y:7.02, Z:-2.58 [[ 9.98398208e-01 -5.65032235e-02 -2.89893643e-03 2.01951124e+02] [ 5.65027053e-02 9.98402412e-01 -2.60387552e-04 7.01537986e+00] [ 2.90901786e-03 9.61727145e-05 9.99995764e-01 -2.57845681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.345898227 meters 0.04088520527764402 Centerline is valid? [True, True] Translation: X:201.98, Y:7.03, Z:-2.58 [[ 9.98349425e-01 -5.72962320e-02 -3.94553967e-03 2.01979399e+02] [ 5.72952784e-02 9.98357213e-01 -3.54396962e-04 7.02721868e+00] [ 3.95936360e-03 1.27751210e-04 9.99992154e-01 -2.58039212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.375898227 meters 0.038571572233851804 Centerline is valid? [True, True] Translation: X:202.01, Y:7.03, Z:-2.58 [[ 9.98325847e-01 -5.76457358e-02 -4.74060723e-03 2.02009468e+02] [ 5.76443627e-02 9.98337090e-01 -4.25889970e-04 7.02681515e+00] [ 4.75727477e-03 1.51907682e-04 9.99988673e-01 -2.58189773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.405898227 meters 0.03877151742239421 Centerline is valid? [True, True] Translation: X:202.04, Y:7.03, Z:-2.58 [[ 9.98391701e-01 -5.64660834e-02 -5.05887352e-03 2.02039155e+02] [ 5.64645040e-02 9.98404504e-01 -4.54605533e-04 7.02937769e+00] [ 5.07647190e-03 1.68227608e-04 9.99987100e-01 -2.58186821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.435898227 meters 0.04018920441305198 Centerline is valid? [True, True] Translation: X:202.07, Y:7.03, Z:-2.58 [[ 9.98469046e-01 -5.50889606e-02 -4.97692455e-03 2.02068094e+02] [ 5.50874142e-02 9.98481435e-01 -4.47370375e-04 7.03471494e+00] [ 4.99401194e-03 1.72519568e-04 9.99987515e-01 -2.58093186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.465898227 meters 0.04718361531128221 Centerline is valid? [True, True] Translation: X:202.10, Y:7.04, Z:-2.58 [[ 9.98573947e-01 -5.31453486e-02 -5.06411368e-03 2.02096679e+02] [ 5.31437217e-02 9.98586770e-01 -4.55374080e-04 7.04290639e+00] [ 5.08115793e-03 1.85598844e-04 9.99987074e-01 -2.58212517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.495898227 meters 0.04346941676614335 Centerline is valid? [True, True] Translation: X:202.13, Y:7.05, Z:-2.58 [[ 9.98694134e-01 -5.07449743e-02 -5.91388802e-03 2.02126797e+02] [ 5.07427130e-02 9.98711617e-01 -5.31891718e-04 7.04745855e+00] [ 5.93325950e-03 2.31110416e-04 9.99982371e-01 -2.58214484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.525898227 meters 0.048350759360698374 Centerline is valid? [True, True] Translation: X:202.16, Y:7.06, Z:-2.58 [[ 9.98812182e-01 -4.82421392e-02 -6.84987710e-03 2.02155330e+02] [ 4.82390464e-02 9.98835630e-01 -6.16110199e-04 7.05780567e+00] [ 6.87162378e-03 2.84946834e-04 9.99976350e-01 -2.58399966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.555898227 meters 0.04907522713054149 Centerline is valid? [True, True] Translation: X:202.19, Y:7.06, Z:-2.59 [[ 9.98909737e-01 -4.60484512e-02 -7.67322049e-03 2.02185355e+02] [ 4.60445052e-02 9.98939151e-01 -6.90216373e-04 7.06314283e+00] [ 7.69686376e-03 3.36154214e-04 9.99970322e-01 -2.58538531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.585898227 meters 0.0533794799291486 Centerline is valid? [True, True] Translation: X:202.21, Y:7.08, Z:-2.59 [[ 9.99083597e-01 -4.18195167e-02 -9.11555536e-03 2.02214769e+02] [ 4.18137720e-02 9.99125085e-01 -8.19973855e-04 7.07527440e+00] [ 9.14187094e-03 4.38066676e-04 9.99958116e-01 -2.58600045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.615898227 meters 0.05731385576413929 Centerline is valid? [True, True] Translation: X:202.24, Y:7.09, Z:-2.59 [[ 9.99164914e-01 -3.98271361e-02 -9.12550332e-03 2.02243219e+02] [ 3.98212956e-02 9.99206480e-01 -8.20895099e-04 7.08502187e+00] [ 9.15095596e-03 4.56820215e-04 9.99958025e-01 -2.58636859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.645898227 meters 0.059012327541588847 Centerline is valid? [True, True] Translation: X:202.27, Y:7.09, Z:-2.58 [[ 9.99218460e-01 -3.85002060e-02 -8.95558086e-03 2.02273459e+02] [ 3.84945277e-02 9.99258486e-01 -8.05619222e-04 7.09180592e+00] [ 8.97995668e-03 4.60248743e-04 9.99959573e-01 -2.58492418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.675898227 meters 0.05826456187067784 Centerline is valid? [True, True] Translation: X:202.30, Y:7.09, Z:-2.58 [[ 9.99255001e-01 -3.77181308e-02 -8.17225546e-03 2.02304158e+02] [ 3.77133764e-02 9.99288327e-01 -7.35153441e-04 7.09446583e+00] [ 8.19416810e-03 4.26402406e-04 9.99966336e-01 -2.58320960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.705898227 meters 0.05392881202497689 Centerline is valid? [True, True] Translation: X:202.34, Y:7.09, Z:-2.58 [[ 9.99262913e-01 -3.77525974e-02 -6.95497154e-03 2.02335453e+02] [ 3.77491548e-02 9.99287051e-01 -6.25649955e-04 7.09144656e+00] [ 6.97363291e-03 3.62644499e-04 9.99975618e-01 -2.58126675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.735898227 meters 0.0572922586492168 Centerline is valid? [True, True] Translation: X:202.36, Y:7.10, Z:-2.58 [[ 9.99242802e-01 -3.84694908e-02 -5.82417604e-03 2.02364525e+02] [ 3.84670886e-02 9.99259730e-01 -5.23951061e-04 7.09765226e+00] [ 5.84002071e-03 2.99515231e-04 9.99982902e-01 -2.57948564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.765898227 meters 0.055397998379052134 Centerline is valid? [True, True] Translation: X:202.39, Y:7.09, Z:-2.58 [[ 9.99151417e-01 -4.10243866e-02 -3.66672878e-03 2.02394877e+02] [ 4.10234515e-02 9.99158129e-01 -3.29893072e-04 7.09497332e+00] [ 3.67717553e-03 1.79191260e-04 9.99993223e-01 -2.57633147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.795898227 meters 0.05014768128589344 Centerline is valid? [True, True] Translation: X:202.43, Y:7.09, Z:-2.58 [[ 9.99104983e-01 -4.21575546e-02 -3.46030828e-03 2.02426192e+02] [ 4.21567286e-02 9.99110961e-01 -3.11321562e-04 7.08868149e+00] [ 3.47035649e-03 1.65167646e-04 9.99993965e-01 -2.57549158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.825898227 meters 0.05908560619533812 Centerline is valid? [True, True] Translation: X:202.46, Y:7.10, Z:-2.58 [[ 9.99081356e-01 -4.26967347e-02 -3.66498792e-03 2.02455340e+02] [ 4.26958118e-02 9.99088064e-01 -3.29738213e-04 7.10034989e+00] [ 3.67572442e-03 1.72955667e-04 9.99993230e-01 -2.57571086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.855898227 meters 0.05698662977676074 Centerline is valid? [True, True] Translation: X:202.49, Y:7.10, Z:-2.58 [[ 9.99181600e-01 -4.01949162e-02 -4.52763447e-03 2.02486606e+02] [ 4.01934822e-02 9.99191832e-01 -4.07293368e-04 7.09509076e+00] [ 4.54034651e-03 2.24978643e-04 9.99989667e-01 -2.57600603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.885898227 meters 0.05691047683280033 Centerline is valid? [True, True] Translation: X:202.52, Y:7.10, Z:-2.58 [[ 9.99283066e-01 -3.75428557e-02 -4.88755907e-03 2.02516432e+02] [ 3.75411530e-02 9.99294986e-01 -4.39683960e-04 7.09596578e+00] [ 4.90062026e-03 2.55884133e-04 9.99987959e-01 -2.57624148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.915898227 meters 0.06218514111382055 Centerline is valid? [True, True] Translation: X:202.55, Y:7.10, Z:-2.58 [[ 9.99403782e-01 -3.40557997e-02 -5.68176679e-03 2.02545281e+02] [ 3.40534422e-02 9.99419883e-01 -5.11184786e-04 7.10433800e+00] [ 5.69587950e-03 3.17396292e-04 9.99983728e-01 -2.57712703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.945898227 meters 0.06609623972749969 Centerline is valid? [True, True] Translation: X:202.58, Y:7.11, Z:-2.58 [[ 9.99533791e-01 -2.98061248e-02 -6.61781941e-03 2.02575446e+02] [ 2.98028336e-02 9.99555620e-01 -5.95402179e-04 7.11159520e+00] [ 6.63262522e-03 3.97894826e-04 9.99977925e-01 -2.57861378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.975898227 meters 0.07100200692410381 Centerline is valid? [True, True] Translation: X:202.60, Y:7.12, Z:-2.58 [[ 9.99656516e-01 -2.51412679e-02 -7.40038658e-03 2.02604705e+02] [ 2.51370246e-02 9.99683793e-01 -6.65860022e-04 7.12015660e+00] [ 7.41478709e-03 4.79607611e-04 9.99972395e-01 -2.57996149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.005898227 meters 0.07459818709223855 Centerline is valid? [True, True] Translation: X:202.63, Y:7.13, Z:-2.58 [[ 9.99750789e-01 -2.08599978e-02 -7.95112838e-03 2.02633988e+02] [ 2.08549637e-02 9.99782256e-01 -7.15532463e-04 7.12739634e+00] [ 7.96432308e-03 5.49533650e-04 9.99968133e-01 -2.58020390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.035898227 meters 0.08402248765813847 Centerline is valid? [True, True] Translation: X:202.66, Y:7.14, Z:-2.58 [[ 9.99871530e-01 -1.41565965e-02 -7.51757333e-03 2.02661690e+02] [ 1.41519074e-02 9.99899628e-01 -6.76593903e-04 7.14224134e+00] [ 7.52639704e-03 5.70118980e-04 9.99971514e-01 -2.57943628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.065898227 meters 0.08708703624749146 Centerline is valid? [True, True] Translation: X:202.69, Y:7.15, Z:-2.58 [[ 9.99896896e-01 -1.25183443e-02 -7.03483104e-03 2.02690451e+02] [ 1.25141970e-02 9.99921494e-01 -6.33246361e-04 7.14986945e+00] [ 7.04220596e-03 5.45145809e-04 9.99975055e-01 -2.57855353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.095898227 meters 0.0839316141661538 Centerline is valid? [True, True] Translation: X:202.72, Y:7.15, Z:-2.58 [[ 9.99904113e-01 -1.19402944e-02 -7.01382361e-03 2.02720293e+02] [ 1.19361566e-02 9.99928562e-01 -6.31515972e-04 7.14945752e+00] [ 7.02086304e-03 5.47737321e-04 9.99975203e-01 -2.57843575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.125898227 meters 0.08720818740492478 Centerline is valid? [True, True] Translation: X:202.75, Y:7.16, Z:-2.58 [[ 9.99899226e-01 -1.20557431e-02 -7.49646575e-03 2.02748373e+02] [ 1.20510178e-02 9.99927156e-01 -6.75193996e-04 7.15720426e+00] [ 7.50405964e-03 5.84785911e-04 9.99971673e-01 -2.57940762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.155898227 meters 0.08510049469845363 Centerline is valid? [True, True] Translation: X:202.78, Y:7.16, Z:-2.58 [[ 9.99882755e-01 -1.28541243e-02 -8.32156064e-03 2.02777906e+02] [ 1.28483269e-02 9.99917176e-01 -7.49758059e-04 7.15786190e+00] [ 8.33050889e-03 6.42752021e-04 9.99965094e-01 -2.58123237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.185898227 meters 0.08635948261986473 Centerline is valid? [True, True] Translation: X:202.81, Y:7.16, Z:-2.58 [[ 9.99857924e-01 -1.41243933e-02 -9.19960963e-03 2.02806123e+02] [ 1.41173588e-02 9.99900001e-01 -8.29149302e-04 7.16230159e+00] [ 9.21040091e-03 6.99157310e-04 9.99957339e-01 -2.58285377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.215898227 meters 0.08622134905415411 Centerline is valid? [True, True] Translation: X:202.84, Y:7.16, Z:-2.58 [[ 9.99826120e-01 -1.63657799e-02 -8.93819033e-03 2.02836032e+02] [ 1.63592273e-02 9.99865854e-01 -8.05724706e-04 7.16388135e+00] [ 8.95017762e-03 6.59362719e-04 9.99959729e-01 -2.58191379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.245898227 meters 0.08602583282034373 Centerline is valid? [True, True] Translation: X:202.87, Y:7.17, Z:-2.58 [[ 9.99819129e-01 -1.71853897e-02 -8.14686531e-03 2.02865285e+02] [ 1.71799723e-02 9.99852144e-01 -7.34496333e-04 7.16703465e+00] [ 8.15828335e-03 5.94400564e-04 9.99966544e-01 -2.58081498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.275898227 meters 0.08539867674838013 Centerline is valid? [True, True] Translation: X:202.89, Y:7.17, Z:-2.58 [[ 9.99819357e-01 -1.74275437e-02 -7.58514043e-03 2.02894059e+02] [ 1.74228536e-02 9.99847977e-01 -6.83975658e-04 7.17403838e+00] [ 7.59590732e-03 5.51697312e-04 9.99970998e-01 -2.57929077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.305898227 meters 0.08371881912470362 Centerline is valid? [True, True] Translation: X:202.92, Y:7.18, Z:-2.58 [[ 9.99820286e-01 -1.72879100e-02 -7.77969459e-03 2.02923685e+02] [ 1.72829709e-02 9.99850392e-01 -7.01652593e-04 7.17544985e+00] [ 7.79066079e-03 5.67070261e-04 9.99969492e-01 -2.57905461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.335898227 meters 0.0865131678558726 Centerline is valid? [True, True] Translation: X:202.95, Y:7.18, Z:-2.58 [[ 9.99823855e-01 -1.66065528e-02 -8.74535029e-03 2.02952306e+02] [ 1.66002852e-02 9.99861895e-01 -7.88781347e-04 7.18279606e+00] [ 8.75724145e-03 6.43467098e-04 9.99961448e-01 -2.58043021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.365898227 meters 0.0869312799546476 Centerline is valid? [True, True] Translation: X:202.98, Y:7.19, Z:-2.58 [[ 9.99823375e-01 -1.59665041e-02 -9.91409401e-03 2.02981157e+02] [ 1.59584165e-02 9.99872256e-01 -8.94346957e-04 7.18735977e+00] [ 9.92710714e-03 7.35975752e-04 9.99950454e-01 -2.58229123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.395898227 meters 0.0889875324514279 Centerline is valid? [True, True] Translation: X:203.01, Y:7.20, Z:-2.58 [[ 9.99839280e-01 -1.51156304e-02 -9.64015173e-03 2.03009084e+02] [ 1.51079412e-02 9.99885490e-01 -8.69952749e-04 7.19600031e+00] [ 9.65219772e-03 7.24170084e-04 9.99953154e-01 -2.58180501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.425898227 meters 0.08949002204244852 Centerline is valid? [True, True] Translation: X:203.04, Y:7.20, Z:-2.58 [[ 9.99845143e-01 -1.54690794e-02 -8.39033735e-03 2.03037083e+02] [ 1.54632647e-02 9.99880150e-01 -7.57448516e-04 7.20063389e+00] [ 8.40104879e-03 6.27589212e-04 9.99964514e-01 -2.58006408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.455898227 meters 0.08857939268039959 Centerline is valid? [True, True] Translation: X:203.07, Y:7.20, Z:-2.58 [[ 9.99831509e-01 -1.66991254e-02 -7.62187986e-03 2.03067132e+02] [ 1.66943608e-02 9.99860403e-01 -6.88321529e-04 7.20284153e+00] [ 7.63231023e-03 5.60963141e-04 9.99970716e-01 -2.57878207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.485898227 meters 0.08892382197646365 Centerline is valid? [True, True] Translation: X:203.10, Y:7.21, Z:-2.58 [[ 9.99798740e-01 -1.86815171e-02 -7.31303504e-03 2.03096615e+02] [ 1.86771823e-02 9.99825348e-01 -6.60597861e-04 7.20666558e+00] [ 7.32409877e-03 5.23878020e-04 9.99973041e-01 -2.57849459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.515898227 meters 0.0729514122129982 Centerline is valid? [True, True] Translation: X:203.13, Y:7.19, Z:-2.58 [[ 9.99665119e-01 -2.44489581e-02 -8.47930541e-03 2.03128770e+02] [ 2.44433361e-02 9.99700924e-01 -7.66042424e-04 7.18867475e+00] [ 8.49549839e-03 5.58523379e-04 9.99963757e-01 -2.57952481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.545898227 meters 0.0785281903553397 Centerline is valid? [True, True] Translation: X:203.16, Y:7.20, Z:-2.58 [[ 9.99573710e-01 -2.76861319e-02 -9.26694703e-03 2.03157924e+02] [ 2.76795546e-02 9.99616497e-01 -8.37296147e-04 7.19728374e+00] [ 9.28657462e-03 5.80434250e-04 9.99956710e-01 -2.58155762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.575898227 meters 0.06139365231737167 Centerline is valid? [True, True] Translation: X:203.19, Y:7.18, Z:-2.58 [[ 9.99479880e-01 -3.07647057e-02 -9.66961900e-03 2.03190555e+02] [ 3.07576870e-02 9.99526489e-01 -8.73758013e-04 7.17636612e+00] [ 9.69192123e-03 5.75888439e-04 9.99952866e-01 -2.58063848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.605898227 meters 0.06280589753321346 Centerline is valid? [True, True] Translation: X:203.22, Y:7.18, Z:-2.58 [[ 9.99385511e-01 -3.38125325e-02 -9.23646172e-03 2.03219855e+02] [ 3.38062574e-02 9.99428057e-01 -8.34711818e-04 7.17911273e+00] [ 9.25940271e-03 5.21948695e-04 9.99956995e-01 -2.58100630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.635898227 meters 0.051951088788246516 Centerline is valid? [True, True] Translation: X:203.25, Y:7.17, Z:-2.58 [[ 9.99300839e-01 -3.63316269e-02 -8.82304242e-03 2.03250665e+02] [ 3.63259973e-02 9.99339675e-01 -7.97530060e-04 7.16626135e+00] [ 8.84619191e-03 4.76466642e-04 9.99960758e-01 -2.57913800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.665898227 meters 0.0683702521446539 Centerline is valid? [True, True] Translation: X:203.28, Y:7.19, Z:-2.58 [[ 9.99236831e-01 -3.80970719e-02 -8.62373057e-03 2.03278758e+02] [ 3.80917585e-02 9.99273941e-01 -7.79607734e-04 7.18806029e+00] [ 8.64717000e-03 4.50519700e-04 9.99962511e-01 -2.58042522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.695898227 meters 0.05832596815950775 Centerline is valid? [True, True] Translation: X:203.31, Y:7.17, Z:-2.58 [[ 9.99189316e-01 -3.93495231e-02 -8.50445429e-03 2.03309527e+02] [ 3.93444005e-02 9.99225413e-01 -7.68879421e-04 7.17339143e+00] [ 8.52812189e-03 4.33653447e-04 9.99963541e-01 -2.57843805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.725898227 meters 0.07151350368969149 Centerline is valid? [True, True] Translation: X:203.34, Y:7.19, Z:-2.58 [[ 9.99231332e-01 -3.82196703e-02 -8.71789707e-03 2.03337942e+02] [ 3.82142435e-02 9.99269258e-01 -7.88279077e-04 7.18737902e+00] [ 8.74165430e-03 4.54525310e-04 9.99961688e-01 -2.58015384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.755898227 meters 0.0563770647592186 Centerline is valid? [True, True] Translation: X:203.37, Y:7.17, Z:-2.58 [[ 9.99310206e-01 -3.59697286e-02 -9.23531794e-03 2.03369810e+02] [ 3.59635417e-02 9.99352754e-01 -8.35177430e-04 7.17214637e+00] [ 9.25938152e-03 5.02466588e-04 9.99957005e-01 -2.57839661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.785898227 meters 0.06852344165832447 Centerline is valid? [True, True] Translation: X:203.40, Y:7.19, Z:-2.58 [[ 9.99397196e-01 -3.33896135e-02 -9.50673181e-03 2.03397091e+02] [ 3.33829400e-02 9.99442264e-01 -8.59851424e-04 7.18921803e+00] [ 9.53013967e-03 5.41970445e-04 9.99954440e-01 -2.58106649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.815898227 meters 0.07351941234828711 Centerline is valid? [True, True] Translation: X:203.43, Y:7.20, Z:-2.58 [[ 9.99475453e-01 -3.08451367e-02 -9.86896033e-03 2.03426836e+02] [ 3.08378198e-02 9.99524003e-01 -8.92762409e-04 7.19631087e+00] [ 9.89180011e-03 5.87956893e-04 9.99950902e-01 -2.58190938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.845898227 meters 0.06533841424242252 Centerline is valid? [True, True] Translation: X:203.46, Y:7.19, Z:-2.58 [[ 9.99604952e-01 -2.67217898e-02 -8.71124950e-03 2.03458147e+02] [ 2.67159324e-02 9.99642755e-01 -7.88081752e-04 7.18831421e+00] [ 8.72919640e-03 5.55041269e-04 9.99961746e-01 -2.57881161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.875898227 meters 0.07276017664179896 Centerline is valid? [True, True] Translation: X:203.49, Y:7.20, Z:-2.58 [[ 9.99656370e-01 -2.48484595e-02 -8.34837487e-03 2.03486659e+02] [ 2.48430146e-02 9.99691079e-01 -7.55303127e-04 7.19919361e+00] [ 8.36456400e-03 5.47644784e-04 9.99964866e-01 -2.57903130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.905898227 meters 0.06758952590903163 Centerline is valid? [True, True] Translation: X:203.52, Y:7.19, Z:-2.58 [[ 9.99693054e-01 -2.33926163e-02 -8.15983668e-03 2.03517372e+02] [ 2.33873655e-02 9.99726206e-01 -7.38340677e-04 7.19405549e+00] [ 8.17487429e-03 5.47276963e-04 9.99966435e-01 -2.57785568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.935898227 meters 0.0732957572879474 Centerline is valid? [True, True] Translation: X:203.55, Y:7.20, Z:-2.58 [[ 9.99719311e-01 -2.21930657e-02 -8.29261554e-03 2.03546502e+02] [ 2.21876006e-02 9.99753543e-01 -7.50455568e-04 7.19995898e+00] [ 8.30722668e-03 5.66251681e-04 9.99965334e-01 -2.57856235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.965898227 meters 0.07725881232121849 Centerline is valid? [True, True] Translation: X:203.57, Y:7.21, Z:-2.58 [[ 9.99744150e-01 -2.08408703e-02 -8.79160463e-03 2.03574710e+02] [ 2.08346743e-02 9.99782618e-01 -7.95779352e-04 7.21060720e+00] [ 8.80627823e-03 6.12405533e-04 9.99961036e-01 -2.57881605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.995898227 meters 0.079568022899916 Centerline is valid? [True, True] Translation: X:203.60, Y:7.22, Z:-2.58 [[ 9.99766719e-01 -1.93980536e-02 -9.49853732e-03 2.03603701e+02] [ 1.93907547e-02 9.99811612e-01 -8.59931004e-04 7.21655406e+00] [ 9.51342890e-03 6.75546592e-04 9.99954518e-01 -2.57991016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.025898227 meters 0.08322960011028077 Centerline is valid? [True, True] Translation: X:203.63, Y:7.22, Z:-2.58 [[ 9.99808465e-01 -1.63517616e-02 -1.07542464e-02 2.03633759e+02] [ 1.63422293e-02 9.99865983e-01 -9.73660156e-04 7.22381882e+00] [ 1.07687262e-02 7.97725305e-04 9.99941697e-01 -2.58234576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.055898227 meters 0.08448674802794749 Centerline is valid? [True, True] Translation: X:203.66, Y:7.23, Z:-2.58 [[ 9.99828370e-01 -1.52722867e-02 -1.04875300e-02 2.03661687e+02] [ 1.52631600e-02 9.99883060e-01 -9.49739622e-04 7.23122443e+00] [ 1.05008083e-02 7.89503770e-04 9.99944553e-01 -2.58176602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.085898227 meters 0.07453884786000596 Centerline is valid? [True, True] Translation: X:203.69, Y:7.22, Z:-2.58 [[ 9.99840825e-01 -1.46066414e-02 -1.02455615e-02 2.03690844e+02] [ 1.45978909e-02 9.99893014e-01 -9.28344459e-04 7.22207272e+00] [ 1.02580253e-02 7.78633100e-04 9.99947082e-01 -2.57956074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.115898227 meters 0.0841987717526399 Centerline is valid? [True, True] Translation: X:203.72, Y:7.24, Z:-2.58 [[ 9.99841917e-01 -1.44037984e-02 -1.04245440e-02 2.03717140e+02] [ 1.43947219e-02 9.99895944e-01 -9.45194825e-04 7.23774740e+00] [ 1.04370736e-02 7.94986994e-04 9.99945216e-01 -2.58003243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.145898227 meters 0.08490986304825458 Centerline is valid? [True, True] Translation: X:203.74, Y:7.24, Z:-2.58 [[ 9.99821483e-01 -1.54371909e-02 -1.08947754e-02 2.03744923e+02] [ 1.54273295e-02 9.99880503e-01 -9.88619725e-04 7.24151123e+00] [ 1.09087350e-02 8.20365950e-04 9.99940161e-01 -2.57977444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.175898227 meters 0.0840509296165842 Centerline is valid? [True, True] Translation: X:203.77, Y:7.24, Z:-2.58 [[ 9.99813441e-01 -1.59201477e-02 -1.09376517e-02 2.03773718e+02] [ 1.59102215e-02 9.99872930e-01 -9.93945586e-04 7.24421907e+00] [ 1.09520856e-02 8.19739695e-04 9.99939688e-01 -2.57940227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.205898227 meters 0.07656822421240812 Centerline is valid? [True, True] Translation: X:203.80, Y:7.24, Z:-2.58 [[ 9.99810206e-01 -1.63958443e-02 -1.05227659e-02 2.03803159e+02] [ 1.63866651e-02 9.99865271e-01 -9.57950646e-04 7.23737707e+00] [ 1.05370546e-02 7.85335791e-04 9.99944175e-01 -2.57774570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.235898227 meters 0.07656822421240812 Centerline is valid? [True, True] Translation: X:203.83, Y:7.24, Z:-2.58 [[ 9.99807478e-01 -1.65614264e-02 -1.05226070e-02 2.03831404e+02] [ 1.65522381e-02 9.99862542e-01 -9.59693723e-04 7.24008066e+00] [ 1.05370545e-02 7.85336264e-04 9.99944175e-01 -2.57763705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.265898227 meters 0.08164394867537254 Centerline is valid? [True, True] Translation: X:203.86, Y:7.25, Z:-2.58 [[ 9.99809902e-01 -1.70949797e-02 -9.37659746e-03 2.03858301e+02] [ 1.70876988e-02 9.99853628e-01 -8.56071145e-04 7.24806936e+00] [ 9.38985951e-03 6.95683935e-04 9.99955672e-01 -2.57686260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.295898227 meters 0.07408569153323355 Centerline is valid? [True, True] Translation: X:203.89, Y:7.24, Z:-2.57 [[ 9.99811641e-01 -1.75514500e-02 -8.28421007e-03 2.03887786e+02] [ 1.75457745e-02 9.99845774e-01 -7.57290391e-04 7.24109791e+00] [ 8.29622397e-03 6.11794867e-04 9.99965399e-01 -2.57470610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.325898227 meters 0.07512153095408129 Centerline is valid? [True, True] Translation: X:203.92, Y:7.24, Z:-2.57 [[ 9.99818100e-01 -1.74943688e-02 -7.59696997e-03 2.03916991e+02] [ 1.74895891e-02 9.99846804e-01 -6.95145774e-04 7.24414181e+00] [ 7.60796728e-03 5.62151444e-04 9.99970901e-01 -2.57335987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.355898227 meters 0.08083695070562885 Centerline is valid? [True, True] Translation: X:203.95, Y:7.25, Z:-2.57 [[ 9.99835564e-01 -1.69623985e-02 -6.41263256e-03 2.03946171e+02] [ 1.69589815e-02 9.99856014e-01 -5.86863845e-04 7.25160585e+00] [ 6.42166385e-03 4.78015627e-04 9.99979267e-01 -2.57066107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.385898227 meters 0.07407122393006157 Centerline is valid? [True, True] Translation: X:203.98, Y:7.24, Z:-2.57 [[ 9.99844943e-01 -1.65267227e-02 -6.07922067e-03 2.03976847e+02] [ 1.65236434e-02 9.99863320e-01 -5.56422253e-04 7.24411495e+00] [ 6.08758561e-03 4.55885101e-04 9.99981367e-01 -2.56895834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.415898227 meters 0.08552528308540672 Centerline is valid? [True, True] Translation: X:204.01, Y:7.26, Z:-2.57 [[ 9.99850420e-01 -1.61923672e-02 -6.07818502e-03 2.04005584e+02] [ 1.61892822e-02 9.99868790e-01 -5.56419372e-04 7.25827971e+00] [ 6.08639725e-03 4.57934691e-04 9.99981373e-01 -2.56943174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.445898227 meters 0.07249433953980505 Centerline is valid? [True, True] Translation: X:204.04, Y:7.25, Z:-2.57 [[ 9.99856148e-01 -1.54877919e-02 -6.91454266e-03 2.04037031e+02] [ 1.54837824e-02 9.99879919e-01 -6.33020650e-04 7.24560840e+00] [ 6.92351644e-03 5.25866315e-04 9.99975894e-01 -2.56963247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.475898227 meters 0.08352194508938278 Centerline is valid? [True, True] Translation: X:204.06, Y:7.26, Z:-2.57 [[ 9.99860723e-01 -1.49788578e-02 -7.35995611e-03 2.04064812e+02] [ 1.49743008e-02 9.99887652e-01 -6.73873663e-04 7.26220584e+00] [ 7.36922309e-03 5.63569611e-04 9.99972688e-01 -2.57097803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.505898227 meters 0.08008701526318247 Centerline is valid? [True, True] Translation: X:204.10, Y:7.26, Z:-2.57 [[ 9.99857929e-01 -1.47321038e-02 -8.19069328e-03 2.04095160e+02] [ 1.47264507e-02 9.99891279e-01 -7.50069341e-04 7.25797087e+00] [ 8.20085288e-03 6.29342937e-04 9.99966174e-01 -2.57255984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.535898227 meters 0.08508550142727053 Centerline is valid? [True, True] Translation: X:204.12, Y:7.26, Z:-2.57 [[ 9.99848607e-01 -1.52173740e-02 -8.43773923e-03 2.04123418e+02] [ 1.52113898e-02 9.99884001e-01 -7.72946609e-04 7.26478697e+00] [ 8.44852268e-03 6.44479850e-04 9.99964103e-01 -2.57352997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.565898227 meters 0.08065972821053287 Centerline is valid? [True, True] Translation: X:204.15, Y:7.26, Z:-2.57 [[ 9.99827407e-01 -1.64542151e-02 -8.62637900e-03 2.04154021e+02] [ 1.64480044e-02 9.99864410e-01 -7.90419086e-04 7.25914610e+00] [ 8.63821507e-03 6.48395946e-04 9.99962480e-01 -2.57340309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.595898227 meters 0.0866764390340137 Centerline is valid? [True, True] Translation: X:204.18, Y:7.27, Z:-2.57 [[ 9.99791464e-01 -1.84151391e-02 -8.82668834e-03 2.04182363e+02] [ 1.84087112e-02 9.99830218e-01 -8.08932704e-04 7.26692186e+00] [ 8.84008633e-03 6.46276057e-04 9.99960717e-01 -2.57402662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.625898227 meters 0.08452569460246241 Centerline is valid? [True, True] Translation: X:204.21, Y:7.26, Z:-2.57 [[ 9.99758410e-01 -2.00542635e-02 -8.99716921e-03 2.04212320e+02] [ 2.00476491e-02 9.99798686e-01 -8.24760335e-04 7.26412581e+00] [ 9.01189791e-03 6.44188989e-04 9.99959185e-01 -2.57364232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.655898227 meters 0.06700112590679166 Centerline is valid? [True, True] Translation: X:204.24, Y:7.24, Z:-2.57 [[ 9.99728673e-01 -2.14283633e-02 -9.13267315e-03 2.04243987e+02] [ 2.14216032e-02 9.99770180e-01 -8.37398563e-04 7.24147808e+00] [ 9.14851837e-03 6.41534854e-04 9.99957946e-01 -2.57257522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.685898227 meters 0.08162127047385737 Centerline is valid? [True, True] Translation: X:204.27, Y:7.26, Z:-2.58 [[ 9.99690513e-01 -2.29368529e-02 -9.63223628e-03 2.04271499e+02] [ 2.29293996e-02 9.99736696e-01 -8.83517335e-04 7.25571852e+00] [ 9.64996519e-03 6.62382503e-04 9.99953219e-01 -2.57513856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.715898227 meters 0.0834393377811071 Centerline is valid? [True, True] Translation: X:204.30, Y:7.26, Z:-2.58 [[ 9.99672395e-01 -2.33747862e-02 -1.04269833e-02 2.04299910e+02] [ 2.33660721e-02 9.99726518e-01 -9.56785220e-04 7.25714990e+00] [ 1.04464963e-02 7.12834130e-04 9.99945180e-01 -2.57638662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.745898227 meters 0.07539946969943985 Centerline is valid? [True, True] Translation: X:204.33, Y:7.25, Z:-2.58 [[ 9.99659133e-01 -2.38378609e-02 -1.06477582e-02 2.04329453e+02] [ 2.38287869e-02 9.99715576e-01 -9.78270087e-04 7.24639153e+00] [ 1.06680496e-02 7.24213464e-04 9.99942832e-01 -2.57593634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.775898227 meters 0.07587897221478705 Centerline is valid? [True, True] Translation: X:204.36, Y:7.24, Z:-2.57 [[ 9.99670379e-01 -2.35816653e-02 -1.01507585e-02 2.04358500e+02] [ 2.35733893e-02 9.99721673e-01 -9.34209796e-04 7.24277742e+00] [ 1.01699635e-02 6.94614080e-04 9.99948043e-01 -2.57450906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.805898227 meters 0.07409469036609183 Centerline is valid? [True, True] Translation: X:204.39, Y:7.24, Z:-2.57 [[ 9.99683589e-01 -2.32980386e-02 -9.48279793e-03 2.04387697e+02] [ 2.32907889e-02 9.99728351e-01 -8.74232095e-04 7.23967283e+00] [ 9.50058983e-03 6.53093633e-04 9.99954655e-01 -2.57313110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.835898227 meters 0.07422429418209067 Centerline is valid? [True, True] Translation: X:204.42, Y:7.24, Z:-2.57 [[ 9.99703262e-01 -2.25566899e-02 -9.19695461e-03 2.04416285e+02] [ 2.25498312e-02 9.99745360e-01 -8.48794899e-04 7.23849153e+00] [ 9.21375870e-03 6.41153256e-04 9.99957347e-01 -2.57264700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.865898227 meters 0.07301841379879062 Centerline is valid? [True, True] Translation: X:204.45, Y:7.23, Z:-2.57 [[ 9.99705898e-01 -2.23834193e-02 -9.33275964e-03 2.04445587e+02] [ 2.23763383e-02 9.99749246e-01 -8.62471329e-04 7.23485016e+00] [ 9.34972448e-03 6.53384688e-04 9.99956077e-01 -2.57234500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.895898227 meters 0.07694744687326828 Centerline is valid? [True, True] Translation: X:204.47, Y:7.24, Z:-2.57 [[ 9.99718071e-01 -2.19043612e-02 -9.16396950e-03 2.04473056e+02] [ 2.18975053e-02 9.99759861e-01 -8.47812013e-04 7.23956532e+00] [ 9.18033966e-03 6.46904919e-04 9.99957651e-01 -2.57206859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.925898227 meters 0.07052497483315068 Centerline is valid? [True, True] Translation: X:204.50, Y:7.23, Z:-2.57 [[ 9.99723833e-01 -2.18980550e-02 -8.52830267e-03 2.04502483e+02] [ 2.18921086e-02 9.99760027e-01 -7.90003673e-04 7.23007005e+00] [ 8.54355565e-03 6.03082973e-04 9.99963321e-01 -2.57059261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.955898227 meters 0.07116273353108654 Centerline is valid? [True, True] Translation: X:204.53, Y:7.22, Z:-2.57 [[ 9.99747575e-01 -2.15564671e-02 -6.33278773e-03 2.04531858e+02] [ 2.15531758e-02 9.99767531e-01 -5.87522974e-04 7.22427971e+00] [ 6.34398048e-03 4.50882981e-04 9.99979775e-01 -2.56824138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.985898227 meters 0.07122819355827259 Centerline is valid? [True, True] Translation: X:204.56, Y:7.22, Z:-2.57 [[ 9.99760629e-01 -2.09983230e-02 -6.14449715e-03 2.04560890e+02] [ 2.09952078e-02 9.99779413e-01 -5.71064718e-04 7.22211684e+00] [ 6.15513316e-03 4.41923027e-04 9.99980959e-01 -2.56774899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.015898227 meters 0.07493089925075992 Centerline is valid? [True, True] Translation: X:204.59, Y:7.22, Z:-2.57 [[ 9.99776716e-01 -2.00978068e-02 -6.52663984e-03 2.04590993e+02] [ 2.00942681e-02 9.99797905e-01 -6.07324158e-04 7.22096455e+00] [ 6.53752673e-03 4.76040501e-04 9.99978517e-01 -2.56846013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.045898227 meters 0.07891441480145425 Centerline is valid? [True, True] Translation: X:204.62, Y:7.23, Z:-2.57 [[ 9.99803602e-01 -1.84838155e-02 -7.14890655e-03 2.04619961e+02] [ 1.84795278e-02 9.99829018e-01 -6.65367725e-04 7.22871304e+00] [ 7.15998275e-03 5.33128631e-04 9.99974225e-01 -2.56988515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.075898227 meters 0.07455741955737705 Centerline is valid? [True, True] Translation: X:204.65, Y:7.22, Z:-2.57 [[ 9.99820974e-01 -1.69217309e-02 -8.46607610e-03 2.04650624e+02] [ 1.69156609e-02 9.99856609e-01 -7.88069519e-04 7.22179387e+00] [ 8.47819765e-03 6.44719161e-04 9.99963852e-01 -2.57100046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.105898227 meters 0.07956251541714643 Centerline is valid? [True, True] Translation: X:204.68, Y:7.23, Z:-2.57 [[ 9.99845625e-01 -1.45762545e-02 -9.81116278e-03 2.04679800e+02] [ 1.45679897e-02 9.99893464e-01 -9.13322132e-04 7.22707195e+00] [ 9.82343036e-03 7.70252219e-04 9.99951452e-01 -2.57302891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.135898227 meters 0.08776333905365233 Centerline is valid? [True, True] Translation: X:204.71, Y:7.23, Z:-2.57 [[ 9.99895756e-01 -9.76611461e-03 -1.06348478e-02 2.04708359e+02] [ 9.75613563e-03 9.99951918e-01 -9.89804806e-04 7.23273134e+00] [ 1.06440030e-02 8.85946608e-04 9.99942959e-01 -2.57457304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.165898227 meters 0.09289187714851027 Centerline is valid? [True, True] Translation: X:204.74, Y:7.24, Z:-2.57 [[ 9.99920135e-01 -7.44121150e-03 -1.02152603e-02 2.04737067e+02] [ 7.43188507e-03 9.99971931e-01 -9.50647745e-04 7.23890306e+00] [ 1.02220476e-02 8.74653181e-04 9.99947371e-01 -2.57415373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.195898227 meters 0.09198111370296269 Centerline is valid? [True, True] Translation: X:204.77, Y:7.24, Z:-2.57 [[ 9.99939294e-01 -5.38609184e-03 -9.61238078e-03 2.04767342e+02] [ 5.37773947e-03 9.99985140e-01 -8.94552926e-04 7.23819627e+00] [ 9.61705608e-03 8.42805742e-04 9.99953400e-01 -2.57282021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.225898227 meters 0.09520964240252239 Centerline is valid? [True, True] Translation: X:204.80, Y:7.24, Z:-2.57 [[ 9.99954501e-01 -3.58786338e-03 -8.83870871e-03 2.04796516e+02] [ 3.58073147e-03 9.99993251e-01 -8.22588475e-04 7.24342352e+00] [ 8.84160039e-03 7.90902006e-04 9.99960600e-01 -2.57211746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.255898227 meters 0.0977239492425136 Centerline is valid? [True, True] Translation: X:204.83, Y:7.25, Z:-2.57 [[ 9.99962896e-01 -2.07762168e-03 -8.36001096e-03 2.04825067e+02] [ 2.07118843e-03 9.99997552e-01 -7.78110438e-04 7.24775738e+00] [ 8.36160712e-03 7.60766409e-04 9.99964752e-01 -2.57143775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.285898227 meters 0.09955191306429166 Centerline is valid? [True, True] Translation: X:204.85, Y:7.25, Z:-2.57 [[ 9.99971114e-01 -8.73371318e-04 -7.55038794e-03 2.04854872e+02] [ 8.68089162e-04 9.99999376e-01 -7.02836213e-04 7.25059552e+00] [ 7.55099707e-03 6.96261501e-04 9.99971248e-01 -2.57113449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.315898227 meters 0.08949918385874885 Centerline is valid? [True, True] Translation: X:204.88, Y:7.24, Z:-2.57 [[ 9.99970834e-01 -9.50468532e-04 -7.57806602e-03 2.04884562e+02] [ 9.45144739e-04 9.99999304e-01 -7.06076831e-04 7.23926639e+00] [ 7.57873185e-03 6.98893869e-04 9.99971037e-01 -2.56991455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.345898227 meters 0.09735865834596444 Centerline is valid? [True, True] Translation: X:204.91, Y:7.25, Z:-2.57 [[ 9.99967067e-01 -5.24965689e-04 -8.09876989e-03 2.04910806e+02] [ 5.18862276e-04 9.99999580e-01 -7.55705016e-04 7.25093831e+00] [ 8.09916321e-03 7.51477982e-04 9.99966919e-01 -2.57082970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.375898227 meters 0.09736100347094744 Centerline is valid? [True, True] Translation: X:204.94, Y:7.25, Z:-2.57 [[ 9.99958433e-01 1.62604367e-04 -9.11627059e-03 2.04939806e+02] [-1.70371811e-04 9.99999623e-01 -8.51271630e-04 7.25360401e+00] [ 9.11612873e-03 8.52789401e-04 9.99958084e-01 -2.57197216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.405898227 meters 0.10677406016301177 Centerline is valid? [True, False] Translation: X:204.96, Y:7.26, Z:-2.57 [[ 9.99983196e-01 3.02013664e-03 -4.94846354e-03 2.04959870e+02] [-3.06307382e-03 9.99957529e-01 -8.69239042e-03 7.25857581e+00] [ 4.92200117e-03 8.70740186e-03 9.99949976e-01 -2.57466774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.435898227 meters 0.0997307550622819 Centerline is valid? [False, True] Translation: X:204.96, Y:7.26, Z:-2.57 [[ 9.99961841e-01 7.21659836e-03 -4.92304477e-03 2.04959897e+02] [-7.23994743e-03 9.99962550e-01 -4.74159287e-03 7.26030980e+00] [ 4.88864223e-03 4.77705452e-03 9.99976640e-01 -2.57475497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.465898227 meters 0.11309701127871735 Centerline is valid? [True, False] Translation: X:204.98, Y:7.26, Z:-2.57 [[ 9.99948208e-01 6.09466966e-03 -8.15084506e-03 2.04976313e+02] [-6.07397185e-03 9.99978272e-01 2.56169380e-03 7.26238937e+00] [ 8.16628064e-03 -2.51205313e-03 9.99963500e-01 -2.56665665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.495898227 meters 0.10214840718020293 Centerline is valid? [False, False] Translation: X:204.93, Y:7.26, Z:-2.57 [[ 9.99961858e-01 3.81599215e-03 -7.85624809e-03 2.04934117e+02] [-3.81354019e-03 9.99992675e-01 3.27060839e-04 7.26337137e+00] [ 7.85743860e-03 -2.97088246e-04 9.99969086e-01 -2.56898435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.525898227 meters 0.10299293987908939 Centerline is valid? [False, False] Translation: X:204.93, Y:7.27, Z:-2.57 [[ 9.99962991e-01 3.59450802e-03 -7.81641890e-03 2.04933995e+02] [-3.59618532e-03 9.99993514e-01 -2.00542044e-04 7.26573470e+00] [ 7.81564735e-03 2.28643913e-04 9.99969431e-01 -2.56901544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.555898227 meters 0.11399472968963757 Centerline is valid? [False, False] Translation: X:204.95, Y:7.27, Z:-2.56 [[ 9.99951894e-01 5.27184028e-04 -9.79444517e-03 2.04953860e+02] [-4.67882806e-04 9.99981554e-01 6.05588206e-03 7.26915191e+00] [ 9.79745707e-03 -6.05100808e-03 9.99933695e-01 -2.56473195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.585898227 meters 0.09756439984847862 Centerline is valid? [False, True] Translation: X:204.95, Y:7.27, Z:-2.57 [[ 9.99943813e-01 -4.22420795e-03 -9.72254623e-03 2.04953749e+02] [ 4.23194515e-03 9.99990745e-01 7.75363882e-04 7.27329478e+00] [ 9.71918094e-03 -8.16465598e-04 9.99952434e-01 -2.56501497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.615898227 meters 0.09526961549497338 Centerline is valid? [True, True] Translation: X:204.98, Y:7.28, Z:-2.57 [[ 9.99873606e-01 -1.18860086e-02 -1.05591279e-02 2.04982946e+02] [ 1.18753427e-02 9.99928911e-01 -1.07223401e-03 7.27718490e+00] [ 1.05711218e-02 9.46705228e-04 9.99943676e-01 -2.56738167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.645898227 meters 0.0896650977354944 Centerline is valid? [True, True] Translation: X:205.01, Y:7.28, Z:-2.57 [[ 9.99823288e-01 -1.58113555e-02 -1.01682352e-02 2.05013588e+02] [ 1.58016658e-02 9.99874613e-01 -1.03257422e-03 7.27783722e+00] [ 1.01832867e-02 8.71716699e-04 9.99947769e-01 -2.56699244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.675898227 meters 0.08727834789980146 Centerline is valid? [True, True] Translation: X:205.04, Y:7.28, Z:-2.57 [[ 9.99756674e-01 -1.98712359e-02 -9.57742604e-03 2.05042592e+02] [ 1.98628237e-02 9.99802242e-01 -9.72661902e-04 7.27940183e+00] [ 9.59486002e-03 7.82190503e-04 9.99953662e-01 -2.56654485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.705898227 meters 0.08439357955024374 Centerline is valid? [True, True] Translation: X:205.07, Y:7.28, Z:-2.57 [[ 9.99669351e-01 -2.39852711e-02 -9.26796880e-03 2.05072156e+02] [ 2.39775683e-02 9.99712054e-01 -9.41356162e-04 7.27892034e+00] [ 9.28787880e-03 7.18821549e-04 9.99956608e-01 -2.56624938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.735898227 meters 0.07948666797751461 Centerline is valid? [True, True] Translation: X:205.10, Y:7.28, Z:-2.57 [[ 9.99567402e-01 -2.80072433e-02 -8.97792761e-03 2.05102673e+02] [ 2.80001754e-02 9.99607502e-01 -9.12000847e-04 7.27630809e+00] [ 8.99994642e-03 6.60222769e-04 9.99959282e-01 -2.56590979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.765898227 meters 0.07052850512872318 Centerline is valid? [True, True] Translation: X:205.13, Y:7.27, Z:-2.57 [[ 9.99342628e-01 -3.48247348e-02 -1.00772249e-02 2.05133819e+02] [ 3.48161743e-02 9.99393209e-01 -1.02373572e-03 7.26805723e+00] [ 1.01067615e-02 6.72212328e-04 9.99948699e-01 -2.56687256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.795898227 meters 0.06835743353359276 Centerline is valid? [True, True] Translation: X:205.16, Y:7.27, Z:-2.57 [[ 9.99239911e-01 -3.75032355e-02 -1.06352350e-02 2.05163981e+02] [ 3.74938514e-02 9.99296274e-01 -1.08044723e-03 7.26807619e+00] [ 1.06682710e-02 6.80870070e-04 9.99942861e-01 -2.56730326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.825898227 meters 0.06733651145541515 Centerline is valid? [True, True] Translation: X:205.19, Y:7.27, Z:-2.57 [[ 9.99167749e-01 -3.93147718e-02 -1.08700751e-02 2.05193885e+02] [ 3.93050734e-02 9.99226647e-01 -1.10448924e-03 7.26918264e+00] [ 1.09050915e-02 6.76320928e-04 9.99940309e-01 -2.56777775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.855898227 meters 0.0672364526071909 Centerline is valid? [True, True] Translation: X:205.22, Y:7.27, Z:-2.57 [[ 9.99109678e-01 -4.08142482e-02 -1.06793333e-02 2.05223127e+02] [ 4.08049696e-02 9.99166541e-01 -1.08537298e-03 7.27097921e+00] [ 1.07147312e-02 6.48636779e-04 9.99942385e-01 -2.56682865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.885898227 meters 0.06386435031302651 Centerline is valid? [True, True] Translation: X:205.25, Y:7.27, Z:-2.56 [[ 9.99102223e-01 -4.12523907e-02 -9.64306021e-03 2.05252116e+02] [ 4.12448369e-02 9.99148588e-01 -9.80984877e-04 7.26714499e+00] [ 9.67531796e-03 5.82377726e-04 9.99953023e-01 -2.56430746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.915898227 meters 0.06655912899774472 Centerline is valid? [True, True] Translation: X:205.28, Y:7.27, Z:-2.56 [[ 9.99143145e-01 -4.04268457e-02 -8.86826614e-03 2.05280638e+02] [ 4.04204122e-02 9.99182353e-01 -9.03569370e-04 7.26854890e+00] [ 8.89754349e-03 5.44336169e-04 9.99960268e-01 -2.56263248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.945898227 meters 0.06180607777463624 Centerline is valid? [True, True] Translation: X:205.31, Y:7.27, Z:-2.56 [[ 9.99224382e-01 -3.85876517e-02 -7.85037102e-03 2.05311462e+02] [ 3.85825485e-02 9.99255096e-01 -8.00526404e-04 7.26743510e+00] [ 7.87541368e-03 4.97018181e-04 9.99968865e-01 -2.56054751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.975898227 meters 0.06353168579394385 Centerline is valid? [True, True] Translation: X:205.34, Y:7.27, Z:-2.56 [[ 9.99317641e-01 -3.63718849e-02 -6.42949500e-03 2.05341558e+02] [ 3.63684160e-02 9.99338235e-01 -6.55658174e-04 7.27125133e+00] [ 6.44908771e-03 4.21380231e-04 9.99979116e-01 -2.55852877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.005898227 meters 0.07585858903558043 Centerline is valid? [True, True] Translation: X:205.37, Y:7.29, Z:-2.56 [[ 9.99404508e-01 -3.40125896e-02 -5.81154089e-03 2.05368775e+02] [ 3.40097154e-02 9.99421327e-01 -5.92721811e-04 7.28924846e+00] [ 5.82833791e-03 3.94719999e-04 9.99982937e-01 -2.55748154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.035898227 meters 0.06884150314613588 Centerline is valid? [True, True] Translation: X:205.40, Y:7.28, Z:-2.56 [[ 9.99470678e-01 -3.20276945e-02 -5.70873850e-03 2.05399699e+02] [ 3.20248881e-02 9.99486902e-01 -5.82358989e-04 7.28224110e+00] [ 5.72446097e-03 3.99229022e-04 9.99983535e-01 -2.55727718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.065898227 meters 0.07683179748918147 Centerline is valid? [True, True] Translation: X:205.43, Y:7.29, Z:-2.56 [[ 9.99559949e-01 -2.85699101e-02 -7.97920575e-03 2.05428160e+02] [ 2.85643168e-02 9.99591625e-01 -8.14087988e-04 7.29301167e+00] [ 7.99920566e-03 5.85809187e-04 9.99967834e-01 -2.56127549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.095898227 meters 0.07409996119868106 Centerline is valid? [True, True] Translation: X:205.46, Y:7.29, Z:-2.56 [[ 9.99590419e-01 -2.71349798e-02 -9.09322283e-03 2.05458917e+02] [ 2.71276561e-02 9.99631547e-01 -9.27804387e-04 7.29162834e+00] [ 9.11504835e-03 6.80746554e-04 9.99958225e-01 -2.56265990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.125898227 meters 0.07409996119868106 Centerline is valid? [True, True] Translation: X:205.49, Y:7.29, Z:-2.56 [[ 9.99585257e-01 -2.73245198e-02 -9.09313481e-03 2.05486311e+02] [ 2.73171961e-02 9.99626384e-01 -9.28666216e-04 7.29458700e+00] [ 9.11511283e-03 6.79882112e-04 9.99958225e-01 -2.56253394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.155898227 meters 0.08049792715598808 Centerline is valid? [True, True] Translation: X:205.51, Y:7.31, Z:-2.56 [[ 9.99616288e-01 -2.58880205e-02 -9.85328689e-03 2.05514699e+02] [ 2.58793411e-02 9.99664566e-01 -1.00736968e-03 7.30542682e+00] [ 9.87606057e-03 7.51986568e-04 9.99950948e-01 -2.56313060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.185898227 meters 0.07356040063003359 Centerline is valid? [True, True] Translation: X:205.55, Y:7.30, Z:-2.56 [[ 9.99660792e-01 -2.43866639e-02 -9.14282832e-03 2.05545208e+02] [ 2.43791272e-02 9.99702348e-01 -9.34892941e-04 7.29984716e+00] [ 9.16290586e-03 7.11681643e-04 9.99957766e-01 -2.56109285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.215898227 meters 0.0889687629119492 Centerline is valid? [True, True] Translation: X:205.57, Y:7.32, Z:-2.56 [[ 9.99712973e-01 -2.24893752e-02 -8.25836464e-03 2.05571884e+02] [ 2.24831610e-02 9.99746865e-01 -8.44553096e-04 7.32361739e+00] [ 8.27526763e-03 6.58636545e-04 9.99965542e-01 -2.56034930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.245898227 meters 0.08558576247329122 Centerline is valid? [True, True] Translation: X:205.60, Y:7.32, Z:-2.56 [[ 9.99792090e-01 -1.88898572e-02 -7.67787636e-03 2.05602037e+02] [ 1.88843798e-02 9.99821366e-01 -7.85278676e-04 7.32417145e+00] [ 7.69133863e-03 6.40123476e-04 9.99970216e-01 -2.55904027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.275898227 meters 0.0838030688276968 Centerline is valid? [True, True] Translation: X:205.63, Y:7.33, Z:-2.56 [[ 9.99818667e-01 -1.74844992e-02 -7.54493593e-03 2.05632344e+02] [ 1.74791695e-02 9.99846930e-01 -7.71766824e-04 7.32591688e+00] [ 7.55727498e-03 6.39747664e-04 9.99971239e-01 -2.55895788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.305898227 meters 0.08840332871859956 Centerline is valid? [True, True] Translation: X:205.66, Y:7.34, Z:-2.56 [[ 9.99829785e-01 -1.66314764e-02 -7.98720160e-03 2.05659876e+02] [ 1.66254747e-02 9.99861453e-01 -8.17224239e-04 7.33583325e+00] [ 7.99968665e-03 6.84294117e-04 9.99967768e-01 -2.55957277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.335898227 meters 0.09806315004222649 Centerline is valid? [True, True] Translation: X:205.69, Y:7.35, Z:-2.56 [[ 9.99804732e-01 -1.76068086e-02 -8.97207162e-03 2.05687069e+02] [ 1.75992713e-02 9.99844699e-01 -9.18350706e-04 7.35378563e+00] [ 8.98684747e-03 7.60269459e-04 9.99959328e-01 -2.56157348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.365898227 meters 0.08673732621221134 Centerline is valid? [True, True] Translation: X:205.72, Y:7.34, Z:-2.56 [[ 9.99770823e-01 -1.94943796e-02 -8.84711258e-03 2.05718382e+02] [ 1.94871230e-02 9.99809698e-01 -9.05691329e-04 7.34330070e+00] [ 8.86308485e-03 7.33078994e-04 9.99960453e-01 -2.56064437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.395898227 meters 0.08282469149605416 Centerline is valid? [True, True] Translation: X:205.75, Y:7.34, Z:-2.56 [[ 9.99730574e-01 -2.16446878e-02 -8.38376427e-03 2.05748947e+02] [ 2.16382464e-02 9.99765497e-01 -8.58277526e-04 7.34204165e+00] [ 8.40037540e-03 6.76636327e-04 9.99964487e-01 -2.55950672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.425898227 meters 0.08211057635245045 Centerline is valid? [True, True] Translation: X:205.78, Y:7.34, Z:-2.56 [[ 9.99695663e-01 -2.35582771e-02 -7.32048034e-03 2.05778120e+02] [ 2.35534166e-02 9.99722299e-01 -7.49476528e-04 7.34435090e+00] [ 7.33610381e-03 5.76826111e-04 9.99972924e-01 -2.55767456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.455898227 meters 0.08318003067346522 Centerline is valid? [True, True] Translation: X:205.81, Y:7.35, Z:-2.56 [[ 9.99668268e-01 -2.48799418e-02 -6.65897342e-03 2.05807150e+02] [ 2.48759485e-02 9.99690313e-01 -6.81863174e-04 7.34908750e+00] [ 6.67387594e-03 5.15988699e-04 9.99977596e-01 -2.55636415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.485898227 meters 0.08249933824486053 Centerline is valid? [True, True] Translation: X:205.84, Y:7.35, Z:-2.56 [[ 9.99650643e-01 -2.55791191e-02 -6.65582102e-03 2.05835985e+02] [ 2.55751436e-02 9.99672670e-01 -6.81741517e-04 7.35146963e+00] [ 6.67108071e-03 5.11279768e-04 9.99977617e-01 -2.55597081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.515898227 meters 0.08154029645873541 Centerline is valid? [True, True] Translation: X:205.86, Y:7.35, Z:-2.56 [[ 9.99648552e-01 -2.54445794e-02 -7.43947080e-03 2.05864279e+02] [ 2.54396037e-02 9.99676070e-01 -7.62707794e-04 7.35491262e+00] [ 7.45646771e-03 5.73182553e-04 9.99972036e-01 -2.55702362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.545898227 meters 0.07535318228220206 Centerline is valid? [True, True] Translation: X:205.89, Y:7.35, Z:-2.56 [[ 9.99661908e-01 -2.49664259e-02 -7.26274520e-03 2.05893427e+02] [ 2.49616627e-02 9.99688131e-01 -7.45761806e-04 7.35149935e+00] [ 7.27909919e-03 5.64219474e-04 9.99973348e-01 -2.55667533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.575898227 meters 0.08210930687379095 Centerline is valid? [True, True] Translation: X:205.92, Y:7.36, Z:-2.56 [[ 9.99684510e-01 -2.42330820e-02 -6.60586303e-03 2.05920216e+02] [ 2.42291204e-02 9.99706201e-01 -6.79101646e-04 7.36484893e+00] [ 6.62037896e-03 5.18833146e-04 9.99977950e-01 -2.55561007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.605898227 meters 0.0836588654043877 Centerline is valid? [True, True] Translation: X:205.95, Y:7.37, Z:-2.55 [[ 9.99697744e-01 -2.38410049e-02 -6.00232220e-03 2.05948261e+02] [ 2.38377245e-02 9.99715650e-01 -6.17482338e-04 7.37016212e+00] [ 6.01533685e-03 4.74213996e-04 9.99981795e-01 -2.55478650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.635898227 meters 0.07715420654451596 Centerline is valid? [True, True] Translation: X:205.98, Y:7.37, Z:-2.55 [[ 9.99713837e-01 -2.32417705e-02 -5.66254005e-03 2.05978484e+02] [ 2.32388374e-02 9.99729772e-01 -5.83248063e-04 7.36752898e+00] [ 5.67456559e-03 4.51490312e-04 9.99983798e-01 -2.55409505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.665898227 meters 0.08577650163107672 Centerline is valid? [True, True] Translation: X:206.01, Y:7.38, Z:-2.55 [[ 9.99707428e-01 -2.34583590e-02 -5.89611084e-03 2.06005417e+02] [ 2.34551817e-02 9.99724705e-01 -6.07466936e-04 7.38290130e+00] [ 5.90873785e-03 4.68994857e-04 9.99982433e-01 -2.55454014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.695898227 meters 0.09198069526992764 Centerline is valid? [True, True] Translation: X:206.03, Y:7.40, Z:-2.56 [[ 9.99671851e-01 -2.46488923e-02 -6.97291842e-03 2.06032642e+02] [ 2.46444753e-02 9.99696020e-01 -7.18682543e-04 7.39665048e+00] [ 6.98851353e-03 5.46602792e-04 9.99975431e-01 -2.55680479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.725898227 meters 0.07919950808021428 Centerline is valid? [True, True] Translation: X:206.06, Y:7.38, Z:-2.56 [[ 9.99650139e-01 -2.54573340e-02 -7.17793791e-03 2.06063013e+02] [ 2.54526700e-02 9.99675754e-01 -7.40388870e-04 7.38469117e+00] [ 7.19445882e-03 5.57432152e-04 9.99973964e-01 -2.55662396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.755898227 meters 0.08165357577677364 Centerline is valid? [True, True] Translation: X:206.09, Y:7.39, Z:-2.56 [[ 9.99638202e-01 -2.60529043e-02 -6.68658864e-03 2.06090771e+02] [ 2.60488652e-02 9.99660432e-01 -6.90452157e-04 7.39191518e+00] [ 6.70230638e-03 5.16024306e-04 9.99977406e-01 -2.55614636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.785898227 meters 0.07361351452521724 Centerline is valid? [True, True] Translation: X:206.12, Y:7.39, Z:-2.56 [[ 9.99624077e-01 -2.65677819e-02 -6.77182436e-03 2.06120626e+02] [ 2.65636473e-02 9.99646879e-01 -6.99790175e-04 7.38539854e+00] [ 6.78802496e-03 5.19642754e-04 9.99976826e-01 -2.55531582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.815898227 meters 0.07728497043425038 Centerline is valid? [True, True] Translation: X:206.15, Y:7.40, Z:-2.56 [[ 9.99601111e-01 -2.71260972e-02 -7.86094290e-03 2.06148080e+02] [ 2.71205348e-02 9.99631840e-01 -8.13348972e-04 7.39530011e+00] [ 7.88011180e-03 5.99831560e-04 9.99968772e-01 -2.55710170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.845898227 meters 0.07369350446538181 Centerline is valid? [True, True] Translation: X:206.18, Y:7.39, Z:-2.56 [[ 9.99590359e-01 -2.72957366e-02 -8.60558828e-03 2.06177445e+02] [ 2.72890692e-02 9.99627187e-01 -8.91262833e-04 7.39442678e+00] [ 8.62670768e-03 6.56059242e-04 9.99962574e-01 -2.55751043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.875898227 meters 0.08039615135924963 Centerline is valid? [True, True] Translation: X:206.20, Y:7.41, Z:-2.56 [[ 9.99596603e-01 -2.69507338e-02 -8.96044646e-03 2.06204255e+02] [ 2.69434819e-02 9.99636527e-01 -9.29083926e-04 7.40683299e+00] [ 8.98222907e-03 6.87283509e-04 9.99959423e-01 -2.55853917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.905898227 meters 0.08137272473854963 Centerline is valid? [True, True] Translation: X:206.23, Y:7.41, Z:-2.56 [[ 9.99617883e-01 -2.62462298e-02 -8.67318394e-03 2.06233063e+02] [ 2.62394055e-02 9.99655283e-01 -8.99707197e-04 7.41202024e+00] [ 8.69380806e-03 6.71784213e-04 9.99961982e-01 -2.55776097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.935898227 meters 0.08376418735237458 Centerline is valid? [True, True] Translation: X:206.26, Y:7.42, Z:-2.56 [[ 9.99652046e-01 -2.52126943e-02 -7.75280795e-03 2.06260895e+02] [ 2.52072087e-02 9.99681924e-01 -8.04485088e-04 7.41933620e+00] [ 7.77062521e-03 6.08778517e-04 9.99969623e-01 -2.55641018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.965898227 meters 0.08527668028510106 Centerline is valid? [True, True] Translation: X:206.29, Y:7.43, Z:-2.55 [[ 9.99697183e-01 -2.36855865e-02 -6.67347107e-03 2.06290286e+02] [ 2.36814871e-02 9.99719314e-01 -6.92645634e-04 7.42617187e+00] [ 6.68800364e-03 5.34398170e-04 9.99977492e-01 -2.55424060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.995898227 meters 0.08187712477491155 Centerline is valid? [True, True] Translation: X:206.32, Y:7.43, Z:-2.55 [[ 9.99786901e-01 -1.97050797e-02 -6.15326105e-03 2.06320438e+02] [ 1.97015192e-02 9.99805702e-01 -6.38724039e-04 7.42935104e+00] [ 6.16465159e-03 5.17359337e-04 9.99980865e-01 -2.55311029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.025898227 meters 0.08923705446538846 Centerline is valid? [True, True] Translation: X:206.35, Y:7.44, Z:-2.55 [[ 9.99824432e-01 -1.74722486e-02 -6.76940185e-03 2.06348020e+02] [ 1.74678885e-02 9.99847178e-01 -7.02675908e-04 7.44454231e+00] [ 6.78064466e-03 5.84305384e-04 9.99976840e-01 -2.55442516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.055898227 meters 0.09485039104963303 Centerline is valid? [True, True] Translation: X:206.38, Y:7.46, Z:-2.56 [[ 9.99847891e-01 -1.56696995e-02 -7.65862179e-03 2.06376340e+02] [ 1.56640672e-02 9.99876995e-01 -7.94853699e-04 7.45807149e+00] [ 7.67013486e-03 6.74767628e-04 9.99970356e-01 -2.55584619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.085898227 meters 0.0933459461232773 Centerline is valid? [True, True] Translation: X:206.41, Y:7.46, Z:-2.56 [[ 9.99869507e-01 -1.39283454e-02 -8.18354988e-03 2.06405758e+02] [ 1.39218557e-02 9.99902725e-01 -8.49452482e-04 7.46344219e+00] [ 8.19458530e-03 7.35411433e-04 9.99966153e-01 -2.55671807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.115898227 meters 0.09675032539954552 Centerline is valid? [True, True] Translation: X:206.43, Y:7.47, Z:-2.56 [[ 9.99887221e-01 -1.29257685e-02 -7.64661273e-03 2.06434556e+02] [ 1.29200725e-02 9.99916217e-01 -7.93827361e-04 7.47348757e+00] [ 7.65623291e-03 6.94943042e-04 9.99970449e-01 -2.55619103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.145898227 meters 0.08863991707310069 Centerline is valid? [True, True] Translation: X:206.46, Y:7.47, Z:-2.55 [[ 9.99902388e-01 -1.20906420e-02 -7.00226589e-03 2.06463821e+02] [ 1.20858440e-02 9.99926699e-01 -7.27118917e-04 7.47223467e+00] [ 7.01054395e-03 6.42419648e-04 9.99975219e-01 -2.55436790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.175898227 meters 0.08948096832995127 Centerline is valid? [True, True] Translation: X:206.49, Y:7.48, Z:-2.55 [[ 9.99894901e-01 -1.33073508e-02 -5.75331091e-03 2.06491184e+02] [ 1.33041307e-02 9.99911318e-01 -5.97603256e-04 7.48488561e+00] [ 5.76075321e-03 5.20997649e-04 9.99983271e-01 -2.55222151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.205898227 meters 0.09743027392611943 Centerline is valid? [True, True] Translation: X:206.52, Y:7.50, Z:-2.55 [[ 9.99875680e-01 -1.47534786e-02 -5.56407995e-03 2.06518947e+02] [ 1.47504880e-02 9.99891038e-01 -5.78127524e-04 7.50207013e+00] [ 5.57200307e-03 4.95982757e-04 9.99984353e-01 -2.55208280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.235898227 meters 0.09995415112154801 Centerline is valid? [True, True] Translation: X:206.55, Y:7.51, Z:-2.55 [[ 9.99850175e-01 -1.64616104e-02 -5.35194938e-03 2.06547179e+02] [ 1.64588673e-02 9.99864389e-01 -5.56200116e-04 7.51263193e+00] [ 5.36037955e-03 4.68029759e-04 9.99985524e-01 -2.55175448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.265898227 meters 0.08270812207327026 Centerline is valid? [True, True] Translation: X:206.58, Y:7.50, Z:-2.55 [[ 9.99804823e-01 -1.91963855e-02 -4.67057934e-03 2.06578612e+02] [ 1.91943257e-02 9.99815654e-01 -4.85443785e-04 7.50138011e+00] [ 4.67903710e-03 3.95700416e-04 9.99988975e-01 -2.55105639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.295898227 meters 0.0826330656118289 Centerline is valid? [True, True] Translation: X:206.61, Y:7.51, Z:-2.55 [[ 9.99789133e-01 -2.00200750e-02 -4.57020474e-03 2.06608935e+02] [ 2.00181114e-02 9.99799505e-01 -4.75008606e-04 7.50779650e+00] [ 4.57879814e-03 3.83421575e-04 9.99989444e-01 -2.55060461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.325898227 meters 0.08110867745638317 Centerline is valid? [True, True] Translation: X:206.64, Y:7.51, Z:-2.55 [[ 9.99771031e-01 -2.08575024e-02 -4.78024199e-03 2.06639220e+02] [ 2.08553639e-02 9.99782380e-01 -4.96782376e-04 7.51231916e+00] [ 4.78956335e-03 3.96974942e-04 9.99988451e-01 -2.55060462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.355898227 meters 0.0876909335462483 Centerline is valid? [True, True] Translation: X:206.67, Y:7.53, Z:-2.55 [[ 9.99747773e-01 -2.17631635e-02 -5.54569487e-03 2.06667486e+02] [ 2.17602991e-02 9.99763051e-01 -5.76343336e-04 7.52696640e+00] [ 5.55692387e-03 4.55521988e-04 9.99984456e-01 -2.55160373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.385898227 meters 0.08173020791227456 Centerline is valid? [True, True] Translation: X:206.70, Y:7.53, Z:-2.55 [[ 9.99726479e-01 -2.25275524e-02 -6.28303732e-03 2.06698384e+02] [ 2.25238902e-02 9.99746092e-01 -6.53034259e-04 7.52524645e+00] [ 6.29615326e-03 5.11337198e-04 9.99980048e-01 -2.55290652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.415898227 meters 0.09512797097148933 Centerline is valid? [True, True] Translation: X:206.73, Y:7.55, Z:-2.55 [[ 9.99700062e-01 -2.34391226e-02 -7.09887588e-03 2.06726207e+02] [ 2.34344704e-02 9.99725103e-01 -7.37829320e-04 7.54855340e+00] [ 7.11421849e-03 5.71249620e-04 9.99974530e-01 -2.55417411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.445898227 meters 0.08592641276169338 Centerline is valid? [True, True] Translation: X:206.76, Y:7.54, Z:-2.55 [[ 9.99653608e-01 -2.53837352e-02 -6.95197370e-03 2.06756876e+02] [ 2.53793201e-02 9.99677632e-01 -7.22578495e-04 7.54496465e+00] [ 6.96807435e-03 5.45891833e-04 9.99975574e-01 -2.55357279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.475898227 meters 0.08306448193599912 Centerline is valid? [True, True] Translation: X:206.79, Y:7.55, Z:-2.55 [[ 9.99617038e-01 -2.68229613e-02 -6.80485547e-03 2.06787160e+02] [ 2.68187639e-02 9.99640062e-01 -7.07345823e-04 7.54713197e+00] [ 6.82137925e-03 5.24577125e-04 9.99976597e-01 -2.55279609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.505898227 meters 0.08988628591580722 Centerline is valid? [True, True] Translation: X:206.82, Y:7.56, Z:-2.55 [[ 9.99583095e-01 -2.81212434e-02 -6.54461540e-03 2.06816021e+02] [ 2.81173882e-02 9.99604397e-01 -6.80344950e-04 7.56183508e+00] [ 6.56115848e-03 4.96043819e-04 9.99978352e-01 -2.55307392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.535898227 meters 0.07472422508120198 Centerline is valid? [True, True] Translation: X:206.85, Y:7.55, Z:-2.55 [[ 9.99542321e-01 -2.95204495e-02 -6.60991475e-03 2.06848029e+02] [ 2.95165474e-02 9.99564056e-01 -6.87133138e-04 7.54829720e+00] [ 6.62731767e-03 4.91716790e-04 9.99977918e-01 -2.55248101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.565898227 meters 0.07782766770276166 Centerline is valid? [True, True] Translation: X:206.88, Y:7.56, Z:-2.55 [[ 9.99459671e-01 -3.22659308e-02 -6.26706843e-03 2.06876286e+02] [ 3.22624766e-02 9.99479218e-01 -6.51512335e-04 7.55961325e+00] [ 6.28482631e-03 4.48969155e-04 9.99980149e-01 -2.55254047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.595898227 meters 0.07527327664177093 Centerline is valid? [True, True] Translation: X:206.91, Y:7.56, Z:-2.55 [[ 9.99424353e-01 -3.34859708e-02 -5.44545275e-03 2.06907138e+02] [ 3.34833807e-02 9.99439114e-01 -5.66133631e-04 7.56092264e+00] [ 5.46135600e-03 3.83475570e-04 9.99985013e-01 -2.55108226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.625898227 meters 0.07359794235921309 Centerline is valid? [True, True] Translation: X:206.94, Y:7.56, Z:-2.55 [[ 9.99389384e-01 -3.46150482e-02 -4.76005810e-03 2.06937830e+02] [ 3.46130821e-02 9.99400665e-01 -4.94827938e-04 7.56329156e+00] [ 4.77433372e-03 3.29765507e-04 9.99988548e-01 -2.54993691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.655898227 meters 0.07273207611382158 Centerline is valid? [True, True] Translation: X:206.97, Y:7.57, Z:-2.55 [[ 9.99355430e-01 -3.56364726e-02 -4.33199422e-03 2.06968832e+02] [ 3.56348540e-02 9.99364775e-01 -4.50280641e-04 7.56633988e+00] [ 4.34528885e-03 2.95620422e-04 9.99990515e-01 -2.54905543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.685898227 meters 0.07525555464672433 Centerline is valid? [True, True] Translation: X:207.00, Y:7.57, Z:-2.55 [[ 9.99334493e-01 -3.61511813e-02 -4.86441541e-03 2.06999018e+02] [ 3.61491465e-02 9.99346278e-01 -5.05610722e-04 7.57375320e+00] [ 4.87951386e-03 3.29429770e-04 9.99988041e-01 -2.54956636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.715898227 meters 0.0687448527439772 Centerline is valid? [True, True] Translation: X:207.03, Y:7.57, Z:-2.55 [[ 9.99301569e-01 -3.64776547e-02 -8.10892517e-03 2.07031324e+02] [ 3.64720130e-02 9.99334320e-01 -8.42584327e-04 7.56988339e+00] [ 8.13426271e-03 5.46247016e-04 9.99966767e-01 -2.55424609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.745898227 meters 0.07440171510649497 Centerline is valid? [True, True] Translation: X:207.06, Y:7.58, Z:-2.56 [[ 9.99264247e-01 -3.72923252e-02 -8.95804486e-03 2.07060126e+02] [ 3.72854742e-02 9.99304222e-01 -9.30637177e-04 7.58116920e+00] [ 8.98651767e-03 5.95947508e-04 9.99959443e-01 -2.55617652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.775898227 meters 0.07459040960025999 Centerline is valid? [True, True] Translation: X:207.09, Y:7.58, Z:-2.56 [[ 9.99222276e-01 -3.82781072e-02 -9.46725653e-03 2.07090156e+02] [ 3.82704998e-02 9.99266932e-01 -9.83476299e-04 7.58484103e+00] [ 9.49796200e-03 6.20394787e-04 9.99954701e-01 -2.55748942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.805898227 meters 0.06747144057041193 Centerline is valid? [True, True] Translation: X:207.12, Y:7.58, Z:-2.56 [[ 9.99159995e-01 -3.98298966e-02 -9.63757117e-03 2.07121313e+02] [ 3.98220849e-02 9.99206285e-01 -1.00116890e-03 7.57888831e+00] [ 9.66979814e-03 6.16539738e-04 9.99953056e-01 -2.55725708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.835898227 meters 0.06974039010627783 Centerline is valid? [True, True] Translation: X:207.15, Y:7.58, Z:-2.56 [[ 9.99081700e-01 -4.16831548e-02 -9.91321931e-03 2.07150867e+02] [ 4.16749807e-02 9.99130690e-01 -1.02980375e-03 7.58389670e+00] [ 9.94752712e-03 6.15724853e-04 9.99950333e-01 -2.55811219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.865898227 meters 0.06607717715873782 Centerline is valid? [True, True] Translation: X:207.18, Y:7.58, Z:-2.56 [[ 9.98979294e-01 -4.39915692e-02 -1.02524099e-02 2.07180906e+02] [ 4.39829459e-02 9.99031714e-01 -1.06517363e-03 7.58011590e+00] [ 1.02893413e-02 6.13155215e-04 9.99946875e-01 -2.55866993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.895898227 meters 0.06154213579346116 Centerline is valid? [True, True] Translation: X:207.21, Y:7.57, Z:-2.56 [[ 9.98728972e-01 -4.94820877e-02 -9.58977378e-03 2.07211098e+02] [ 4.94747937e-02 9.98774875e-01 -9.96486434e-04 7.57188409e+00] [ 9.62733334e-03 5.20767792e-04 9.99953521e-01 -2.55852110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.925898227 meters 0.059536132187751334 Centerline is valid? [True, True] Translation: X:207.24, Y:7.57, Z:-2.56 [[ 9.98619973e-01 -5.17594942e-02 -8.89408777e-03 2.07241446e+02] [ 5.17533087e-02 9.98659472e-01 -9.24374553e-04 7.56687881e+00] [ 8.93001016e-03 4.62800421e-04 9.99960020e-01 -2.55654659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.955898227 meters 0.05689684223122198 Centerline is valid? [True, True] Translation: X:207.27, Y:7.57, Z:-2.55 [[ 9.98556179e-01 -5.31610511e-02 -7.71101358e-03 2.07270511e+02] [ 5.31564419e-02 9.98585875e-01 -8.01608946e-04 7.56706118e+00] [ 7.74272362e-03 3.90561521e-04 9.99969948e-01 -2.55458620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.985898227 meters 0.056891533660221885 Centerline is valid? [True, True] Translation: X:207.30, Y:7.57, Z:-2.55 [[ 9.98556744e-01 -5.32515904e-02 -6.97837669e-03 2.07299973e+02] [ 5.32478166e-02 9.98581065e-01 -7.25600940e-04 7.56805714e+00] [ 7.00711424e-03 3.52970390e-04 9.99975388e-01 -2.55250342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.015898227 meters 0.06053160938935552 Centerline is valid? [True, True] Translation: X:207.33, Y:7.57, Z:-2.55 [[ 9.98706489e-01 -5.02232223e-02 -7.93582977e-03 2.07329941e+02] [ 5.02182454e-02 9.98737927e-01 -8.25297798e-04 7.57268864e+00] [ 7.96726329e-03 4.25706819e-04 9.99968170e-01 -2.55291057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.045898227 meters 0.06053160938935552 Centerline is valid? [True, True] Translation: X:207.36, Y:7.58, Z:-2.55 [[ 9.98706489e-01 -5.02232225e-02 -7.93582671e-03 2.07359822e+02] [ 5.02182453e-02 9.98737927e-01 -8.25327163e-04 7.57579633e+00] [ 7.96726171e-03 4.25736300e-04 9.99968170e-01 -2.55277322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.075898227 meters 0.06578726494043312 Centerline is valid? [True, True] Translation: X:207.39, Y:7.58, Z:-2.55 [[ 9.98832265e-01 -4.74601535e-02 -9.03552927e-03 2.07388253e+02] [ 4.74535881e-02 9.98873002e-01 -9.39745734e-04 7.58383903e+00] [ 9.06994672e-03 5.09880076e-04 9.99958737e-01 -2.55435888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.105898227 meters 0.06127489612003754 Centerline is valid? [True, True] Translation: X:207.42, Y:7.58, Z:-2.55 [[ 9.98956039e-01 -4.46671690e-02 -9.57473050e-03 2.07418679e+02] [ 4.46596677e-02 9.99001763e-01 -9.95927649e-04 7.58152886e+00] [ 9.60965792e-03 5.67283657e-04 9.99953665e-01 -2.55476646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.135898227 meters 0.07332784332811655 Centerline is valid? [True, True] Translation: X:207.45, Y:7.60, Z:-2.56 [[ 9.99066272e-01 -4.21872092e-02 -9.31791550e-03 2.07446546e+02] [ 4.21799966e-02 9.99109558e-01 -9.69315336e-04 7.59944840e+00] [ 9.35051114e-03 5.75380616e-04 9.99956117e-01 -2.55534964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.165898227 meters 0.06567378148909646 Centerline is valid? [True, True] Translation: X:207.48, Y:7.59, Z:-2.55 [[ 9.99147396e-01 -4.02765033e-02 -9.07108908e-03 2.07477209e+02] [ 4.02695880e-02 9.99188405e-01 -9.43773534e-04 7.59206969e+00] [ 9.10173893e-03 5.77679849e-04 9.99958411e-01 -2.55332983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.195898227 meters 0.07339867802926328 Centerline is valid? [True, True] Translation: X:207.51, Y:7.60, Z:-2.55 [[ 9.99249249e-01 -3.79755791e-02 -7.66773379e-03 2.07505499e+02] [ 3.79705695e-02 9.99278539e-01 -7.97909606e-04 7.60361143e+00] [ 7.69250290e-03 5.06162356e-04 9.99970284e-01 -2.55138284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.225898227 meters 0.07812680011828776 Centerline is valid? [True, True] Translation: X:207.53, Y:7.61, Z:-2.55 [[ 9.99267924e-01 -3.75735112e-02 -7.20054788e-03 2.07533979e+02] [ 3.75690821e-02 9.99293752e-01 -7.49426524e-04 7.61194701e+00] [ 7.22362109e-03 4.78359912e-04 9.99973795e-01 -2.55063829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.255898227 meters 0.07893285548917858 Centerline is valid? [True, True] Translation: X:207.56, Y:7.62, Z:-2.55 [[ 9.99277672e-01 -3.73733083e-02 -6.88262374e-03 2.07564011e+02] [ 3.73692566e-02 9.99301269e-01 -7.16387183e-04 7.61527541e+00] [ 6.90458839e-03 4.58671184e-04 9.99976058e-01 -2.55035683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.285898227 meters 0.0748243044911363 Centerline is valid? [True, True] Translation: X:207.59, Y:7.61, Z:-2.55 [[ 9.99277383e-01 -3.74103755e-02 -6.72125549e-03 2.07594800e+02] [ 3.74065124e-02 9.99299887e-01 -6.99590951e-04 7.61221057e+00] [ 6.74272180e-03 4.47666688e-04 9.99977167e-01 -2.54943170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.315898227 meters 0.0717635792111318 Centerline is valid? [True, True] Translation: X:207.63, Y:7.61, Z:-2.55 [[ 9.99255978e-01 -3.80050178e-02 -6.56579209e-03 2.07625804e+02] [ 3.80013441e-02 9.99277454e-01 -6.83409334e-04 7.60804030e+00] [ 6.58702099e-03 4.33391937e-04 9.99978211e-01 -2.54977469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.345898227 meters 0.07411341752426842 Centerline is valid? [True, True] Translation: X:207.66, Y:7.61, Z:-2.55 [[ 9.99223313e-01 -3.88191954e-02 -6.77056817e-03 2.07655620e+02] [ 3.88153076e-02 9.99246153e-01 -7.04723729e-04 7.61234056e+00] [ 6.79282101e-03 4.41374693e-04 9.99976831e-01 -2.55019426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.375898227 meters 0.0719680468400809 Centerline is valid? [True, True] Translation: X:207.69, Y:7.61, Z:-2.55 [[ 9.99189997e-01 -3.96342458e-02 -6.96256342e-03 2.07686322e+02] [ 3.96301542e-02 9.99214154e-01 -7.24707814e-04 7.61026927e+00] [ 6.98581517e-03 4.48193336e-04 9.99975498e-01 -2.55024869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.405898227 meters 0.0711469848571914 Centerline is valid? [True, True] Translation: X:207.72, Y:7.61, Z:-2.55 [[ 9.99158531e-01 -4.04042090e-02 -7.05200635e-03 2.07716723e+02] [ 4.04000306e-02 9.99183316e-01 -7.34017601e-04 7.60935997e+00] [ 7.07590449e-03 4.48498676e-04 9.99974865e-01 -2.55009600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.435898227 meters 0.07074891016226245 Centerline is valid? [True, True] Translation: X:207.75, Y:7.61, Z:-2.55 [[ 9.99125431e-01 -4.11960693e-02 -7.15943951e-03 2.07747094e+02] [ 4.11917827e-02 9.99150980e-01 -7.45229819e-04 7.60900791e+00] [ 7.18406154e-03 4.49667987e-04 9.99974093e-01 -2.54932538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.465898227 meters 0.0693575771886805 Centerline is valid? [True, True] Translation: X:207.78, Y:7.61, Z:-2.55 [[ 9.99111904e-01 -4.14422081e-02 -7.61229870e-03 2.07776777e+02] [ 4.14373682e-02 9.99140789e-01 -7.92494020e-04 7.60748210e+00] [ 7.63860083e-03 4.76356585e-04 9.99970712e-01 -2.54914352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.495898227 meters 0.06766446975137971 Centerline is valid? [True, True] Translation: X:207.81, Y:7.60, Z:-2.55 [[ 9.99154006e-01 -4.04008872e-02 -7.68373514e-03 2.07807517e+02] [ 4.03959242e-02 9.99183431e-01 -8.00073421e-04 7.60386660e+00] [ 7.70978452e-03 4.89004981e-04 9.99970160e-01 -2.54877026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.525898227 meters 0.06788872106884355 Centerline is valid? [True, True] Translation: X:207.84, Y:7.61, Z:-2.55 [[ 9.99210911e-01 -3.89552223e-02 -7.74891717e-03 2.07837005e+02] [ 3.89501305e-02 9.99240830e-01 -8.06990052e-04 7.60573120e+00] [ 7.77447090e-03 5.04531930e-04 9.99969651e-01 -2.54821594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.555898227 meters 0.07363948399576135 Centerline is valid? [True, True] Translation: X:207.87, Y:7.61, Z:-2.55 [[ 9.99279407e-01 -3.71003252e-02 -8.01454964e-03 2.07865055e+02] [ 3.70948173e-02 9.99311402e-01 -8.34846511e-04 7.61459687e+00] [ 8.04000391e-03 5.36946671e-04 9.99967534e-01 -2.54839436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.585898227 meters 0.0783223535307678 Centerline is valid? [True, True] Translation: X:207.89, Y:7.62, Z:-2.55 [[ 9.99436718e-01 -3.23827101e-02 -8.80952657e-03 2.07894484e+02] [ 3.23758716e-02 9.99475343e-01 -9.17796447e-04 7.62203631e+00] [ 8.83462532e-03 6.32063367e-04 9.99960774e-01 -2.54879873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.615898227 meters 0.08355260001848965 Centerline is valid? [True, True] Translation: X:207.92, Y:7.63, Z:-2.55 [[ 9.99521887e-01 -2.96626896e-02 -8.72478881e-03 2.07924072e+02] [ 2.96558788e-02 9.99559754e-01 -9.08993633e-04 7.63028408e+00] [ 8.74791096e-03 6.49817752e-04 9.99961525e-01 -2.54874486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.645898227 meters 0.083870779301258 Centerline is valid? [True, True] Translation: X:207.95, Y:7.64, Z:-2.55 [[ 9.99605358e-01 -2.65516430e-02 -9.17267249e-03 2.07954451e+02] [ 2.65439847e-02 9.99647190e-01 -9.55654490e-04 7.63664925e+00] [ 9.19481047e-03 7.11798071e-04 9.99957473e-01 -2.54847400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.675898227 meters 0.0864085813501793 Centerline is valid? [True, True] Translation: X:207.98, Y:7.64, Z:-2.55 [[ 9.99667718e-01 -2.38693414e-02 -9.73183006e-03 2.07984208e+02] [ 2.38605945e-02 9.99714781e-01 -1.01392537e-03 7.64456039e+00] [ 9.75325609e-03 7.81381213e-04 9.99952131e-01 -2.54854879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.705898227 meters 0.08969675302199172 Centerline is valid? [True, True] Translation: X:208.01, Y:7.65, Z:-2.55 [[ 9.99721279e-01 -2.14142197e-02 -9.93963948e-03 2.08012644e+02] [ 2.14049739e-02 9.99770351e-01 -1.03565577e-03 7.65370428e+00] [ 9.95953461e-03 8.22609384e-04 9.99950064e-01 -2.54782298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.735898227 meters 0.08425988916751272 Centerline is valid? [True, True] Translation: X:208.04, Y:7.65, Z:-2.55 [[ 9.99767068e-01 -1.94040791e-02 -9.44942157e-03 2.08043625e+02] [ 1.93956330e-02 9.99811402e-01 -9.84660391e-04 7.65236667e+00] [ 9.46674586e-03 8.01153519e-04 9.99954868e-01 -2.54636051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.765898227 meters 0.09489388519829728 Centerline is valid? [True, True] Translation: X:208.07, Y:7.67, Z:-2.54 [[ 9.99811163e-01 -1.75169950e-02 -8.41390497e-03 2.08070998e+02] [ 1.75102313e-02 9.99846300e-01 -8.76874319e-04 7.67346479e+00] [ 8.42797195e-03 7.29379310e-04 9.99964218e-01 -2.54479635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.795898227 meters 0.09308149371623958 Centerline is valid? [True, True] Translation: X:208.10, Y:7.68, Z:-2.54 [[ 9.99811781e-01 -1.77893822e-02 -7.74215874e-03 2.08100805e+02] [ 1.77836622e-02 9.99841532e-01 -8.07038669e-04 7.67638732e+00] [ 7.75528858e-03 6.69202834e-04 9.99969703e-01 -2.54382347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.825898227 meters 0.0962659299863566 Centerline is valid? [True, True] Translation: X:208.13, Y:7.69, Z:-2.54 [[ 9.99803712e-01 -1.83758531e-02 -7.40711849e-03 2.08129447e+02] [ 1.83706324e-02 9.99830947e-01 -7.72246533e-04 7.68539397e+00] [ 7.42005698e-03 6.36021500e-04 9.99972269e-01 -2.54335573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.855898227 meters 0.09651687354880743 Centerline is valid? [True, True] Translation: X:208.16, Y:7.69, Z:-2.54 [[ 9.99799575e-01 -1.89506131e-02 -6.45631204e-03 2.08159404e+02] [ 1.89466582e-02 9.99820269e-01 -6.73184577e-04 7.68916154e+00] [ 6.46790890e-03 5.50724117e-04 9.99978931e-01 -2.54228825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.885898227 meters 0.09036246084258061 Centerline is valid? [True, True] Translation: X:208.19, Y:7.69, Z:-2.54 [[ 9.99784949e-01 -2.01685681e-02 -4.82537865e-03 2.08189735e+02] [ 2.01663729e-02 9.99796511e-01 -5.03172457e-04 7.69045574e+00] [ 4.83454501e-03 4.05753864e-04 9.99988231e-01 -2.53889718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.915898227 meters 0.09316332086595122 Centerline is valid? [True, True] Translation: X:208.22, Y:7.70, Z:-2.54 [[ 9.99775113e-01 -2.06422467e-02 -4.86021946e-03 2.08218096e+02] [ 2.06400249e-02 9.99786844e-01 -5.06861808e-04 7.69930415e+00] [ 4.86964624e-03 4.06432770e-04 9.99988061e-01 -2.53827581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.945898227 meters 0.09762483607498737 Centerline is valid? [True, True] Translation: X:208.25, Y:7.71, Z:-2.54 [[ 9.99765258e-01 -2.10825607e-02 -4.99550182e-03 2.08247442e+02] [ 2.10802187e-02 9.99777652e-01 -5.21018546e-04 7.71076796e+00] [ 5.00537549e-03 4.15589971e-04 9.99987387e-01 -2.53871510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.975898227 meters 0.08562810127203575 Centerline is valid? [True, True] Translation: X:208.28, Y:7.70, Z:-2.54 [[ 9.99756828e-01 -2.14029389e-02 -5.31024185e-03 2.08279138e+02] [ 2.14002973e-02 9.99770834e-01 -5.53790473e-04 7.70142998e+00] [ 5.32087767e-03 4.40015052e-04 9.99985747e-01 -2.53902697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.005898227 meters 0.0905645471794517 Centerline is valid? [True, True] Translation: X:208.31, Y:7.71, Z:-2.54 [[ 9.99756870e-01 -2.12361298e-02 -5.93526504e-03 2.08308692e+02] [ 2.12328269e-02 9.99774367e-01 -6.18956221e-04 7.71369335e+00] [ 5.94707008e-03 4.92783279e-04 9.99982195e-01 -2.53948919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.035898227 meters 0.0856906202630481 Centerline is valid? [True, True] Translation: X:208.34, Y:7.72, Z:-2.54 [[ 9.99745491e-01 -2.14626321e-02 -6.95045659e-03 2.08339038e+02] [ 2.14581085e-02 9.99769486e-01 -7.24762856e-04 7.71545652e+00] [ 6.96440973e-03 5.75434746e-04 9.99975583e-01 -2.54081445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.065898227 meters 0.08698529242848753 Centerline is valid? [True, True] Translation: X:208.37, Y:7.72, Z:-2.54 [[ 9.99727535e-01 -2.23081299e-02 -6.87038376e-03 2.08368233e+02] [ 2.23037298e-02 9.99750984e-01 -7.16413216e-04 7.72284027e+00] [ 6.88465477e-03 5.62982836e-04 9.99976142e-01 -2.54128690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.095898227 meters 0.09490893912826957 Centerline is valid? [True, True] Translation: X:208.40, Y:7.74, Z:-2.54 [[ 9.99697427e-01 -2.35774820e-02 -7.01124173e-03 2.08396840e+02] [ 2.35729306e-02 9.99721853e-01 -7.31101261e-04 7.73831202e+00] [ 7.02652909e-03 5.65604535e-04 9.99975154e-01 -2.54135074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.125898227 meters 0.0804740616473936 Centerline is valid? [True, True] Translation: X:208.43, Y:7.73, Z:-2.54 [[ 9.99655820e-01 -2.52145011e-02 -7.24371181e-03 2.08428920e+02] [ 2.52096856e-02 9.99681900e-01 -7.55342212e-04 7.72520929e+00] [ 7.26045316e-03 5.72470541e-04 9.99973479e-01 -2.54101689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.155898227 meters 0.07752408523607546 Centerline is valid? [True, True] Translation: X:208.46, Y:7.73, Z:-2.54 [[ 9.99600085e-01 -2.73304285e-02 -7.26067346e-03 2.08459211e+02] [ 2.73256458e-02 9.99626298e-01 -7.57114097e-04 7.72900893e+00] [ 7.27865239e-03 5.58408724e-04 9.99973354e-01 -2.54107612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.185898227 meters 0.08240684160714225 Centerline is valid? [True, True] Translation: X:208.49, Y:7.74, Z:-2.54 [[ 9.99590654e-01 -2.76541481e-02 -7.33293339e-03 2.08488066e+02] [ 2.76492787e-02 9.99617393e-01 -7.64621070e-04 7.74060567e+00] [ 7.35127270e-03 5.61557757e-04 9.99972821e-01 -2.54103715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.215898227 meters 0.08553284853157747 Centerline is valid? [True, True] Translation: X:208.52, Y:7.75, Z:-2.54 [[ 9.99591809e-01 -2.77014066e-02 -6.98914952e-03 2.08517248e+02] [ 2.76969852e-02 9.99616099e-01 -7.28623992e-04 7.74940998e+00] [ 7.00665029e-03 5.34748203e-04 9.99975310e-01 -2.54141370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.245898227 meters 0.07979270899164831 Centerline is valid? [True, True] Translation: X:208.55, Y:7.75, Z:-2.54 [[ 9.99587667e-01 -2.76892697e-02 -7.60263966e-03 2.08548151e+02] [ 2.76840392e-02 9.99616409e-01 -7.92382314e-04 7.74853464e+00] [ 7.62166384e-03 5.81583815e-04 9.99970786e-01 -2.54146427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.275898227 meters 0.08499737535566272 Centerline is valid? [True, True] Translation: X:208.58, Y:7.76, Z:-2.54 [[ 9.99583410e-01 -2.75275668e-02 -8.67402577e-03 2.08577642e+02] [ 2.75207535e-02 9.99620824e-01 -9.03896082e-04 7.76066033e+00] [ 8.69561884e-03 6.64803804e-04 9.99961971e-01 -2.54290015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.305898227 meters 0.08114402974223825 Centerline is valid? [True, True] Translation: X:208.61, Y:7.76, Z:-2.54 [[ 9.99577832e-01 -2.73433348e-02 -9.82339713e-03 2.08608151e+02] [ 2.73345891e-02 9.99625816e-01 -1.02348039e-03 7.76113739e+00] [ 9.84770675e-03 7.54529790e-04 9.99951225e-01 -2.54437370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.335898227 meters 0.08959250705593116 Centerline is valid? [True, True] Translation: X:208.64, Y:7.78, Z:-2.55 [[ 9.99545384e-01 -2.79884059e-02 -1.12104327e-02 2.08636046e+02] [ 2.79770554e-02 9.99607883e-01 -1.16807108e-03 7.77936574e+00] [ 1.12387293e-02 8.53905159e-04 9.99936479e-01 -2.54740888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.365898227 meters 0.08174397184253016 Centerline is valid? [True, True] Translation: X:208.67, Y:7.77, Z:-2.54 [[ 9.99542524e-01 -2.84048302e-02 -1.03879277e-02 2.08666048e+02] [ 2.83951046e-02 9.99596192e-01 -1.08255633e-03 7.77444707e+00] [ 1.04144828e-02 7.87094791e-04 9.99945458e-01 -2.54478921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.395898227 meters 0.08237818320731013 Centerline is valid? [True, True] Translation: X:208.69, Y:7.78, Z:-2.54 [[ 9.99544277e-01 -2.88564726e-02 -8.86245039e-03 2.08694800e+02] [ 2.88494103e-02 9.99583342e-01 -9.23722989e-04 7.77975415e+00] [ 8.88541317e-03 6.67625560e-04 9.99960301e-01 -2.54171414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.425898227 meters 0.07831294442800109 Centerline is valid? [True, True] Translation: X:208.73, Y:7.78, Z:-2.54 [[ 9.99527681e-01 -3.01920552e-02 -5.73196292e-03 2.08726135e+02] [ 3.01891227e-02 9.99544026e-01 -5.97456154e-04 7.77951021e+00] [ 5.74738772e-03 4.24131032e-04 9.99983394e-01 -2.53633381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.455898227 meters 0.07515101799098073 Centerline is valid? [True, True] Translation: X:208.76, Y:7.78, Z:-2.54 [[ 9.99511559e-01 -3.07812260e-02 -5.39988666e-03 2.08757381e+02] [ 3.07786324e-02 9.99526067e-01 -5.62771869e-04 7.77876225e+00] [ 5.41465029e-03 3.96295862e-04 9.99985262e-01 -2.53556386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.485898227 meters 0.07110051932723398 Centerline is valid? [True, True] Translation: X:208.79, Y:7.78, Z:-2.54 [[ 9.99485127e-01 -3.16561938e-02 -5.23137324e-03 2.08789004e+02] [ 3.16537721e-02 9.99498745e-01 -5.45086614e-04 7.77684158e+00] [ 5.24600636e-03 3.79213267e-04 9.99986168e-01 -2.53581653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.515898227 meters 0.07850069014873272 Centerline is valid? [True, True] Translation: X:208.82, Y:7.79, Z:-2.54 [[ 9.99460246e-01 -3.24812409e-02 -4.91780417e-03 2.08818732e+02] [ 3.24791114e-02 9.99472283e-01 -5.12299249e-04 7.78898476e+00] [ 4.93184908e-03 3.52296824e-04 9.99987776e-01 -2.53547675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.545898227 meters 0.07272950535507028 Centerline is valid? [True, True] Translation: X:208.85, Y:7.78, Z:-2.54 [[ 9.99431152e-01 -3.34275791e-02 -4.46874535e-03 2.08850680e+02] [ 3.34258305e-02 9.99441092e-01 -4.65419984e-04 7.78477438e+00] [ 4.48180560e-03 3.15783706e-04 9.99989907e-01 -2.53528177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.575898227 meters 0.07683554666047451 Centerline is valid? [True, True] Translation: X:208.88, Y:7.79, Z:-2.54 [[ 9.99410118e-01 -3.40232130e-02 -4.67307256e-03 2.08880057e+02] [ 3.40213079e-02 9.99420989e-01 -4.86585112e-04 7.79273885e+00] [ 4.68692199e-03 3.27314043e-04 9.99988963e-01 -2.53526881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.605898227 meters 0.07239646245263291 Centerline is valid? [True, True] Translation: X:208.91, Y:7.79, Z:-2.54 [[ 9.99409029e-01 -3.38846546e-02 -5.78125939e-03 2.08912068e+02] [ 3.38817370e-02 9.99425668e-01 -6.01879047e-04 7.79015756e+00] [ 5.79833349e-03 4.05644244e-04 9.99983107e-01 -2.53654622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.635898227 meters 0.074711434996589 Centerline is valid? [True, True] Translation: X:208.94, Y:7.80, Z:-2.54 [[ 9.99424368e-01 -3.34295626e-02 -5.77895648e-03 2.08942283e+02] [ 3.34266407e-02 9.99440993e-01 -6.01488659e-04 7.79649383e+00] [ 5.79583351e-03 4.07971321e-04 9.99983121e-01 -2.53677333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.665898227 meters 0.07671122825805209 Centerline is valid? [True, True] Translation: X:208.97, Y:7.80, Z:-2.54 [[ 9.99443959e-01 -3.28661555e-02 -5.62041695e-03 2.08972931e+02] [ 3.28633839e-02 9.99459682e-01 -5.84800593e-04 7.79949907e+00] [ 5.63660028e-03 3.99769500e-04 9.99984034e-01 -2.53704406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.695898227 meters 0.07850124483493509 Centerline is valid? [True, True] Translation: X:209.00, Y:7.81, Z:-2.54 [[ 9.99455611e-01 -3.25426994e-02 -5.42719188e-03 2.09003530e+02] [ 3.25401115e-02 9.99470271e-01 -5.64484929e-04 7.80769778e+00] [ 5.44268680e-03 3.87576201e-04 9.99985113e-01 -2.53575121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.725898227 meters 0.07207604170497792 Centerline is valid? [True, True] Translation: X:209.04, Y:7.80, Z:-2.54 [[ 9.99381322e-01 -3.46998639e-02 -5.73520914e-03 2.09035329e+02] [ 3.46970114e-02 9.99397700e-01 -5.96145458e-04 7.80189068e+00] [ 5.75244099e-03 3.96782019e-04 9.99983376e-01 -2.53635942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.755898227 meters 0.0700465585626632 Centerline is valid? [True, True] Translation: X:209.06, Y:7.80, Z:-2.54 [[ 9.99286339e-01 -3.73014882e-02 -5.95084006e-03 2.09064996e+02] [ 3.72984633e-02 9.99303979e-01 -6.18515352e-04 7.80162450e+00] [ 5.96976970e-03 3.96116752e-04 9.99982102e-01 -2.53687210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.785898227 meters 0.07028317899290279 Centerline is valid? [True, True] Translation: X:209.09, Y:7.80, Z:-2.54 [[ 9.99138616e-01 -4.10166979e-02 -6.29739678e-03 2.09094449e+02] [ 4.10133835e-02 9.99158383e-01 -6.54601196e-04 7.80344169e+00] [ 6.31894636e-03 3.95759784e-04 9.99979957e-01 -2.53741254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.815898227 meters 0.06186606525199218 Centerline is valid? [True, True] Translation: X:209.13, Y:7.79, Z:-2.54 [[ 9.98966759e-01 -4.49346754e-02 -6.80365900e-03 2.09126501e+02] [ 4.49308970e-02 9.98989847e-01 -7.07262476e-04 7.79341953e+00] [ 6.82856687e-03 4.00837201e-04 9.99976605e-01 -2.53752254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.845898227 meters 0.05869591495807604 Centerline is valid? [True, True] Translation: X:209.16, Y:7.79, Z:-2.54 [[ 9.98602434e-01 -5.24751607e-02 -6.28786625e-03 2.09156981e+02] [ 5.24720825e-02 9.98622177e-01 -6.53619499e-04 7.78694746e+00] [ 6.31350148e-03 3.22768585e-04 9.99980018e-01 -2.53594682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.875898227 meters 0.05550745153066932 Centerline is valid? [True, True] Translation: X:209.19, Y:7.78, Z:-2.54 [[ 9.98433559e-01 -5.56204293e-02 -6.06603097e-03 2.09188311e+02] [ 5.56176221e-02 9.98451943e-01 -6.30621781e-04 7.78305921e+00] [ 6.09171587e-03 2.92255731e-04 9.99981403e-01 -2.53504954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.905898227 meters 0.05222673075258611 Centerline is valid? [True, True] Translation: X:209.22, Y:7.78, Z:-2.54 [[ 9.98279789e-01 -5.82539251e-02 -6.62898891e-03 2.09219347e+02] [ 5.82506305e-02 9.98301753e-01 -6.89163252e-04 7.77873439e+00] [ 6.65787771e-03 3.01834962e-04 9.99977791e-01 -2.53545509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.935898227 meters 0.05222673075258611 Centerline is valid? [True, True] Translation: X:209.25, Y:7.78, Z:-2.54 [[ 9.98279789e-01 -5.82539251e-02 -6.62898891e-03 2.09249216e+02] [ 5.82506305e-02 9.98301753e-01 -6.89163252e-04 7.78183969e+00] [ 6.65787771e-03 3.01834962e-04 9.99977791e-01 -2.53531780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.965898227 meters 0.04851470541850576 Centerline is valid? [True, True] Translation: X:209.28, Y:7.78, Z:-2.54 [[ 9.98175133e-01 -5.98923770e-02 -7.70113570e-03 2.09280219e+02] [ 5.98879791e-02 9.98204783e-01 -8.00625825e-04 7.77609536e+00] [ 7.73526187e-03 3.37959336e-04 9.99970025e-01 -2.53750250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.995898227 meters 0.046838268603529354 Centerline is valid? [True, True] Translation: X:209.31, Y:7.77, Z:-2.54 [[ 9.98110667e-01 -6.08348241e-02 -8.61511776e-03 2.09310048e+02] [ 6.08293545e-02 9.98147778e-01 -8.95743362e-04 7.77277231e+00] [ 8.65365305e-03 3.69998952e-04 9.99962488e-01 -2.53880787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.025898227 meters 0.04774767557668948 Centerline is valid? [True, True] Translation: X:209.34, Y:7.77, Z:-2.54 [[ 9.98066155e-01 -6.14839806e-02 -9.14712410e-03 2.09339185e+02] [ 6.14778391e-02 9.98107995e-01 -9.51353125e-04 7.77256764e+00] [ 9.18831068e-03 3.87167932e-04 9.99957712e-01 -2.53964964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.055898227 meters 0.04701321239214066 Centerline is valid? [True, True] Translation: X:209.37, Y:7.77, Z:-2.54 [[ 9.97997998e-01 -6.24994571e-02 -9.68580343e-03 2.09368983e+02] [ 6.24926084e-02 9.98044917e-01 -1.00842084e-03 7.76646344e+00] [ 9.72989264e-03 4.01110860e-04 9.99952583e-01 -2.54005564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.085898227 meters 0.042977985269990374 Centerline is valid? [True, True] Translation: X:209.40, Y:7.76, Z:-2.54 [[ 9.97986271e-01 -6.26504426e-02 -9.91586777e-03 2.09398641e+02] [ 6.26432552e-02 9.98035447e-01 -1.03408045e-03 7.75978467e+00] [ 9.96117312e-03 4.10835857e-04 9.99950302e-01 -2.53973067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.115898227 meters 0.047563225638664955 Centerline is valid? [True, True] Translation: X:209.43, Y:7.76, Z:-2.54 [[ 9.98012543e-01 -6.22064267e-02 -1.00659728e-02 2.09426034e+02] [ 6.21989843e-02 9.98063215e-01 -1.05103928e-03 7.76367109e+00] [ 1.01118586e-02 4.22857101e-04 9.99948784e-01 -2.54072093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.145898227 meters 0.048107000865631196 Centerline is valid? [True, True] Translation: X:209.45, Y:7.76, Z:-2.54 [[ 9.98082982e-01 -6.11287444e-02 -9.67662679e-03 2.09454681e+02] [ 6.11218092e-02 9.98129802e-01 -1.01108991e-03 7.76215667e+00] [ 9.72033624e-03 4.17698695e-04 9.99952669e-01 -2.53994969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.175898227 meters 0.05016262626408542 Centerline is valid? [True, True] Translation: X:209.48, Y:7.76, Z:-2.54 [[ 9.98191466e-01 -5.94588411e-02 -8.85682343e-03 2.09484264e+02] [ 5.94529625e-02 9.98230679e-01 -9.25780818e-04 7.76264813e+00] [ 8.89619872e-03 3.97542120e-04 9.99960349e-01 -2.53863407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.205898227 meters 0.0541839506143129 Centerline is valid? [True, True] Translation: X:209.51, Y:7.76, Z:-2.54 [[ 9.98437010e-01 -5.54124372e-02 -7.28003573e-03 2.09514317e+02] [ 5.54083575e-02 9.98463487e-01 -7.61048170e-04 7.76082040e+00] [ 7.31102139e-03 3.56483837e-04 9.99973211e-01 -2.53568335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.235898227 meters 0.051195769342304166 Centerline is valid? [True, True] Translation: X:209.55, Y:7.76, Z:-2.54 [[ 9.98558855e-01 -5.31723864e-02 -7.27398256e-03 2.09545808e+02] [ 5.31682542e-02 9.98585279e-01 -7.60408737e-04 7.75523883e+00] [ 7.30412465e-03 3.72567923e-04 9.99973255e-01 -2.53515101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.265898227 meters 0.05872993758251996 Centerline is valid? [True, True] Translation: X:209.57, Y:7.76, Z:-2.54 [[ 9.98691308e-01 -5.05962223e-02 -7.46282968e-03 2.09574463e+02] [ 5.05918005e-02 9.98719110e-01 -7.80221478e-04 7.76314943e+00] [ 7.49274688e-03 4.01642418e-04 9.99971848e-01 -2.53574645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.295898227 meters 0.0676365920010466 Centerline is valid? [True, True] Translation: X:209.60, Y:7.77, Z:-2.54 [[ 9.98834076e-01 -4.76041183e-02 -8.02097502e-03 2.09603188e+02] [ 4.75989133e-02 9.98866177e-01 -8.38694132e-04 7.77279231e+00] [ 8.05180595e-03 4.55926585e-04 9.99967480e-01 -2.53669972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.325898227 meters 0.07227135738258274 Centerline is valid? [True, True] Translation: X:209.63, Y:7.77, Z:-2.54 [[ 9.99133111e-01 -4.06951649e-02 -8.77093824e-03 2.09633644e+02] [ 4.06886754e-02 9.99171452e-01 -9.17137497e-04 7.77288833e+00] [ 8.80099416e-03 5.59464582e-04 9.99961114e-01 -2.53807241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.355898227 meters 0.06773912043276759 Centerline is valid? [True, True] Translation: X:209.66, Y:7.77, Z:-2.54 [[ 9.99273475e-01 -3.70843344e-02 -8.79052512e-03 2.09664988e+02] [ 3.70776766e-02 9.99311964e-01 -9.19209232e-04 7.76643518e+00] [ 8.81856518e-03 5.92609157e-04 9.99960940e-01 -2.53708352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.385898227 meters 0.07803620908710718 Centerline is valid? [True, True] Translation: X:209.69, Y:7.78, Z:-2.54 [[ 9.99399175e-01 -3.36006202e-02 -8.50220127e-03 2.09693364e+02] [ 3.35942664e-02 9.99435158e-01 -8.89074580e-04 7.77923246e+00] [ 8.52727233e-03 6.02915187e-04 9.99963460e-01 -2.53727270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.415898227 meters 0.07702035294615386 Centerline is valid? [True, True] Translation: X:209.72, Y:7.78, Z:-2.54 [[ 9.99495533e-01 -3.08089035e-02 -7.71303524e-03 2.09723976e+02] [ 3.08035916e-02 9.99525131e-01 -8.06570511e-04 7.77794421e+00] [ 7.73422211e-03 5.68574436e-04 9.99969929e-01 -2.53598084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.445898227 meters 0.08143420284110973 Centerline is valid? [True, True] Translation: X:209.75, Y:7.78, Z:-2.53 [[ 9.99574269e-01 -2.82427462e-02 -7.32315184e-03 2.09753307e+02] [ 2.82378890e-02 9.99600938e-01 -7.65835482e-04 7.78364784e+00] [ 7.34185874e-03 5.58719093e-04 9.99972892e-01 -2.53475163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.475898227 meters 0.08447382869139888 Centerline is valid? [True, True] Translation: X:209.78, Y:7.79, Z:-2.53 [[ 9.99636460e-01 -2.61279980e-02 -6.65392203e-03 2.09782480e+02] [ 2.61239409e-02 9.99658469e-01 -6.95935325e-04 7.78750621e+00] [ 6.66983291e-03 5.21855659e-04 9.99977620e-01 -2.53378677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.505898227 meters 0.08009597566409479 Centerline is valid? [True, True] Translation: X:209.81, Y:7.78, Z:-2.53 [[ 9.99708957e-01 -2.34996945e-02 -5.45572451e-03 2.09813660e+02] [ 2.34969277e-02 9.99723746e-01 -5.70679673e-04 7.77886624e+00] [ 5.46762815e-03 4.42320816e-04 9.99984955e-01 -2.53127394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.535898227 meters 0.08676678023734705 Centerline is valid? [True, True] Translation: X:209.84, Y:7.79, Z:-2.53 [[ 9.99716198e-01 -2.32998216e-02 -4.96397795e-03 2.09841975e+02] [ 2.32975286e-02 9.99728441e-01 -5.19257032e-04 7.78767228e+00] [ 4.97472853e-03 4.03461248e-04 9.99987545e-01 -2.53065085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.565898227 meters 0.07924596054958084 Centerline is valid? [True, True] Translation: X:209.87, Y:7.78, Z:-2.53 [[ 9.99711599e-01 -2.34754182e-02 -5.06201964e-03 2.09873220e+02] [ 2.34730358e-02 9.99724330e-01 -5.29552671e-04 7.77890733e+00] [ 5.07305567e-03 4.10578980e-04 9.99987048e-01 -2.53087121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.595898227 meters 0.08556514772706585 Centerline is valid? [True, True] Translation: X:209.90, Y:7.79, Z:-2.53 [[ 9.99710090e-01 -2.34290428e-02 -5.55116718e-03 2.09901894e+02] [ 2.34261754e-02 9.99725401e-01 -5.80995415e-04 7.78708035e+00] [ 5.56325500e-03 4.50784363e-04 9.99984423e-01 -2.53173580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.625898227 meters 0.08783823837139883 Centerline is valid? [True, True] Translation: X:209.93, Y:7.79, Z:-2.53 [[ 9.99757478e-01 -2.10345047e-02 -6.52193449e-03 2.09932411e+02] [ 2.10304958e-02 9.99778602e-01 -6.82661573e-04 7.79034585e+00] [ 6.53484999e-03 5.45336496e-04 9.99978499e-01 -2.53224220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.655898227 meters 0.08783823837139883 Centerline is valid? [True, True] Translation: X:209.96, Y:7.79, Z:-2.53 [[ 9.99756999e-01 -2.10572218e-02 -6.52192965e-03 2.09961511e+02] [ 2.10532130e-02 9.99778123e-01 -6.82707810e-04 7.79343412e+00] [ 6.53485852e-03 5.45234337e-04 9.99978499e-01 -2.53210841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.685898227 meters 0.09302191546698986 Centerline is valid? [True, True] Translation: X:209.99, Y:7.80, Z:-2.53 [[ 9.99832557e-01 -1.69109534e-02 -6.99121031e-03 2.09990276e+02] [ 1.69062454e-02 9.99856811e-01 -7.31974342e-04 7.80399553e+00] [ 7.00258763e-03 6.13656661e-04 9.99975293e-01 -2.53082704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.715898227 meters 0.10258733798268463 Centerline is valid? [True, False] Translation: X:210.01, Y:7.81, Z:-2.53 [[ 9.99929295e-01 -1.13904809e-02 -3.41500804e-03 2.10009198e+02] [ 1.13706078e-02 9.99918628e-01 -5.78335060e-03 7.80686545e+00] [ 3.48060530e-03 5.74411097e-03 9.99977445e-01 -2.53143207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.745898227 meters 0.09856186535762604 Centerline is valid? [False, True] Translation: X:210.01, Y:7.81, Z:-2.53 [[ 9.99969879e-01 -6.89372906e-03 -3.56616647e-03 2.10009523e+02] [ 6.88989231e-03 9.99975674e-01 -1.08704409e-03 7.80528857e+00] [ 3.57357350e-03 1.06244084e-03 9.99993050e-01 -2.53138117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.775898227 meters 0.09232445059687949 Centerline is valid? [True, True] Translation: X:210.04, Y:7.80, Z:-2.53 [[ 9.99974867e-01 -5.69152145e-03 -4.22754901e-03 2.10040450e+02] [ 5.68980675e-03 9.99983726e-01 -4.17518528e-04 7.80042815e+00] [ 4.22985652e-03 3.93454098e-04 9.99990977e-01 -2.53214848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.805898227 meters 0.09801180222700821 Centerline is valid? [True, True] Translation: X:210.07, Y:7.81, Z:-2.53 [[ 9.99973783e-01 -5.56950964e-03 -4.62755051e-03 2.10068053e+02] [ 5.56745296e-03 9.99984397e-01 -4.57206606e-04 7.81022447e+00] [ 4.63002473e-03 4.31430950e-04 9.99989188e-01 -2.53374466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.835898227 meters 0.0846539471170228 Centerline is valid? [True, True] Translation: X:210.10, Y:7.80, Z:-2.53 [[ 9.99961593e-01 -7.29338839e-03 -4.86003089e-03 2.10099587e+02] [ 7.29113971e-03 9.99973304e-01 -4.80246651e-04 7.79879311e+00] [ 4.86340377e-03 4.44793042e-04 9.99988075e-01 -2.53342865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.865898227 meters 0.10340725720325515 Centerline is valid? [True, False] Translation: X:210.12, Y:7.80, Z:-2.54 [[ 9.99981428e-01 -6.08697785e-03 -3.05116784e-04 2.10119259e+02] [ 6.08376654e-03 9.99935358e-01 -9.60558993e-03 7.80306548e+00] [ 3.63566074e-04 9.60355527e-03 9.99953819e-01 -2.53597740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.895898227 meters 0.09060347816418511 Centerline is valid? [False, True] Translation: X:210.12, Y:7.80, Z:-2.54 [[ 9.99998769e-01 -1.45836186e-03 -5.79159402e-04 2.10119854e+02] [ 1.45582198e-03 9.99989427e-01 -4.36193541e-03 7.79925415e+00] [ 5.85514559e-04 4.36108688e-03 9.99990319e-01 -2.53557120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.925898227 meters 0.07876079465018218 Centerline is valid? [True, True] Translation: X:210.15, Y:7.78, Z:-2.53 [[ 9.99970252e-01 -7.70721040e-03 3.07036479e-04 2.10152374e+02] [ 7.70720244e-03 9.99970299e-01 2.70997185e-05 7.78223400e+00] [-3.07236223e-04 -2.47325200e-05 9.99999952e-01 -2.53421821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.955898227 meters 0.07976071338072217 Centerline is valid? [True, True] Translation: X:210.18, Y:7.78, Z:-2.53 [[ 9.99946535e-01 -1.03301263e-02 4.64248738e-04 2.10181739e+02] [ 1.03301084e-02 9.99946642e-01 4.09384359e-05 7.78412148e+00] [-4.64646866e-04 -3.61405073e-05 9.99999891e-01 -2.53430567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.985898227 meters 0.07467567150650019 Centerline is valid? [True, True] Translation: X:210.21, Y:7.78, Z:-2.53 [[ 9.99918199e-01 -1.27904609e-02 6.87624327e-06 2.10212977e+02] [ 1.27904609e-02 9.99918199e-01 6.09261372e-07 7.77850114e+00] [-6.88347352e-06 -5.21261212e-07 1.00000000e+00 -2.53485659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.015898227 meters 0.07595973231463285 Centerline is valid? [True, True] Translation: X:210.24, Y:7.78, Z:-2.54 [[ 9.99898956e-01 -1.42108158e-02 -3.62093262e-04 2.10242847e+02] [ 1.42108051e-02 9.99899021e-01 -3.19488455e-05 7.78110910e+00] [ 3.62510718e-04 2.67999804e-05 9.99999934e-01 -2.53571220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.045898227 meters 0.07686172081076145 Centerline is valid? [True, True] Translation: X:210.27, Y:7.78, Z:-2.54 [[ 9.99896444e-01 -1.43785296e-02 -5.99894836e-04 2.10273035e+02] [ 1.43785005e-02 9.99896623e-01 -5.28998318e-05 7.78392941e+00] [ 6.00593442e-04 4.42687655e-05 9.99999819e-01 -2.53622979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.075898227 meters 0.0763919706220134 Centerline is valid? [True, True] Translation: X:210.30, Y:7.79, Z:-2.54 [[ 9.99912239e-01 -1.32190728e-02 -8.77985386e-04 2.10303263e+02] [ 1.32190098e-02 9.99912622e-01 -7.74924235e-05 7.78531668e+00] [ 8.78933048e-04 6.58795252e-05 9.99999612e-01 -2.53671144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.105898227 meters 0.08502246137979945 Centerline is valid? [True, True] Translation: X:210.33, Y:7.80, Z:-2.54 [[ 9.99961659e-01 -8.55325189e-03 -1.87694110e-03 2.10331596e+02] [ 8.55295600e-03 9.99963409e-01 -1.65616015e-04 7.79938632e+00] [ 1.87828897e-03 1.49556270e-04 9.99998225e-01 -2.53853924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.135898227 meters 0.09418437683282005 Centerline is valid? [True, True] Translation: X:210.36, Y:7.81, Z:-2.54 [[ 9.99978654e-01 -6.20328433e-03 -2.05197519e-03 2.10359500e+02] [ 6.20292604e-03 9.99980745e-01 -1.80928754e-04 7.81402116e+00] [ 2.05305804e-03 1.68196642e-04 9.99997878e-01 -2.53991581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.165898227 meters 0.0877338693789803 Centerline is valid? [True, True] Translation: X:210.39, Y:7.81, Z:-2.54 [[ 9.99987756e-01 -4.46360839e-03 -2.13651636e-03 2.10390434e+02] [ 4.46321577e-03 9.99990022e-01 -1.88498856e-04 7.80807040e+00] [ 2.13733643e-03 1.78960815e-04 9.99997700e-01 -2.53948602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.195898227 meters 0.08948614024187805 Centerline is valid? [True, True] Translation: X:210.42, Y:7.81, Z:-2.54 [[ 9.99989609e-01 -4.19079475e-03 -1.79420703e-03 2.10419164e+02] [ 4.19051730e-03 9.99991207e-01 -1.58366769e-04 7.81205912e+00] [ 1.79485494e-03 1.50846468e-04 9.99998378e-01 -2.53942122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.225898227 meters 0.0894526486098761 Centerline is valid? [True, True] Translation: X:210.45, Y:7.81, Z:-2.54 [[ 9.99985606e-01 -5.08897110e-03 -1.70011497e-03 2.10449225e+02] [ 5.08872335e-03 9.99987041e-01 -1.50016387e-04 7.81328131e+00] [ 1.70085637e-03 1.41362813e-04 9.99998544e-01 -2.53924927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.255898227 meters 0.08698607308030173 Centerline is valid? [True, True] Translation: X:210.48, Y:7.81, Z:-2.54 [[ 9.99970599e-01 -7.46019642e-03 -1.77399080e-03 2.10480331e+02] [ 7.45993037e-03 9.99972162e-01 -1.56542996e-04 7.81104900e+00] [ 1.77510926e-03 1.43304545e-04 9.99998414e-01 -2.53874060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.285898227 meters 0.08322879380941348 Centerline is valid? [True, True] Translation: X:210.51, Y:7.81, Z:-2.54 [[ 9.99878563e-01 -1.55712986e-02 -6.27344058e-04 2.10510819e+02] [ 1.55712669e-02 9.99878759e-01 -5.53349605e-05 7.80546835e+00] [ 6.28129636e-04 4.55596990e-05 9.99999802e-01 -2.53579914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.315898227 meters 0.07898315761733216 Centerline is valid? [True, True] Translation: X:210.54, Y:7.80, Z:-2.53 [[ 9.99796595e-01 -2.01642613e-02 4.14127483e-04 2.10541943e+02] [ 2.01642479e-02 9.99796680e-01 3.65386599e-05 7.80035849e+00] [-4.14780057e-04 -2.81806585e-05 9.99999914e-01 -2.53376301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.345898227 meters 0.07363252270857572 Centerline is valid? [True, True] Translation: X:210.57, Y:7.79, Z:-2.53 [[ 9.99687835e-01 -2.49179709e-02 1.82408909e-03 2.10573620e+02] [ 2.49177185e-02 9.99689492e-01 1.60945651e-04 7.79319433e+00] [-1.82753313e-03 -1.15443271e-04 9.99998323e-01 -2.53148048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.375898227 meters 0.07080108986915533 Centerline is valid? [True, True] Translation: X:210.60, Y:7.79, Z:-2.53 [[ 9.99565307e-01 -2.93897784e-02 2.33188978e-03 2.10603869e+02] [ 2.93893781e-02 9.99568018e-01 2.05745906e-04 7.78862628e+00] [-2.33692927e-03 -1.37123680e-04 9.99997260e-01 -2.52970671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.405898227 meters 0.06857655768725214 Centerline is valid? [True, True] Translation: X:210.63, Y:7.78, Z:-2.53 [[ 9.99436979e-01 -3.34853845e-02 2.11054994e-03 2.10634820e+02] [ 3.34850657e-02 9.99439201e-01 1.86209360e-04 7.78139268e+00] [-2.11560164e-03 -1.15432617e-04 9.99997755e-01 -2.52966710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.435898227 meters 0.049222268444012895 Centerline is valid? [True, True] Translation: X:210.67, Y:7.76, Z:-2.53 [[ 9.99221311e-01 -3.94539741e-02 -3.94229545e-04 2.10667656e+02] [ 3.94539634e-02 9.99221389e-01 -3.47605826e-05 7.75668962e+00] [ 3.95294037e-04 1.91795969e-05 9.99999922e-01 -2.53274481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.465898227 meters 0.046534430987763595 Centerline is valid? [True, True] Translation: X:210.70, Y:7.75, Z:-2.53 [[ 9.99123588e-01 -4.18462622e-02 -9.72493559e-04 2.10698101e+02] [ 4.18461985e-02 9.99124061e-01 -8.58311202e-05 7.75335347e+00] [ 9.75233425e-04 4.50607383e-05 9.99999523e-01 -2.53354405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.495898227 meters 0.05170856190245416 Centerline is valid? [True, True] Translation: X:210.73, Y:7.76, Z:-2.53 [[ 9.99024282e-01 -4.41609480e-02 -5.42855819e-04 2.10727114e+02] [ 4.41609285e-02 9.99024429e-01 -4.79610968e-05 7.75629823e+00] [ 5.44444233e-04 2.39412833e-05 9.99999852e-01 -2.53371109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.525898227 meters 0.044020884432485204 Centerline is valid? [True, True] Translation: X:210.76, Y:7.75, Z:-2.53 [[ 9.98929512e-01 -4.62559388e-02 4.66638503e-04 2.10757934e+02] [ 4.62559247e-02 9.98929621e-01 4.11276191e-05 7.75075931e+00] [-4.68041420e-04 -1.94987971e-05 9.99999890e-01 -2.53214435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.555898227 meters 0.04291929865882984 Centerline is valid? [True, True] Translation: X:210.79, Y:7.75, Z:-2.53 [[ 9.98832932e-01 -4.82820266e-02 1.27273343e-03 2.10786780e+02] [ 4.82819225e-02 9.98833742e-01 1.12343491e-04 7.75030002e+00] [-1.27667327e-03 -5.07623614e-05 9.99999184e-01 -2.53126637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.585898227 meters 0.04448172427367855 Centerline is valid? [True, True] Translation: X:210.82, Y:7.75, Z:-2.53 [[ 9.98659025e-01 -5.17326593e-02 1.97086105e-03 2.10817178e+02] [ 5.17324164e-02 9.98660967e-01 1.74079217e-04 7.74564666e+00] [-1.97722759e-03 -7.18883763e-05 9.99998043e-01 -2.53095860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.615898227 meters 0.0446714507120944 Centerline is valid? [True, True] Translation: X:210.84, Y:7.75, Z:-2.53 [[ 9.98580566e-01 -5.32269245e-02 1.93596714e-03 2.10844598e+02] [ 5.32266928e-02 9.98582440e-01 1.71042201e-04 7.75408919e+00] [-1.94232685e-03 -6.77542890e-05 9.99998111e-01 -2.53110761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.645898227 meters 0.037031936604192545 Centerline is valid? [True, True] Translation: X:210.87, Y:7.75, Z:-2.53 [[ 9.98497270e-01 -5.47621062e-02 2.07700553e-03 2.10874504e+02] [ 5.47618426e-02 9.98499428e-01 1.83634746e-04 7.74592881e+00] [-2.08394505e-03 -6.96181430e-05 9.99997826e-01 -2.53154736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.675898227 meters 0.03628510487478961 Centerline is valid? [True, True] Translation: X:210.90, Y:7.75, Z:-2.53 [[ 9.98406995e-01 -5.63863827e-02 2.01182544e-03 2.10902903e+02] [ 5.63861380e-02 9.98409020e-01 1.78196102e-04 7.74669834e+00] [-2.01867250e-03 -6.44731682e-05 9.99997960e-01 -2.53205518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.705898227 meters 0.03459057710563304 Centerline is valid? [True, True] Translation: X:210.93, Y:7.75, Z:-2.53 [[ 9.98315638e-01 -5.79812005e-02 2.01671716e-03 2.10931734e+02] [ 5.79809571e-02 9.98317673e-01 1.78963906e-04 7.74650831e+00] [-2.02370093e-03 -6.17312750e-05 9.99997950e-01 -2.53297371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.735898227 meters 0.040183075686386745 Centerline is valid? [True, True] Translation: X:210.96, Y:7.75, Z:-2.53 [[ 9.98214486e-01 -5.97048612e-02 1.78003101e-03 2.10960713e+02] [ 5.97046739e-02 9.98216072e-01 1.58213660e-04 7.74720622e+00] [-1.78630169e-03 -5.16549963e-05 9.99998403e-01 -2.53329423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.765898227 meters 0.030579077250712322 Centerline is valid? [True, True] Translation: X:210.99, Y:7.74, Z:-2.53 [[ 9.98040239e-01 -6.25751585e-02 1.76227949e-04 2.10990557e+02] [ 6.25751567e-02 9.98040254e-01 1.56529059e-05 7.74335467e+00] [-1.76862070e-04 -4.59473848e-06 9.99999984e-01 -2.53488621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.795898227 meters 0.03007977892082954 Centerline is valid? [True, True] Translation: X:211.02, Y:7.74, Z:-2.54 [[ 9.97970862e-01 -6.36574237e-02 -1.37511924e-03 2.11018200e+02] [ 6.36573150e-02 9.97971809e-01 -1.22718302e-04 7.74343148e+00] [ 1.38014217e-03 3.49328911e-05 9.99999047e-01 -2.53712726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.825898227 meters 0.026921828268498087 Centerline is valid? [True, True] Translation: X:211.05, Y:7.74, Z:-2.54 [[ 9.97902895e-01 -6.46688394e-02 -2.78463168e-03 2.11047289e+02] [ 6.46683959e-02 9.97906777e-01 -2.49089411e-04 7.74005383e+00] [ 2.79491115e-03 6.84893805e-05 9.99996092e-01 -2.53878521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.855898227 meters 0.026921828268498087 Centerline is valid? [True, True] Translation: X:211.07, Y:7.74, Z:-2.54 [[ 9.97890426e-01 -6.48609648e-02 -2.78457929e-03 2.11074667e+02] [ 6.48605204e-02 9.97894308e-01 -2.49674972e-04 7.74267797e+00] [ 2.79490998e-03 6.85390020e-05 9.99996092e-01 -2.53884255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.885898227 meters 0.028837915696012715 Centerline is valid? [True, True] Translation: X:211.10, Y:7.75, Z:-2.54 [[ 9.97826055e-01 -6.57740050e-02 -4.11642774e-03 2.11102375e+02] [ 6.57730420e-02 9.97834541e-01 -3.69033563e-04 7.74603246e+00] [ 4.13178660e-03 9.74813301e-05 9.99991459e-01 -2.54137583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.915898227 meters 0.027120335826393654 Centerline is valid? [True, True] Translation: X:211.13, Y:7.74, Z:-2.54 [[ 9.97771876e-01 -6.65503414e-02 -4.72605794e-03 2.11131833e+02] [ 6.65490764e-02 9.97783063e-01 -4.24604945e-04 7.74457281e+00] [ 4.74383817e-03 1.09144081e-04 9.99988742e-01 -2.54155034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.945898227 meters 0.027791692923834318 Centerline is valid? [True, True] Translation: X:211.16, Y:7.75, Z:-2.54 [[ 9.97758621e-01 -6.67701150e-02 -4.41424111e-03 2.11158399e+02] [ 6.67690112e-02 9.97768381e-01 -3.97117314e-04 7.74611322e+00] [ 4.43090578e-03 1.01492709e-04 9.99990178e-01 -2.54073818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.975898227 meters 0.028317722186805942 Centerline is valid? [True, True] Translation: X:211.19, Y:7.75, Z:-2.54 [[ 9.97814500e-01 -6.60167456e-02 -2.83053245e-03 2.11187813e+02] [ 6.60162869e-02 9.97818513e-01 -2.55272347e-04 7.74588948e+00] [ 2.84120992e-03 6.78532080e-05 9.99995961e-01 -2.53661376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.005898227 meters 0.02890146005582101 Centerline is valid? [True, True] Translation: X:211.22, Y:7.75, Z:-2.53 [[ 9.97900751e-01 -6.47293005e-02 -2.05138404e-03 2.11216372e+02] [ 6.47290559e-02 9.97902858e-01 -1.85443095e-04 7.74763991e+00] [ 2.05908560e-03 5.22696513e-05 9.99997879e-01 -2.53443094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.035898227 meters 0.031867330911529324 Centerline is valid? [True, True] Translation: X:211.24, Y:7.75, Z:-2.53 [[ 9.98030872e-01 -6.27074040e-02 -1.46973199e-03 2.11243405e+02] [ 6.27072763e-02 9.98031953e-01 -1.32866205e-04 7.75224631e+00] [ 1.47517118e-03 4.04416843e-05 9.99998911e-01 -2.53336655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.065898227 meters 0.03356587067010254 Centerline is valid? [True, True] Translation: X:211.27, Y:7.76, Z:-2.53 [[ 9.98180371e-01 -6.02784977e-02 -1.56523928e-03 2.11272269e+02] [ 6.02783499e-02 9.98181597e-01 -1.41472759e-04 7.75579300e+00] [ 1.57092081e-03 4.68652904e-05 9.99998765e-01 -2.53309087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.095898227 meters 0.0379746581080916 Centerline is valid? [True, True] Translation: X:211.30, Y:7.76, Z:-2.53 [[ 9.98346020e-01 -5.74515048e-02 -2.13271082e-03 2.11299765e+02] [ 5.74512237e-02 9.98348296e-01 -1.92860122e-04 7.76286929e+00] [ 2.14026832e-03 7.00142886e-05 9.99997707e-01 -2.53409617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.125898227 meters 0.04827094873900205 Centerline is valid? [True, True] Translation: X:211.33, Y:7.77, Z:-2.54 [[ 9.98613648e-01 -5.25897946e-02 -2.25721430e-03 2.11329953e+02] [ 5.25894676e-02 9.98616196e-01 -2.04031819e-04 7.76787811e+00] [ 2.26482074e-03 8.50432607e-05 9.99997432e-01 -2.53561663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.155898227 meters 0.044869313267535155 Centerline is valid? [True, True] Translation: X:211.36, Y:7.77, Z:-2.54 [[ 9.98692823e-01 -5.10594917e-02 -2.36090219e-03 2.11357703e+02] [ 5.10591292e-02 9.98695609e-01 -2.13603010e-04 7.77295482e+00] [ 2.36872911e-03 9.27781829e-05 9.99997190e-01 -2.53509581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.185898227 meters 0.04351847390969543 Centerline is valid? [True, True] Translation: X:211.39, Y:7.77, Z:-2.53 [[ 9.98707646e-01 -5.08026003e-02 -1.46100176e-03 2.11386467e+02] [ 5.08024604e-02 9.98708712e-01 -1.32705086e-04 7.77207438e+00] [ 1.46585695e-03 5.83110997e-05 9.99998924e-01 -2.53368214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.215898227 meters 0.04194940928197882 Centerline is valid? [True, True] Translation: X:211.42, Y:7.77, Z:-2.53 [[ 9.98689123e-01 -5.11835173e-02 -5.31563576e-04 2.11415812e+02] [ 5.11834987e-02 9.98689265e-01 -4.85949534e-05 7.77000600e+00] [ 5.33354097e-04 2.13239679e-05 9.99999858e-01 -2.53257652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.245898227 meters 0.04106732507650069 Centerline is valid? [True, True] Translation: X:211.45, Y:7.77, Z:-2.53 [[ 9.98553727e-01 -5.37611272e-02 4.41689805e-04 2.11445206e+02] [ 5.37611147e-02 9.98553825e-01 4.00512789e-05 7.76556464e+00] [-4.43204246e-04 -1.62476176e-05 9.99999902e-01 -2.53132642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.275898227 meters 0.04044085013048511 Centerline is valid? [True, True] Translation: X:211.47, Y:7.76, Z:-2.53 [[ 9.98456938e-01 -5.55264162e-02 7.48800591e-04 2.11473170e+02] [ 5.55263809e-02 9.98457218e-01 6.79060448e-05 7.76417988e+00] [-7.51415934e-04 -2.62230748e-05 9.99999717e-01 -2.53171058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.305898227 meters 0.03531924857874233 Centerline is valid? [True, True] Translation: X:211.50, Y:7.76, Z:-2.53 [[ 9.98353396e-01 -5.73623673e-02 2.36541890e-04 2.11503187e+02] [ 5.73623639e-02 9.98353424e-01 2.12018235e-05 7.75681180e+00] [-2.37368592e-04 -7.59831050e-06 9.99999972e-01 -2.53235555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.335898227 meters 0.035962529931134274 Centerline is valid? [True, True] Translation: X:211.53, Y:7.76, Z:-2.53 [[ 9.98282004e-01 -5.85897955e-02 5.24812070e-04 2.11531590e+02] [ 5.85897787e-02 9.98282142e-01 4.75000555e-05 7.75638993e+00] [-5.26693536e-04 -1.66698276e-05 9.99999861e-01 -2.53232809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.365898227 meters 0.04297102308301959 Centerline is valid? [True, True] Translation: X:211.56, Y:7.76, Z:-2.53 [[ 9.98252770e-01 -5.90730708e-02 1.33361468e-03 2.11558745e+02] [ 5.90729611e-02 9.98253660e-01 1.21543250e-04 7.76394639e+00] [-1.33846567e-03 -4.25503180e-05 9.99999103e-01 -2.53086602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.395898227 meters 0.04385615490406704 Centerline is valid? [True, True] Translation: X:211.59, Y:7.76, Z:-2.53 [[ 9.98265676e-01 -5.88440190e-02 1.73829279e-03 2.11587873e+02] [ 5.88438321e-02 9.98267188e-01 1.58532598e-04 7.76388122e+00] [-1.74460935e-03 -5.59698417e-05 9.99998477e-01 -2.52986362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.425898227 meters 0.03692770870191258 Centerline is valid? [True, True] Translation: X:211.62, Y:7.75, Z:-2.53 [[ 9.98403977e-01 -5.64750420e-02 -2.61789797e-04 2.11618436e+02] [ 5.64750377e-02 9.98404011e-01 -2.40057372e-05 7.75183357e+00] [ 2.62727708e-04 9.18283484e-06 9.99999965e-01 -2.53224828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.455898227 meters 0.039710601177825655 Centerline is valid? [True, True] Translation: X:211.65, Y:7.76, Z:-2.54 [[ 9.98512466e-01 -5.44715170e-02 -2.38946853e-03 2.11646209e+02] [ 5.44711495e-02 9.98515321e-01 -2.18640846e-04 7.75575262e+00] [ 2.39783063e-03 8.81585130e-05 9.99997121e-01 -2.53564429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.485898227 meters 0.038697839356045004 Centerline is valid? [True, True] Translation: X:211.68, Y:7.76, Z:-2.54 [[ 9.98617884e-01 -5.23949045e-02 -4.13473697e-03 2.11676062e+02] [ 5.23937868e-02 9.98626431e-01 -3.78242055e-04 7.75506238e+00] [ 4.14887558e-03 1.61084754e-04 9.99991380e-01 -2.53777798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.515898227 meters 0.05567792445774676 Centerline is valid? [True, True] Translation: X:211.70, Y:7.78, Z:-2.54 [[ 9.98711990e-01 -5.04904430e-02 -5.00760522e-03 2.11702826e+02] [ 5.04887786e-02 9.98724523e-01 -4.58321686e-04 7.77766087e+00] [ 5.02435901e-03 2.04903492e-04 9.99987357e-01 -2.54268874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.545898227 meters 0.04613039392792592 Centerline is valid? [True, True] Translation: X:211.73, Y:7.77, Z:-2.54 [[ 9.98779691e-01 -4.91155195e-02 -5.17630249e-03 2.11733821e+02] [ 4.91137221e-02 9.98793081e-01 -4.73851611e-04 7.76596573e+00] [ 5.19332858e-03 2.19045884e-04 9.99986491e-01 -2.53983071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.575898227 meters 0.052306370275158325 Centerline is valid? [True, True] Translation: X:211.76, Y:7.77, Z:-2.54 [[ 9.98805599e-01 -4.86186672e-02 -4.85795103e-03 2.11762785e+02] [ 4.86170729e-02 9.98817391e-01 -4.45808108e-04 7.76663961e+00] [ 4.87388057e-03 2.09096276e-04 9.99988101e-01 -2.53863898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.605898227 meters 0.04613750839205146 Centerline is valid? [True, True] Translation: X:211.79, Y:7.77, Z:-2.54 [[ 9.98827340e-01 -4.80280171e-02 -6.10365013e-03 2.11792054e+02] [ 4.80254837e-02 9.98845953e-01 -5.61046146e-04 7.76643083e+00] [ 6.12355217e-03 2.67257480e-04 9.99981215e-01 -2.53930657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.635898227 meters 0.04646599820272181 Centerline is valid? [True, True] Translation: X:211.82, Y:7.77, Z:-2.54 [[ 9.98831011e-01 -4.77877783e-02 -7.27601380e-03 2.11820746e+02] [ 4.77841635e-02 9.98857460e-01 -6.69949817e-04 7.76774913e+00] [ 7.29971607e-03 3.21488420e-04 9.99973305e-01 -2.54092413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.665898227 meters 0.0523835358382174 Centerline is valid? [True, True] Translation: X:211.85, Y:7.77, Z:-2.54 [[ 9.98821493e-01 -4.75937611e-02 -9.51096073e-03 2.11849098e+02] [ 4.75875733e-02 9.98866686e-01 -8.75969765e-04 7.76872676e+00] [ 9.54187252e-03 4.22333887e-04 9.99954386e-01 -2.54395825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.695898227 meters 0.048196221367760056 Centerline is valid? [True, True] Translation: X:211.88, Y:7.77, Z:-2.54 [[ 9.98820270e-01 -4.77866594e-02 -8.63149847e-03 2.11877098e+02] [ 4.77815659e-02 9.98857492e-01 -7.95487370e-04 7.77199418e+00] [ 8.65965060e-03 3.82122398e-04 9.99962432e-01 -2.54369464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.725898227 meters 0.04719592502779206 Centerline is valid? [True, True] Translation: X:211.91, Y:7.77, Z:-2.54 [[ 9.98800593e-01 -4.83759383e-02 -7.55938570e-03 2.11905658e+02] [ 4.83720372e-02 9.98829144e-01 -6.98158930e-04 7.77247302e+00] [ 7.58430884e-03 3.31658667e-04 9.99971184e-01 -2.54133436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.755898227 meters 0.04667157620876438 Centerline is valid? [True, True] Translation: X:211.93, Y:7.77, Z:-2.54 [[ 9.98756087e-01 -4.94973141e-02 -6.02449265e-03 2.11933398e+02] [ 4.94948555e-02 9.98774223e-01 -5.56602786e-04 7.77319447e+00] [ 6.04465832e-03 2.57729027e-04 9.99981698e-01 -2.53907717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.785898227 meters 0.0445930090167577 Centerline is valid? [True, True] Translation: X:211.96, Y:7.77, Z:-2.54 [[ 9.98668148e-01 -5.13300174e-02 -5.21152749e-03 2.11962900e+02] [ 5.13281973e-02 9.98681723e-01 -4.82498764e-04 7.77131676e+00] [ 5.22942392e-03 2.14357836e-04 9.99986303e-01 -2.53720924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.815898227 meters 0.04324887222624973 Centerline is valid? [True, True] Translation: X:211.99, Y:7.77, Z:-2.54 [[ 9.98564856e-01 -5.33297952e-02 -4.91533866e-03 2.11992154e+02] [ 5.33282009e-02 9.98576935e-01 -4.54941058e-04 7.76933914e+00] [ 4.93260573e-03 1.92161985e-04 9.99987816e-01 -2.53672673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.845898227 meters 0.041609613230863214 Centerline is valid? [True, True] Translation: X:212.02, Y:7.76, Z:-2.54 [[ 9.98314475e-01 -5.78080034e-02 -5.14232458e-03 2.12021581e+02] [ 5.78063171e-02 9.98327703e-01 -4.76088729e-04 7.76457086e+00] [ 5.16124682e-03 1.78027425e-04 9.99986665e-01 -2.53917985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.875898227 meters 0.03773648520390856 Centerline is valid? [True, True] Translation: X:212.05, Y:7.76, Z:-2.54 [[ 9.98203958e-01 -5.97161073e-02 -4.77961916e-03 2.12050792e+02] [ 5.97146676e-02 9.98215388e-01 -4.43482178e-04 7.75951737e+00] [ 4.79757242e-03 1.57272296e-04 9.99988479e-01 -2.53805265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.905898227 meters 0.036598856387216425 Centerline is valid? [True, True] Translation: X:212.08, Y:7.76, Z:-2.54 [[ 9.98129404e-01 -6.10329441e-02 -3.55991532e-03 2.12080201e+02] [ 6.10321514e-02 9.98135746e-01 -3.30988851e-04 7.75805755e+00] [ 3.57347995e-03 1.13100414e-04 9.99993609e-01 -2.53613669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.935898227 meters 0.03676700873618757 Centerline is valid? [True, True] Translation: X:212.11, Y:7.76, Z:-2.53 [[ 9.98133492e-01 -6.10236306e-02 -2.37683578e-03 2.12108798e+02] [ 6.10232758e-02 9.98136319e-01 -2.21583554e-04 7.75777538e+00] [ 2.38592795e-03 7.61276609e-05 9.99997151e-01 -2.53401818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.965898227 meters 0.038215329822980135 Centerline is valid? [True, True] Translation: X:212.14, Y:7.76, Z:-2.53 [[ 9.98181628e-01 -6.02565304e-02 -1.60885767e-03 2.12136473e+02] [ 6.02563668e-02 9.98182923e-01 -1.50044512e-04 7.75978922e+00] [ 1.61497542e-03 5.28277566e-05 9.99998695e-01 -2.53240905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.995898227 meters 0.04295258736333212 Centerline is valid? [True, True] Translation: X:212.17, Y:7.76, Z:-2.53 [[ 9.98298201e-01 -5.82922679e-02 -1.64694948e-03 2.12165641e+02] [ 5.82920939e-02 9.98299558e-01 -1.53499532e-04 7.76425399e+00] [ 1.65309678e-03 5.72341731e-05 9.99998632e-01 -2.53221868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.025898227 meters 0.049046028776080206 Centerline is valid? [True, True] Translation: X:212.19, Y:7.77, Z:-2.53 [[ 9.98646370e-01 -5.19161716e-02 -3.18410696e-03 2.12194486e+02] [ 5.19154890e-02 9.98651438e-01 -2.96709035e-04 7.77488052e+00] [ 3.19521699e-03 1.31002931e-04 9.99994887e-01 -2.53432312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.055898227 meters 0.0547936500672232 Centerline is valid? [True, True] Translation: X:212.22, Y:7.78, Z:-2.54 [[ 9.98827268e-01 -4.82866150e-02 -3.53442235e-03 2.12224796e+02] [ 4.82857512e-02 9.98833509e-01 -3.29367817e-04 7.78103669e+00] [ 3.54620354e-03 1.58319318e-04 9.99993700e-01 -2.53528209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.085898227 meters 0.05619913329860489 Centerline is valid? [True, True] Translation: X:212.25, Y:7.79, Z:-2.54 [[ 9.98981387e-01 -4.49877009e-02 -3.50638071e-03 2.12254703e+02] [ 4.49868304e-02 9.98987527e-01 -3.26782678e-04 7.78763208e+00] [ 3.51753179e-03 1.68708859e-04 9.99993799e-01 -2.53508396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.115898227 meters 0.05969723180530185 Centerline is valid? [True, True] Translation: X:212.28, Y:7.79, Z:-2.53 [[ 9.99097067e-01 -4.23815382e-02 -2.97598234e-03 2.12284058e+02] [ 4.23808995e-02 9.99101488e-01 -2.77394734e-04 7.79409248e+00] [ 2.98506480e-03 1.51019457e-04 9.99995533e-01 -2.53452011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.145898227 meters 0.06199494737878021 Centerline is valid? [True, True] Translation: X:212.31, Y:7.80, Z:-2.53 [[ 9.99160523e-01 -4.09192246e-02 -1.96642035e-03 2.12312593e+02] [ 4.09189425e-02 9.99162452e-01 -1.83470973e-04 7.79919641e+00] [ 1.97228087e-03 1.02853112e-04 9.99998050e-01 -2.53296641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.175898227 meters 0.06320526342625085 Centerline is valid? [True, True] Translation: X:212.34, Y:7.80, Z:-2.53 [[ 9.99181852e-01 -4.04230974e-02 -1.26486270e-03 2.12340916e+02] [ 4.04229798e-02 9.99182650e-01 -1.18460781e-04 7.80246992e+00] [ 1.26861742e-03 6.72343428e-05 9.99999193e-01 -2.53160871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.205898227 meters 0.06304488909996776 Centerline is valid? [True, True] Translation: X:212.37, Y:7.80, Z:-2.54 [[ 9.99134556e-01 -4.14907362e-02 -2.94253200e-03 2.12368647e+02] [ 4.14901054e-02 9.99138877e-01 -2.75117529e-04 7.80102810e+00] [ 2.95141295e-03 1.52793467e-04 9.99995633e-01 -2.53541790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.235898227 meters 0.06627162685951622 Centerline is valid? [True, True] Translation: X:212.40, Y:7.80, Z:-2.54 [[ 9.99069436e-01 -4.29088890e-02 -4.36919560e-03 2.12398036e+02] [ 4.29075104e-02 9.99078965e-01 -4.08809381e-04 7.79945197e+00] [ 4.38271298e-03 2.20957651e-04 9.99990371e-01 -2.53898706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.265898227 meters 0.06100857935152665 Centerline is valid? [True, True] Translation: X:212.43, Y:7.80, Z:-2.54 [[ 9.99019371e-01 -4.38692597e-02 -5.98194857e-03 2.12427611e+02] [ 4.38666902e-02 9.99037236e-01 -5.60133065e-04 7.79796689e+00] [ 6.00076199e-03 2.97175498e-04 9.99981951e-01 -2.54216526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.295898227 meters 0.06410203495102164 Centerline is valid? [True, True] Translation: X:212.46, Y:7.80, Z:-2.55 [[ 9.98981389e-01 -4.45992536e-02 -6.86232444e-03 2.12455563e+02] [ 4.45958873e-02 9.99004902e-01 -6.42862872e-04 7.79806229e+00] [ 6.88416695e-03 3.36176597e-04 9.99976247e-01 -2.54504589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.325898227 meters 0.0640805689637946 Centerline is valid? [True, True] Translation: X:212.48, Y:7.80, Z:-2.54 [[ 9.99085215e-01 -4.22285157e-02 -6.74430907e-03 2.12484512e+02] [ 4.22252098e-02 9.99107918e-01 -6.31885798e-04 7.79720891e+00] [ 6.76497619e-03 3.46527893e-04 9.99977057e-01 -2.54396119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.355898227 meters 0.06747926646384336 Centerline is valid? [True, True] Translation: X:212.51, Y:7.80, Z:-2.54 [[ 9.99192669e-01 -3.97588638e-02 -5.76565602e-03 2.12514726e+02] [ 3.97564064e-02 9.99209256e-01 -5.40239280e-04 7.80097504e+00] [ 5.78257616e-03 3.10581364e-04 9.99983233e-01 -2.54133544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.385898227 meters 0.06007440051799519 Centerline is valid? [True, True] Translation: X:212.55, Y:7.78, Z:-2.54 [[ 9.99308837e-01 -3.68690028e-02 -4.74614361e-03 2.12546297e+02] [ 3.68673047e-02 9.99320071e-01 -4.44809107e-04 7.78488375e+00] [ 4.75931624e-03 2.69524149e-04 9.99988638e-01 -2.53674710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.415898227 meters 0.07695352277128385 Centerline is valid? [True, True] Translation: X:212.57, Y:7.82, Z:-2.54 [[ 9.99448435e-01 -3.28952688e-02 -4.55263608e-03 2.12573276e+02] [ 3.28936651e-02 9.99458766e-01 -4.26716254e-04 7.81537992e+00] [ 4.56420898e-03 2.76728006e-04 9.99989546e-01 -2.53881701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.445898227 meters 0.08280914275482351 Centerline is valid? [True, True] Translation: X:212.60, Y:7.83, Z:-2.54 [[ 9.99568086e-01 -2.89668275e-02 -4.95615103e-03 2.12601331e+02] [ 2.89648782e-02 9.99580322e-01 -4.64650471e-04 7.82557755e+00] [ 4.96753050e-03 3.20895471e-04 9.99987610e-01 -2.54007744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.475898227 meters 0.0734103918435462 Centerline is valid? [True, True] Translation: X:212.63, Y:7.82, Z:-2.54 [[ 9.99668859e-01 -2.51422387e-02 -5.48089613e-03 2.12632390e+02] [ 2.51397975e-02 9.99683813e-01 -5.13857553e-04 7.81690607e+00] [ 5.49208267e-03 3.75898775e-04 9.99984848e-01 -2.53935295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.505898227 meters 0.0965384362519912 Centerline is valid? [True, True] Translation: X:212.66, Y:7.85, Z:-2.54 [[ 9.99800776e-01 -1.88390468e-02 -6.59538846e-03 2.12658383e+02] [ 1.88353754e-02 9.99822407e-01 -6.18341824e-04 7.85062123e+00] [ 6.60586614e-03 4.93992018e-04 9.99978059e-01 -2.54362865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.535898227 meters 0.07202824101806138 Centerline is valid? [True, True] Translation: X:212.69, Y:7.82, Z:-2.54 [[ 9.99837567e-01 -1.66845225e-02 -6.81659052e-03 2.12691647e+02] [ 1.66805505e-02 9.99860666e-01 -6.39136524e-04 7.82318056e+00] [ 6.82630442e-03 5.25328225e-04 9.99976563e-01 -2.53938094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.565898227 meters 0.10176394976974436 Centerline is valid? [True, False] Translation: X:212.69, Y:7.83, Z:-2.54 [[ 9.99963759e-01 -8.47837551e-03 -7.73603804e-04 2.12693052e+02] [ 8.46994029e-03 9.99910839e-01 -1.03234352e-02 7.82575835e+00] [ 8.61060789e-04 1.03165086e-02 9.99946413e-01 -2.54399472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.595898227 meters 0.1022705952878393 Centerline is valid? [False, False] Translation: X:212.69, Y:7.82, Z:-2.54 [[ 9.99991528e-01 -4.02015873e-03 -8.84097014e-04 2.12693044e+02] [ 4.01506930e-03 9.99975780e-01 -5.68498993e-03 7.82450121e+00] [ 9.06930162e-04 5.68139206e-03 9.99983449e-01 -2.54342953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.625898227 meters 0.10159818956211443 Centerline is valid? [False, False] Translation: X:212.73, Y:7.83, Z:-2.54 [[ 9.99999714e-01 -7.43461269e-04 -1.41264989e-04 2.12732363e+02] [ 7.42852156e-04 9.99990633e-01 -4.26405526e-03 7.82787066e+00] [ 1.44433826e-04 4.26394910e-03 9.99990899e-01 -2.54075879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.655898227 meters 0.08109344954505757 Centerline is valid? [False, True] Translation: X:212.69, Y:7.83, Z:-2.54 [[ 9.99999858e-01 1.31023467e-04 5.15964992e-04 2.12689123e+02] [-1.30427020e-04 9.99999324e-01 -1.15584655e-03 7.82603091e+00] [-5.16116086e-04 1.15577909e-03 9.99999199e-01 -2.54098389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.685898227 meters 0.0739739972103684 Centerline is valid? [True, True] Translation: X:212.72, Y:7.83, Z:-2.54 [[ 9.99999347e-01 -1.11055724e-03 2.67763166e-04 2.12720100e+02] [ 1.11055189e-03 9.99999383e-01 2.01056014e-05 7.82731730e+00] [-2.67785329e-04 -1.98082233e-05 9.99999964e-01 -2.54108964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.715898227 meters 0.07447861910397288 Centerline is valid? [True, True] Translation: X:212.75, Y:7.83, Z:-2.54 [[ 9.99997625e-01 -2.15956949e-03 -2.92275989e-04 2.12749695e+02] [ 2.15956319e-03 9.99997668e-01 -2.18807223e-05 7.83223166e+00] [ 2.92322560e-04 2.12494819e-05 9.99999957e-01 -2.54236865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.745898227 meters 0.07447861910397288 Centerline is valid? [True, True] Translation: X:212.78, Y:7.83, Z:-2.54 [[ 9.99997625e-01 -2.15956949e-03 -2.92275989e-04 2.12779690e+02] [ 2.15956319e-03 9.99997668e-01 -2.18807223e-05 7.83447721e+00] [ 2.92322560e-04 2.12494819e-05 9.99999957e-01 -2.54252620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.775898227 meters 0.06983898346810213 Centerline is valid? [True, True] Translation: X:212.81, Y:7.83, Z:-2.54 [[ 9.99994930e-01 -3.00992884e-03 -1.03971944e-03 2.12810616e+02] [ 3.00984953e-03 9.99995467e-01 -7.78367475e-05 7.83305838e+00] [ 1.03994901e-03 7.47069538e-05 9.99999456e-01 -2.54372828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.805898227 meters 0.07814007438128238 Centerline is valid? [True, True] Translation: X:212.84, Y:7.85, Z:-2.55 [[ 9.99992377e-01 -3.61111790e-03 -1.48517006e-03 2.12838855e+02] [ 3.61095662e-03 9.99993474e-01 -1.11262640e-04 7.84802199e+00] [ 1.48556215e-03 1.05898907e-04 9.99998891e-01 -2.54622839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.835898227 meters 0.08525772228288032 Centerline is valid? [True, True] Translation: X:212.87, Y:7.86, Z:-2.55 [[ 9.99982088e-01 -5.83677743e-03 -1.32518338e-03 2.12866871e+02] [ 5.83665092e-03 9.99982962e-01 -9.93118999e-05 7.86202881e+00] [ 1.32574047e-03 9.15754882e-05 9.99999117e-01 -2.54846709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.865898227 meters 0.06746573988908569 Centerline is valid? [True, True] Translation: X:212.90, Y:7.84, Z:-2.55 [[ 9.99972846e-01 -7.16911411e-03 -1.70614393e-03 2.12898119e+02] [ 7.16890622e-03 9.99974295e-01 -1.27931399e-04 7.84183025e+00] [ 1.70701723e-03 1.15696740e-04 9.99998536e-01 -2.54749651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.895898227 meters 0.07277509633787362 Centerline is valid? [True, True] Translation: X:212.93, Y:7.85, Z:-2.55 [[ 9.99961390e-01 -8.57756003e-03 -1.90885013e-03 2.12926369e+02] [ 8.57730215e-03 9.99963204e-01 -1.43241524e-04 7.85077374e+00] [ 1.91000855e-03 1.26863209e-04 9.99998168e-01 -2.54917768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.925898227 meters 0.06623978465306542 Centerline is valid? [True, True] Translation: X:212.96, Y:7.84, Z:-2.55 [[ 9.99945751e-01 -1.01225373e-02 -2.45530625e-03 2.12956811e+02] [ 1.01221157e-02 9.99948753e-01 -1.84104588e-04 7.84457137e+00] [ 2.45704403e-03 1.59241707e-04 9.99996969e-01 -2.54948852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.955898227 meters 0.07213149282191275 Centerline is valid? [True, True] Translation: X:212.98, Y:7.85, Z:-2.55 [[ 9.99931699e-01 -1.12841566e-02 -3.04400763e-03 2.12984408e+02] [ 1.12835129e-02 9.99936313e-01 -2.28553341e-04 7.85351038e+00] [ 3.04639280e-03 1.94190632e-04 9.99995341e-01 -2.55163596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.985898227 meters 0.06484686081249309 Centerline is valid? [True, True] Translation: X:213.02, Y:7.84, Z:-2.55 [[ 9.99913148e-01 -1.28683911e-02 -2.84626558e-03 2.13015157e+02] [ 1.28678351e-02 9.99917183e-01 -2.13573893e-04 7.84375080e+00] [ 2.84877821e-03 1.76930068e-04 9.99995927e-01 -2.54997826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.015898227 meters 0.06387636741117549 Centerline is valid? [True, True] Translation: X:213.04, Y:7.84, Z:-2.55 [[ 9.99906133e-01 -1.35191601e-02 -2.22655428e-03 2.13044124e+02] [ 1.35188189e-02 9.99908602e-01 -1.68230264e-04 7.84261978e+00] [ 2.22862511e-03 1.38114089e-04 9.99997507e-01 -2.54904943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.045898227 meters 0.06912470325578046 Centerline is valid? [True, True] Translation: X:213.07, Y:7.85, Z:-2.55 [[ 9.99904117e-01 -1.37317940e-02 -1.78714379e-03 2.13071480e+02] [ 1.37315750e-02 9.99905708e-01 -1.34753771e-04 7.84560894e+00] [ 1.78882569e-03 1.10200551e-04 9.99998394e-01 -2.54932090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.075898227 meters 0.06421358030943479 Centerline is valid? [True, True] Translation: X:213.10, Y:7.84, Z:-2.55 [[ 9.99910949e-01 -1.32283903e-02 -1.76171373e-03 2.13100203e+02] [ 1.32281753e-02 9.99912495e-01 -1.33668187e-04 7.84352448e+00] [ 1.76332778e-03 1.10352026e-04 9.99998439e-01 -2.54880996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.105898227 meters 0.06681387320861831 Centerline is valid? [True, True] Translation: X:213.13, Y:7.85, Z:-2.55 [[ 9.99919498e-01 -1.25264841e-02 -2.02097556e-03 2.13128330e+02] [ 1.25262009e-02 9.99921532e-01 -1.52710550e-04 7.84683755e+00] [ 2.02272990e-03 1.27383111e-04 9.99997946e-01 -2.54924662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.135898227 meters 0.06729716610911826 Centerline is valid? [True, True] Translation: X:213.16, Y:7.85, Z:-2.55 [[ 9.99930600e-01 -1.15452006e-02 -2.34606630e-03 2.13157715e+02] [ 1.15448164e-02 9.99933341e-01 -1.77250885e-04 7.84756685e+00] [ 2.34795631e-03 1.50153679e-04 9.99997232e-01 -2.54968209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.165898227 meters 0.07472973653553538 Centerline is valid? [True, True] Translation: X:213.19, Y:7.86, Z:-2.55 [[ 9.99953624e-01 -9.28461496e-03 -2.55859991e-03 2.13186003e+02] [ 9.28415077e-03 9.99956883e-01 -1.93237934e-04 7.85621782e+00] [ 2.56028373e-03 1.69474545e-04 9.99996708e-01 -2.55042528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.195898227 meters 0.07357419680116181 Centerline is valid? [True, True] Translation: X:213.22, Y:7.85, Z:-2.55 [[ 9.99964917e-01 -8.16041942e-03 -1.88993740e-03 2.13215773e+02] [ 8.16016381e-03 9.99966695e-01 -1.42920692e-04 7.85123923e+00] [ 1.89104075e-03 1.27493479e-04 9.99998204e-01 -2.54872845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.225898227 meters 0.07650946561238013 Centerline is valid? [True, True] Translation: X:213.24, Y:7.86, Z:-2.55 [[ 9.99978660e-01 -6.40778589e-03 -1.27253918e-03 2.13244472e+02] [ 6.40766865e-03 9.99979466e-01 -9.61848706e-05 7.86178671e+00] [ 1.27312938e-03 8.80288087e-05 9.99999186e-01 -2.54831836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.255898227 meters 0.0765036911983774 Centerline is valid? [True, True] Translation: X:213.27, Y:7.86, Z:-2.55 [[ 9.99995356e-01 -3.04714630e-03 5.92681112e-05 2.13274549e+02] [ 3.04714604e-03 9.99995357e-01 4.42196096e-06 7.86367347e+00] [-5.92813104e-05 -4.24134183e-06 9.99999998e-01 -2.54578720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.285898227 meters 0.07988717290708129 Centerline is valid? [True, True] Translation: X:213.30, Y:7.87, Z:-2.55 [[ 9.99999327e-01 -1.04294304e-03 5.08705943e-04 2.13303208e+02] [ 1.04292365e-03 9.99999455e-01 3.83670292e-05 7.87054981e+00] [-5.08745681e-04 -3.78364619e-05 9.99999870e-01 -2.54536844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.315898227 meters 0.08549983266832199 Centerline is valid? [True, True] Translation: X:213.33, Y:7.88, Z:-2.55 [[ 9.99998648e-01 1.25096650e-03 1.06692135e-03 2.13332192e+02] [-1.25105324e-03 9.99999214e-01 8.06428414e-05 7.88087624e+00] [-1.06681963e-03 -8.19775079e-05 9.99999428e-01 -2.54508104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.345898227 meters 0.07645981061217998 Centerline is valid? [True, True] Translation: X:213.36, Y:7.87, Z:-2.54 [[ 9.99992228e-01 3.49904976e-03 1.81700520e-03 2.13363022e+02] [-3.49930497e-03 9.99993868e-01 1.37295188e-04 7.87295694e+00] [-1.81651365e-03 -1.43652376e-04 9.99998340e-01 -2.54395123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.375898227 meters 0.08305537260981659 Centerline is valid? [True, True] Translation: X:213.39, Y:7.89, Z:-2.54 [[ 9.99983656e-01 5.35864833e-03 1.99330315e-03 2.13391527e+02] [-5.35895910e-03 9.99985629e-01 1.50593886e-04 7.88555888e+00] [-1.99246752e-03 -1.61273455e-04 9.99998002e-01 -2.54444693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.405898227 meters 0.08419961044452486 Centerline is valid? [True, True] Translation: X:213.42, Y:7.89, Z:-2.54 [[ 9.99972907e-01 7.20670347e-03 1.49970267e-03 2.13422065e+02] [-7.20688148e-03 9.99974024e-01 1.13326990e-04 7.89296489e+00] [-1.49884700e-03 -1.24132099e-04 9.99998869e-01 -2.54459371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.435898227 meters 0.08522441903332613 Centerline is valid? [True, True] Translation: X:213.45, Y:7.90, Z:-2.54 [[ 9.99973376e-01 6.97768050e-03 2.13515400e-03 2.13453035e+02] [-6.97804172e-03 9.99975640e-01 1.61772981e-04 7.89797482e+00] [-2.13397319e-03 -1.76667868e-04 9.99997707e-01 -2.54428273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.465898227 meters 0.07823295714290497 Centerline is valid? [True, True] Translation: X:213.48, Y:7.89, Z:-2.54 [[ 9.99980082e-01 5.57389637e-03 2.96093602e-03 2.13484277e+02] [-5.57458184e-03 9.99984437e-01 2.23303450e-04 7.89265609e+00] [-2.95964527e-03 -2.39804982e-04 9.99995591e-01 -2.54316005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.495898227 meters 0.08392905179776634 Centerline is valid? [True, True] Translation: X:213.51, Y:7.90, Z:-2.54 [[ 9.99988722e-01 3.19011082e-03 3.51848571e-03 2.13513484e+02] [-3.19106377e-03 9.99994873e-01 2.65260886e-04 7.90324952e+00] [-3.51762146e-03 -2.76485607e-04 9.99993775e-01 -2.54307305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.525898227 meters 0.07488166926823046 Centerline is valid? [True, True] Translation: X:213.54, Y:7.89, Z:-2.54 [[ 9.99995141e-01 3.75930131e-04 3.09452022e-03 2.13544679e+02] [-3.76654023e-04 9.99999902e-01 2.33347588e-04 7.89412074e+00] [-3.09443219e-03 -2.34512018e-04 9.99995185e-01 -2.54316500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.555898227 meters 0.08012469905204132 Centerline is valid? [True, True] Translation: X:213.57, Y:7.90, Z:-2.54 [[ 9.99994003e-01 -2.27968435e-03 2.60712686e-03 2.13573431e+02] [ 2.27917958e-03 9.99997383e-01 1.96567430e-04 7.90246916e+00] [-2.60756814e-03 -1.90624141e-04 9.99996582e-01 -2.54475766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.585898227 meters 0.07104002060410743 Centerline is valid? [True, True] Translation: X:213.61, Y:7.89, Z:-2.55 [[ 9.99982803e-01 -5.64580662e-03 1.58693891e-03 2.13605472e+02] [ 5.64562372e-03 9.99984056e-01 1.19712343e-04 7.89078591e+00] [-1.58758948e-03 -1.10751025e-04 9.99998734e-01 -2.54568386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.615898227 meters 0.06752640823738383 Centerline is valid? [True, True] Translation: X:213.64, Y:7.89, Z:-2.55 [[ 9.99981974e-01 -5.93901191e-03 8.82518418e-04 2.13636496e+02] [ 5.93895547e-03 9.99982362e-01 6.65515761e-05 7.88805680e+00] [-8.82898102e-04 -6.13091389e-05 9.99999608e-01 -2.54635091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.645898227 meters 0.07117710043893988 Centerline is valid? [True, True] Translation: X:213.67, Y:7.90, Z:-2.55 [[ 9.99984426e-01 -5.57337676e-03 -2.90843995e-04 2.13665713e+02] [ 5.57337060e-03 9.99984468e-01 -2.19972330e-05 7.89519489e+00] [ 2.90962076e-04 2.03759090e-05 9.99999957e-01 -2.54805343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.675898227 meters 0.07314567091240246 Centerline is valid? [True, True] Translation: X:213.70, Y:7.90, Z:-2.55 [[ 9.99988637e-01 -4.49800720e-03 -1.57936278e-03 2.13695197e+02] [ 4.49782440e-03 9.99989878e-01 -1.19275717e-04 7.90045671e+00] [ 1.57988329e-03 1.12170665e-04 9.99998746e-01 -2.55031145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.705898227 meters 0.07377675913588934 Centerline is valid? [True, True] Translation: X:213.73, Y:7.90, Z:-2.55 [[ 9.99989690e-01 -2.27945024e-03 -3.92722256e-03 2.13725401e+02] [ 2.27830405e-03 9.99997361e-01 -2.96308843e-04 7.90221207e+00] [ 3.92788761e-03 2.87358381e-04 9.99992245e-01 -2.55395596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.735898227 meters 0.07496797363247504 Centerline is valid? [True, True] Translation: X:213.75, Y:7.90, Z:-2.55 [[ 9.99991272e-01 -2.09913915e-03 -3.61231791e-03 2.13754425e+02] [ 2.09816313e-03 9.99997761e-01 -2.73959192e-04 7.90365802e+00] [ 3.61288490e-03 2.66377569e-04 9.99993438e-01 -2.55365243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.765898227 meters 0.07355043322937768 Centerline is valid? [True, True] Translation: X:213.78, Y:7.90, Z:-2.55 [[ 9.99993771e-01 -2.57760716e-03 -2.41109877e-03 2.13783390e+02] [ 2.57717209e-03 9.99996662e-01 -1.83534453e-04 7.90146554e+00] [ 2.41156380e-03 1.77319493e-04 9.99997076e-01 -2.55134382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.795898227 meters 0.07315824943769203 Centerline is valid? [True, True] Translation: X:213.81, Y:7.90, Z:-2.55 [[ 9.99992826e-01 -3.61763529e-03 -1.12321103e-03 2.13813374e+02] [ 3.61754181e-03 9.99993453e-01 -8.52517851e-05 7.90045512e+00] [ 1.12351209e-03 8.11879106e-05 9.99999366e-01 -2.54962697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.825898227 meters 0.07271365685987234 Centerline is valid? [True, True] Translation: X:213.84, Y:7.90, Z:-2.55 [[ 9.99984456e-01 -5.56870360e-03 -2.77077241e-04 2.13842694e+02] [ 5.56869796e-03 9.99984494e-01 -2.11217408e-05 7.89895464e+00] [ 2.77190566e-04 1.95784530e-05 9.99999961e-01 -2.54929400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.855898227 meters 0.07289862438302815 Centerline is valid? [True, True] Translation: X:213.87, Y:7.90, Z:-2.55 [[ 9.99970602e-01 -7.66694516e-03 1.11461537e-04 2.13871719e+02] [ 7.66694427e-03 9.99970609e-01 8.33982060e-06 7.89708575e+00] [-1.11522202e-04 -7.48500604e-06 9.99999994e-01 -2.54992757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.885898227 meters 0.06698256658853033 Centerline is valid? [True, True] Translation: X:213.90, Y:7.88, Z:-2.55 [[ 9.99933841e-01 -1.14383830e-02 1.21544893e-03 2.13903237e+02] [ 1.14382795e-02 9.99934577e-01 9.20794867e-05 7.88111464e+00] [-1.21642265e-03 -7.81707501e-05 9.99999257e-01 -2.54853675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.915898227 meters 0.06423971265172318 Centerline is valid? [True, True] Translation: X:213.93, Y:7.87, Z:-2.55 [[ 9.99920924e-01 -1.23204675e-02 2.52027130e-03 2.13933589e+02] [ 1.23200248e-02 9.99924087e-01 1.91126768e-04 7.87480092e+00] [-2.52243475e-03 -1.60061850e-04 9.99996806e-01 -2.54613253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.945898227 meters 0.07060943390334762 Centerline is valid? [True, True] Translation: X:213.96, Y:7.88, Z:-2.54 [[ 9.99920053e-01 -1.21514070e-02 3.49714279e-03 2.13961591e+02] [ 1.21505531e-02 9.99926144e-01 2.65316989e-04 7.88098081e+00] [-3.50010848e-03 -2.22803559e-04 9.99993850e-01 -2.54408202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.975898227 meters 0.06231402581937394 Centerline is valid? [True, True] Translation: X:213.99, Y:7.87, Z:-2.54 [[ 9.99939155e-01 -1.05606737e-02 3.18711369e-03 2.13992501e+02] [ 1.05599560e-02 9.99944213e-01 2.41931785e-04 7.86834364e+00] [-3.18949085e-03 -2.08261284e-04 9.99994892e-01 -2.54364048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.005898227 meters 0.07749958526914884 Centerline is valid? [True, True] Translation: X:214.02, Y:7.88, Z:-2.55 [[ 9.99992180e-01 -3.95065342e-03 1.80395663e-04 2.14020932e+02] [ 3.95065102e-03 9.99992196e-01 1.36471115e-05 7.88291903e+00] [-1.80448170e-04 -1.29343244e-05 9.99999984e-01 -2.54802919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.035898227 meters 0.07644651037084489 Centerline is valid? [True, True] Translation: X:214.05, Y:7.88, Z:-2.55 [[ 9.99999939e-01 1.47277906e-04 -3.17531984e-04 2.14051284e+02] [-1.47285589e-04 9.99999989e-01 -2.41712839e-05 7.88093903e+00] [ 3.17528420e-04 2.42180503e-05 9.99999949e-01 -2.54863295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.065898227 meters 0.07819799804016613 Centerline is valid? [True, True] Translation: X:214.08, Y:7.88, Z:-2.55 [[ 9.99992080e-01 3.93127155e-03 6.20435904e-04 2.14081259e+02] [-3.93130150e-03 9.99992271e-01 4.70588531e-05 7.88270385e+00] [-6.20246108e-04 -4.94976010e-05 9.99999806e-01 -2.54765217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.095898227 meters 0.08182918714412682 Centerline is valid? [True, True] Translation: X:214.11, Y:7.89, Z:-2.55 [[ 9.99975650e-01 6.61368616e-03 2.22694480e-03 2.14110814e+02] [-6.61407913e-03 9.99978112e-01 1.69146197e-04 7.88679363e+00] [-2.22577738e-03 -1.83871267e-04 9.99997506e-01 -2.54569452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.125898227 meters 0.08982753461178586 Centerline is valid? [True, True] Translation: X:214.14, Y:7.90, Z:-2.54 [[ 9.99964235e-01 7.82960790e-03 3.19767988e-03 2.14140773e+02] [-7.83042463e-03 9.99969312e-01 2.42972139e-04 7.89622278e+00] [-3.19567938e-03 -2.68002641e-04 9.99994858e-01 -2.54446103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.155898227 meters 0.0813160819111018 Centerline is valid? [True, True] Translation: X:214.17, Y:7.88, Z:-2.55 [[ 9.99980835e-01 5.65000702e-03 2.53112289e-03 2.14172639e+02] [-5.65051170e-03 9.99984017e-01 1.92281501e-04 7.88073176e+00] [-2.52999605e-03 -2.06579956e-04 9.99996778e-01 -2.54564125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.185898227 meters 0.08265662765072143 Centerline is valid? [True, True] Translation: X:214.20, Y:7.88, Z:-2.55 [[ 9.99994981e-01 2.67131685e-03 1.70345258e-03 2.14202258e+02] [-2.67154106e-03 9.99996423e-01 1.29358574e-04 7.88181421e+00] [-1.70310093e-03 -1.33908769e-04 9.99998541e-01 -2.54787261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.215898227 meters 0.07952691177124298 Centerline is valid? [True, True] Translation: X:214.23, Y:7.88, Z:-2.55 [[ 9.99998636e-01 -5.33134742e-04 1.56301744e-03 2.14233027e+02] [ 5.32949783e-04 9.99999851e-01 1.18748849e-04 7.87739056e+00] [-1.56308052e-03 -1.17915677e-04 9.99998771e-01 -2.54882113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.245898227 meters 0.07712097183890361 Centerline is valid? [True, True] Translation: X:214.26, Y:7.87, Z:-2.55 [[ 9.99990178e-01 -3.89575047e-03 2.11343825e-03 2.14263970e+02] [ 3.89541971e-03 9.99992400e-01 1.60593862e-04 7.87390561e+00] [-2.11404782e-03 -1.52359555e-04 9.99997754e-01 -2.54883760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.275898227 meters 0.07137966244548576 Centerline is valid? [True, True] Translation: X:214.29, Y:7.86, Z:-2.55 [[ 9.99938708e-01 -1.08707726e-02 2.09900738e-03 2.14294620e+02] [ 1.08704617e-02 9.99940902e-01 1.59473381e-04 7.86315601e+00] [-2.10061693e-03 -1.36646427e-04 9.99997784e-01 -2.54840521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.305898227 meters 0.06799589897364727 Centerline is valid? [True, True] Translation: X:214.33, Y:7.86, Z:-2.55 [[ 9.99896677e-01 -1.42589683e-02 1.82104095e-03 2.14325900e+02] [ 1.42587398e-02 9.99898329e-01 1.38369548e-04 7.85878509e+00] [-1.82282881e-03 -1.12389502e-04 9.99998332e-01 -2.54853229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.335898227 meters 0.05329453957553763 Centerline is valid? [True, True] Translation: X:214.36, Y:7.84, Z:-2.55 [[ 9.99842082e-01 -1.77311832e-02 1.19016595e-03 2.14358284e+02] [ 1.77310882e-02 9.99842788e-01 9.03727935e-05 7.84033753e+00] [-1.19158126e-03 -6.92555847e-05 9.99999288e-01 -2.54826554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.365898227 meters 0.055649347561810523 Centerline is valid? [True, True] Translation: X:214.39, Y:7.84, Z:-2.55 [[ 9.99772210e-01 -2.13130847e-02 1.13156280e-03 2.14387613e+02] [ 2.13130010e-02 9.99772849e-01 8.58999811e-05 7.84468976e+00] [-1.13313655e-03 -6.17634149e-05 9.99999356e-01 -2.54924384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.395898227 meters 0.05843342165681703 Centerline is valid? [True, True] Translation: X:214.42, Y:7.85, Z:-2.55 [[ 9.99695057e-01 -2.46516824e-02 1.44474072e-03 2.14417024e+02] [ 2.46515495e-02 9.99696098e-01 1.09718241e-04 7.84992208e+00] [-1.44700640e-03 -7.40696861e-05 9.99998950e-01 -2.54883547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.425898227 meters 0.056415464261604084 Centerline is valid? [True, True] Translation: X:214.45, Y:7.85, Z:-2.55 [[ 9.99620780e-01 -2.74315707e-02 2.40945965e-03 2.14447144e+02] [ 2.74312088e-02 9.99623677e-01 1.83120555e-04 7.84936905e+00] [-2.41357619e-03 -1.16956721e-04 9.99997080e-01 -2.54783097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.455898227 meters 0.04427165632986076 Centerline is valid? [True, True] Translation: X:214.48, Y:7.84, Z:-2.54 [[ 9.99476511e-01 -3.20372356e-02 4.50775828e-03 2.14478534e+02] [ 3.20360160e-02 9.99486656e-01 3.42522795e-04 7.83686181e+00] [-4.51641773e-03 -1.97932872e-04 9.99989781e-01 -2.54449598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.485898227 meters 0.05136865156897673 Centerline is valid? [True, True] Translation: X:214.51, Y:7.85, Z:-2.54 [[ 9.99425210e-01 -3.35719076e-02 4.70915499e-03 2.14506025e+02] [ 3.35705936e-02 9.99436285e-01 3.57812842e-04 7.84964358e+00] [-4.71851283e-03 -1.99518047e-04 9.99988848e-01 -2.54404109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.515898227 meters 0.05068279302085327 Centerline is valid? [True, True] Translation: X:214.53, Y:7.85, Z:-2.54 [[ 9.99389558e-01 -3.46326516e-02 4.59257590e-03 2.14534573e+02] [ 3.46314124e-02 9.99400092e-01 3.49099671e-04 7.85337394e+00] [-4.60191103e-03 -1.89839175e-04 9.99989393e-01 -2.54386048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.545898227 meters 0.04251329701988443 Centerline is valid? [True, True] Translation: X:214.56, Y:7.85, Z:-2.54 [[ 9.99368657e-01 -3.51860432e-02 4.92238391e-03 2.14563967e+02] [ 3.51846224e-02 9.99380759e-01 3.74957814e-04 7.84800733e+00] [-4.93252906e-03 -2.01528868e-04 9.99987815e-01 -2.54307655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.575898227 meters 0.04582938763492781 Centerline is valid? [True, True] Translation: X:214.59, Y:7.86, Z:-2.54 [[ 9.99372321e-01 -3.50794116e-02 4.93946557e-03 2.14591210e+02] [ 3.50779756e-02 9.99384507e-01 3.77094711e-04 7.85833393e+00] [-4.94965363e-03 -2.03591564e-04 9.99987730e-01 -2.54298468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.605898227 meters 0.046966923655256836 Centerline is valid? [True, True] Translation: X:214.62, Y:7.87, Z:-2.54 [[ 9.99389344e-01 -3.45577064e-02 5.16751349e-03 2.14618050e+02] [ 3.45561261e-02 9.99402681e-01 3.94814540e-04 7.86613512e+00] [-5.17807072e-03 -2.16004196e-04 9.99986570e-01 -2.54237747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.635898227 meters 0.045606860437675235 Centerline is valid? [True, True] Translation: X:214.65, Y:7.88, Z:-2.54 [[ 9.99417598e-01 -3.37199897e-02 5.23705187e-03 2.14645575e+02] [ 3.37183523e-02 9.99431294e-01 4.00645978e-04 7.87669518e+00] [-5.24758330e-03 -2.23827881e-04 9.99986206e-01 -2.54259304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.665898227 meters 0.045606860437675235 Centerline is valid? [True, True] Translation: X:214.67, Y:7.88, Z:-2.54 [[ 9.99411405e-01 -3.39030596e-02 5.23701621e-03 2.14673029e+02] [ 3.39014223e-02 9.99425101e-01 4.01111570e-04 7.87896409e+00] [-5.24760436e-03 -2.23333179e-04 9.99986206e-01 -2.54273724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.695898227 meters 0.048821628609467774 Centerline is valid? [True, True] Translation: X:214.70, Y:7.89, Z:-2.54 [[ 9.99403202e-01 -3.42162746e-02 4.74198740e-03 2.14699584e+02] [ 3.42149317e-02 9.99414432e-01 3.64040358e-04 7.89056371e+00] [-4.75166675e-03 -2.01576324e-04 9.99988690e-01 -2.54401154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.725898227 meters 0.043610022925958836 Centerline is valid? [True, True] Translation: X:214.73, Y:7.89, Z:-2.55 [[ 9.99358402e-01 -3.55157087e-02 4.62809219e-03 2.14729044e+02] [ 3.55144426e-02 9.99369100e-01 3.55498691e-04 7.89111270e+00] [-4.63779812e-03 -1.90906489e-04 9.99989227e-01 -2.54537660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.755898227 meters 0.043856762359419474 Centerline is valid? [True, True] Translation: X:214.76, Y:7.90, Z:-2.55 [[ 9.99272422e-01 -3.78965523e-02 4.29858162e-03 2.14757829e+02] [ 3.78954790e-02 9.99281654e-01 3.30897594e-04 7.89787509e+00] [-4.30803363e-03 -1.67760031e-04 9.99990706e-01 -2.54669240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.785898227 meters 0.039640760969108534 Centerline is valid? [True, True] Translation: X:214.79, Y:7.90, Z:-2.55 [[ 9.99144692e-01 -4.12192868e-02 3.29475674e-03 2.14787338e+02] [ 4.12186741e-02 9.99150117e-01 2.53673566e-04 7.89837816e+00] [-3.30241283e-03 -1.17651092e-04 9.99994540e-01 -2.54828532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.815898227 meters 0.029872991988353796 Centerline is valid? [True, True] Translation: X:214.82, Y:7.89, Z:-2.55 [[ 9.98781687e-01 -4.93296351e-02 1.31476340e-03 2.14817706e+02] [ 4.93295445e-02 9.98782552e-01 1.01247757e-04 7.89378202e+00] [-1.31815726e-03 -3.62677257e-05 9.99999131e-01 -2.55114420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.845898227 meters 0.028715431670704485 Centerline is valid? [True, True] Translation: X:214.85, Y:7.90, Z:-2.55 [[ 9.98589835e-01 -5.30757862e-02 1.14101452e-03 2.14846585e+02] [ 5.30757205e-02 9.98590487e-01 8.78030321e-05 7.89735039e+00] [-1.14406646e-03 -2.71190477e-05 9.99999345e-01 -2.55209754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.875898227 meters 0.02417616687458649 Centerline is valid? [True, True] Translation: X:214.88, Y:7.90, Z:-2.55 [[ 9.98421050e-01 -5.61408515e-02 1.90053389e-03 2.14875688e+02] [ 5.61406747e-02 9.98422858e-01 1.46299154e-04 7.89592189e+00] [-1.90574983e-03 -3.93709000e-05 9.99998183e-01 -2.55036395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.905898227 meters 0.023899842718200108 Centerline is valid? [True, True] Translation: X:214.90, Y:7.90, Z:-2.55 [[ 9.98293165e-01 -5.83501014e-02 2.45422856e-03 2.14903564e+02] [ 5.83498130e-02 9.98296180e-01 1.89000790e-04 7.90038721e+00] [-2.46107521e-03 -4.54744195e-05 9.99996971e-01 -2.54927132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.935898227 meters 0.028433644654007283 Centerline is valid? [True, True] Translation: X:214.93, Y:7.90, Z:-2.55 [[ 9.98173039e-01 -6.03495228e-02 2.91889698e-03 2.14932376e+02] [ 6.03491225e-02 9.98177305e-01 2.25115762e-04 7.90388727e+00] [-2.92716235e-03 -4.85516130e-05 9.99995715e-01 -2.54771920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.965898227 meters 0.019761036092342674 Centerline is valid? [True, True] Translation: X:214.96, Y:7.91, Z:-2.55 [[ 9.98147192e-01 -6.07911997e-02 2.57141640e-03 2.14960338e+02] [ 6.07908908e-02 9.98150504e-01 1.98205664e-04 7.90851008e+00] [-2.57870973e-03 -4.15197341e-05 9.99996674e-01 -2.54717591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.995898227 meters 0.019644502343195595 Centerline is valid? [True, True] Translation: X:214.99, Y:7.91, Z:-2.55 [[ 9.98113861e-01 -6.13313558e-02 2.68060691e-03 2.14987714e+02] [ 6.13310196e-02 9.98117460e-01 2.07514555e-04 7.91330547e+00] [-2.68828771e-03 -4.27187994e-05 9.99996386e-01 -2.54754708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.025898227 meters 0.019084040284264872 Centerline is valid? [True, True] Translation: X:215.02, Y:7.92, Z:-2.55 [[ 9.98012327e-01 -6.29730550e-02 2.40629922e-03 2.15015834e+02] [ 6.29727893e-02 9.98015227e-01 1.86095553e-04 7.91666128e+00] [-2.41324227e-03 -3.41942821e-05 9.99997088e-01 -2.54862772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.055898227 meters 0.03050778055382864 Centerline is valid? [True, True] Translation: X:215.04, Y:7.92, Z:-2.55 [[ 9.97844599e-01 -6.55762182e-02 2.43234828e-03 2.15044750e+02] [ 6.55759534e-02 9.97847563e-01 1.88518967e-04 7.91717754e+00] [-2.43947516e-03 -2.86090754e-05 9.99997024e-01 -2.54922502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.085898227 meters 0.013871502506028806 Centerline is valid? [True, True] Translation: X:215.07, Y:7.92, Z:-2.55 [[ 9.97609174e-01 -6.90593513e-02 2.59645058e-03 2.15073451e+02] [ 6.90590602e-02 9.97612553e-01 2.01720276e-04 7.91555498e+00] [-2.60418236e-03 -2.19295617e-05 9.99996609e-01 -2.54831998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.115898227 meters 0.010199772553085703 Centerline is valid? [True, True] Translation: X:215.10, Y:7.91, Z:-2.54 [[ 9.97069479e-01 -7.63240010e-02 5.20593184e-03 2.15101491e+02] [ 7.63229206e-02 9.97083069e-01 4.06170351e-04 7.90926970e+00] [-5.22174704e-03 -7.64813802e-06 9.99986367e-01 -2.54421719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.145898227 meters 0.01018210134497484 Centerline is valid? [True, True] Translation: X:215.13, Y:7.91, Z:-2.54 [[ 9.96817009e-01 -7.94613457e-02 6.46097854e-03 2.15128779e+02] [ 7.94597444e-02 9.96837948e-01 5.04567177e-04 7.90755887e+00] [-6.48064217e-03 1.04265582e-05 9.99979000e-01 -2.54252169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.175898227 meters 0.022587802416961546 Centerline is valid? [True, True] Translation: X:215.16, Y:7.91, Z:-2.54 [[ 9.96610941e-01 -8.19749861e-02 6.83615335e-03 2.15158179e+02] [ 8.19732478e-02 9.96634387e-01 5.34567200e-04 7.90760653e+00] [-6.85696664e-03 2.76261714e-05 9.99976490e-01 -2.54264150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.205898227 meters 0.01971426591427687 Centerline is valid? [True, True] Translation: X:215.19, Y:7.91, Z:-2.54 [[ 9.96518565e-01 -8.31421200e-02 6.17563379e-03 2.15186599e+02] [ 8.31407180e-02 9.96537700e-01 4.83847156e-04 7.90923144e+00] [-6.19447997e-03 3.12839536e-05 9.99980814e-01 -2.54309946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.235898227 meters 0.011793176669504284 Centerline is valid? [True, True] Translation: X:215.21, Y:7.91, Z:-2.55 [[ 9.96497630e-01 -8.34961920e-02 4.56713750e-03 2.15213012e+02] [ 8.34954259e-02 9.96508096e-01 3.58478954e-04 7.91233250e+00] [-4.58112112e-03 2.41116633e-05 9.99989506e-01 -2.54615302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.265898227 meters 0.011101946005803503 Centerline is valid? [True, True] Translation: X:215.24, Y:7.92, Z:-2.55 [[ 9.96512757e-01 -8.33234787e-02 4.41844633e-03 2.15241173e+02] [ 8.33227589e-02 9.96522552e-01 3.47050413e-04 7.91735169e+00] [-4.43199886e-03 2.23169742e-05 9.99990178e-01 -2.54608728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.295898227 meters 0.011044018559289487 Centerline is valid? [True, True] Translation: X:215.27, Y:7.92, Z:-2.55 [[ 9.96579312e-01 -8.24977169e-02 4.87877940e-03 2.15268387e+02] [ 8.24968239e-02 9.96591253e-01 3.84336671e-04 7.92065758e+00] [-4.89385577e-03 1.94618299e-05 9.99988025e-01 -2.54557426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.325898227 meters 0.010687088488363236 Centerline is valid? [True, True] Translation: X:215.30, Y:7.93, Z:-2.54 [[ 9.96626655e-01 -8.18961212e-02 5.32310356e-03 2.15296159e+02] [ 8.18950476e-02 9.96640871e-01 4.19710555e-04 7.92520332e+00] [-5.33959523e-03 1.76410930e-05 9.99985744e-01 -2.54490638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.355898227 meters 0.010388940558647688 Centerline is valid? [True, True] Translation: X:215.32, Y:7.93, Z:-2.55 [[ 9.96653029e-01 -8.15837545e-02 5.17983571e-03 2.15323722e+02] [ 8.15827289e-02 9.96666489e-01 4.09341041e-04 7.92992801e+00] [-5.19596425e-03 1.46141439e-05 9.99986501e-01 -2.54509616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.385898227 meters 0.01057122218914585 Centerline is valid? [True, True] Translation: X:215.35, Y:7.93, Z:-2.55 [[ 9.96654230e-01 -8.15988317e-02 4.68782363e-03 2.15350216e+02] [ 8.15979878e-02 9.96665255e-01 3.71330128e-04 7.93253926e+00] [-4.70249103e-03 1.24292315e-05 9.99988943e-01 -2.54655815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41589822699999 meters 0.017873777331799876 Centerline is valid? [True, True] Translation: X:215.38, Y:7.93, Z:-2.55 [[ 9.96492517e-01 -8.36128142e-02 3.40015303e-03 2.15378743e+02] [ 8.36123812e-02 9.96498318e-01 2.69546828e-04 7.93424162e+00] [-3.41078435e-03 1.56934949e-05 9.99994183e-01 -2.54995128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.445898227 meters 0.021723476438625575 Centerline is valid? [True, True] Translation: X:215.41, Y:7.93, Z:-2.55 [[ 9.96394504e-01 -8.47282936e-02 4.37133707e-03 2.15406258e+02] [ 8.47275842e-02 9.96404093e-01 3.47537621e-04 7.93495726e+00] [-4.38506442e-03 2.40882543e-05 9.99990385e-01 -2.54831134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.475898227 meters 0.011968626024006692 Centerline is valid? [True, True] Translation: X:215.43, Y:7.94, Z:-2.55 [[ 9.96362615e-01 -8.50442808e-02 5.38602646e-03 2.15433854e+02] [ 8.50432039e-02 9.96377172e-01 4.29067867e-04 7.93845453e+00] [-5.40300358e-03 3.05377638e-05 9.99985403e-01 -2.54633875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.505898227 meters 0.011410943487513897 Centerline is valid? [True, True] Translation: X:215.46, Y:7.95, Z:-2.55 [[ 9.96429870e-01 -8.42699184e-02 5.10827419e-03 2.15461750e+02] [ 8.42689350e-02 9.96442964e-01 4.07837755e-04 7.94700064e+00] [-5.12447233e-03 2.40871047e-05 9.99986870e-01 -2.54665081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.535898227 meters 0.010869272694047631 Centerline is valid? [True, True] Translation: X:215.49, Y:7.95, Z:-2.55 [[ 9.96495140e-01 -8.35545625e-02 4.00895956e-03 2.15489072e+02] [ 8.35539488e-02 9.96503204e-01 3.20602714e-04 7.95412020e+00] [-4.02172886e-03 1.54853552e-05 9.99991913e-01 -2.54859166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.565898227 meters 0.010631447015652896 Centerline is valid? [True, True] Translation: X:215.52, Y:7.96, Z:-2.55 [[ 9.96544704e-01 -8.30113514e-02 2.78714043e-03 2.15517003e+02] [ 8.30110520e-02 9.96548602e-01 2.23119857e-04 7.96072705e+00] [-2.79604238e-03 9.01454716e-06 9.99996091e-01 -2.55122040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.595898227 meters 0.010715194913744489 Centerline is valid? [True, True] Translation: X:215.54, Y:7.97, Z:-2.55 [[ 9.96526931e-01 -8.32356850e-02 2.42816492e-03 2.15544390e+02] [ 8.32354576e-02 9.96529890e-01 1.94717132e-04 7.96587408e+00] [-2.43594633e-03 8.06855236e-06 9.99997033e-01 -2.55233372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.625898227 meters 0.011157818163947342 Centerline is valid? [True, True] Translation: X:215.57, Y:7.97, Z:-2.55 [[ 9.96419542e-01 -8.44854165e-02 3.21103219e-03 2.15572400e+02] [ 8.44850224e-02 9.96424716e-01 2.58416031e-04 7.96992537e+00] [-3.22138422e-03 1.37933435e-05 9.99994811e-01 -2.55191628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.655898227 meters 0.012097267072339303 Centerline is valid? [True, True] Translation: X:215.60, Y:7.97, Z:-2.55 [[ 9.96258217e-01 -8.63168292e-02 4.35554261e-03 2.15600413e+02] [ 8.63161159e-02 9.96267737e-01 3.51822608e-04 7.97200791e+00] [-4.36965479e-03 2.54473573e-05 9.99990453e-01 -2.55005218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.685898227 meters 0.016127639046102024 Centerline is valid? [True, True] Translation: X:215.63, Y:7.97, Z:-2.55 [[ 9.95758018e-01 -9.18611402e-02 5.24418635e-03 2.15628819e+02] [ 9.18601811e-02 9.95771825e-01 4.23979317e-04 7.97151888e+00] [-5.26096024e-03 5.95511038e-05 9.99986159e-01 -2.54881947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.715898227 meters 0.01980141540454879 Centerline is valid? [True, True] Translation: X:215.66, Y:7.97, Z:-2.55 [[ 9.95441603e-01 -9.52825301e-02 4.15375196e-03 2.15656330e+02] [ 9.52819556e-02 9.95450268e-01 3.36428970e-04 7.97063708e+00] [-4.16690931e-03 6.08822166e-05 9.99991317e-01 -2.55108239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.745898227 meters 0.02422620356683452 Centerline is valid? [True, True] Translation: X:215.69, Y:7.97, Z:-2.55 [[ 9.95080632e-01 -9.90274926e-02 2.84465292e-03 2.15685437e+02] [ 9.90272380e-02 9.95084696e-01 2.30543069e-04 7.96871948e+00] [-2.85350069e-03 5.22891787e-05 9.99995927e-01 -2.55408873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.775898227 meters 0.02704723743576855 Centerline is valid? [True, True] Translation: X:215.72, Y:7.97, Z:-2.56 [[ 9.94669337e-01 -1.03091378e-01 2.25348430e-03 2.15715217e+02] [ 1.03091229e-01 9.94671888e-01 1.82752841e-04 7.96865900e+00] [-2.26031773e-03 5.05358179e-05 9.99997444e-01 -2.55539244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.805898227 meters 0.029776140411714905 Centerline is valid? [True, True] Translation: X:215.74, Y:7.97, Z:-2.55 [[ 9.94314922e-01 -1.06451313e-01 2.44015779e-03 2.15744933e+02] [ 1.06451147e-01 9.94317914e-01 1.97959490e-04 7.96796704e+00] [-2.44736565e-03 6.29235208e-05 9.99997003e-01 -2.55499903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.835898227 meters 0.040666369308208127 Centerline is valid? [True, True] Translation: X:215.77, Y:7.97, Z:-2.55 [[ 9.94011702e-01 -1.09232992e-01 2.98143173e-03 2.15774406e+02] [ 1.09232758e-01 9.94016170e-01 2.41970984e-04 7.96849368e+00] [-2.99002256e-03 8.51480196e-05 9.99995526e-01 -2.55433398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.865898227 meters 0.038310104574659984 Centerline is valid? [True, True] Translation: X:215.80, Y:7.96, Z:-2.55 [[ 9.93672232e-01 -1.12251438e-01 3.88707210e-03 2.15803250e+02] [ 1.12251061e-01 9.93679828e-01 3.15562823e-04 7.96328786e+00] [-3.89792752e-03 1.22761955e-04 9.99992396e-01 -2.55309988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.895898227 meters 0.0363082275011407 Centerline is valid? [True, True] Translation: X:215.83, Y:7.97, Z:-2.55 [[ 9.93559104e-01 -1.13245158e-01 3.98014910e-03 2.15831217e+02] [ 1.13244770e-01 9.93567067e-01 3.23346920e-04 7.96885947e+00] [-3.99116255e-03 1.29466796e-04 9.99992027e-01 -2.55264265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.925898227 meters 0.040310657829353135 Centerline is valid? [True, True] Translation: X:215.86, Y:7.97, Z:-2.55 [[ 9.93429002e-01 -1.14377448e-01 4.07643273e-03 2.15859061e+02] [ 1.14377050e-01 9.93437356e-01 3.31426848e-04 7.96625202e+00] [-4.08758831e-03 1.37001306e-04 9.99991636e-01 -2.55270557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.955898227 meters 0.051487461798038925 Centerline is valid? [True, True] Translation: X:215.89, Y:7.96, Z:-2.55 [[ 9.93250990e-01 -1.15920081e-01 3.87372373e-03 2.15886710e+02] [ 1.15919732e-01 9.93258535e-01 3.15109952e-04 7.96366119e+00] [-3.88413672e-03 1.36057746e-04 9.99992447e-01 -2.55345169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.985898227 meters 0.04028621420352874 Centerline is valid? [True, True] Translation: X:215.91, Y:7.97, Z:-2.55 [[ 9.93223012e-01 -1.16159937e-01 3.86220083e-03 2.15914244e+02] [ 1.16159592e-01 9.93230512e-01 3.14443774e-04 7.97216706e+00] [-3.87258148e-03 1.36318878e-04 9.99992492e-01 -2.55212970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.015898227 meters 0.042425724862046224 Centerline is valid? [True, True] Translation: X:215.94, Y:7.97, Z:-2.55 [[ 9.93217185e-01 -1.16188001e-01 4.46909128e-03 2.15940928e+02] [ 1.16187534e-01 9.93227227e-01 3.64947178e-04 7.97301347e+00] [-4.48122562e-03 1.56780885e-04 9.99989947e-01 -2.55096075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.045898227 meters 0.040677046524931794 Centerline is valid? [True, True] Translation: X:215.97, Y:7.98, Z:-2.55 [[ 9.93167469e-01 -1.16579894e-01 5.24467175e-03 2.15969276e+02] [ 1.16579253e-01 9.93181300e-01 4.28795460e-04 7.98018646e+00] [-5.25889884e-03 1.85554216e-04 9.99986155e-01 -2.54961238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.075898227 meters 0.041564372775289606 Centerline is valid? [True, True] Translation: X:216.00, Y:7.98, Z:-2.55 [[ 9.93158558e-01 -1.16632285e-01 5.74355727e-03 2.15996277e+02] [ 1.16631511e-01 9.93175145e-01 4.70577377e-04 7.98392063e+00] [-5.75924284e-03 2.02521816e-04 9.99983395e-01 -2.54976825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.105898227 meters 0.04364748106026729 Centerline is valid? [True, True] Translation: X:216.02, Y:7.99, Z:-2.55 [[ 9.92975637e-01 -1.18182042e-01 5.69115989e-03 2.16024811e+02] [ 1.18181305e-01 9.92991924e-01 4.66789883e-04 7.98820179e+00] [-5.70644199e-03 2.09077723e-04 9.99983696e-01 -2.55069255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.135898227 meters 0.044759581196366395 Centerline is valid? [True, True] Translation: X:216.05, Y:7.99, Z:-2.55 [[ 9.92887289e-01 -1.18948481e-01 5.10786794e-03 2.16051990e+02] [ 1.18947894e-01 9.92900409e-01 4.19703654e-04 7.99125629e+00] [-5.12152728e-03 1.90851709e-04 9.99986867e-01 -2.55254451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.16589822699999 meters 0.04592660325148821 Centerline is valid? [True, True] Translation: X:216.08, Y:7.99, Z:-2.55 [[ 9.92777683e-01 -1.19869951e-01 4.86493899e-03 2.16080762e+02] [ 1.19869428e-01 9.92789585e-01 4.00192627e-04 7.99469533e+00] [-4.87783183e-03 1.85855143e-04 9.99988086e-01 -2.55373668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.195898227 meters 0.04637202609486242 Centerline is valid? [True, True] Translation: X:216.11, Y:8.00, Z:-2.55 [[ 9.92692322e-01 -1.20577445e-01 4.79938590e-03 2.16108773e+02] [ 1.20576939e-01 9.92703906e-01 3.95606198e-04 7.99909785e+00] [-4.81207031e-03 1.85980026e-04 9.99988405e-01 -2.55432515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.225898227 meters 0.04663181446015338 Centerline is valid? [True, True] Translation: X:216.14, Y:8.00, Z:-2.55 [[ 9.92640327e-01 -1.20991450e-01 5.12347442e-03 2.16136981e+02] [ 1.20990878e-01 9.92653529e-01 4.22626032e-04 8.00383160e+00] [-5.13696910e-03 2.00378025e-04 9.99986786e-01 -2.55357408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.255898227 meters 0.04386106671058136 Centerline is valid? [True, True] Translation: X:216.17, Y:8.02, Z:-2.55 [[ 9.92578118e-01 -1.21442666e-01 6.35291210e-03 2.16165104e+02] [ 1.21441788e-01 9.92598416e-01 5.25256642e-04 8.01518494e+00] [-6.36967906e-03 2.50150753e-04 9.99979682e-01 -2.55236689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.285898227 meters 0.04903923603068233 Centerline is valid? [True, True] Translation: X:216.19, Y:8.02, Z:-2.55 [[ 9.92513451e-01 -1.21978766e-01 6.18305703e-03 2.16192232e+02] [ 1.21977939e-01 9.92532680e-01 5.12072971e-04 8.01953142e+00] [-6.19934819e-03 2.45957242e-04 9.99980754e-01 -2.55328808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.315898227 meters 0.049114062206033086 Centerline is valid? [True, True] Translation: X:216.22, Y:8.02, Z:-2.55 [[ 9.92461464e-01 -1.22417938e-01 5.83866605e-03 2.16220351e+02] [ 1.22417206e-01 9.92478611e-01 4.83941652e-04 8.01810954e+00] [-5.85399431e-03 2.34459746e-04 9.99982838e-01 -2.55409618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.345898227 meters 0.04612740810679648 Centerline is valid? [True, True] Translation: X:216.25, Y:8.03, Z:-2.56 [[ 9.92306549e-01 -1.23702552e-01 5.03905497e-03 2.16247943e+02] [ 1.23702022e-01 9.92319321e-01 4.17921784e-04 8.02713960e+00] [-5.05204959e-03 2.08634765e-04 9.99987217e-01 -2.55633347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.375898227 meters 0.04658005543011776 Centerline is valid? [True, True] Translation: X:216.28, Y:8.03, Z:-2.56 [[ 9.92105742e-01 -1.25338453e-01 4.05813871e-03 2.16276741e+02] [ 1.25338122e-01 9.92114027e-01 3.36776549e-04 8.03134750e+00] [-4.06834739e-03 1.74521539e-04 9.99991709e-01 -2.55848650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.405898227 meters 0.05219134616421258 Centerline is valid? [True, True] Translation: X:216.31, Y:8.03, Z:-2.56 [[ 9.91834220e-01 -1.27487392e-01 3.44177417e-03 2.16305878e+02] [ 1.27487166e-01 9.91840179e-01 2.85722454e-04 8.02799269e+00] [-3.45011592e-03 1.55392728e-04 9.99994036e-01 -2.56009582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.435898227 meters 0.0560920113968658 Centerline is valid? [True, True] Translation: X:216.34, Y:8.03, Z:-2.56 [[ 9.91257468e-01 -1.31905792e-01 3.08119248e-03 2.16336274e+02] [ 1.31905633e-01 9.91262245e-01 2.55936835e-04 8.02659442e+00] [-3.08802933e-03 1.52727345e-04 9.99995220e-01 -2.56080577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.465898227 meters 0.05847121305241949 Centerline is valid? [True, True] Translation: X:216.36, Y:8.03, Z:-2.56 [[ 9.91040586e-01 -1.33535514e-01 2.61234413e-03 2.16364885e+02] [ 1.33535405e-01 9.91044019e-01 2.16940466e-04 8.02617614e+00] [-2.61791728e-03 1.33843624e-04 9.99996564e-01 -2.56191541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.495898227 meters 0.060555122901262734 Centerline is valid? [True, True] Translation: X:216.39, Y:8.03, Z:-2.56 [[ 9.90910348e-01 -1.34505274e-01 2.23902234e-03 2.16392224e+02] [ 1.34505197e-01 9.90912871e-01 1.85792723e-04 8.02612716e+00] [-2.24366616e-03 1.17056208e-04 9.99997476e-01 -2.56251303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.525898227 meters 0.06001177029339171 Centerline is valid? [True, True] Translation: X:216.42, Y:8.03, Z:-2.56 [[ 9.90812144e-01 -1.35229462e-01 2.07058242e-03 2.16420392e+02] [ 1.35229396e-01 9.90814302e-01 1.72122248e-04 8.02964139e+00] [-2.07483867e-03 1.09462797e-04 9.99997842e-01 -2.56280132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.555898227 meters 0.06001177029339171 Centerline is valid? [True, True] Translation: X:216.45, Y:8.03, Z:-2.56 [[ 9.90787226e-01 -1.35411908e-01 2.07060569e-03 2.16447841e+02] [ 1.35411844e-01 9.90789384e-01 1.71843471e-04 8.03211763e+00] [-2.07480379e-03 1.10124218e-04 9.99997842e-01 -2.56294562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.585898227 meters 0.06269959349529793 Centerline is valid? [True, True] Translation: X:216.48, Y:8.03, Z:-2.56 [[ 9.90718044e-01 -1.35914888e-01 2.21382487e-03 2.16475465e+02] [ 1.35914814e-01 9.90720510e-01 1.84591281e-04 8.03103238e+00] [-2.21837041e-03 1.18013682e-04 9.99997532e-01 -2.56261079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.615898227 meters 0.06366463894816803 Centerline is valid? [True, True] Translation: X:216.50, Y:8.03, Z:-2.56 [[ 9.90510643e-01 -1.37412884e-01 2.52297504e-03 2.16504978e+02] [ 1.37412792e-01 9.90513847e-01 2.10649537e-04 8.03214493e+00] [-2.52798767e-03 1.38038436e-04 9.99996795e-01 -2.56190027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.645898227 meters 0.06527335042927405 Centerline is valid? [True, True] Translation: X:216.53, Y:8.03, Z:-2.56 [[ 9.90454924e-01 -1.37811315e-01 2.66186725e-03 2.16532402e+02] [ 1.37811214e-01 9.90458490e-01 2.22197750e-04 8.03202024e+00] [-2.66709038e-03 1.46758303e-04 9.99996433e-01 -2.56230803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.675898227 meters 0.06536397434782477 Centerline is valid? [True, True] Translation: X:216.56, Y:8.03, Z:-2.56 [[ 9.90474300e-01 -1.37674052e-01 2.55281715e-03 2.16561190e+02] [ 1.37673959e-01 9.90477580e-01 2.13011648e-04 8.03335095e+00] [-2.55783433e-03 1.40473882e-04 9.99996719e-01 -2.56253303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.705898227 meters 0.06227624409364026 Centerline is valid? [True, True] Translation: X:216.59, Y:8.04, Z:-2.56 [[ 9.90699306e-01 -1.36015897e-01 3.81574953e-03 2.16590719e+02] [ 1.36015672e-01 9.90706634e-01 3.19615497e-04 8.04245266e+00] [-3.82376116e-03 2.02358884e-04 9.99992669e-01 -2.56015098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.735898227 meters 0.058172082426437545 Centerline is valid? [True, True] Translation: X:216.62, Y:8.04, Z:-2.56 [[ 9.90913187e-01 -1.34438410e-01 4.16764395e-03 2.16619754e+02] [ 1.34438127e-01 9.90921928e-01 3.49133303e-04 8.04494206e+00] [-4.17674671e-03 2.14329453e-04 9.99991254e-01 -2.55858423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.765898227 meters 0.060745762601202284 Centerline is valid? [True, True] Translation: X:216.65, Y:8.05, Z:-2.56 [[ 9.90997639e-01 -1.33822522e-01 3.90021607e-03 2.16647744e+02] [ 1.33822271e-01 9.91005294e-01 3.26622633e-04 8.05410205e+00] [-3.90884424e-03 1.98253513e-04 9.99992341e-01 -2.55936303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.795898227 meters 0.052970742913767514 Centerline is valid? [True, True] Translation: X:216.68, Y:8.06, Z:-2.56 [[ 9.91186100e-01 -1.32445499e-01 2.88171203e-03 2.16676524e+02] [ 1.32445354e-01 9.91190279e-01 2.41864505e-04 8.05869287e+00] [-2.88835882e-03 1.41936635e-04 9.99995819e-01 -2.56058750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.825898227 meters 0.060706241377129475 Centerline is valid? [True, True] Translation: X:216.70, Y:8.05, Z:-2.56 [[ 9.91322077e-01 -1.31443073e-01 1.80502296e-03 2.16704783e+02] [ 1.31443015e-01 9.91323717e-01 1.51450729e-04 8.05233017e+00] [-1.80926922e-03 8.71212083e-05 9.99998359e-01 -2.56354119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.855898227 meters 0.05570189750565386 Centerline is valid? [True, True] Translation: X:216.73, Y:8.06, Z:-2.56 [[ 9.91379371e-01 -1.31014166e-01 1.49381293e-03 2.16733058e+02] [ 1.31014126e-01 9.91380494e-01 1.24993361e-04 8.06223212e+00] [-1.49731290e-03 7.17947566e-05 9.99998876e-01 -2.56387612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.885898227 meters 0.053419153558297267 Centerline is valid? [True, True] Translation: X:216.76, Y:8.07, Z:-2.56 [[ 9.91401283e-01 -1.30831907e-01 2.55123108e-03 2.16761873e+02] [ 1.30831787e-01 9.91404558e-01 2.14501979e-04 8.06927247e+00] [-2.55736583e-03 1.21124584e-04 9.99996723e-01 -2.56103300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91589822699999 meters 0.05280604338823254 Centerline is valid? [True, True] Translation: X:216.79, Y:8.07, Z:-2.56 [[ 9.91386872e-01 -1.30921811e-01 3.39837593e-03 2.16789310e+02] [ 1.30921597e-01 9.91392684e-01 2.86447964e-04 8.07423626e+00] [-3.40662732e-03 1.60940053e-04 9.99994184e-01 -2.55933013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.945898227 meters 0.05330339435041852 Centerline is valid? [True, True] Translation: X:216.82, Y:8.08, Z:-2.56 [[ 9.91394313e-01 -1.30857121e-01 3.70546508e-03 2.16816733e+02] [ 1.30856862e-01 9.91401222e-01 3.13318397e-04 8.07833724e+00] [-3.71460255e-03 1.74263456e-04 9.99993086e-01 -2.55862441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.975898227 meters 0.05353160385873624 Centerline is valid? [True, True] Translation: X:216.84, Y:8.08, Z:-2.56 [[ 9.91396123e-01 -1.30846482e-01 3.59524899e-03 2.16844859e+02] [ 1.30846238e-01 9.91402627e-01 3.04031147e-04 8.08357813e+00] [-3.60412070e-03 1.69009506e-04 9.99993491e-01 -2.55846300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.005898227 meters 0.053612277064744425 Centerline is valid? [True, True] Translation: X:216.87, Y:8.09, Z:-2.56 [[ 9.91479265e-01 -1.30227305e-01 3.11710789e-03 2.16872083e+02] [ 1.30227117e-01 9.91484154e-01 2.64211561e-04 8.09241701e+00] [-3.12497064e-03 1.43971689e-04 9.99995107e-01 -2.55937062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.035898227 meters 0.05386524816981505 Centerline is valid? [True, True] Translation: X:216.90, Y:8.10, Z:-2.56 [[ 9.91440232e-01 -1.30517697e-01 3.37582372e-03 2.16899481e+02] [ 1.30517478e-01 9.91445967e-01 2.86128702e-04 8.09775810e+00] [-3.38429168e-03 1.56924492e-04 9.99994261e-01 -2.55952841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.065898227 meters 0.05505812755489385 Centerline is valid? [True, True] Translation: X:216.93, Y:8.10, Z:-2.56 [[ 9.91339641e-01 -1.31268231e-01 3.79040479e-03 2.16927638e+02] [ 1.31267956e-01 9.91346872e-01 3.22261645e-04 8.10168791e+00] [-3.79990865e-03 1.78087945e-04 9.99992764e-01 -2.55870542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.095898227 meters 0.05732693906220849 Centerline is valid? [True, True] Translation: X:216.96, Y:8.10, Z:-2.56 [[ 9.91146715e-01 -1.32708454e-01 4.08111239e-03 2.16955970e+02] [ 1.32708146e-01 9.91155098e-01 3.47247205e-04 8.10355160e+00] [-4.09109798e-03 1.97423932e-04 9.99991612e-01 -2.55797135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.125898227 meters 0.05986958382953727 Centerline is valid? [True, True] Translation: X:216.99, Y:8.10, Z:-2.56 [[ 9.90828291e-01 -1.35057289e-01 4.33891524e-03 2.16985988e+02] [ 1.35056963e-01 9.90837767e-01 3.69425080e-04 8.10499334e+00] [-4.34905464e-03 2.19963895e-04 9.99990519e-01 -2.55755695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.155898227 meters 0.06425655986528783 Centerline is valid? [True, True] Translation: X:217.02, Y:8.10, Z:-2.56 [[ 9.90461466e-01 -1.37720486e-01 4.37624819e-03 2.17015274e+02] [ 1.37720180e-01 9.90471107e-01 3.72662771e-04 8.10325279e+00] [-4.38587069e-03 2.33589574e-04 9.99990355e-01 -2.55765078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.185898227 meters 0.0716695140283948 Centerline is valid? [True, True] Translation: X:217.04, Y:8.10, Z:-2.56 [[ 9.89645368e-01 -1.43488922e-01 3.60202354e-03 2.17044622e+02] [ 1.43488753e-01 9.89651900e-01 3.06752356e-04 8.09832532e+00] [-3.60876501e-03 2.13273817e-04 9.99993466e-01 -2.55840743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.215898227 meters 0.0770877362583106 Centerline is valid? [True, True] Translation: X:217.08, Y:8.10, Z:-2.56 [[ 9.89266734e-01 -1.46078065e-01 3.53954895e-03 2.17075354e+02] [ 1.46077918e-01 9.89273042e-01 3.01513413e-04 8.09822812e+00] [-3.54562486e-03 2.18772751e-04 9.99993690e-01 -2.55918706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.245898227 meters 0.07790917200966042 Centerline is valid? [True, True] Translation: X:217.11, Y:8.10, Z:-2.56 [[ 9.89017276e-01 -1.47761163e-01 3.38629083e-03 2.17106114e+02] [ 1.47761038e-01 9.89023050e-01 2.88502676e-04 8.09676586e+00] [-3.39174918e-03 2.15027716e-04 9.99994225e-01 -2.55890588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.275898227 meters 0.07986153192211798 Centerline is valid? [True, True] Translation: X:217.14, Y:8.10, Z:-2.56 [[ 9.88773455e-01 -1.49380244e-01 3.54934993e-03 2.17136672e+02] [ 1.49380117e-01 9.88779798e-01 3.02394863e-04 8.09723230e+00] [-3.55469732e-03 2.31202294e-04 9.99993655e-01 -2.55924836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.305898227 meters 0.08223412687541391 Centerline is valid? [True, True] Translation: X:217.17, Y:8.10, Z:-2.56 [[ 9.88566700e-01 -1.50746604e-01 3.36760242e-03 2.17165609e+02] [ 1.50746497e-01 9.88572411e-01 2.86822874e-04 8.09707205e+00] [-3.37235642e-03 2.24110728e-04 9.99994288e-01 -2.55967636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.335898227 meters 0.0848155303969674 Centerline is valid? [True, True] Translation: X:217.19, Y:8.10, Z:-2.56 [[ 9.88296725e-01 -1.52501195e-01 3.60133043e-03 2.17194884e+02] [ 1.52501084e-01 9.88303256e-01 3.06958803e-04 8.09573993e+00] [-3.60601817e-03 2.45840416e-04 9.99993468e-01 -2.55999340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.365898227 meters 0.08645589483132764 Centerline is valid? [True, True] Translation: X:217.22, Y:8.10, Z:-2.56 [[ 9.88191170e-01 -1.53180470e-01 3.73563493e-03 2.17224110e+02] [ 1.53180356e-01 9.88198197e-01 3.18315214e-04 8.09572968e+00] [-3.74030738e-03 2.57669603e-04 9.99992972e-01 -2.55992413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.395898227 meters 0.09025634611032625 Centerline is valid? [True, True] Translation: X:217.25, Y:8.10, Z:-2.56 [[ 9.88055316e-01 -1.54050248e-01 3.90043606e-03 2.17253770e+02] [ 1.54050128e-01 9.88062977e-01 3.33094636e-04 8.09798564e+00] [-3.90518978e-03 2.71746748e-04 9.99992338e-01 -2.56074047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.425898227 meters 0.08836948037716029 Centerline is valid? [True, True] Translation: X:217.28, Y:8.10, Z:-2.56 [[ 9.88062237e-01 -1.54020121e-01 3.28918932e-03 2.17281435e+02] [ 1.54020035e-01 9.88067685e-01 2.80833747e-04 8.09882277e+00] [-3.29319572e-03 2.29119835e-04 9.99994551e-01 -2.56188186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.455898227 meters 0.08969909582685574 Centerline is valid? [True, True] Translation: X:217.31, Y:8.10, Z:-2.56 [[ 9.88107993e-01 -1.53747415e-01 2.08010101e-03 2.17309382e+02] [ 1.53747381e-01 9.88110172e-01 1.77399898e-04 8.09847500e+00] [-2.08264374e-03 1.44519824e-04 9.99997821e-01 -2.56392659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.485898227 meters 0.0689983668461544 Centerline is valid? [True, True] Translation: X:217.34, Y:8.13, Z:-2.56 [[ 9.88102546e-01 -1.53794754e-01 7.30106678e-04 2.17335334e+02] [ 1.53794750e-01 9.88102814e-01 6.16638567e-05 8.12754265e+00] [-7.30904041e-04 5.13563602e-05 9.99999732e-01 -2.56452782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.515898227 meters 0.06898822219815479 Centerline is valid? [True, True] Translation: X:217.36, Y:8.13, Z:-2.57 [[ 9.88139164e-01 -1.53559088e-01 -7.73863036e-04 2.17364036e+02] [ 1.53559082e-01 9.88139466e-01 -6.74588765e-05 8.12957957e+00] [ 7.75043530e-04 -5.21749398e-05 9.99999698e-01 -2.56705891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.545898227 meters 0.08961687234438541 Centerline is valid? [True, True] Translation: X:217.39, Y:8.11, Z:-2.57 [[ 9.88212114e-01 -1.53084630e-01 -1.38335307e-03 2.17394093e+02] [ 1.53084612e-01 9.88213078e-01 -1.19588620e-04 8.10525759e+00] [ 1.38535477e-03 -9.35911445e-05 9.99999036e-01 -2.57045894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.575898227 meters 0.08832148343519321 Centerline is valid? [True, True] Translation: X:217.42, Y:8.11, Z:-2.57 [[ 9.88355822e-01 -1.52153724e-01 -1.41878552e-03 2.17422952e+02] [ 1.52153704e-01 9.88356836e-01 -1.22455574e-04 8.10892433e+00] [ 1.42089844e-03 -9.48437930e-05 9.99998986e-01 -2.57112436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.605898227 meters 0.08970325528372197 Centerline is valid? [True, True] Translation: X:217.45, Y:8.11, Z:-2.57 [[ 9.88428029e-01 -1.51683623e-01 -1.45226679e-03 2.17451292e+02] [ 1.51683601e-01 9.88429092e-01 -1.26101923e-04 8.10978044e+00] [ 1.45459034e-03 -9.56423804e-05 9.99998938e-01 -2.57169483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.635898227 meters 0.09182929631976205 Centerline is valid? [True, True] Translation: X:217.48, Y:8.11, Z:-2.57 [[ 9.88440385e-01 -1.51605533e-01 -1.16938073e-03 2.17480111e+02] [ 1.51605518e-01 9.88441074e-01 -1.01855370e-04 8.11322030e+00] [ 1.17130578e-03 -7.66066103e-05 9.99999311e-01 -2.57163000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.66589822699999 meters 0.06822532281019006 Centerline is valid? [True, True] Translation: X:217.51, Y:8.14, Z:-2.57 [[ 9.88445345e-01 -1.51575071e-01 -8.93663496e-04 2.17506268e+02] [ 1.51575062e-01 9.88445747e-01 -7.82811832e-05 8.14208317e+00] [ 8.95203358e-04 -5.80804285e-05 9.99999598e-01 -2.56766689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.695898227 meters 0.09120287886380571 Centerline is valid? [True, True] Translation: X:217.54, Y:8.11, Z:-2.57 [[ 9.88333985e-01 -1.52300435e-01 -7.15531664e-04 2.17536362e+02] [ 1.52300429e-01 9.88334243e-01 -6.23297823e-05 8.11386698e+00] [ 7.16677298e-04 -4.73731375e-05 9.99999742e-01 -2.56994324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.725898227 meters 0.09183571323086057 Centerline is valid? [True, True] Translation: X:217.57, Y:8.12, Z:-2.57 [[ 9.88215951e-01 -1.53065836e-01 -2.89378990e-04 2.17565094e+02] [ 1.53065835e-01 9.88215993e-01 -2.58806088e-05 8.11506200e+00] [ 2.89930383e-04 -1.87184063e-05 9.99999958e-01 -2.56878243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.755898227 meters 0.0756823556707265 Centerline is valid? [True, True] Translation: X:217.59, Y:8.14, Z:-2.57 [[ 9.88079344e-01 -1.53941746e-01 1.07194648e-03 2.17591837e+02] [ 1.53941735e-01 9.88079923e-01 9.23993445e-05 8.13783824e+00] [-1.07339292e-03 7.37194183e-05 9.99999421e-01 -2.56519853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.785898227 meters 0.07673352613493854 Centerline is valid? [True, True] Translation: X:217.62, Y:8.14, Z:-2.56 [[ 9.87931566e-01 -1.54869983e-01 2.55132621e-03 2.17620836e+02] [ 1.54869925e-01 9.87934845e-01 2.21490934e-04 8.13857997e+00] [-2.55484636e-03 1.76305813e-04 9.99996721e-01 -2.56248289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.815898227 meters 0.07797264154618405 Centerline is valid? [True, True] Translation: X:217.65, Y:8.14, Z:-2.56 [[ 9.87631284e-01 -1.56715069e-01 4.98331345e-03 2.17650583e+02] [ 1.56714863e-01 9.87643794e-01 4.34254279e-04 8.14240516e+00] [-4.98979279e-03 3.52076173e-04 9.99987489e-01 -2.56057125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.845898227 meters 0.07354382359782168 Centerline is valid? [True, True] Translation: X:217.68, Y:8.15, Z:-2.56 [[ 9.87553816e-01 -1.57221044e-01 4.35926632e-03 2.17679363e+02] [ 1.57220891e-01 9.87563389e-01 3.79784514e-04 8.14624555e+00] [-4.36476193e-03 3.10310090e-04 9.99990426e-01 -2.56117972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.875898227 meters 0.07381947208751301 Centerline is valid? [True, True] Translation: X:217.71, Y:8.15, Z:-2.56 [[ 9.87462580e-01 -1.57818854e-01 3.29574906e-03 2.17708443e+02] [ 1.57818769e-01 9.87468052e-01 2.87463970e-04 8.14815248e+00] [-3.29981414e-03 2.36271146e-04 9.99994528e-01 -2.56299491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.905898227 meters 0.07402945442674662 Centerline is valid? [True, True] Translation: X:217.74, Y:8.15, Z:-2.56 [[ 9.87497125e-01 -1.57619715e-01 2.33516533e-03 2.17737706e+02] [ 1.57619671e-01 9.87499872e-01 2.03852457e-04 8.14993640e+00] [-2.33810663e-03 1.66764276e-04 9.99997253e-01 -2.56467879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.935898227 meters 0.06969028677806441 Centerline is valid? [True, True] Translation: X:217.77, Y:8.16, Z:-2.56 [[ 9.87565201e-01 -1.57199774e-01 1.79030138e-03 2.17766273e+02] [ 1.57199748e-01 9.87566815e-01 1.56321490e-04 8.15816542e+00] [-1.79261594e-03 1.27057263e-04 9.99998385e-01 -2.56491211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.965898227 meters 0.07826658460070014 Centerline is valid? [True, True] Translation: X:217.80, Y:8.15, Z:-2.56 [[ 9.87789099e-01 -1.55781795e-01 2.17445287e-03 2.17795973e+02] [ 1.55781750e-01 9.87791481e-01 1.90864883e-04 8.14997834e+00] [-2.17763929e-03 1.50205823e-04 9.99997618e-01 -2.56492924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.995898227 meters 0.07314642167376585 Centerline is valid? [True, True] Translation: X:217.83, Y:8.16, Z:-2.56 [[ 9.88438843e-01 -1.51594679e-01 2.77601632e-03 2.17825511e+02] [ 1.51594590e-01 9.88442725e-01 2.43730454e-04 8.16207061e+00] [-2.78088138e-03 1.79916408e-04 9.99996117e-01 -2.56323363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.025898227 meters 0.07155109187030412 Centerline is valid? [True, True] Translation: X:217.85, Y:8.17, Z:-2.56 [[ 9.88669698e-01 -1.50078007e-01 2.96974195e-03 2.17854523e+02] [ 1.50077898e-01 9.88674141e-01 2.60910745e-04 8.16815733e+00] [-2.97526403e-03 1.87738081e-04 9.99995556e-01 -2.56299406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.055898227 meters 0.0705720330282932 Centerline is valid? [True, True] Translation: X:217.88, Y:8.17, Z:-2.56 [[ 9.88795658e-01 -1.49244030e-01 3.06026693e-03 2.17882894e+02] [ 1.49243910e-01 9.88800376e-01 2.68888864e-04 8.17330793e+00] [-3.06612314e-03 1.90850061e-04 9.99995281e-01 -2.56315181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.085898227 meters 0.07061553195617255 Centerline is valid? [True, True] Translation: X:217.91, Y:8.18, Z:-2.56 [[ 9.88796457e-01 -1.49237313e-01 3.12907501e-03 2.17911295e+02] [ 1.49237187e-01 9.88801389e-01 2.74845078e-04 8.17705115e+00] [-3.13505086e-03 1.95208514e-04 9.99995067e-01 -2.56401557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.115898227 meters 0.0705558674479094 Centerline is valid? [True, True] Translation: X:217.94, Y:8.18, Z:-2.57 [[ 9.88507972e-01 -1.51142737e-01 2.80380037e-03 2.17941559e+02] [ 1.51142642e-01 9.88511932e-01 2.47018265e-04 8.18032282e+00] [-2.80892514e-03 1.79594271e-04 9.99996039e-01 -2.56564743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.145898227 meters 0.06386888111662134 Centerline is valid? [True, True] Translation: X:217.97, Y:8.19, Z:-2.57 [[ 9.88272803e-01 -1.52681054e-01 2.31551266e-03 2.17969879e+02] [ 1.52680994e-01 9.88275504e-01 2.03928516e-04 8.19080938e+00] [-2.31950046e-03 1.51997767e-04 9.99997298e-01 -2.56633974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.175898227 meters 0.0724304183892411 Centerline is valid? [True, True] Translation: X:218.00, Y:8.18, Z:-2.57 [[ 9.88005064e-01 -1.54412367e-01 1.67782505e-03 2.18000164e+02] [ 1.54412338e-01 9.88006482e-01 1.47772844e-04 8.18148664e+00] [-1.68051998e-03 1.13076571e-04 9.99998582e-01 -2.56748998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.205898227 meters 0.07478457911033423 Centerline is valid? [True, True] Translation: X:218.03, Y:8.18, Z:-2.57 [[ 9.87802155e-01 -1.55711335e-01 9.39456886e-04 2.18029477e+02] [ 1.55711327e-01 9.87802600e-01 8.26643070e-05 8.18006329e+00] [-9.40869723e-04 6.46280974e-05 9.99999555e-01 -2.56885514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.235898227 meters 0.06995163490799611 Centerline is valid? [True, True] Translation: X:218.06, Y:8.19, Z:-2.57 [[ 9.87724609e-01 -1.56205299e-01 -3.40222081e-05 2.18057588e+02] [ 1.56205299e-01 9.87724610e-01 -3.88392514e-06 8.18859858e+00] [ 3.42112619e-05 -1.47820076e-06 9.99999999e-01 -2.56861344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.265898227 meters 0.07146889257168805 Centerline is valid? [True, True] Translation: X:218.09, Y:8.19, Z:-2.57 [[ 9.88170526e-01 -1.53355678e-01 -1.02306126e-03 2.18086932e+02] [ 1.53355666e-01 9.88171054e-01 -9.05180215e-05 8.18975940e+00] [ 1.02484098e-03 -6.74450003e-05 9.99999473e-01 -2.56941972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.295898227 meters 0.0689446155686535 Centerline is valid? [True, True] Translation: X:218.12, Y:8.20, Z:-2.57 [[ 9.88575662e-01 -1.50724597e-01 -5.06369911e-04 2.18116547e+02] [ 1.50724594e-01 9.88575791e-01 -4.47965230e-05 8.19642730e+00] [ 5.07336973e-04 -3.20376469e-05 9.99999871e-01 -2.56861708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.325898227 meters 0.06243780857642151 Centerline is valid? [True, True] Translation: X:218.15, Y:8.21, Z:-2.57 [[ 9.88984982e-01 -1.48014293e-01 6.88499074e-04 2.18145888e+02] [ 1.48014287e-01 9.88985221e-01 6.07906141e-05 8.20817491e+00] [-6.89913289e-04 4.17866949e-05 9.99999761e-01 -2.56671442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.355898227 meters 0.06447916565568619 Centerline is valid? [True, True] Translation: X:218.18, Y:8.21, Z:-2.57 [[ 9.89313491e-01 -1.45795958e-01 1.53449237e-03 2.18175125e+02] [ 1.45795923e-01 9.89314677e-01 1.35553100e-04 8.20935168e+00] [-1.53785892e-03 8.96182208e-05 9.99998813e-01 -2.56632402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.385898227 meters 0.06688455563949647 Centerline is valid? [True, True] Translation: X:218.20, Y:8.21, Z:-2.57 [[ 9.89549628e-01 -1.44182583e-01 1.70772249e-03 2.18203829e+02] [ 1.44182536e-01 9.89551097e-01 1.50913678e-04 8.21000164e+00] [-1.71163779e-03 9.68871852e-05 9.99998530e-01 -2.56718744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41589822699999 meters 0.06254142560879102 Centerline is valid? [True, True] Translation: X:218.23, Y:8.22, Z:-2.57 [[ 9.89653936e-01 -1.43473555e-01 6.52667913e-04 2.18232203e+02] [ 1.43473548e-01 9.89654151e-01 5.69748148e-05 8.21937710e+00] [-6.54089889e-04 3.72552318e-05 9.99999785e-01 -2.56876635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.445898227 meters 0.06254142560879102 Centerline is valid? [True, True] Translation: X:218.26, Y:8.22, Z:-2.57 [[ 9.89627421e-01 -1.43656331e-01 6.52667460e-04 2.18259638e+02] [ 1.43656325e-01 9.89627636e-01 5.69808135e-05 8.22199555e+00] [-6.54083410e-04 3.73700333e-05 9.99999785e-01 -2.56891055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.475898227 meters 0.059831062189456316 Centerline is valid? [True, True] Translation: X:218.29, Y:8.23, Z:-2.57 [[ 9.89723227e-01 -1.42991855e-01 -1.12372606e-03 2.18287562e+02] [ 1.42991832e-01 9.89723863e-01 -1.00830761e-04 8.23042874e+00] [ 1.12659648e-03 -6.08891024e-05 9.99999364e-01 -2.57124790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.505898227 meters 0.05910507443104503 Centerline is valid? [True, True] Translation: X:218.32, Y:8.24, Z:-2.57 [[ 9.89742821e-01 -1.42858765e-01 -7.22566194e-04 2.18315739e+02] [ 1.42858755e-01 9.89743084e-01 -6.52676539e-05 8.23504495e+00] [ 7.24478950e-04 -3.86267152e-05 9.99999737e-01 -2.57144476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.535898227 meters 0.060666669374451386 Centerline is valid? [True, True] Translation: X:218.34, Y:8.24, Z:-2.57 [[ 9.89758897e-01 -1.42749051e-01 -1.83988151e-04 2.18343132e+02] [ 1.42749050e-01 9.89758914e-01 -1.67165381e-05 8.23678918e+00] [ 1.84490182e-04 -9.71879146e-06 9.99999983e-01 -2.57057466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.565898227 meters 0.06358837551530937 Centerline is valid? [True, True] Translation: X:218.37, Y:8.24, Z:-2.57 [[ 9.89744254e-01 -1.42848977e-01 6.93798051e-04 2.18370202e+02] [ 1.42848969e-01 9.89744496e-01 6.15089465e-05 8.23672992e+00] [-6.95469293e-04 3.82302099e-05 9.99999757e-01 -2.56946149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.595898227 meters 0.06080423371874326 Centerline is valid? [True, True] Translation: X:218.40, Y:8.25, Z:-2.57 [[ 9.89588320e-01 -1.43913481e-01 1.96647119e-03 2.18398421e+02] [ 1.43913416e-01 9.89590268e-01 1.75003791e-04 8.24621036e+00] [-1.97118615e-03 1.09819878e-04 9.99998051e-01 -2.56634119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.625898227 meters 0.06764182937375803 Centerline is valid? [True, True] Translation: X:218.43, Y:8.24, Z:-2.57 [[ 9.89447754e-01 -1.44870613e-01 2.37658844e-03 2.18427101e+02] [ 1.44870519e-01 9.89450599e-01 2.12371064e-04 8.24166099e+00] [-2.38228318e-03 1.34167530e-04 9.99997153e-01 -2.56686474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.655898227 meters 0.06431964983381917 Centerline is valid? [True, True] Translation: X:218.46, Y:8.25, Z:-2.57 [[ 9.89293634e-01 -1.45921094e-01 2.26728286e-03 2.18455573e+02] [ 1.45921011e-01 9.89296223e-01 2.02791029e-04 8.24995971e+00] [-2.27260586e-03 1.30224334e-04 9.99997409e-01 -2.56686577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.685898227 meters 0.0705520226601137 Centerline is valid? [True, True] Translation: X:218.48, Y:8.25, Z:-2.57 [[ 9.89090598e-01 -1.47287762e-01 2.47072934e-03 2.18484330e+02] [ 1.47287668e-01 9.89093673e-01 2.21058978e-04 8.24572588e+00] [-2.47634204e-03 1.45260606e-04 9.99996923e-01 -2.56761889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.715898227 meters 0.06637524027012956 Centerline is valid? [True, True] Translation: X:218.51, Y:8.25, Z:-2.57 [[ 9.88877316e-01 -1.48708496e-01 2.72710074e-03 2.18513573e+02] [ 1.48708386e-01 9.88881063e-01 2.44203122e-04 8.25461556e+00] [-2.73309336e-03 1.64055823e-04 9.99996252e-01 -2.56703309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.745898227 meters 0.0709252544534271 Centerline is valid? [True, True] Translation: X:218.54, Y:8.25, Z:-2.57 [[ 9.88557413e-01 -1.50802844e-01 3.56975428e-03 2.18542655e+02] [ 1.50802669e-01 9.88563833e-01 3.19803058e-04 8.25238638e+00] [-3.57715719e-03 2.22184789e-04 9.99993577e-01 -2.56557308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.775898227 meters 0.06468332329085223 Centerline is valid? [True, True] Translation: X:218.57, Y:8.26, Z:-2.56 [[ 9.88432669e-01 -1.51635316e-01 2.75502154e-03 2.18570079e+02] [ 1.51635216e-01 9.88436493e-01 2.46704033e-04 8.26472447e+00] [-2.76057287e-03 1.73907958e-04 9.99996174e-01 -2.56481567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.805898227 meters 0.0734194385907618 Centerline is valid? [True, True] Translation: X:218.60, Y:8.26, Z:-2.57 [[ 9.88339933e-01 -1.52255171e-01 1.59355251e-03 2.18598088e+02] [ 1.52255138e-01 9.88341213e-01 1.42618867e-04 8.25865937e+00] [-1.59668808e-03 1.01670636e-04 9.99998720e-01 -2.56668670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.835898227 meters 0.07507869615019457 Centerline is valid? [True, True] Translation: X:218.63, Y:8.26, Z:-2.57 [[ 9.88308542e-01 -1.52466401e-01 4.70970182e-04 2.18625749e+02] [ 1.52466398e-01 9.88308654e-01 4.19926210e-05 8.26230873e+00] [-4.71866371e-04 3.03054611e-05 9.99999888e-01 -2.56849166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.865898227 meters 0.07266991586964214 Centerline is valid? [True, True] Translation: X:218.65, Y:8.27, Z:-2.57 [[ 9.88260207e-01 -1.52780116e-01 -3.68345979e-07 2.18654198e+02] [ 1.52780116e-01 9.88260207e-01 -8.66776444e-07 8.27125306e+00] [ 4.96447872e-07 8.00324726e-07 1.00000000e+00 -2.56911245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.895898227 meters 0.07442692685351332 Centerline is valid? [True, True] Translation: X:218.68, Y:8.28, Z:-2.56 [[ 9.88379997e-01 -1.51979866e-01 2.66499580e-03 2.18681496e+02] [ 1.51979771e-01 9.88383575e-01 2.39570179e-04 8.27683446e+00] [-2.67044792e-03 1.68239078e-04 9.99996420e-01 -2.56480908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.925898227 meters 0.06938701852942 Centerline is valid? [True, True] Translation: X:218.71, Y:8.29, Z:-2.56 [[ 9.88442644e-01 -1.51527873e-01 4.52134086e-03 2.18709211e+02] [ 1.51527591e-01 9.88452945e-01 4.06836620e-04 8.28981565e+00] [-4.53077977e-03 2.82973221e-04 9.99989696e-01 -2.56158546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.955898227 meters 0.06834527281040824 Centerline is valid? [True, True] Translation: X:218.74, Y:8.30, Z:-2.56 [[ 9.88536828e-01 -1.50866355e-01 5.85507785e-03 2.18737514e+02] [ 1.50865864e-01 9.88554102e-01 5.28024426e-04 8.30114390e+00] [-5.86772235e-03 3.61359788e-04 9.99982719e-01 -2.56010163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.985898227 meters 0.05938096951016775 Centerline is valid? [True, True] Translation: X:218.77, Y:8.32, Z:-2.56 [[ 9.88797347e-01 -1.49139999e-01 6.08829713e-03 2.18766086e+02] [ 1.49139431e-01 9.88816023e-01 5.49895523e-04 8.31637087e+00] [-6.10221718e-03 3.64269934e-04 9.99981315e-01 -2.55911810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.015898227 meters 0.0639746855176022 Centerline is valid? [True, True] Translation: X:218.79, Y:8.32, Z:-2.56 [[ 9.88915709e-01 -1.48380988e-01 5.36691601e-03 2.18794186e+02] [ 1.48380534e-01 9.88930221e-01 4.84860579e-04 8.31740323e+00] [-5.37944953e-03 3.16859623e-04 9.99985480e-01 -2.56146575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.045898227 meters 0.061309721446091245 Centerline is valid? [True, True] Translation: X:218.82, Y:8.33, Z:-2.57 [[ 9.88705574e-01 -1.49853075e-01 2.31150817e-03 2.18822656e+02] [ 1.49852995e-01 9.88708266e-01 2.08812534e-04 8.32928227e+00] [-2.31669844e-03 1.39932307e-04 9.99997307e-01 -2.56650929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.075898227 meters 0.06914476055946966 Centerline is valid? [True, True] Translation: X:218.85, Y:8.32, Z:-2.57 [[ 9.88338630e-01 -1.52260608e-01 1.85997464e-03 2.18852134e+02] [ 1.52260560e-01 9.88340373e-01 1.68159317e-04 8.32467722e+00] [-1.86389207e-03 1.17002431e-04 9.99998256e-01 -2.56830700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.105898227 meters 0.07826697930381282 Centerline is valid? [True, True] Translation: X:218.88, Y:8.32, Z:-2.57 [[ 9.87837245e-01 -1.55478806e-01 1.97933728e-03 2.18882534e+02] [ 1.55478758e-01 9.87839220e-01 1.79036748e-04 8.31819882e+00] [-1.98310341e-03 1.30885733e-04 9.99998025e-01 -2.56882340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.135898227 meters 0.07595950347352493 Centerline is valid? [True, True] Translation: X:218.91, Y:8.33, Z:-2.57 [[ 9.86726872e-01 -1.62367442e-01 2.62560454e-03 2.18912136e+02] [ 1.62367382e-01 9.86730347e-01 2.37563992e-04 8.32691899e+00] [-2.62933633e-03 1.91901759e-04 9.99996525e-01 -2.56726096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.16589822699999 meters 0.08206043453417611 Centerline is valid? [True, True] Translation: X:218.94, Y:8.32, Z:-2.57 [[ 9.86233127e-01 -1.65338431e-01 2.72426845e-03 2.18941373e+02] [ 1.65338377e-01 9.86236868e-01 2.46574635e-04 8.32383880e+00] [-2.72754224e-03 2.07246049e-04 9.99996259e-01 -2.56795274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.195898227 meters 0.08866605359225907 Centerline is valid? [True, True] Translation: X:218.97, Y:8.32, Z:-2.57 [[ 9.85890547e-01 -1.67363301e-01 3.05862128e-03 2.18971545e+02] [ 1.67363243e-01 9.85895262e-01 2.76736807e-04 8.31772267e+00] [-3.06179582e-03 2.39068575e-04 9.99995284e-01 -2.56741880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.225898227 meters 0.09285468245191526 Centerline is valid? [True, True] Translation: X:219.00, Y:8.32, Z:-2.57 [[ 9.85600380e-01 -1.69057268e-01 3.39586398e-03 2.19001203e+02] [ 1.69057206e-01 9.85606192e-01 3.07354217e-04 8.31588949e+00] [-3.39894503e-03 2.71166845e-04 9.99994187e-01 -2.56735480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.255898227 meters 0.09288397966567737 Centerline is valid? [True, True] Translation: X:219.03, Y:8.32, Z:-2.57 [[ 9.85436632e-01 -1.70012361e-01 3.23128327e-03 2.19030698e+02] [ 1.70012310e-01 9.85441895e-01 2.92489090e-04 8.31912986e+00] [-3.23396867e-03 2.61128471e-04 9.99994737e-01 -2.56771680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.285898227 meters 0.08750266481739398 Centerline is valid? [True, True] Translation: X:219.06, Y:8.33, Z:-2.57 [[ 9.85324663e-01 -1.70666532e-01 2.87103526e-03 2.19058751e+02] [ 1.70666495e-01 9.85328818e-01 2.59555899e-04 8.32858915e+00] [-2.87321129e-03 2.34242696e-04 9.99995845e-01 -2.56871300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.315898227 meters 0.0890021652120353 Centerline is valid? [True, True] Translation: X:219.09, Y:8.33, Z:-2.57 [[ 9.85302161e-01 -1.70816895e-01 1.11309339e-03 2.19086676e+02] [ 1.70816889e-01 9.85302786e-01 1.00721021e-04 8.32825776e+00] [-1.11393887e-03 9.08945115e-05 9.99999375e-01 -2.57255091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.345898227 meters 0.09055602068552714 Centerline is valid? [True, True] Translation: X:219.11, Y:8.33, Z:-2.57 [[ 9.85282799e-01 -1.70927901e-01 1.20774507e-03 2.19114529e+02] [ 1.70927895e-01 9.85283534e-01 1.09381220e-04 8.32809854e+00] [-1.20866764e-03 9.86658882e-05 9.99999265e-01 -2.57326752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.375898227 meters 0.09168429453166602 Centerline is valid? [True, True] Translation: X:219.14, Y:8.33, Z:-2.57 [[ 9.85223519e-01 -1.71268100e-01 1.36186571e-03 2.19142491e+02] [ 1.71268092e-01 9.85224454e-01 1.23453842e-04 8.32841140e+00] [-1.36288711e-03 1.11614513e-04 9.99999065e-01 -2.57353358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.405898227 meters 0.0945988845215088 Centerline is valid? [True, True] Translation: X:219.17, Y:8.32, Z:-2.57 [[ 9.85140857e-01 -1.71735739e-01 2.08018156e-03 2.19170801e+02] [ 1.71735720e-01 9.85143039e-01 1.88840323e-04 8.32423831e+00] [-2.08170702e-03 1.71207161e-04 9.99997819e-01 -2.57282122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.435898227 meters 0.093027690287023 Centerline is valid? [True, True] Translation: X:219.20, Y:8.33, Z:-2.57 [[ 9.85156537e-01 -1.71644754e-01 2.16260465e-03 2.19199631e+02] [ 1.71644734e-01 9.85158894e-01 1.96148308e-04 8.32677112e+00] [-2.16417703e-03 1.77962912e-04 9.99997642e-01 -2.57343769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.465898227 meters 0.09426635287596233 Centerline is valid? [True, True] Translation: X:219.23, Y:8.33, Z:-2.57 [[ 9.85227238e-01 -1.71244284e-01 1.63833881e-03 2.19228280e+02] [ 1.71244272e-01 9.85228591e-01 1.48658403e-04 8.32554422e+00] [-1.63959514e-03 1.34093828e-04 9.99998647e-01 -2.57443792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.495898227 meters 0.09463819599496781 Centerline is valid? [True, True] Translation: X:219.26, Y:8.33, Z:-2.57 [[ 9.85348685e-01 -1.70544255e-01 1.62018909e-03 2.19256148e+02] [ 1.70544242e-01 9.85350009e-01 1.47612505e-04 8.32502193e+00] [-1.62162779e-03 1.30864131e-04 9.99998677e-01 -2.57497182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.525898227 meters 0.09316618220793878 Centerline is valid? [True, True] Translation: X:219.29, Y:8.33, Z:-2.57 [[ 9.85571527e-01 -1.69251690e-01 1.62192789e-03 2.19286013e+02] [ 1.69251674e-01 9.85572853e-01 1.47961782e-04 8.32715312e+00] [-1.62357088e-03 1.28687091e-04 9.99998674e-01 -2.57462680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.555898227 meters 0.09179769341399593 Centerline is valid? [True, True] Translation: X:219.32, Y:8.33, Z:-2.57 [[ 9.85857890e-01 -1.67565981e-01 2.42139369e-03 2.19315819e+02] [ 1.67565941e-01 9.85860845e-01 2.21071848e-04 8.33145871e+00] [-2.42420135e-03 1.87797686e-04 9.99997044e-01 -2.57354954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.585898227 meters 0.08651711364648443 Centerline is valid? [True, True] Translation: X:219.34, Y:8.34, Z:-2.57 [[ 9.86914143e-01 -1.61202283e-01 3.78128351e-03 2.19344783e+02] [ 1.61202137e-01 9.86921350e-01 3.45289535e-04 8.33707553e+00] [-3.78749089e-03 2.68779859e-04 9.99992791e-01 -2.56990630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.615898227 meters 0.08185980672772313 Centerline is valid? [True, True] Translation: X:219.37, Y:8.35, Z:-2.57 [[ 9.87472262e-01 -1.57749225e-01 3.70330562e-03 2.19374071e+02] [ 1.57749060e-01 9.87479174e-01 3.38235872e-04 8.34584683e+00] [-3.71029362e-03 2.50194440e-04 9.99993086e-01 -2.57029798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.645898227 meters 0.07898908282101104 Centerline is valid? [True, True] Translation: X:219.40, Y:8.35, Z:-2.57 [[ 9.87934311e-01 -1.54830565e-01 3.64604336e-03 2.19403725e+02] [ 1.54830386e-01 9.87941011e-01 3.33077393e-04 8.35266589e+00] [-3.65364633e-03 2.35459717e-04 9.99993298e-01 -2.57048971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.675898227 meters 0.06785167138749851 Centerline is valid? [True, True] Translation: X:219.43, Y:8.37, Z:-2.57 [[ 9.88306312e-01 -1.52439861e-01 3.56676460e-03 2.19432459e+02] [ 1.52439673e-01 9.88312724e-01 3.25876551e-04 8.37044945e+00] [-3.57475541e-03 2.21650578e-04 9.99993586e-01 -2.57068243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.705898227 meters 0.06663233890539572 Centerline is valid? [True, True] Translation: X:219.46, Y:8.38, Z:-2.57 [[ 9.88528682e-01 -1.50994033e-01 3.44191234e-03 2.19461789e+02] [ 1.50993850e-01 9.88534652e-01 3.14509017e-04 8.37604395e+00] [-3.44993860e-03 2.08806411e-04 9.99994027e-01 -2.57089461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.735898227 meters 0.06656331078916597 Centerline is valid? [True, True] Translation: X:219.49, Y:8.38, Z:-2.57 [[ 9.88659548e-01 -1.50116767e-01 4.15394743e-03 2.19490365e+02] [ 1.50116492e-01 9.88668243e-01 3.79668801e-04 8.38294892e+00] [-4.16387056e-03 2.48212833e-04 9.99991300e-01 -2.56980102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.765898227 meters 0.06925461771642134 Centerline is valid? [True, True] Translation: X:219.52, Y:8.39, Z:-2.57 [[ 9.88477698e-01 -1.51310217e-01 4.13034043e-03 2.19519972e+02] [ 1.51309955e-01 9.88486295e-01 3.77724729e-04 8.38718470e+00] [-4.13993851e-03 2.51589153e-04 9.99991399e-01 -2.57084775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.795898227 meters 0.07016852786758154 Centerline is valid? [True, True] Translation: X:219.55, Y:8.39, Z:-2.57 [[ 9.88310036e-01 -1.52421290e-01 3.32005488e-03 2.19548636e+02] [ 1.52421127e-01 9.88315591e-01 3.03627400e-04 8.38847060e+00] [-3.32754128e-03 2.05968498e-04 9.99994443e-01 -2.57100606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.825898227 meters 0.0741463656195598 Centerline is valid? [True, True] Translation: X:219.58, Y:8.39, Z:-2.57 [[ 9.87983482e-01 -1.54539482e-01 2.48769860e-03 2.19578180e+02] [ 1.54539397e-01 9.87986601e-01 2.27664863e-04 8.39139442e+00] [-2.49299610e-03 1.59518317e-04 9.99996880e-01 -2.57321736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.855898227 meters 0.07833877960159205 Centerline is valid? [True, True] Translation: X:219.61, Y:8.39, Z:-2.57 [[ 9.87377701e-01 -1.58376302e-01 1.49059571e-03 2.19607461e+02] [ 1.58376276e-01 9.87378821e-01 1.36366116e-04 8.39038762e+00] [-1.49337979e-03 1.01430134e-04 9.99998880e-01 -2.57491600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.885898227 meters 0.08171090950917903 Centerline is valid? [True, True] Translation: X:219.64, Y:8.39, Z:-2.57 [[ 9.87153346e-01 -1.59766363e-01 1.72648015e-03 2.19636110e+02] [ 1.59766330e-01 9.87154849e-01 1.57924740e-04 8.38909634e+00] [-1.72953432e-03 1.19937462e-04 9.99998497e-01 -2.57366245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91589822699999 meters 0.08226168461632656 Centerline is valid? [True, True] Translation: X:219.67, Y:8.39, Z:-2.57 [[ 9.87009382e-01 -1.60644133e-01 2.43779746e-03 2.19665606e+02] [ 1.60644069e-01 9.87012377e-01 2.23257769e-04 8.39373703e+00] [-2.44200131e-03 1.71260190e-04 9.99997004e-01 -2.57276968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.945898227 meters 0.08269432577261511 Centerline is valid? [True, True] Translation: X:219.69, Y:8.40, Z:-2.57 [[ 9.86911832e-01 -1.61233444e-01 2.96870453e-03 2.19693799e+02] [ 1.61233352e-01 9.86916274e-01 2.71671820e-04 8.39846252e+00] [-2.97366540e-03 2.10538051e-04 9.99995556e-01 -2.57185360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.975898227 meters 0.08247999301502199 Centerline is valid? [True, True] Translation: X:219.72, Y:8.40, Z:-2.57 [[ 9.86943661e-01 -1.61022280e-01 3.74640249e-03 2.19722820e+02] [ 1.61022130e-01 9.86950736e-01 3.43649007e-04 8.40333685e+00] [-3.75284984e-03 2.64091499e-04 9.99992923e-01 -2.57085113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.005898227 meters 0.08327435530847718 Centerline is valid? [True, True] Translation: X:219.75, Y:8.41, Z:-2.57 [[ 9.87062491e-01 -1.60277233e-01 4.34135142e-03 2.19750880e+02] [ 1.60277021e-01 9.87071992e-01 3.99048470e-04 8.40639367e+00] [-4.34918478e-03 3.01933096e-04 9.99990497e-01 -2.57017900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.035898227 meters 0.08101857362306511 Centerline is valid? [True, True] Translation: X:219.78, Y:8.41, Z:-2.57 [[ 9.87450950e-01 -1.57853576e-01 4.78219904e-03 2.19779877e+02] [ 1.57853289e-01 9.87462478e-01 4.39813693e-04 8.41480897e+00] [-4.79166828e-03 3.20591396e-04 9.99988469e-01 -2.57033178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.065898227 meters 0.07930251000979863 Centerline is valid? [True, True] Translation: X:219.81, Y:8.42, Z:-2.57 [[ 9.87750235e-01 -1.55991280e-01 4.02413945e-03 2.19809565e+02] [ 1.55991061e-01 9.87758398e-01 3.70160574e-04 8.42116819e+00] [-4.03261936e-03 2.62103587e-04 9.99991835e-01 -2.57189246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.095898227 meters 0.07715752277835916 Centerline is valid? [True, True] Translation: X:219.84, Y:8.43, Z:-2.57 [[ 9.88147483e-01 -1.53476061e-01 3.10649810e-03 2.19838690e+02] [ 1.53475918e-01 9.88152347e-01 2.85758464e-04 8.42758959e+00] [-3.11355047e-03 1.94401140e-04 9.99995134e-01 -2.57357689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.125898227 meters 0.07130127896645246 Centerline is valid? [True, True] Translation: X:219.87, Y:8.44, Z:-2.58 [[ 9.88559848e-01 -1.50803591e-01 2.77567760e-03 2.19867503e+02] [ 1.50803466e-01 9.88563731e-01 2.55382169e-04 8.44051276e+00] [-2.78244676e-03 1.66121246e-04 9.99996115e-01 -2.57501396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.155898227 meters 0.06563343881627588 Centerline is valid? [True, True] Translation: X:219.90, Y:8.45, Z:-2.57 [[ 9.89837786e-01 -1.42138672e-01 4.21381260e-03 2.19895700e+02] [ 1.42138306e-01 9.89846731e-01 3.87767043e-04 8.45333609e+00] [-4.22614532e-03 2.15117712e-04 9.99991047e-01 -2.57103181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.185898227 meters 0.060968500596823766 Centerline is valid? [True, True] Translation: X:219.92, Y:8.47, Z:-2.57 [[ 9.90491037e-01 -1.37454600e-01 5.80844709e-03 2.19923754e+02] [ 1.37453824e-01 9.90508032e-01 5.34644582e-04 8.46527979e+00] [-5.82680285e-03 2.68832595e-04 9.99982988e-01 -2.56836474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.215898227 meters 0.05641906702749244 Centerline is valid? [True, True] Translation: X:219.95, Y:8.48, Z:-2.57 [[ 9.91053623e-01 -1.33271062e-01 7.17910173e-03 2.19952617e+02] [ 1.33269764e-01 9.91079580e-01 6.60999655e-04 8.47940124e+00] [-7.20315325e-03 3.01671092e-04 9.99974011e-01 -2.56738803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.245898227 meters 0.05091161209894976 Centerline is valid? [True, True] Translation: X:219.98, Y:8.49, Z:-2.57 [[ 9.91565451e-01 -1.29366094e-01 7.89745275e-03 2.19981018e+02] [ 1.29364399e-01 9.91596855e-01 7.27216813e-04 8.49013449e+00] [-7.92516651e-03 3.00566161e-04 9.99968550e-01 -2.56514459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.275898227 meters 0.04598002248049087 Centerline is valid? [True, True] Translation: X:220.01, Y:8.50, Z:-2.57 [[ 9.92136356e-01 -1.24913614e-01 7.87661183e-03 2.20009503e+02] [ 1.24911787e-01 9.92167586e-01 7.25415468e-04 8.50408405e+00] [-7.90553322e-03 2.64170598e-04 9.99968716e-01 -2.56626524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.305898227 meters 0.03727465057381981 Centerline is valid? [True, True] Translation: X:220.04, Y:8.52, Z:-2.57 [[ 9.92253719e-01 -1.24037826e-01 6.86840643e-03 2.20037303e+02] [ 1.24036413e-01 9.92277465e-01 6.32897985e-04 8.52040474e+00] [-6.89386822e-03 2.23937120e-04 9.99976212e-01 -2.56873305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.335898227 meters 0.03589343211687413 Centerline is valid? [True, True] Translation: X:220.07, Y:8.53, Z:-2.57 [[ 9.92356159e-01 -1.23249829e-01 6.22358235e-03 2.20065294e+02] [ 1.23248648e-01 9.92375655e-01 5.74417798e-04 8.52725805e+00] [-6.24692851e-03 1.97021072e-04 9.99980468e-01 -2.57020384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.365898227 meters 0.03589343211687413 Centerline is valid? [True, True] Translation: X:220.09, Y:8.53, Z:-2.57 [[ 9.92333201e-01 -1.23434545e-01 6.22348650e-03 2.20092666e+02] [ 1.23433361e-01 9.92352697e-01 5.75454554e-04 8.52997293e+00] [-6.24692458e-03 1.97143197e-04 9.99980468e-01 -2.57034787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.395898227 meters 0.035056275272205915 Centerline is valid? [True, True] Translation: X:220.12, Y:8.54, Z:-2.57 [[ 9.92494764e-01 -1.22160318e-01 5.56775747e-03 2.20119902e+02] [ 1.22159346e-01 9.92510367e-01 5.15719099e-04 8.53620581e+00] [-5.58905741e-03 1.68305102e-04 9.99984367e-01 -2.57115370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.425898227 meters 0.03056537553282405 Centerline is valid? [True, True] Translation: X:220.15, Y:8.55, Z:-2.57 [[ 9.92674753e-01 -1.20683698e-01 5.68153665e-03 2.20148256e+02] [ 1.20682659e-01 9.92690999e-01 5.26608633e-04 8.54759555e+00] [-5.70356337e-03 1.62911855e-04 9.99983721e-01 -2.57138266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.455898227 meters 0.03343614246754135 Centerline is valid? [True, True] Translation: X:220.18, Y:8.55, Z:-2.57 [[ 9.92860172e-01 -1.19123311e-01 6.19004206e-03 2.20176042e+02] [ 1.19122044e-01 9.92879453e-01 5.74319881e-04 8.54904896e+00] [-6.21438046e-03 1.67151124e-04 9.99980677e-01 -2.57063056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.485898227 meters 0.030026039926585944 Centerline is valid? [True, True] Translation: X:220.20, Y:8.56, Z:-2.57 [[ 9.93239281e-01 -1.15898289e-01 6.58158632e-03 2.20203521e+02] [ 1.15896782e-01 9.93261075e-01 6.11186192e-04 8.56254201e+00] [-6.60806894e-03 1.55730544e-04 9.99978154e-01 -2.56986609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.515898227 meters 0.03318277247849442 Centerline is valid? [True, True] Translation: X:220.23, Y:8.56, Z:-2.57 [[ 9.93402959e-01 -1.14558662e-01 5.18404119e-03 2.20231722e+02] [ 1.14557708e-01 9.93416478e-01 4.81539309e-04 8.56413015e+00] [-5.20507644e-03 1.15509304e-04 9.99986447e-01 -2.57296029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.545898227 meters 0.024987180264270898 Centerline is valid? [True, True] Translation: X:220.26, Y:8.58, Z:-2.58 [[ 9.93573545e-01 -1.13174194e-01 1.79239804e-03 2.20259469e+02] [ 1.13174078e-01 9.93575161e-01 1.66253126e-04 8.58245668e+00] [-1.79969773e-03 3.76682865e-05 9.99998380e-01 -2.57915961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.575898227 meters 0.024332097938411477 Centerline is valid? [True, True] Translation: X:220.29, Y:8.59, Z:-2.58 [[ 9.93578946e-01 -1.13137621e-01 8.69737711e-04 2.20287429e+02] [ 1.13137594e-01 9.93579327e-01 8.02339799e-05 8.58785231e+00] [-8.73230891e-04 1.86812392e-05 9.99999619e-01 -2.58023029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.605898227 meters 0.027860957502090087 Centerline is valid? [True, True] Translation: X:220.31, Y:8.59, Z:-2.58 [[ 9.93490079e-01 -1.13914678e-01 9.53353953e-04 2.20314965e+02] [ 1.13914645e-01 9.93490536e-01 8.87807379e-05 8.59128058e+00] [-9.57261559e-04 2.03981946e-05 9.99999542e-01 -2.58040023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.635898227 meters 0.026758130706448793 Centerline is valid? [True, True] Translation: X:220.34, Y:8.59, Z:-2.58 [[ 9.93362011e-01 -1.15016575e-01 1.76162640e-03 2.20342809e+02] [ 1.15016465e-01 9.93363572e-01 1.64417501e-04 8.59288202e+00] [-1.76884623e-03 3.92899401e-05 9.99998435e-01 -2.57877709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.66589822699999 meters 0.029727714223359954 Centerline is valid? [True, True] Translation: X:220.37, Y:8.59, Z:-2.58 [[ 9.93119523e-01 -1.17077448e-01 2.54629434e-03 2.20371053e+02] [ 1.17077222e-01 9.93122786e-01 2.37939488e-04 8.59352528e+00] [-2.55664027e-03 6.18107165e-05 9.99996730e-01 -2.57780179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.695898227 meters 0.030803221270482656 Centerline is valid? [True, True] Translation: X:220.40, Y:8.59, Z:-2.58 [[ 9.92835146e-01 -1.19448796e-01 3.21847743e-03 2.20401175e+02] [ 1.19448447e-01 9.92840359e-01 3.01087936e-04 8.59396216e+00] [-3.23139888e-03 8.55114476e-05 9.99994775e-01 -2.57655114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.725898227 meters 0.03527894742456352 Centerline is valid? [True, True] Translation: X:220.43, Y:8.59, Z:-2.58 [[ 9.92254228e-01 -1.24150277e-01 4.27270996e-03 2.20431754e+02] [ 1.24149705e-01 9.92263418e-01 3.99862040e-04 8.58987631e+00] [-4.28929678e-03 1.33690882e-04 9.99990792e-01 -2.57520919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.755898227 meters 0.03685391531554223 Centerline is valid? [True, True] Translation: X:220.46, Y:8.59, Z:-2.58 [[ 9.91954368e-01 -1.26518184e-01 4.43632762e-03 2.20460883e+02] [ 1.26517591e-01 9.91964277e-01 4.15210140e-04 8.59052652e+00] [-4.45321016e-03 1.49403970e-04 9.99990073e-01 -2.57547557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.785898227 meters 0.04309698553693425 Centerline is valid? [True, True] Translation: X:220.49, Y:8.58, Z:-2.58 [[ 9.91656453e-01 -1.28825855e-01 4.62364346e-03 2.20490375e+02] [ 1.28825235e-01 9.91667218e-01 4.32914039e-04 8.58449357e+00] [-4.64088617e-03 1.66339953e-04 9.99989217e-01 -2.57533620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.815898227 meters 0.05747394036897999 Centerline is valid? [True, True] Translation: X:220.52, Y:8.57, Z:-2.58 [[ 9.91333462e-01 -1.31292109e-01 4.51098694e-03 2.20520882e+02] [ 1.31291544e-01 9.91343710e-01 4.22511715e-04 8.56780473e+00] [-4.52741098e-03 1.73404439e-04 9.99989736e-01 -2.57557585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.845898227 meters 0.063549561297369 Centerline is valid? [True, True] Translation: X:220.55, Y:8.56, Z:-2.58 [[ 9.90830554e-01 -1.35053615e-01 3.91591865e-03 2.20551724e+02] [ 1.35053217e-01 9.90838278e-01 3.66985653e-04 8.56135212e+00] [-3.92960483e-03 1.65236814e-04 9.99992265e-01 -2.57589263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.875898227 meters 0.048619034386474864 Centerline is valid? [True, True] Translation: X:220.58, Y:8.58, Z:-2.58 [[ 9.90634974e-01 -1.36480450e-01 3.92869280e-03 2.20578865e+02] [ 1.36480062e-01 9.90642750e-01 3.68014398e-04 8.58312170e+00] [-3.94215781e-03 1.71620302e-04 9.99992215e-01 -2.57539120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.905898227 meters 0.0675249460460719 Centerline is valid? [True, True] Translation: X:220.61, Y:8.56, Z:-2.58 [[ 9.90498975e-01 -1.37466467e-01 3.84078927e-03 2.20608691e+02] [ 1.37466101e-01 9.90506406e-01 3.60523715e-04 8.56153865e+00] [-3.85388630e-03 1.70879953e-04 9.99992559e-01 -2.57626297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.935898227 meters 0.050903055569884566 Centerline is valid? [True, True] Translation: X:220.64, Y:8.59, Z:-2.58 [[ 9.90380354e-01 -1.38321679e-01 3.72390100e-03 2.20635277e+02] [ 1.38321340e-01 9.90387341e-01 3.49601258e-04 8.58617050e+00] [-3.73646184e-03 1.68856759e-04 9.99993005e-01 -2.57556587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.965898227 meters 0.07013356840215185 Centerline is valid? [True, True] Translation: X:220.67, Y:8.56, Z:-2.58 [[ 9.90289218e-01 -1.38976585e-01 3.57405414e-03 2.20665338e+02] [ 1.38976275e-01 9.90295654e-01 3.36199799e-04 8.56422370e+00] [-3.58609418e-03 1.63773694e-04 9.99993557e-01 -2.57675687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.995898227 meters 0.07208747741731107 Centerline is valid? [True, True] Translation: X:220.69, Y:8.56, Z:-2.58 [[ 9.90125451e-01 -1.40127708e-01 3.97698341e-03 2.20694004e+02] [ 1.40127332e-01 9.90133421e-01 3.74420969e-04 8.56437849e+00] [-3.99021094e-03 1.86560345e-04 9.99992022e-01 -2.57614973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.025898227 meters 0.05731478190936254 Centerline is valid? [True, True] Translation: X:220.72, Y:8.59, Z:-2.58 [[ 9.89912171e-01 -1.41613359e-01 4.42149712e-03 2.20720841e+02] [ 1.41612905e-01 9.89922023e-01 4.17077930e-04 8.59108345e+00] [-4.43600118e-03 2.13270533e-04 9.99990138e-01 -2.57611805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.055898227 meters 0.05460555416303889 Centerline is valid? [True, True] Translation: X:220.75, Y:8.59, Z:-2.57 [[ 9.89479246e-01 -1.44579320e-01 5.25760613e-03 2.20750887e+02] [ 1.44578719e-01 9.89493177e-01 4.96163526e-04 8.58853659e+00] [-5.27410038e-03 2.69194449e-04 9.99986056e-01 -2.57470749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.085898227 meters 0.08446616403498464 Centerline is valid? [True, True] Translation: X:220.78, Y:8.55, Z:-2.58 [[ 9.89178103e-01 -1.46646158e-01 4.64603478e-03 2.20783564e+02] [ 1.46645712e-01 9.89188982e-01 4.38490005e-04 8.55056694e+00] [-4.66010929e-03 2.47576366e-04 9.99989111e-01 -2.57671884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.115898227 meters 0.06100025517959637 Centerline is valid? [True, True] Translation: X:220.81, Y:8.58, Z:-2.58 [[ 9.88618688e-01 -1.50424548e-01 2.35479050e-03 2.20811790e+02] [ 1.50424444e-01 9.88621483e-01 2.22302406e-04 8.57760123e+00] [-2.36143622e-03 1.34445739e-04 9.99997203e-01 -2.58134354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.145898227 meters 0.06286568699866703 Centerline is valid? [True, True] Translation: X:220.84, Y:8.57, Z:-2.58 [[ 9.88446637e-01 -1.51564781e-01 1.16717636e-03 2.20841111e+02] [ 1.51564756e-01 9.88447324e-01 1.09989376e-04 8.57494227e+00] [-1.17036286e-03 6.81841714e-05 9.99999313e-01 -2.58340600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.175898227 meters 0.06303318584256516 Centerline is valid? [True, True] Translation: X:220.87, Y:8.57, Z:-2.58 [[ 9.88400117e-01 -1.51871659e-01 4.56334765e-04 2.20869625e+02] [ 1.51871655e-01 9.88400222e-01 4.28270288e-05 8.57446486e+00] [-4.57545595e-04 2.69740759e-05 9.99999895e-01 -2.58423183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.205898227 meters 0.0652029951619727 Centerline is valid? [True, True] Translation: X:220.90, Y:8.57, Z:-2.58 [[ 9.88463667e-01 -1.51457760e-01 3.55895239e-04 2.20898281e+02] [ 1.51457758e-01 9.88463730e-01 3.28490345e-05 8.57138704e+00] [-3.56764777e-04 2.14330179e-05 9.99999936e-01 -2.58472458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.235898227 meters 0.056897754788081525 Centerline is valid? [True, True] Translation: X:220.93, Y:8.58, Z:-2.58 [[ 9.88626985e-01 -1.50388401e-01 1.15311411e-04 2.20926884e+02] [ 1.50388401e-01 9.88626992e-01 1.01141027e-05 8.58184837e+00] [-1.15521017e-04 7.34242387e-06 9.99999993e-01 -2.58408805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.265898227 meters 0.057617760921657456 Centerline is valid? [True, True] Translation: X:220.96, Y:8.58, Z:-2.59 [[ 9.89090832e-01 -1.47305619e-01 -6.16337851e-04 2.20956586e+02] [ 1.47305611e-01 9.89091024e-01 -5.85574808e-05 8.57697571e+00] [ 6.18240082e-04 -3.28713563e-05 9.99999808e-01 -2.58642431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.295898227 meters 0.05994076798939548 Centerline is valid? [True, True] Translation: X:220.99, Y:8.57, Z:-2.59 [[ 9.89239556e-01 -1.46301442e-01 -9.94368448e-04 2.20985441e+02] [ 1.46301420e-01 9.89240055e-01 -9.46080311e-05 8.57361450e+00] [ 9.97510389e-04 -5.18875096e-05 9.99999501e-01 -2.58790129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.325898227 meters 0.05939671287466145 Centerline is valid? [True, True] Translation: X:221.01, Y:8.57, Z:-2.59 [[ 9.89317982e-01 -1.45772491e-01 -5.57892874e-04 2.21014033e+02] [ 1.45772484e-01 9.89318139e-01 -5.38638238e-05 8.57358113e+00] [ 5.59785404e-04 -2.80369805e-05 9.99999843e-01 -2.58733657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.355898227 meters 0.05470309655398356 Centerline is valid? [True, True] Translation: X:221.04, Y:8.58, Z:-2.59 [[ 9.89321306e-01 -1.45750985e-01 6.60627186e-05 2.21042134e+02] [ 1.45750985e-01 9.89321308e-01 5.42026528e-06 8.57908701e+00] [-6.61472642e-05 4.26632239e-06 9.99999998e-01 -2.58570682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.385898227 meters 0.05645553966242866 Centerline is valid? [True, True] Translation: X:221.07, Y:8.58, Z:-2.59 [[ 9.89362061e-01 -1.45473592e-01 3.82697281e-04 2.21069996e+02] [ 1.45473589e-01 9.89362135e-01 3.61551375e-05 8.57616664e+00] [-3.83885816e-04 1.99018257e-05 9.99999926e-01 -2.58587579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41589822699999 meters 0.05323774748574718 Centerline is valid? [True, True] Translation: X:221.10, Y:8.58, Z:-2.59 [[ 9.89347995e-01 -1.45555622e-01 -2.02652424e-03 2.21098696e+02] [ 1.45555528e-01 9.89350065e-01 -1.94316587e-04 8.57848954e+00] [ 2.03322576e-03 -1.02725080e-04 9.99997928e-01 -2.58857339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.445898227 meters 0.05512930751625379 Centerline is valid? [True, True] Translation: X:221.13, Y:8.58, Z:-2.59 [[ 9.89393265e-01 -1.45234066e-01 -2.83429218e-03 2.21126717e+02] [ 1.45233884e-01 9.89397314e-01 -2.71262950e-04 8.57678652e+00] [ 2.84363770e-03 -1.43249526e-04 9.99995947e-01 -2.59000061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.475898227 meters 0.05326616324432751 Centerline is valid? [True, True] Translation: X:221.16, Y:8.58, Z:-2.59 [[ 9.89422366e-01 -1.45034868e-01 -2.87550371e-03 2.21155290e+02] [ 1.45034677e-01 9.89426534e-01 -2.76083893e-04 8.58045058e+00] [ 2.88514146e-03 -1.43884173e-04 9.99995828e-01 -2.58939720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.505898227 meters 0.05656679913132411 Centerline is valid? [True, True] Translation: X:221.18, Y:8.58, Z:-2.59 [[ 9.89418735e-01 -1.45074133e-01 -2.01580867e-03 2.21183905e+02] [ 1.45074040e-01 9.89420783e-01 -1.93362629e-04 8.57759277e+00] [ 2.02253491e-03 -1.01124899e-04 9.99997950e-01 -2.58834813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.535898227 meters 0.0579552418261529 Centerline is valid? [True, True] Translation: X:221.21, Y:8.58, Z:-2.58 [[ 9.89340198e-01 -1.45622069e-01 4.31163127e-04 2.21212034e+02] [ 1.45622065e-01 9.89340292e-01 4.10153637e-05 8.57606716e+00] [-4.32539796e-04 2.22087171e-05 9.99999906e-01 -2.58473794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.565898227 meters 0.05996391006572705 Centerline is valid? [True, True] Translation: X:221.24, Y:8.57, Z:-2.58 [[ 9.89358483e-01 -1.45493890e-01 1.14915731e-03 2.21240638e+02] [ 1.45493860e-01 9.89359148e-01 1.09469206e-04 8.57480460e+00] [-1.15285640e-03 5.88910465e-05 9.99999334e-01 -2.58449095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.595898227 meters 0.05535495038276719 Centerline is valid? [True, True] Translation: X:221.27, Y:8.58, Z:-2.58 [[ 9.89382806e-01 -1.45324911e-01 1.52784576e-03 2.21268494e+02] [ 1.45324858e-01 9.89383982e-01 1.46054264e-04 8.58205490e+00] [-1.53285145e-03 7.75303902e-05 9.99998822e-01 -2.58360089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.625898227 meters 0.05421546097436168 Centerline is valid? [True, True] Translation: X:221.30, Y:8.59, Z:-2.58 [[ 9.89364440e-01 -1.45445234e-01 1.92057633e-03 2.21296168e+02] [ 1.45445150e-01 9.89366299e-01 1.84043801e-04 8.58537510e+00] [-1.92692179e-03 9.72521215e-05 9.99998139e-01 -2.58319200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.655898227 meters 0.05164275736738549 Centerline is valid? [True, True] Translation: X:221.32, Y:8.59, Z:-2.58 [[ 9.89315702e-01 -1.45775286e-01 2.00209288e-03 2.21324936e+02] [ 1.45775194e-01 9.89317722e-01 1.92334006e-04 8.59066601e+00] [-2.00874351e-03 1.01576426e-04 9.99997977e-01 -2.58300898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.685898227 meters 0.05271373141454185 Centerline is valid? [True, True] Translation: X:221.35, Y:8.59, Z:-2.58 [[ 9.89196455e-01 -1.46584403e-01 1.83998637e-03 2.21352269e+02] [ 1.46584326e-01 9.89198162e-01 1.77328227e-04 8.59190851e+00] [-1.84610469e-03 9.43007087e-05 9.99998292e-01 -2.58358142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.715898227 meters 0.05784416086416861 Centerline is valid? [True, True] Translation: X:221.38, Y:8.59, Z:-2.58 [[ 9.89082533e-01 -1.47351327e-01 1.82438714e-03 2.21380939e+02] [ 1.47351253e-01 9.89084211e-01 1.75995652e-04 8.58755532e+00] [-1.83040570e-03 9.47515041e-05 9.99998320e-01 -2.58419456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.745898227 meters 0.059464719108498786 Centerline is valid? [True, True] Translation: X:221.41, Y:8.59, Z:-2.58 [[ 9.89023200e-01 -1.47747066e-01 1.97825791e-03 2.21409219e+02] [ 1.47746979e-01 9.89025173e-01 1.90990988e-04 8.58795977e+00] [-1.98476523e-03 1.03387111e-04 9.99998025e-01 -2.58419703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.775898227 meters 0.061915635582212684 Centerline is valid? [True, True] Translation: X:221.44, Y:8.59, Z:-2.59 [[ 9.89044802e-01 -1.47604913e-01 1.78037348e-03 2.21437446e+02] [ 1.47604842e-01 9.89046400e-01 1.71960204e-04 8.58819661e+00] [-1.78625415e-03 9.27154003e-05 9.99998400e-01 -2.58514300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.805898227 meters 0.060090314817319114 Centerline is valid? [True, True] Translation: X:221.47, Y:8.59, Z:-2.59 [[ 9.89308127e-01 -1.45836719e-01 1.03980172e-03 2.21466795e+02] [ 1.45836694e-01 9.89308672e-01 1.00510659e-04 8.59429670e+00] [-1.04334300e-03 5.22052331e-05 9.99999454e-01 -2.58559197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.835898227 meters 0.05316108067785469 Centerline is valid? [True, True] Translation: X:221.49, Y:8.61, Z:-2.59 [[ 9.89425416e-01 -1.45038463e-01 1.09142581e-03 2.21494883e+02] [ 1.45038435e-01 9.89426016e-01 1.04989968e-04 8.60771151e+00] [-1.09511267e-03 5.44189491e-05 9.99999399e-01 -2.58510800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.865898227 meters 0.05941861823049887 Centerline is valid? [True, True] Translation: X:221.52, Y:8.61, Z:-2.59 [[ 9.89510458e-01 -1.44456161e-01 1.21324309e-03 2.21522405e+02] [ 1.44456125e-01 9.89511200e-01 1.17363316e-04 8.61203601e+00] [-1.21747148e-03 5.91281665e-05 9.99999257e-01 -2.58572307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.895898227 meters 0.05568903294702543 Centerline is valid? [True, True] Translation: X:221.55, Y:8.61, Z:-2.58 [[ 9.89741911e-01 -1.42855063e-01 1.83854326e-03 2.21551033e+02] [ 1.42854978e-01 9.89743615e-01 1.78197252e-04 8.61314572e+00] [-1.84514283e-03 8.62757670e-05 9.99998294e-01 -2.58435164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.925898227 meters 0.050565376265443954 Centerline is valid? [True, True] Translation: X:221.58, Y:8.62, Z:-2.58 [[ 9.89940414e-01 -1.41470099e-01 2.04618963e-03 2.21579065e+02] [ 1.41469991e-01 9.89942525e-01 1.98378478e-04 8.62449951e+00] [-2.05367475e-03 9.30915564e-05 9.99997887e-01 -2.58349928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.955898227 meters 0.04842539104493502 Centerline is valid? [True, True] Translation: X:221.61, Y:8.63, Z:-2.58 [[ 9.90273834e-01 -1.39122269e-01 1.65175116e-03 2.21608193e+02] [ 1.39122195e-01 9.90275209e-01 1.60291920e-04 8.63376490e+00] [-1.65798840e-03 7.10623524e-05 9.99998623e-01 -2.58447981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.985898227 meters 0.04826284808899801 Centerline is valid? [True, True] Translation: X:221.64, Y:8.64, Z:-2.59 [[ 9.90318817e-01 -1.38808017e-01 9.87947902e-04 2.21636634e+02] [ 1.38807991e-01 9.90319308e-01 9.52201354e-05 8.63915168e+00] [-9.91601201e-04 4.28367714e-05 9.99999507e-01 -2.58615487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.015898227 meters 0.04438312132777855 Centerline is valid? [True, True] Translation: X:221.66, Y:8.65, Z:-2.59 [[ 9.90310819e-01 -1.38868437e-01 1.96827164e-04 2.21663569e+02] [ 1.38868436e-01 9.90310839e-01 1.81643018e-05 8.64872103e+00] [-1.97442522e-04 9.34477597e-06 9.99999980e-01 -2.58686811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.045898227 meters 0.04503786563902252 Centerline is valid? [True, True] Translation: X:221.69, Y:8.65, Z:-2.59 [[ 9.90245795e-01 -1.39330347e-01 -5.65957385e-04 2.21691609e+02] [ 1.39330338e-01 9.90245956e-01 -5.54951884e-05 8.65268363e+00] [ 5.68169176e-04 -2.39011567e-05 9.99999838e-01 -2.58827741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.075898227 meters 0.05073603243498494 Centerline is valid? [True, True] Translation: X:221.72, Y:8.65, Z:-2.59 [[ 9.89987921e-01 -1.41147522e-01 -1.13696669e-03 2.21720523e+02] [ 1.41147487e-01 9.89988573e-01 -1.11081593e-04 8.65070191e+00] [ 1.14126292e-03 -5.05105568e-05 9.99999347e-01 -2.59080209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.105898227 meters 0.052428170513111036 Centerline is valid? [True, True] Translation: X:221.75, Y:8.65, Z:-2.59 [[ 9.89785549e-01 -1.42561198e-01 -9.34224633e-04 2.21749192e+02] [ 1.42561175e-01 9.89785988e-01 -9.14050808e-05 8.65190230e+00] [ 9.37713270e-04 -4.27127334e-05 9.99999559e-01 -2.59097418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.135898227 meters 0.05322933604349031 Centerline is valid? [True, True] Translation: X:221.78, Y:8.65, Z:-2.59 [[ 9.89530892e-01 -1.44319316e-01 -7.41299467e-04 2.21778977e+02] [ 1.44319303e-01 9.89531169e-01 -7.24752549e-05 8.65471122e+00] [ 7.43998507e-04 -3.52673186e-05 9.99999723e-01 -2.59063723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.16589822699999 meters 0.05522268884875765 Centerline is valid? [True, True] Translation: X:221.81, Y:8.66, Z:-2.59 [[ 9.89276031e-01 -1.46057714e-01 -2.81822305e-04 2.21808638e+02] [ 1.46057712e-01 9.89276071e-01 -2.76345867e-05 8.65563732e+00] [ 2.82836307e-04 -1.38240868e-05 9.99999960e-01 -2.59035133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.195898227 meters 0.061572840667761294 Centerline is valid? [True, True] Translation: X:221.84, Y:8.66, Z:-2.59 [[ 9.88881323e-01 -1.48702716e-01 -1.10951486e-03 2.21839028e+02] [ 1.48702688e-01 9.88881944e-01 -1.08417262e-04 8.65727026e+00] [ 1.11330115e-03 -5.77760366e-05 9.99999379e-01 -2.59221111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.225898227 meters 0.05716857645710014 Centerline is valid? [True, True] Translation: X:221.87, Y:8.66, Z:-2.59 [[ 9.88765841e-01 -1.49462222e-01 -1.77635618e-03 2.21867178e+02] [ 1.49462150e-01 9.88767432e-01 -1.73858434e-04 8.65978519e+00] [ 1.78238841e-03 -9.35927338e-05 9.99998407e-01 -2.59285167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.255898227 meters 0.05716857645710014 Centerline is valid? [True, True] Translation: X:221.89, Y:8.66, Z:-2.59 [[ 9.88738074e-01 -1.49645803e-01 -1.77625883e-03 2.21894569e+02] [ 1.49645730e-01 9.88739665e-01 -1.74853629e-04 8.66263922e+00] [ 1.78242367e-03 -9.29251082e-05 9.99998407e-01 -2.59299590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.285898227 meters 0.06000046384911554 Centerline is valid? [True, True] Translation: X:221.92, Y:8.66, Z:-2.59 [[ 9.88581884e-01 -1.50663570e-01 -2.51926590e-03 2.21923573e+02] [ 1.50663429e-01 9.88585085e-01 -2.46878825e-04 8.66215181e+00] [ 2.52770434e-03 -1.35501305e-04 9.99996796e-01 -2.59498174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.315898227 meters 0.0660338143614154 Centerline is valid? [True, True] Translation: X:221.95, Y:8.66, Z:-2.60 [[ 9.88424038e-01 -1.51688389e-01 -2.92478857e-03 2.21952623e+02] [ 1.51688203e-01 9.88428352e-01 -2.86689433e-04 8.65743471e+00] [ 2.93443141e-03 -1.60285196e-04 9.99995682e-01 -2.59657585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.345898227 meters 0.061729503141018036 Centerline is valid? [True, True] Translation: X:221.98, Y:8.67, Z:-2.59 [[ 9.88323134e-01 -1.52352789e-01 -2.45148060e-03 2.21980444e+02] [ 1.52352657e-01 9.88326166e-01 -2.41380731e-04 8.66594786e+00] [ 2.45963745e-03 -1.34927423e-04 9.99996966e-01 -2.59432030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.375898227 meters 0.06578373343240285 Centerline is valid? [True, True] Translation: X:222.01, Y:8.66, Z:-2.59 [[ 9.88342263e-01 -1.52245493e-01 -9.38952219e-04 2.22008297e+02] [ 1.52245473e-01 9.88342707e-01 -9.24829556e-05 8.66365310e+00] [ 9.42086691e-04 -5.15464113e-05 9.99999555e-01 -2.59194980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.405898227 meters 0.06962944881230397 Centerline is valid? [True, True] Translation: X:222.04, Y:8.66, Z:-2.59 [[ 9.88855283e-01 -1.48868700e-01 1.82740568e-03 2.22037521e+02] [ 1.48868622e-01 9.88856967e-01 1.79335670e-04 8.66352713e+00] [-1.83374030e-03 9.47063399e-05 9.99998314e-01 -2.58585561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.435898227 meters 0.054364260647266786 Centerline is valid? [True, True] Translation: X:222.07, Y:8.69, Z:-2.58 [[ 9.89281217e-01 -1.46008639e-01 2.03747246e-03 2.22065088e+02] [ 1.46008536e-01 9.89283310e-01 2.00043152e-04 8.68814358e+00] [-2.04484552e-03 9.95894368e-05 9.99997904e-01 -2.58425151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.465898227 meters 0.051417728849402544 Centerline is valid? [True, True] Translation: X:222.09, Y:8.70, Z:-2.58 [[ 9.89764374e-01 -1.42697712e-01 1.96116222e-03 2.22094954e+02] [ 1.42697610e-01 9.89766313e-01 1.92584703e-04 8.69727504e+00] [-1.96857370e-03 8.92396844e-05 9.99998058e-01 -2.58443587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.495898227 meters 0.04383570190064109 Centerline is valid? [True, True] Translation: X:222.12, Y:8.71, Z:-2.59 [[ 9.90457213e-01 -1.37818502e-01 7.54304072e-04 2.22124047e+02] [ 1.37818485e-01 9.90457500e-01 7.40530713e-05 8.71456432e+00] [-7.57312009e-04 3.06106461e-05 9.99999713e-01 -2.58667455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.525898227 meters 0.043296964959952534 Centerline is valid? [True, True] Translation: X:222.15, Y:8.72, Z:-2.59 [[ 9.90635583e-01 -1.36532455e-01 1.71437826e-04 2.22151912e+02] [ 1.36532455e-01 9.90635598e-01 1.66018760e-05 8.71955379e+00] [-1.72099108e-04 6.96041807e-06 9.99999985e-01 -2.58762800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.555898227 meters 0.047350777370198646 Centerline is valid? [True, True] Translation: X:222.18, Y:8.72, Z:-2.59 [[ 9.90759588e-01 -1.35629073e-01 4.40359066e-04 2.22180565e+02] [ 1.35629067e-01 9.90759685e-01 4.24935473e-05 8.71852966e+00] [-4.42053370e-04 1.76246000e-05 9.99999902e-01 -2.58807093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.585898227 meters 0.041885151473359764 Centerline is valid? [True, True] Translation: X:222.21, Y:8.73, Z:-2.59 [[ 9.90930356e-01 -1.34371926e-01 1.10255151e-03 2.22208815e+02] [ 1.34371889e-01 9.90930968e-01 1.08209976e-04 8.72967781e+00] [-1.10709282e-03 4.09233779e-05 9.99999386e-01 -2.58608533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.615898227 meters 0.03561896373505854 Centerline is valid? [True, True] Translation: X:222.24, Y:8.74, Z:-2.58 [[ 9.91427712e-01 -1.30646859e-01 1.57778907e-03 2.22237645e+02] [ 1.30646777e-01 9.91428966e-01 1.55389962e-04 8.74355028e+00] [-1.58456700e-03 5.20751427e-05 9.99998743e-01 -2.58455134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.645898227 meters 0.03377686052694358 Centerline is valid? [True, True] Translation: X:222.27, Y:8.75, Z:-2.59 [[ 9.91701907e-01 -1.28548740e-01 1.59657189e-03 2.22265570e+02] [ 1.28548653e-01 9.91703191e-01 1.57128859e-04 8.75076803e+00] [-1.60352416e-03 4.94121776e-05 9.99998713e-01 -2.58510650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.675898227 meters 0.03279498621715711 Centerline is valid? [True, True] Translation: X:222.29, Y:8.76, Z:-2.59 [[ 9.92020974e-01 -1.26066045e-01 1.31889474e-03 2.22292626e+02] [ 1.26065984e-01 9.92021850e-01 1.29774551e-04 8.75692588e+00] [-1.32473256e-03 3.75286862e-05 9.99999122e-01 -2.58595696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.705898227 meters 0.02805566108685114 Centerline is valid? [True, True] Translation: X:222.32, Y:8.77, Z:-2.58 [[ 9.92379375e-01 -1.23210070e-01 1.56669280e-03 2.22320493e+02] [ 1.23209980e-01 9.92380611e-01 1.54355989e-04 8.76844136e+00] [-1.57377377e-03 3.98524883e-05 9.99998761e-01 -2.58491474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.735898227 meters 0.026966575752084977 Centerline is valid? [True, True] Translation: X:222.35, Y:8.78, Z:-2.58 [[ 9.92726987e-01 -1.20363414e-01 2.40388477e-03 2.22348366e+02] [ 1.20363192e-01 9.92729896e-01 2.37084337e-04 8.77529962e+00] [-2.41494455e-03 5.39792255e-05 9.99997083e-01 -2.58374967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.765898227 meters 0.02341316280257436 Centerline is valid? [True, True] Translation: X:222.38, Y:8.79, Z:-2.58 [[ 9.93263487e-01 -1.15763316e-01 5.14771954e-03 2.22376584e+02] [ 1.15762237e-01 9.93276823e-01 5.08231208e-04 8.78732144e+00] [-5.17194504e-03 9.11040258e-05 9.99986621e-01 -2.57976443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.795898227 meters 0.02083591046353704 Centerline is valid? [True, True] Translation: X:222.40, Y:8.80, Z:-2.58 [[ 9.93356663e-01 -1.14954638e-01 5.28884881e-03 2.22404948e+02] [ 1.14953486e-01 9.93370738e-01 5.22301718e-04 8.79630829e+00] [-5.31382865e-03 8.91397144e-05 9.99985878e-01 -2.57982533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.825898227 meters 0.02038932803588263 Centerline is valid? [True, True] Translation: X:222.43, Y:8.80, Z:-2.58 [[ 9.93424766e-01 -1.14391069e-01 4.68157914e-03 2.22433419e+02] [ 1.14390157e-01 9.93435794e-01 4.63007391e-04 8.80231886e+00] [-4.70381220e-03 7.55635617e-05 9.99988934e-01 -2.58063952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.855898227 meters 0.01955611178182521 Centerline is valid? [True, True] Translation: X:222.46, Y:8.81, Z:-2.58 [[ 9.93474345e-01 -1.13985313e-01 4.00927635e-03 2.22461923e+02] [ 1.13984639e-01 9.93482433e-01 3.97053116e-04 8.80807003e+00] [-4.02840385e-03 6.25338317e-05 9.99991884e-01 -2.58224981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.885898227 meters 0.019408695828645142 Centerline is valid? [True, True] Translation: X:222.49, Y:8.81, Z:-2.58 [[ 9.93453442e-01 -1.14183077e-01 3.53325954e-03 2.22490063e+02] [ 1.14182553e-01 9.93459723e-01 3.50354698e-04 8.81221365e+00] [-3.55015563e-03 5.53755153e-05 9.99993697e-01 -2.58327999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91589822699999 meters 0.020548004520338663 Centerline is valid? [True, True] Translation: X:222.52, Y:8.82, Z:-2.58 [[ 9.93358336e-01 -1.15010394e-01 3.43890706e-03 2.22517333e+02] [ 1.15009900e-01 9.93364287e-01 3.41861098e-04 8.81518968e+00] [-3.45540504e-03 5.59177848e-05 9.99994029e-01 -2.58325566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.945898227 meters 0.021357922364542363 Centerline is valid? [True, True] Translation: X:222.55, Y:8.82, Z:-2.58 [[ 9.93278768e-01 -1.15698836e-01 3.32689320e-03 2.22545894e+02] [ 1.15698377e-01 9.93284338e-01 3.30716493e-04 8.81800723e+00] [-3.34281442e-03 5.64224713e-05 9.99994411e-01 -2.58405819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.975898227 meters 0.022940345442941906 Centerline is valid? [True, True] Translation: X:222.57, Y:8.82, Z:-2.59 [[ 9.93103356e-01 -1.17233779e-01 1.40211631e-03 2.22574383e+02] [ 1.17233699e-01 9.93104345e-01 1.39404189e-04 8.81793997e+00] [-1.40879068e-03 2.59325133e-05 9.99999007e-01 -2.58731569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.005898227 meters 0.023749014555235877 Centerline is valid? [True, True] Translation: X:222.60, Y:8.82, Z:-2.59 [[ 9.93003118e-01 -1.18088129e-01 2.82018084e-05 2.22603144e+02] [ 1.18088129e-01 9.93003119e-01 1.97207888e-06 8.81842305e+00] [-2.82373628e-05 1.37201832e-06 1.00000000e+00 -2.59003463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.035898227 meters 0.02481864891823698 Centerline is valid? [True, True] Translation: X:222.63, Y:8.82, Z:-2.59 [[ 9.92885291e-01 -1.19072748e-01 -6.92510668e-04 2.22631935e+02] [ 1.19072728e-01 9.92885532e-01 -7.01447294e-05 8.81872222e+00] [ 6.95936149e-04 -1.28134642e-05 9.99999758e-01 -2.59129877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.065898227 meters 0.02538234163197241 Centerline is valid? [True, True] Translation: X:222.66, Y:8.82, Z:-2.59 [[ 9.92785457e-01 -1.19903241e-01 -4.98564961e-04 2.22661111e+02] [ 1.19903230e-01 9.92785583e-01 -5.08226827e-05 8.81998092e+00] [ 5.01061910e-04 -9.32352898e-06 9.99999874e-01 -2.59069029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.095898227 meters 0.030874914327812596 Centerline is valid? [True, True] Translation: X:222.69, Y:8.83, Z:-2.59 [[ 9.92728301e-01 -1.20376576e-01 -2.79692587e-05 2.22688715e+02] [ 1.20376576e-01 9.92728301e-01 -3.83086335e-06 8.82511689e+00] [ 2.82270209e-05 4.36162869e-07 1.00000000e+00 -2.58959889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.125898227 meters 0.027041557919332996 Centerline is valid? [True, True] Translation: X:222.72, Y:8.82, Z:-2.59 [[ 9.92755469e-01 -1.20151147e-01 5.30231452e-04 2.22717462e+02] [ 1.20151135e-01 9.92755610e-01 5.29691299e-05 8.82134607e+00] [-5.32754550e-04 1.11225176e-05 9.99999858e-01 -2.58905596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.155898227 meters 0.02519262345210044 Centerline is valid? [True, True] Translation: X:222.75, Y:8.82, Z:-2.59 [[ 9.92913322e-01 -1.18839610e-01 5.31426914e-04 2.22746143e+02] [ 1.18839599e-01 9.92913464e-01 5.26705725e-05 8.82215166e+00] [-5.33920289e-04 1.08572481e-05 9.99999857e-01 -2.58948936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.185898227 meters 0.022846482892780177 Centerline is valid? [True, True] Translation: X:222.77, Y:8.83, Z:-2.59 [[ 9.92973775e-01 -1.18333753e-01 4.53179152e-04 2.22774790e+02] [ 1.18333745e-01 9.92973878e-01 4.48298177e-05 8.82579305e+00] [-4.55299941e-04 9.11155297e-06 9.99999896e-01 -2.58948710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.215898227 meters 0.022450095647680697 Centerline is valid? [True, True] Translation: X:222.80, Y:8.83, Z:-2.59 [[ 9.93043345e-01 -1.17746402e-01 8.36140703e-04 2.22802314e+02] [ 1.17746373e-01 9.93043697e-01 8.39141228e-05 8.82687358e+00] [-8.40204841e-04 1.51221739e-05 9.99999647e-01 -2.58920142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.245898227 meters 0.02176669102387598 Centerline is valid? [True, True] Translation: X:222.83, Y:8.83, Z:-2.59 [[ 9.93072485e-01 -1.17496250e-01 1.29274562e-03 2.22831213e+02] [ 1.17496180e-01 9.93073326e-01 1.29798891e-04 8.82846143e+00] [-1.29904207e-03 2.29929646e-05 9.99999156e-01 -2.58835238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.275898227 meters 0.0225023856776553 Centerline is valid? [True, True] Translation: X:222.86, Y:8.83, Z:-2.59 [[ 9.93052687e-01 -1.17658254e-01 1.70166904e-03 2.22858289e+02] [ 1.17658132e-01 9.93054145e-01 1.71695721e-04 8.82504957e+00] [-1.71005092e-03 2.97123050e-05 9.99998537e-01 -2.58856482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.305898227 meters 0.023120328416315134 Centerline is valid? [True, True] Translation: X:222.89, Y:8.82, Z:-2.59 [[ 9.92972982e-01 -1.18335226e-01 1.19678603e-03 2.22887440e+02] [ 1.18335167e-01 9.92973702e-01 1.20403913e-04 8.82423988e+00] [-1.20262508e-03 2.20640417e-05 9.99999277e-01 -2.58967280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.335898227 meters 0.032041606732894475 Centerline is valid? [True, True] Translation: X:222.92, Y:8.83, Z:-2.59 [[ 9.92873118e-01 -1.19175300e-01 4.67980319e-04 2.22916202e+02] [ 1.19175291e-01 9.92873229e-01 4.66030125e-05 8.82682275e+00] [-4.70199058e-04 9.50081222e-06 9.99999889e-01 -2.59163060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.365898227 meters 0.022917467622592416 Centerline is valid? [True, True] Translation: X:222.94, Y:8.82, Z:-2.59 [[ 9.92860437e-01 -1.19281717e-01 1.56036076e-04 2.22944494e+02] [ 1.19281716e-01 9.92860449e-01 1.55294658e-05 8.82436316e+00] [-1.56774429e-04 3.19365860e-06 9.99999988e-01 -2.59133829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.395898227 meters 0.022391476957154353 Centerline is valid? [True, True] Translation: X:222.97, Y:8.83, Z:-2.59 [[ 9.92891034e-01 -1.19026861e-01 4.13334144e-05 2.22972090e+02] [ 1.19026861e-01 9.92891034e-01 3.21424205e-06 8.82518746e+00] [-4.14221577e-05 1.72839447e-06 9.99999999e-01 -2.59124535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.425898227 meters 0.02315429723934597 Centerline is valid? [True, True] Translation: X:223.00, Y:8.82, Z:-2.59 [[ 9.92987327e-01 -1.18218928e-01 6.74042379e-04 2.23000422e+02] [ 1.18218909e-01 9.92987555e-01 6.83014180e-05 8.82440116e+00] [-6.77390215e-04 1.18621120e-05 9.99999771e-01 -2.59075655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.455898227 meters 0.021859701839292704 Centerline is valid? [True, True] Translation: X:223.03, Y:8.82, Z:-2.59 [[ 9.93139004e-01 -1.16913660e-01 2.47277052e-03 2.23028920e+02] [ 1.16913397e-01 9.93142082e-01 2.51269254e-04 8.82467099e+00] [-2.48518927e-03 3.95547042e-05 9.99996911e-01 -2.58787295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.485898227 meters 0.020272746749997888 Centerline is valid? [True, True] Translation: X:223.06, Y:8.83, Z:-2.59 [[ 9.93150355e-01 -1.16798854e-01 3.22476171e-03 2.23056341e+02] [ 1.16798404e-01 9.93155590e-01 3.28380703e-04 8.82770597e+00] [-3.24104461e-03 5.05156080e-05 9.99994747e-01 -2.58614070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.515898227 meters 0.019983544756191265 Centerline is valid? [True, True] Translation: X:223.08, Y:8.83, Z:-2.59 [[ 9.93125291e-01 -1.16997181e-01 3.71693961e-03 2.23084721e+02] [ 1.16996580e-01 9.93132245e-01 3.79341363e-04 8.82898308e+00] [-3.73579445e-03 5.81357215e-05 9.99993020e-01 -2.58557350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.545898227 meters 0.01900653097707416 Centerline is valid? [True, True] Translation: X:223.11, Y:8.83, Z:-2.59 [[ 9.93072320e-01 -1.17428673e-01 4.22770790e-03 2.23112969e+02] [ 1.17427896e-01 9.93081317e-01 4.32396008e-04 8.83142296e+00] [-4.24923342e-03 6.70503373e-05 9.99990970e-01 -2.58533129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.575898227 meters 0.020222347974006707 Centerline is valid? [True, True] Translation: X:223.14, Y:8.83, Z:-2.59 [[ 9.92938935e-01 -1.18524831e-01 4.91283356e-03 2.23141438e+02] [ 1.18523789e-01 9.92951085e-01 5.03646088e-04 8.82803688e+00] [-4.93789798e-03 8.21978378e-05 9.99987805e-01 -2.58525588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.605898227 meters 0.021284549852585537 Centerline is valid? [True, True] Translation: X:223.17, Y:8.83, Z:-2.58 [[ 9.92833427e-01 -1.19366280e-01 5.78603061e-03 2.23169270e+02] [ 1.19364847e-01 9.92850281e-01 5.93591366e-04 8.82772171e+00] [-5.81551691e-03 1.01311306e-04 9.99983085e-01 -2.58398571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.635898227 meters 0.0228443127297196 Centerline is valid? [True, True] Translation: X:223.20, Y:8.83, Z:-2.58 [[ 9.92724637e-01 -1.20209687e-01 6.88669857e-03 2.23197545e+02] [ 1.20207673e-01 9.92748516e-01 7.07172124e-04 8.82771240e+00] [-6.92176872e-03 1.25806821e-04 9.99976036e-01 -2.58258428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.66589822699999 meters 0.02340319465308386 Centerline is valid? [True, True] Translation: X:223.23, Y:8.83, Z:-2.58 [[ 9.92632146e-01 -1.20950585e-01 7.23736436e-03 2.23225821e+02] [ 1.20948376e-01 9.92658520e-01 7.43625949e-04 8.82981341e+00] [-7.27417339e-03 1.37200448e-04 9.99973533e-01 -2.58216601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.695898227 meters 0.024373621081441928 Centerline is valid? [True, True] Translation: X:223.25, Y:8.83, Z:-2.58 [[ 9.92568157e-01 -1.21517802e-01 6.47121414e-03 2.23253628e+02] [ 1.21516046e-01 9.92589244e-01 6.65254158e-04 8.83072350e+00] [-6.50409777e-03 1.26046263e-04 9.99978840e-01 -2.58401268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.725898227 meters 0.02522121814359525 Centerline is valid? [True, True] Translation: X:223.28, Y:8.83, Z:-2.59 [[ 9.92436216e-01 -1.22685304e-01 4.32126079e-03 2.23283030e+02] [ 1.22684532e-01 9.92445620e-01 4.44293570e-04 8.83021007e+00] [-4.34312463e-03 8.92188287e-05 9.99990565e-01 -2.58799923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.755898227 meters 0.025816335150911102 Centerline is valid? [True, True] Translation: X:223.31, Y:8.83, Z:-2.59 [[ 9.92370309e-01 -1.23237527e-01 3.69900629e-03 2.23312180e+02] [ 1.23236963e-01 9.92377199e-01 3.80798836e-04 8.83157218e+00] [-3.71773821e-03 7.79608435e-05 9.99993086e-01 -2.58900458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.785898227 meters 0.029930414931914617 Centerline is valid? [True, True] Translation: X:223.34, Y:8.83, Z:-2.59 [[ 9.92359182e-01 -1.23333995e-01 3.46125948e-03 2.23340114e+02] [ 1.23333499e-01 9.92365215e-01 3.56978945e-04 8.82834836e+00] [-3.47886115e-03 7.26379108e-05 9.99993946e-01 -2.58979540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.815898227 meters 0.02515720235592415 Centerline is valid? [True, True] Translation: X:223.37, Y:8.84, Z:-2.59 [[ 9.92362055e-01 -1.23311534e-01 3.43756245e-03 2.23367044e+02] [ 1.23311045e-01 9.92368007e-01 3.54621556e-04 8.83776566e+00] [-3.45505592e-03 7.19764411e-05 9.99994029e-01 -2.58878861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.845898227 meters 0.023284760459855083 Centerline is valid? [True, True] Translation: X:223.40, Y:8.85, Z:-2.59 [[ 9.92526947e-01 -1.21998835e-01 2.55808423e-03 2.23395708e+02] [ 1.21998559e-01 9.92530242e-01 2.64403696e-04 8.84521244e+00] [-2.57123290e-03 4.96547958e-05 9.99996693e-01 -2.58989088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.875898227 meters 0.028596122459103895 Centerline is valid? [True, True] Translation: X:223.42, Y:8.85, Z:-2.59 [[ 9.92616965e-01 -1.21289338e-01 6.76648636e-04 2.23424271e+02] [ 1.21289319e-01 9.92617195e-01 6.92773074e-05 8.85287831e+00] [-6.80055670e-04 1.33044216e-05 9.99999769e-01 -2.59317785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.905898227 meters 0.02726800145217976 Centerline is valid? [True, True] Translation: X:223.45, Y:8.86, Z:-2.60 [[ 9.92688113e-01 -1.20700547e-01 -1.29916047e-03 2.23451099e+02] [ 1.20700474e-01 9.92688963e-01 -1.35276793e-04 8.85781904e+00] [ 1.30599025e-03 -2.25216204e-05 9.99999147e-01 -2.59690614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.935898227 meters 0.02248447567403032 Centerline is valid? [True, True] Translation: X:223.48, Y:8.86, Z:-2.60 [[ 9.92623756e-01 -1.21225856e-01 -1.53979620e-03 2.23479009e+02] [ 1.21225753e-01 9.92624950e-01 -1.60941501e-04 8.86373563e+00] [ 1.54795040e-03 -2.69085960e-05 9.99998802e-01 -2.59736611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.965898227 meters 0.03282750137004152 Centerline is valid? [True, True] Translation: X:223.51, Y:8.85, Z:-2.60 [[ 9.92361856e-01 -1.23360029e-01 5.00515560e-04 2.23507645e+02] [ 1.23360018e-01 9.92361982e-01 5.16094055e-05 8.85378127e+00] [-5.03059151e-04 1.05284032e-05 9.99999873e-01 -2.59699903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.995898227 meters 0.026491186798698135 Centerline is valid? [True, True] Translation: X:223.54, Y:8.87, Z:-2.59 [[ 9.91980497e-01 -1.26367835e-01 2.42151777e-03 2.23535451e+02] [ 1.26367597e-01 9.91983451e-01 2.51471635e-04 8.86663387e+00] [-2.43388348e-03 5.65464235e-05 9.99997037e-01 -2.59104908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.025898227 meters 0.02958533832005559 Centerline is valid? [True, True] Translation: X:223.57, Y:8.87, Z:-2.59 [[ 9.91547879e-01 -1.29700627e-01 3.24825591e-03 2.23565392e+02] [ 1.29700214e-01 9.91553196e-01 3.38462572e-04 8.86666649e+00] [-3.26471734e-03 8.56976407e-05 9.99994667e-01 -2.59023286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.055898227 meters 0.03757605336485914 Centerline is valid? [True, True] Translation: X:223.59, Y:8.86, Z:-2.59 [[ 9.91076935e-01 -1.33271512e-01 2.28320270e-03 2.23594865e+02] [ 1.33271317e-01 9.91079563e-01 2.37888824e-04 8.86019196e+00] [-2.29453933e-03 6.85193039e-05 9.99997365e-01 -2.59224858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.085898227 meters 0.04272349277075469 Centerline is valid? [True, True] Translation: X:223.63, Y:8.86, Z:-2.59 [[ 9.90200471e-01 -1.39652243e-01 5.27920771e-04 2.23625499e+02] [ 1.39652233e-01 9.90200611e-01 5.50237814e-05 8.85898721e+00] [-5.30431665e-04 1.92407404e-05 9.99999859e-01 -2.59492131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.115898227 meters 0.04223015604639967 Centerline is valid? [True, True] Translation: X:223.66, Y:8.86, Z:-2.59 [[ 9.89857328e-01 -1.42056061e-01 1.59528064e-03 2.23655044e+02] [ 1.42055977e-01 9.89858612e-01 1.66266556e-04 8.86389694e+00] [-1.60272145e-03 6.20389815e-05 9.99998714e-01 -2.59290877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.145898227 meters 0.0422062791495228 Centerline is valid? [True, True] Translation: X:223.68, Y:8.87, Z:-2.59 [[ 9.89603686e-01 -1.43776889e-01 3.57097946e-03 2.23684621e+02] [ 1.43776479e-01 9.89610118e-01 3.72420190e-04 8.86907052e+00] [-3.58742282e-03 1.44874462e-04 9.99993555e-01 -2.58938436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.175898227 meters 0.05167474652670191 Centerline is valid? [True, True] Translation: X:223.71, Y:8.87, Z:-2.59 [[ 9.89426110e-01 -1.44939335e-01 5.34438912e-03 2.23712502e+02] [ 1.44938434e-01 9.89440518e-01 5.57568260e-04 8.86902647e+00] [-5.36876872e-03 2.22934795e-04 9.99985563e-01 -2.58742632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.205898227 meters 0.05167474652670191 Centerline is valid? [True, True] Translation: X:223.74, Y:8.87, Z:-2.59 [[ 9.89399427e-01 -1.45121368e-01 5.34435405e-03 2.23739854e+02] [ 1.45120468e-01 9.89413836e-01 5.57904212e-04 8.87206727e+00] [-5.36874167e-03 2.23585052e-04 9.99985563e-01 -2.58757045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.235898227 meters 0.0502809438070232 Centerline is valid? [True, True] Translation: X:223.77, Y:8.87, Z:-2.59 [[ 9.89379611e-01 -1.45218071e-01 6.30054765e-03 2.23767394e+02] [ 1.45216814e-01 9.89399638e-01 6.58953049e-04 8.87304273e+00] [-6.32945145e-03 2.62990744e-04 9.99979934e-01 -2.58537272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.265898227 meters 0.04861270271000746 Centerline is valid? [True, True] Translation: X:223.79, Y:8.88, Z:-2.59 [[ 9.89246669e-01 -1.46169177e-01 5.05968881e-03 2.23794867e+02] [ 1.46168377e-01 9.89259584e-01 5.29505435e-04 8.88356265e+00] [-5.08274302e-03 2.15755015e-04 9.99987060e-01 -2.58887240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.295898227 meters 0.05472883985911613 Centerline is valid? [True, True] Translation: X:223.82, Y:8.89, Z:-2.59 [[ 9.89108531e-01 -1.47123844e-01 4.34619004e-03 2.23822677e+02] [ 1.47123262e-01 9.89118061e-01 4.55043866e-04 8.88918118e+00] [-4.36584287e-03 1.89337886e-04 9.99990452e-01 -2.59137713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.325898227 meters 0.04811737751107687 Centerline is valid? [True, True] Translation: X:223.85, Y:8.90, Z:-2.59 [[ 9.89046507e-01 -1.47533868e-01 4.55687122e-03 2.23850957e+02] [ 1.47533232e-01 9.89056984e-01 4.77311043e-04 8.89577428e+00] [-4.57742485e-03 2.00207117e-04 9.99989503e-01 -2.58972057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.355898227 meters 0.04849083637802472 Centerline is valid? [True, True] Translation: X:223.88, Y:8.91, Z:-2.59 [[ 9.88949622e-01 -1.48166289e-01 5.03941160e-03 2.23878454e+02] [ 1.48165514e-01 9.88962436e-01 5.28785581e-04 8.90592611e+00] [-5.06213697e-03 2.23724712e-04 9.99987162e-01 -2.58858875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.385898227 meters 0.05393666326900755 Centerline is valid? [True, True] Translation: X:223.91, Y:8.91, Z:-2.59 [[ 9.88907651e-01 -1.48448216e-01 4.97851451e-03 2.23906377e+02] [ 1.48447462e-01 9.88920157e-01 5.22683262e-04 8.90823603e+00] [-5.00094475e-03 2.22162368e-04 9.99987471e-01 -2.58954803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41589822699999 meters 0.05385196315257786 Centerline is valid? [True, True] Translation: X:223.93, Y:8.91, Z:-2.59 [[ 9.88993094e-01 -1.47866523e-01 5.30570991e-03 2.23934074e+02] [ 1.47865656e-01 9.89007299e-01 5.57363637e-04 8.91280556e+00] [-5.32980125e-03 2.33303489e-04 9.99985769e-01 -2.58858598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.445898227 meters 0.05075489720019104 Centerline is valid? [True, True] Translation: X:223.96, Y:8.92, Z:-2.59 [[ 9.89111211e-01 -1.47071212e-01 5.39183030e-03 2.23961917e+02] [ 1.47070303e-01 9.89125879e-01 5.66735517e-04 8.92444129e+00] [-5.41654937e-03 2.32413665e-04 9.99985303e-01 -2.58880825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.475898227 meters 0.044796335601842596 Centerline is valid? [True, True] Translation: X:223.99, Y:8.94, Z:-2.59 [[ 9.89288780e-01 -1.45886138e-01 4.99437954e-03 2.23989530e+02] [ 1.45885339e-01 9.89301365e-01 5.25705845e-04 8.93985317e+00] [-5.01763969e-03 2.08531860e-04 9.99987390e-01 -2.58915786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.505898227 meters 0.04670165663440853 Centerline is valid? [True, True] Translation: X:224.02, Y:8.95, Z:-2.59 [[ 9.89432981e-01 -1.44929875e-01 4.20803067e-03 2.24016671e+02] [ 1.44929299e-01 9.89441914e-01 4.43083512e-04 8.94546775e+00] [-4.22781796e-03 1.71465497e-04 9.99991048e-01 -2.59098274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.535898227 meters 0.049186593328150785 Centerline is valid? [True, True] Translation: X:224.04, Y:8.96, Z:-2.59 [[ 9.89436912e-01 -1.44946171e-01 2.28119309e-03 2.24042930e+02] [ 1.44946002e-01 9.89439538e-01 2.40131655e-04 8.95527901e+00] [-2.29190880e-03 9.30546959e-05 9.99997369e-01 -2.59440290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.565898227 meters 0.048177566003093066 Centerline is valid? [True, True] Translation: X:224.07, Y:8.96, Z:-2.60 [[ 9.89235948e-01 -1.46320569e-01 1.59048165e-03 2.24071245e+02] [ 1.46320489e-01 9.89237225e-01 1.67131664e-04 8.96473390e+00] [-1.59781845e-03 6.73874022e-05 9.99998721e-01 -2.59611444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.595898227 meters 0.05124193520679564 Centerline is valid? [True, True] Translation: X:224.10, Y:8.97, Z:-2.60 [[ 9.88950479e-01 -1.48237906e-01 1.57298523e-03 2.24099098e+02] [ 1.48237829e-01 9.88951727e-01 1.65953820e-04 8.96852595e+00] [-1.58020711e-03 6.90558066e-05 9.99998749e-01 -2.59650415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.625898227 meters 0.056672263258008886 Centerline is valid? [True, True] Translation: X:224.13, Y:8.97, Z:-2.60 [[ 9.88621881e-01 -1.50414264e-01 1.52486533e-03 2.24127250e+02] [ 1.50414195e-01 9.88623055e-01 1.60909160e-04 8.96919694e+00] [-1.53172006e-03 7.02830741e-05 9.99998824e-01 -2.59674943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.655898227 meters 0.06039923356087073 Centerline is valid? [True, True] Translation: X:224.16, Y:8.98, Z:-2.60 [[ 9.87795116e-01 -1.55757269e-01 6.93569485e-04 2.24156674e+02] [ 1.55757256e-01 9.87795359e-01 7.32696338e-05 8.97608577e+00] [-6.96516997e-04 3.56530934e-05 9.99999757e-01 -2.59696956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.685898227 meters 0.06002117350226599 Centerline is valid? [True, True] Translation: X:224.19, Y:8.98, Z:-2.60 [[ 9.87357247e-01 -1.58510174e-01 4.37187269e-04 2.24185920e+02] [ 1.58510169e-01 9.87357344e-01 4.61634214e-05 8.98355483e+00] [-4.38977432e-04 2.37188392e-05 9.99999903e-01 -2.59674953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.715898227 meters 0.05576971968439932 Centerline is valid? [True, True] Translation: X:224.22, Y:9.00, Z:-2.60 [[ 9.86903961e-01 -1.61308075e-01 5.25691488e-04 2.24215049e+02] [ 1.61308069e-01 9.86904101e-01 5.55237424e-05 8.99564100e+00] [-5.27763513e-04 3.00016773e-05 9.99999860e-01 -2.59569714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.745898227 meters 0.06303586636393448 Centerline is valid? [True, True] Translation: X:224.24, Y:8.99, Z:-2.60 [[ 9.86546935e-01 -1.63475430e-01 9.63794089e-04 2.24244397e+02] [ 1.63475408e-01 9.86547404e-01 1.01809934e-04 8.99191250e+00] [-9.67471979e-04 5.71163541e-05 9.99999530e-01 -2.59561780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.775898227 meters 0.060095907032977625 Centerline is valid? [True, True] Translation: X:224.27, Y:9.00, Z:-2.59 [[ 9.86224458e-01 -1.65403729e-01 1.70999097e-03 2.24273476e+02] [ 1.65403663e-01 9.86225935e-01 1.80813923e-04 9.00159272e+00] [-1.71634474e-03 1.04515657e-04 9.99998522e-01 -2.59348836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.805898227 meters 0.06202907734441589 Centerline is valid? [True, True] Translation: X:224.30, Y:9.01, Z:-2.59 [[ 9.85970231e-01 -1.66911749e-01 1.78062842e-03 2.24302737e+02] [ 1.66911680e-01 9.85971833e-01 1.88265146e-04 9.00755103e+00] [-1.78707313e-03 1.11583851e-04 9.99998397e-01 -2.59346499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.835898227 meters 0.06311551667688314 Centerline is valid? [True, True] Translation: X:224.33, Y:9.01, Z:-2.59 [[ 9.85744115e-01 -1.68245992e-01 1.35118490e-03 2.24331144e+02] [ 1.68245954e-01 9.85745037e-01 1.42815790e-04 9.01215594e+00] [-1.35595199e-03 8.65515681e-05 9.99999077e-01 -2.59423770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.865898227 meters 0.06583036700950676 Centerline is valid? [True, True] Translation: X:224.36, Y:9.02, Z:-2.60 [[ 9.85645493e-01 -1.68827736e-01 3.96128917e-04 2.24359346e+02] [ 1.68827733e-01 9.85645573e-01 4.11269068e-05 9.01693625e+00] [-3.97386075e-04 2.63409968e-05 9.99999921e-01 -2.59614244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.895898227 meters 0.06835004544321592 Centerline is valid? [True, True] Translation: X:224.39, Y:9.01, Z:-2.60 [[ 9.85626208e-01 -1.68940619e-01 2.15037446e-04 2.24386306e+02] [ 1.68940618e-01 9.85626231e-01 2.18528979e-05 9.01477887e+00] [-2.15638390e-04 1.47897702e-05 9.99999977e-01 -2.59671155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.925898227 meters 0.06903387517149072 Centerline is valid? [True, True] Translation: X:224.41, Y:9.02, Z:-2.60 [[ 9.85528004e-01 -1.69512535e-01 2.32801007e-04 2.24413272e+02] [ 1.69512534e-01 9.85528031e-01 2.42189692e-05 9.01895036e+00] [-2.33537337e-04 1.55942163e-05 9.99999973e-01 -2.59626623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.955898227 meters 0.0684563295524042 Centerline is valid? [True, True] Translation: X:224.44, Y:9.02, Z:-2.59 [[ 9.85398822e-01 -1.70256786e-01 1.33746411e-03 2.24442054e+02] [ 1.70256750e-01 9.85399726e-01 1.41537462e-04 9.02307570e+00] [-1.34203448e-03 8.82414444e-05 9.99999096e-01 -2.59475732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.985898227 meters 0.06697598645746797 Centerline is valid? [True, True] Translation: X:224.47, Y:9.03, Z:-2.59 [[ 9.85215413e-01 -1.71305238e-01 2.25943211e-03 2.24470724e+02] [ 1.71305136e-01 9.85217993e-01 2.40040532e-04 9.02797301e+00] [-2.26715337e-03 1.50560692e-04 9.99997419e-01 -2.59341809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.015898227 meters 0.07881726264581429 Centerline is valid? [True, True] Translation: X:224.50, Y:9.02, Z:-2.59 [[ 9.85040134e-01 -1.72296884e-01 3.11751761e-03 2.24500717e+02] [ 1.72296692e-01 9.85045044e-01 3.32283988e-04 9.01505049e+00] [-3.12814677e-03 2.09824908e-04 9.99995085e-01 -2.59303418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.045898227 meters 0.07034796892707378 Centerline is valid? [True, True] Translation: X:224.53, Y:9.03, Z:-2.59 [[ 9.84821945e-01 -1.73533951e-01 3.42112054e-03 2.24529090e+02] [ 1.73533726e-01 9.84827859e-01 3.64872731e-04 9.02820192e+00] [-3.43253263e-03 2.34345122e-04 9.99994081e-01 -2.59222456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.075898227 meters 0.07891683837732735 Centerline is valid? [True, True] Translation: X:224.56, Y:9.02, Z:-2.59 [[ 9.84500838e-01 -1.75348082e-01 3.33921573e-03 2.24558861e+02] [ 1.75347878e-01 9.84506473e-01 3.56212219e-04 9.02404691e+00] [-3.34994063e-03 2.34833163e-04 9.99994361e-01 -2.59303967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.105898227 meters 0.07168765609754846 Centerline is valid? [True, True] Translation: X:224.59, Y:9.03, Z:-2.59 [[ 9.84328580e-01 -1.76324397e-01 2.63708297e-03 2.24587633e+02] [ 1.76324273e-01 9.84332094e-01 2.81346398e-04 9.03355629e+00] [-2.64537364e-03 1.88044437e-04 9.99996483e-01 -2.59250567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.135898227 meters 0.0754729395697222 Centerline is valid? [True, True] Translation: X:224.62, Y:9.03, Z:-2.59 [[ 9.84389238e-01 -1.75988421e-01 2.42976259e-03 2.24616038e+02] [ 1.75988316e-01 9.84392221e-01 2.58887698e-04 9.03331239e+00] [-2.43740063e-03 1.72763562e-04 9.99997015e-01 -2.59266569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.16589822699999 meters 0.07316307873741713 Centerline is valid? [True, True] Translation: X:224.65, Y:9.04, Z:-2.59 [[ 9.84644356e-01 -1.74551800e-01 2.67590901e-03 2.24645490e+02] [ 1.74551664e-01 9.84647975e-01 2.85975743e-04 9.04186242e+00] [-2.68474597e-03 1.85499970e-04 9.99996379e-01 -2.59168571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.195898227 meters 0.07327841432968495 Centerline is valid? [True, True] Translation: X:224.67, Y:9.05, Z:-2.59 [[ 9.85566339e-01 -1.69229126e-01 4.52699558e-03 2.24673957e+02] [ 1.69228680e-01 9.85576694e-01 4.84044017e-04 9.05166404e+00] [-4.54361568e-03 2.89039997e-04 9.99989636e-01 -2.58899790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.225898227 meters 0.06738910146258086 Centerline is valid? [True, True] Translation: X:224.70, Y:9.07, Z:-2.59 [[ 9.86050598e-01 -1.66364656e-01 5.19798844e-03 2.24703324e+02] [ 1.66364028e-01 9.86064248e-01 5.55886762e-04 9.06621086e+00] [-5.21803047e-03 3.16625822e-04 9.99986336e-01 -2.58855633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.255898227 meters 0.0795582791797767 Centerline is valid? [True, True] Translation: X:224.73, Y:9.06, Z:-2.59 [[ 9.86408976e-01 -1.64223039e-01 5.30328598e-03 2.24733654e+02] [ 1.64222355e-01 9.86423183e-01 5.67171130e-04 9.05764679e+00] [-5.32442681e-03 3.11455421e-04 9.99985777e-01 -2.58902369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.285898227 meters 0.06101249515704131 Centerline is valid? [True, True] Translation: X:224.76, Y:9.09, Z:-2.59 [[ 9.86582291e-01 -1.63198048e-01 4.66694230e-03 2.24759999e+02] [ 1.63197507e-01 9.86593292e-01 4.99137777e-04 9.08844805e+00] [-4.68583228e-03 2.69192855e-04 9.99988985e-01 -2.59047045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.315898227 meters 0.062132427385210576 Centerline is valid? [True, True] Translation: X:224.79, Y:9.09, Z:-2.59 [[ 9.86571020e-01 -1.63293302e-01 3.59445445e-03 2.24787819e+02] [ 1.63292980e-01 9.86577546e-01 3.84942362e-04 9.09403492e+00] [-3.60906656e-03 2.07176200e-04 9.99993466e-01 -2.59224739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.345898227 meters 0.06755906547212764 Centerline is valid? [True, True] Translation: X:224.82, Y:9.09, Z:-2.60 [[ 9.86444096e-01 -1.64082725e-01 2.21461323e-03 2.24815830e+02] [ 1.64082605e-01 9.86446574e-01 2.37184286e-04 9.09320064e+00] [-2.22351548e-03 1.29410470e-04 9.99997520e-01 -2.59558094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.375898227 meters 0.06519939283182485 Centerline is valid? [True, True] Translation: X:224.85, Y:9.10, Z:-2.60 [[ 9.85827912e-01 -1.67759111e-01 -4.56792377e-04 2.24845040e+02] [ 1.67759106e-01 9.85828017e-01 -4.90452807e-05 9.10379416e+00] [ 4.58546516e-04 -2.82808743e-05 9.99999894e-01 -2.60086942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.405898227 meters 0.072082168586523 Centerline is valid? [True, True] Translation: X:224.87, Y:9.10, Z:-2.60 [[ 9.85383696e-01 -1.70349185e-01 -3.55296171e-04 2.24874820e+02] [ 1.70349183e-01 9.85383760e-01 -3.82003696e-05 9.09928559e+00] [ 3.56610479e-04 -2.28823910e-05 9.99999936e-01 -2.60229193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.435898227 meters 0.0739778193955085 Centerline is valid? [True, True] Translation: X:224.91, Y:9.10, Z:-2.60 [[ 9.84944252e-01 -1.72872226e-01 -1.15938781e-04 2.24905447e+02] [ 1.72872225e-01 9.84944259e-01 -1.24738980e-05 9.10109572e+00] [ 1.16349627e-04 -7.75650093e-06 9.99999993e-01 -2.60170541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.465898227 meters 0.07928602918106624 Centerline is valid? [True, True] Translation: X:224.93, Y:9.10, Z:-2.60 [[ 9.84369178e-01 -1.76113342e-01 -1.18827399e-03 2.24934943e+02] [ 1.76113316e-01 9.84369892e-01 -1.27379508e-04 9.09880506e+00] [ 1.19213437e-03 -8.38824107e-05 9.99999286e-01 -2.60368429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.495898227 meters 0.08135751499415313 Centerline is valid? [True, True] Translation: X:224.96, Y:9.10, Z:-2.61 [[ 9.84215363e-01 -1.76960473e-01 -2.26077170e-03 2.24964676e+02] [ 1.76960380e-01 9.84217946e-01 -2.42644008e-04 9.09936284e+00] [ 2.26803047e-03 -1.61253059e-04 9.99997415e-01 -2.60611834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.525898227 meters 0.08219104385727725 Centerline is valid? [True, True] Translation: X:224.99, Y:9.10, Z:-2.61 [[ 9.84144055e-01 -1.77351858e-01 -2.60715112e-03 2.24993448e+02] [ 1.77351734e-01 9.84147491e-01 -2.80890763e-04 9.10122269e+00] [ 2.61563773e-03 -1.85945797e-04 9.99996562e-01 -2.60667955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.555898227 meters 0.08269004665467894 Centerline is valid? [True, True] Translation: X:225.02, Y:9.10, Z:-2.61 [[ 9.84170023e-01 -1.77216675e-01 -1.90153085e-03 2.25020834e+02] [ 1.77216609e-01 9.84171851e-01 -2.04859653e-04 9.10313123e+00] [ 1.90773768e-03 -1.35366118e-04 9.99998171e-01 -2.60576615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.585898227 meters 0.08194225926790889 Centerline is valid? [True, True] Translation: X:225.05, Y:9.11, Z:-2.60 [[ 9.84282185e-01 -1.76602019e-01 -5.53993565e-04 2.25050060e+02] [ 1.76602013e-01 9.84282340e-01 -6.03735128e-05 9.10679090e+00] [ 5.55948167e-04 -3.84118055e-05 9.99999845e-01 -2.60347358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.615898227 meters 0.08134057103368424 Centerline is valid? [True, True] Translation: X:225.08, Y:9.11, Z:-2.60 [[ 9.84477247e-01 -1.75509738e-01 9.39358470e-04 2.25079884e+02] [ 1.75509721e-01 9.84477693e-01 1.01078982e-04 9.11012938e+00] [-9.42517805e-04 6.53565847e-05 9.99999554e-01 -2.60128967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.645898227 meters 0.06838133762027346 Centerline is valid? [True, True] Translation: X:225.11, Y:9.13, Z:-2.60 [[ 9.85013983e-01 -1.72456332e-01 2.50356123e-03 2.25107915e+02] [ 1.72456202e-01 9.85017150e-01 2.69517762e-04 9.12991916e+00] [-2.51253080e-03 1.66275896e-04 9.99996830e-01 -2.59772929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.675898227 meters 0.07880426128920087 Centerline is valid? [True, True] Translation: X:225.14, Y:9.12, Z:-2.60 [[ 9.85287641e-01 -1.70888882e-01 2.29208548e-03 2.25138082e+02] [ 1.70888769e-01 9.85290296e-01 2.46729869e-04 9.12037289e+00] [-2.30053297e-03 1.48591775e-04 9.99997343e-01 -2.59889030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.705898227 meters 0.06334248758387853 Centerline is valid? [True, True] Translation: X:225.17, Y:9.14, Z:-2.60 [[ 9.85535676e-01 -1.69463306e-01 1.27223357e-03 2.25165269e+02] [ 1.69463270e-01 9.85536494e-01 1.36922428e-04 9.14440211e+00] [-1.27703594e-03 8.06549244e-05 9.99999181e-01 -2.59965549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.735898227 meters 0.07707963392624916 Centerline is valid? [True, True] Translation: X:225.19, Y:9.13, Z:-2.60 [[ 9.85696940e-01 -1.68526689e-01 5.45531833e-04 2.25194333e+02] [ 1.68526683e-01 9.85697090e-01 5.83816364e-05 9.13100452e+00] [-5.47568004e-04 3.43900696e-05 9.99999849e-01 -2.60286565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.765898227 meters 0.07669329553314178 Centerline is valid? [True, True] Translation: X:225.22, Y:9.14, Z:-2.60 [[ 9.85680455e-01 -1.68623810e-01 2.26959032e-04 2.25222107e+02] [ 1.68623809e-01 9.85680481e-01 2.36173999e-05 9.13692155e+00] [-2.27691544e-04 1.49914870e-05 9.99999974e-01 -2.60275682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.795898227 meters 0.07885497705046068 Centerline is valid? [True, True] Translation: X:225.25, Y:9.14, Z:-2.60 [[ 9.85463625e-01 -1.69884103e-01 9.13707933e-04 2.25251538e+02] [ 1.69884084e-01 9.85464047e-01 9.85190011e-05 9.13800826e+00] [-9.17163130e-04 5.81375434e-05 9.99999578e-01 -2.60184914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.825898227 meters 0.06649016691280481 Centerline is valid? [True, True] Translation: X:225.28, Y:9.16, Z:-2.60 [[ 9.85151764e-01 -1.71679455e-01 1.47215162e-03 2.25280098e+02] [ 1.71679409e-01 9.85152859e-01 1.58999236e-04 9.15765405e+00] [-1.47759128e-03 9.60997422e-05 9.99998904e-01 -2.59905694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.855898227 meters 0.07080855787796116 Centerline is valid? [True, True] Translation: X:225.31, Y:9.16, Z:-2.60 [[ 9.84793247e-01 -1.73720083e-01 1.89562551e-03 2.25309649e+02] [ 1.73720009e-01 9.84795063e-01 2.04659988e-04 9.15559545e+00] [-1.90235620e-03 1.27760306e-04 9.99998182e-01 -2.59889465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.885898227 meters 0.07268598179886657 Centerline is valid? [True, True] Translation: X:225.34, Y:9.16, Z:-2.60 [[ 9.84407974e-01 -1.75881291e-01 2.59079010e-03 2.25339964e+02] [ 1.75881161e-01 9.84411367e-01 2.79835180e-04 9.15697604e+00] [-2.59962099e-03 1.80199186e-04 9.99996605e-01 -2.59748621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91589822699999 meters 0.07385554255438376 Centerline is valid? [True, True] Translation: X:225.37, Y:9.16, Z:-2.60 [[ 9.84443713e-01 -1.75675970e-01 2.92060110e-03 2.25367498e+02] [ 1.75675803e-01 9.84448024e-01 3.15423122e-04 9.15971380e+00] [-2.93059225e-03 2.02562636e-04 9.99995685e-01 -2.59626287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.945898227 meters 0.07260532687299497 Centerline is valid? [True, True] Translation: X:225.40, Y:9.17, Z:-2.59 [[ 9.84669341e-01 -1.74393118e-01 3.65101703e-03 2.25396424e+02] [ 1.74392848e-01 9.84676078e-01 3.94641333e-04 9.16673654e+00] [-3.66389186e-03 2.48120037e-04 9.99993257e-01 -2.59483924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.975898227 meters 0.071773514641415 Centerline is valid? [True, True] Translation: X:225.42, Y:9.17, Z:-2.59 [[ 9.85011768e-01 -1.72441451e-01 3.97015418e-03 2.25424912e+02] [ 1.72441116e-01 9.85019735e-01 4.29237488e-04 9.17373779e+00] [-3.98469855e-03 2.61813838e-04 9.99992027e-01 -2.59372203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.005898227 meters 0.06905582685373013 Centerline is valid? [True, True] Translation: X:225.45, Y:9.18, Z:-2.59 [[ 9.85337289e-01 -1.70567114e-01 4.15764977e-03 2.25453785e+02] [ 1.70566729e-01 9.85346025e-01 4.49606842e-04 9.18379710e+00] [-4.17341181e-03 2.66142335e-04 9.99991256e-01 -2.59359599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.035898227 meters 0.0675839094388212 Centerline is valid? [True, True] Translation: X:225.48, Y:9.19, Z:-2.60 [[ 9.85678212e-01 -1.68626670e-01 1.87296716e-03 2.25482852e+02] [ 1.68626588e-01 9.85679985e-01 2.02517306e-04 9.19480951e+00] [-1.88029606e-03 1.16215166e-04 9.99998225e-01 -2.59798944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.065898227 meters 0.0675839094388212 Centerline is valid? [True, True] Translation: X:225.51, Y:9.20, Z:-2.60 [[ 9.85648256e-01 -1.68801678e-01 1.87301777e-03 2.25510199e+02] [ 1.68801598e-01 9.85650029e-01 2.02050041e-04 9.19793804e+00] [-1.88024640e-03 1.17018121e-04 9.99998225e-01 -2.59813363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.095898227 meters 0.0694471208339495 Centerline is valid? [True, True] Translation: X:225.54, Y:9.20, Z:-2.60 [[ 9.85617980e-01 -1.68983388e-01 1.34582361e-03 2.25538141e+02] [ 1.68983346e-01 9.85618896e-01 1.45636227e-04 9.20103111e+00] [-1.35107928e-03 8.38800936e-05 9.99999084e-01 -2.59993925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.125898227 meters 0.06921464636847269 Centerline is valid? [True, True] Translation: X:225.57, Y:9.21, Z:-2.60 [[ 9.85454168e-01 -1.69933853e-01 1.60279428e-03 2.25567055e+02] [ 1.69933794e-01 9.85455466e-01 1.73668649e-04 9.20657917e+00] [-1.60899456e-03 1.01226419e-04 9.99998700e-01 -2.59968985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.155898227 meters 0.06708171916061258 Centerline is valid? [True, True] Translation: X:225.60, Y:9.21, Z:-2.60 [[ 9.85252167e-01 -1.71097010e-01 1.99526816e-03 2.25596201e+02] [ 1.71096921e-01 9.85254179e-01 2.16338982e-04 9.21458696e+00] [-2.00286124e-03 1.28235787e-04 9.99997986e-01 -2.59889753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.185898227 meters 0.07673172373820085 Centerline is valid? [True, True] Translation: X:225.63, Y:9.21, Z:-2.60 [[ 9.84657954e-01 -1.74492260e-01 1.07949130e-03 2.25625969e+02] [ 1.74492236e-01 9.84658543e-01 1.17179711e-04 9.20959053e+00] [-1.08337729e-03 7.29809170e-05 9.99999410e-01 -2.60057475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.215898227 meters 0.06893763141664157 Centerline is valid? [True, True] Translation: X:225.65, Y:9.22, Z:-2.60 [[ 9.84327267e-01 -1.76350107e-01 6.86531104e-04 2.25654778e+02] [ 1.76350098e-01 9.84327505e-01 7.44145340e-05 9.22490144e+00] [-6.88894460e-04 4.78215727e-05 9.99999762e-01 -2.60025216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.245898227 meters 0.07610066867467244 Centerline is valid? [True, True] Translation: X:225.69, Y:9.22, Z:-2.60 [[ 9.84039147e-01 -1.77950491e-01 7.61705883e-04 2.25685048e+02] [ 1.77950480e-01 9.84039440e-01 8.25789301e-05 9.22041250e+00] [-7.64243592e-04 5.42850276e-05 9.99999706e-01 -2.60143771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.275898227 meters 0.07811317885428895 Centerline is valid? [True, True] Translation: X:225.71, Y:9.22, Z:-2.60 [[ 9.83778545e-01 -1.79381849e-01 1.38766966e-03 2.25714301e+02] [ 1.79381815e-01 9.83779519e-01 1.50364008e-04 9.22191823e+00] [-1.39213356e-03 1.00997816e-04 9.99999026e-01 -2.60053592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.305898227 meters 0.08052966781873287 Centerline is valid? [True, True] Translation: X:225.74, Y:9.22, Z:-2.60 [[ 9.83375688e-01 -1.81560129e-01 2.85935481e-03 2.25744951e+02] [ 1.81559990e-01 9.83379822e-01 3.10342481e-04 9.22318510e+00] [-2.86817765e-03 2.13961179e-04 9.99995864e-01 -2.59816981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.335898227 meters 0.09163777908784161 Centerline is valid? [True, True] Translation: X:225.77, Y:9.21, Z:-2.60 [[ 9.83351175e-01 -1.81696773e-01 2.59808930e-03 2.25774330e+02] [ 1.81696659e-01 9.83354587e-01 2.81871099e-04 9.21278824e+00] [-2.60605810e-03 1.94885870e-04 9.99996585e-01 -2.59896688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.365898227 meters 0.07522672503486702 Centerline is valid? [True, True] Translation: X:225.80, Y:9.24, Z:-2.60 [[ 9.83401827e-01 -1.81427575e-01 2.20965404e-03 2.25800350e+02] [ 1.81427492e-01 9.83404295e-01 2.39493005e-04 9.23836275e+00] [-2.21643391e-03 1.65374132e-04 9.99997530e-01 -2.59846212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.395898227 meters 0.08696044447128279 Centerline is valid? [True, True] Translation: X:225.83, Y:9.23, Z:-2.60 [[ 9.83625927e-01 -1.80213631e-01 1.75598215e-03 2.25830937e+02] [ 1.80213576e-01 9.83627486e-01 1.90908479e-04 9.22784812e+00] [-1.76163662e-03 1.28669293e-04 9.99998440e-01 -2.59932084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.425898227 meters 0.08023073950978636 Centerline is valid? [True, True] Translation: X:225.86, Y:9.24, Z:-2.60 [[ 9.83923485e-01 -1.78579698e-01 1.96656396e-03 2.25860069e+02] [ 1.78579625e-01 9.83925440e-01 2.13900013e-04 9.24156419e+00] [-1.97315051e-03 1.40727008e-04 9.99998043e-01 -2.59867378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.455898227 meters 0.07249004392603343 Centerline is valid? [True, True] Translation: X:225.89, Y:9.26, Z:-2.60 [[ 9.84751136e-01 -1.73944136e-01 2.93913781e-03 2.25888252e+02] [ 1.73943953e-01 9.84755502e-01 3.19763656e-04 9.25998592e+00] [-2.94995314e-03 1.96357626e-04 9.99995630e-01 -2.59734277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.485898227 meters 0.07931266401378914 Centerline is valid? [True, True] Translation: X:225.92, Y:9.26, Z:-2.60 [[ 9.85205388e-01 -1.71356106e-01 2.72562899e-03 2.25918048e+02] [ 1.71355939e-01 9.85209142e-01 2.96515532e-04 9.25805990e+00] [-2.73612435e-03 1.74924014e-04 9.99996242e-01 -2.59778159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.515898227 meters 0.06417475107903871 Centerline is valid? [True, True] Translation: X:225.95, Y:9.28, Z:-2.60 [[ 9.85583836e-01 -1.69170066e-01 2.44776696e-03 2.25945264e+02] [ 1.69169925e-01 9.85586864e-01 2.66320383e-04 9.28487082e+00] [-2.45754040e-03 1.51607488e-04 9.99996969e-01 -2.59780632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.545898227 meters 0.06074733427246534 Centerline is valid? [True, True] Translation: X:225.97, Y:9.30, Z:-2.60 [[ 9.85789835e-01 -1.67972354e-01 1.92076664e-03 2.25973304e+02] [ 1.67972265e-01 9.85791699e-01 2.08529837e-04 9.29636567e+00] [-1.92850306e-03 1.17068930e-04 9.99998134e-01 -2.59921042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.575898227 meters 0.06129109269687523 Centerline is valid? [True, True] Translation: X:226.00, Y:9.30, Z:-2.60 [[ 9.85810802e-01 -1.67856517e-01 1.11900693e-03 2.26000539e+02] [ 1.67856487e-01 9.85811435e-01 1.21709534e-04 9.30218637e+00] [-1.12355956e-03 6.78499977e-05 9.99999367e-01 -2.60089516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.605898227 meters 0.06707540821490018 Centerline is valid? [True, True] Translation: X:226.03, Y:9.30, Z:-2.60 [[ 9.85029652e-01 -1.72379982e-01 1.31399826e-03 2.26029726e+02] [ 1.72379944e-01 9.85030525e-01 1.43187351e-04 9.30463203e+00] [-1.31901102e-03 8.54631591e-05 9.99999126e-01 -2.60117585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.635898227 meters 0.07405051052182848 Centerline is valid? [True, True] Translation: X:226.06, Y:9.30, Z:-2.60 [[ 9.84435868e-01 -1.75737669e-01 1.51439691e-03 2.26059805e+02] [ 1.75737622e-01 9.84437027e-01 1.65145448e-04 9.30213213e+00] [-1.51985067e-03 1.03561410e-04 9.99998840e-01 -2.60110396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.66589822699999 meters 0.07862924139477499 Centerline is valid? [True, True] Translation: X:226.09, Y:9.30, Z:-2.60 [[ 9.83777811e-01 -1.79388935e-01 9.09897317e-04 2.26089797e+02] [ 1.79388920e-01 9.83778230e-01 9.91965685e-05 9.30212579e+00] [-9.12931939e-04 6.56381136e-05 9.99999581e-01 -2.60188519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.695898227 meters 0.0822263433366246 Centerline is valid? [True, True] Translation: X:226.12, Y:9.30, Z:-2.60 [[ 9.83061451e-01 -1.83276242e-01 4.49243637e-05 2.26120148e+02] [ 1.83276242e-01 9.83061452e-01 4.84071549e-06 9.30340474e+00] [-4.50505984e-05 3.47484777e-06 9.99999999e-01 -2.60406210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.725898227 meters 0.08740343015218502 Centerline is valid? [True, True] Translation: X:226.15, Y:9.30, Z:-2.61 [[ 9.81950957e-01 -1.89129980e-01 -1.47273770e-03 2.26150012e+02] [ 1.89129950e-01 9.81952054e-01 -1.60690791e-04 9.30499014e+00] [ 1.47654925e-03 -1.20748332e-04 9.99998903e-01 -2.60604038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.755898227 meters 0.09114572383467563 Centerline is valid? [True, True] Translation: X:226.18, Y:9.31, Z:-2.61 [[ 9.81612436e-01 -1.90882357e-01 -9.75459679e-04 2.26179027e+02] [ 1.90882345e-01 9.81612917e-01 -1.06486500e-04 9.30781789e+00] [ 9.77850215e-04 -8.16695578e-05 9.99999519e-01 -2.60552105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.785898227 meters 0.09232434340095545 Centerline is valid? [True, True] Translation: X:226.21, Y:9.31, Z:-2.60 [[ 9.81577765e-01 -1.91063030e-01 1.02026943e-04 2.26205821e+02] [ 1.91063030e-01 9.81577770e-01 1.05188084e-05 9.30978127e+00] [-1.02157134e-04 9.16854837e-06 9.99999995e-01 -2.60303382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.815898227 meters 0.0917558929635397 Centerline is valid? [True, True] Translation: X:226.23, Y:9.32, Z:-2.60 [[ 9.81631702e-01 -1.90782075e-01 1.18374670e-03 2.26234739e+02] [ 1.90782058e-01 9.81632411e-01 1.28717830e-04 9.31514234e+00] [-1.18656118e-03 9.94841287e-05 9.99999291e-01 -2.60093920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.845898227 meters 0.08688401027472224 Centerline is valid? [True, True] Translation: X:226.26, Y:9.33, Z:-2.60 [[ 9.81697906e-01 -1.90435923e-01 1.83861654e-03 2.26262614e+02] [ 1.90435879e-01 9.81699616e-01 2.00546691e-04 9.32568231e+00] [-1.84316045e-03 1.53262290e-04 9.99998290e-01 -2.59990681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.875898227 meters 0.08554634848401353 Centerline is valid? [True, True] Translation: X:226.29, Y:9.33, Z:-2.60 [[ 9.81896821e-01 -1.89405284e-01 2.06694304e-03 2.26292133e+02] [ 1.89405224e-01 9.81898981e-01 2.26333274e-04 9.33139968e+00] [-2.07239798e-03 1.69253887e-04 9.99997838e-01 -2.59931481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.905898227 meters 0.09014446527295043 Centerline is valid? [True, True] Translation: X:226.32, Y:9.33, Z:-2.60 [[ 9.82489565e-01 -1.86305205e-01 2.15075030e-03 2.26321592e+02] [ 1.86305133e-01 9.82491904e-01 2.35513178e-04 9.33024930e+00] [-2.15697208e-03 1.69306580e-04 9.99997659e-01 -2.59862287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.935898227 meters 0.07803708559371238 Centerline is valid? [True, True] Translation: X:226.35, Y:9.35, Z:-2.60 [[ 9.82922839e-01 -1.84002881e-01 2.37313206e-03 2.26349932e+02] [ 1.84002787e-01 9.82925687e-01 2.59966273e-04 9.35490082e+00] [-2.38044701e-03 1.81136126e-04 9.99997150e-01 -2.59840643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.965898227 meters 0.07108785007429833 Centerline is valid? [True, True] Translation: X:226.38, Y:9.36, Z:-2.60 [[ 9.83540003e-01 -1.80672201e-01 2.57272175e-03 2.26379577e+02] [ 1.80672079e-01 9.83543350e-01 2.81823539e-04 9.36171118e+00] [-2.58130105e-03 1.87634262e-04 9.99996651e-01 -2.59732877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.995898227 meters 0.06979201425462124 Centerline is valid? [True, True] Translation: X:226.41, Y:9.37, Z:-2.60 [[ 9.84133221e-01 -1.77400791e-01 3.28059559e-03 2.26408416e+02] [ 1.77400574e-01 9.84138663e-01 3.59376610e-04 9.36672823e+00] [-3.29231465e-03 2.28305079e-04 9.99994554e-01 -2.59653578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.025898227 meters 0.06408028725478014 Centerline is valid? [True, True] Translation: X:226.44, Y:9.38, Z:-2.59 [[ 9.85283746e-01 -1.70847091e-01 5.21637702e-03 2.26437434e+02] [ 1.70846450e-01 9.85297500e-01 5.71602187e-04 9.37791951e+00] [-5.23733981e-03 3.28009152e-04 9.99986231e-01 -2.59398841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.055898227 meters 0.06789347431223984 Centerline is valid? [True, True] Translation: X:226.47, Y:9.38, Z:-2.59 [[ 9.85792489e-01 -1.67877187e-01 5.51538432e-03 2.26467002e+02] [ 1.67876423e-01 9.85807862e-01 6.04406614e-04 9.37594466e+00] [-5.53857531e-03 3.30083493e-04 9.99984607e-01 -2.59301020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.085898227 meters 0.06012870318198038 Centerline is valid? [True, True] Translation: X:226.50, Y:9.39, Z:-2.59 [[ 9.86268297e-01 -1.65065138e-01 5.32415378e-03 2.26496557e+02] [ 1.65064385e-01 9.86282621e-01 5.83518647e-04 9.38861228e+00] [-5.34743893e-03 3.03322228e-04 9.99985656e-01 -2.59388525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.115898227 meters 0.05820715414897104 Centerline is valid? [True, True] Translation: X:226.53, Y:9.39, Z:-2.60 [[ 9.86691329e-01 -1.62537057e-01 4.68253183e-03 2.26525773e+02] [ 1.62536446e-01 9.86702407e-01 5.13196413e-04 9.39353561e+00] [-4.70367886e-03 2.54715633e-04 9.99988905e-01 -2.59537286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.145898227 meters 0.051505735312745785 Centerline is valid? [True, True] Translation: X:226.55, Y:9.40, Z:-2.60 [[ 9.87116630e-01 -1.59958577e-01 3.74327641e-03 2.26554876e+02] [ 1.59958168e-01 9.87123709e-01 4.10331074e-04 9.40455326e+00] [-3.76071287e-03 1.93723009e-04 9.99992910e-01 -2.59667349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.175898227 meters 0.05336547514919316 Centerline is valid? [True, True] Translation: X:226.58, Y:9.40, Z:-2.60 [[ 9.87536936e-01 -1.57346923e-01 3.57004293e-03 2.26584023e+02] [ 1.57346534e-01 9.87543374e-01 3.91361568e-04 9.40492111e+00] [-3.58715178e-03 1.75249878e-04 9.99993551e-01 -2.59754687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.205898227 meters 0.04734251846208936 Centerline is valid? [True, True] Translation: X:226.61, Y:9.41, Z:-2.60 [[ 9.88536664e-01 -1.50920828e-01 4.26224231e-03 2.26613673e+02] [ 1.50920213e-01 9.88545836e-01 4.67389272e-04 9.41494797e+00] [-4.28396067e-03 1.81227086e-04 9.99990807e-01 -2.59667389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.235898227 meters 0.04429861426824087 Centerline is valid? [True, True] Translation: X:226.64, Y:9.42, Z:-2.60 [[ 9.89100281e-01 -1.47181478e-01 4.27171650e-03 2.26642535e+02] [ 1.47180825e-01 9.89109491e-01 4.68408273e-04 9.42146694e+00] [-4.29413635e-03 1.65412005e-04 9.99990766e-01 -2.59699198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.265898227 meters 0.040613832687556764 Centerline is valid? [True, True] Translation: X:226.67, Y:9.43, Z:-2.60 [[ 9.89646343e-01 -1.43481438e-01 3.63218273e-03 2.26671481e+02] [ 1.43480941e-01 9.89653000e-01 3.98308560e-04 9.42850819e+00] [-3.65175042e-03 1.26964387e-04 9.99993324e-01 -2.59900380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.295898227 meters 0.03751169699499687 Centerline is valid? [True, True] Translation: X:226.70, Y:9.43, Z:-2.60 [[ 9.90106425e-01 -1.40288685e-01 2.89005906e-03 2.26700589e+02] [ 1.40288357e-01 9.90110639e-01 3.16966395e-04 9.43463116e+00] [-2.90594502e-03 9.16111716e-05 9.99995774e-01 -2.60103647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.325898227 meters 0.03431687926192461 Centerline is valid? [True, True] Translation: X:226.73, Y:9.45, Z:-2.60 [[ 9.90490611e-01 -1.37562700e-01 2.20285399e-03 2.26730695e+02] [ 1.37562502e-01 9.90493059e-01 2.41693850e-04 9.44509822e+00] [-2.21515964e-03 6.36346181e-05 9.99997545e-01 -2.60342014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.355898227 meters 0.027416387374661275 Centerline is valid? [True, True] Translation: X:226.76, Y:9.45, Z:-2.60 [[ 9.91141926e-01 -1.32781258e-01 2.61134545e-03 2.26760034e+02] [ 1.32780963e-01 9.91145365e-01 2.86519212e-04 9.45117880e+00] [-2.62626732e-03 6.27557617e-05 9.99996549e-01 -2.60198194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.385898227 meters 0.028008079874982238 Centerline is valid? [True, True] Translation: X:226.79, Y:9.45, Z:-2.60 [[ 9.91412525e-01 -1.30720569e-01 3.65206530e-03 2.26789980e+02] [ 1.30719979e-01 9.91419249e-01 4.00641738e-04 9.45259150e+00] [-3.67309995e-03 8.01966630e-05 9.99993251e-01 -2.60035867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41589822699999 meters 0.023175053037230307 Centerline is valid? [True, True] Translation: X:226.82, Y:9.46, Z:-2.60 [[ 9.91715237e-01 -1.28390857e-01 4.08356194e-03 2.26821083e+02] [ 1.28390101e-01 9.91723642e-01 4.48017090e-04 9.46177322e+00] [-4.10728622e-03 7.99835537e-05 9.99991562e-01 -2.59874859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.445898227 meters 0.02301706186012296 Centerline is valid? [True, True] Translation: X:226.85, Y:9.46, Z:-2.60 [[ 9.92033611e-01 -1.25903041e-01 4.21178886e-03 2.26851113e+02] [ 1.25902215e-01 9.92042549e-01 4.61910276e-04 9.46497031e+00] [-4.23642967e-03 7.20430259e-05 9.99991024e-01 -2.59855989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.475898227 meters 0.019925609370090677 Centerline is valid? [True, True] Translation: X:226.88, Y:9.47, Z:-2.60 [[ 9.92395622e-01 -1.23015855e-01 4.24611957e-03 2.26881474e+02] [ 1.23014988e-01 9.92404704e-01 4.65625530e-04 9.47316074e+00] [-4.27114836e-03 6.02516109e-05 9.99990877e-01 -2.59839340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.505898227 meters 0.015454263601854111 Centerline is valid? [True, True] Translation: X:226.91, Y:9.48, Z:-2.60 [[ 9.92812106e-01 -1.19592215e-01 4.67167125e-03 2.26911813e+02] [ 1.19591128e-01 9.92823096e-01 5.12241074e-04 9.48395081e+00] [-4.69940316e-03 5.01312974e-05 9.99988956e-01 -2.59753778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.535898227 meters 0.011007961604331191 Centerline is valid? [True, True] Translation: X:226.94, Y:9.50, Z:-2.60 [[ 9.93558137e-01 -1.13164047e-01 6.01057941e-03 2.26942328e+02] [ 1.13162132e-01 9.93576317e-01 6.58860705e-04 9.49649848e+00] [-6.04652870e-03 2.55535651e-05 9.99981719e-01 -2.59569810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.565898227 meters 0.00996438981714702 Centerline is valid? [True, True] Translation: X:226.97, Y:9.50, Z:-2.60 [[ 9.93787889e-01 -1.11082078e-01 6.81202122e-03 2.26974090e+02] [ 1.11079571e-01 9.93811235e-01 7.46370252e-04 9.50381583e+00] [-6.85277158e-03 1.49426793e-05 9.99976519e-01 -2.59549789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.595898227 meters 0.00969364471531248 Centerline is valid? [True, True] Translation: X:227.01, Y:9.51, Z:-2.60 [[ 9.93940597e-01 -1.09713524e-01 6.71060382e-03 2.27006313e+02] [ 1.09711062e-01 9.93963250e-01 7.34958166e-04 9.50908359e+00] [-6.75072843e-03 5.72271637e-06 9.99977214e-01 -2.59538136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.625898227 meters 0.009672828920079786 Centerline is valid? [True, True] Translation: X:227.04, Y:9.51, Z:-2.60 [[ 9.94046745e-01 -1.08761144e-01 6.48706352e-03 2.27038110e+02] [ 1.08758825e-01 9.94067912e-01 7.10191039e-04 9.51345124e+00] [-6.52582288e-03 -4.37681168e-07 9.99978707e-01 -2.59674782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.655898227 meters 0.009619449877296932 Centerline is valid? [True, True] Translation: X:227.07, Y:9.52, Z:-2.60 [[ 9.94157692e-01 -1.07793020e-01 5.58110729e-03 2.27070098e+02] [ 1.07791290e-01 9.94173357e-01 6.10789365e-04 9.51679188e+00] [-5.61442700e-03 -5.62619007e-06 9.99984239e-01 -2.59918563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.685898227 meters 0.014409988026733286 Centerline is valid? [True, True] Translation: X:227.10, Y:9.52, Z:-2.60 [[ 9.94262948e-01 -1.06852315e-01 4.87585376e-03 2.27100909e+02] [ 1.06850984e-01 9.94274903e-01 5.33402134e-04 9.52042054e+00] [-4.90493427e-03 -9.35220648e-06 9.99987971e-01 -2.60124628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.715898227 meters 0.010753917737609637 Centerline is valid? [True, True] Translation: X:227.13, Y:9.53, Z:-2.60 [[ 9.94565727e-01 -1.03970546e-01 5.39821539e-03 2.27132727e+02] [ 1.03968873e-01 9.94580376e-01 5.90332381e-04 9.52531149e+00] [-5.43033627e-03 -2.58779838e-05 9.99985255e-01 -2.60009750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.745898227 meters 0.012174392705564337 Centerline is valid? [True, True] Translation: X:227.16, Y:9.53, Z:-2.60 [[ 9.94716066e-01 -1.02510289e-01 5.62043321e-03 2.27163024e+02] [ 1.02508454e-01 9.94731944e-01 6.14356615e-04 9.53152690e+00] [-5.65380232e-03 -3.49684784e-05 9.99984017e-01 -2.59966082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.775898227 meters 0.01245991823071093 Centerline is valid? [True, True] Translation: X:227.20, Y:9.53, Z:-2.60 [[ 9.94862452e-01 -1.01112450e-01 4.99750345e-03 2.27195325e+02] [ 1.01110982e-01 9.94875003e-01 5.46056244e-04 9.53450154e+00] [-5.02710434e-03 -3.79483714e-05 9.99987363e-01 -2.60060801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.805898227 meters 0.014663059498224114 Centerline is valid? [True, True] Translation: X:227.23, Y:9.54, Z:-2.60 [[ 9.95002232e-01 -9.97441718e-02 4.65393446e-03 2.27226195e+02] [ 9.97428852e-02 9.95013115e-01 5.08327704e-04 9.53994001e+00] [-4.68142855e-03 -4.15903492e-05 9.99989041e-01 -2.60242562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.835898227 meters 0.016931643007324984 Centerline is valid? [True, True] Translation: X:227.26, Y:9.54, Z:-2.60 [[ 9.95228948e-01 -9.74605090e-02 4.55961398e-03 2.27258028e+02] [ 9.74592517e-02 9.95239392e-01 4.97666886e-04 9.54193417e+00] [-4.58641032e-03 -5.09159247e-05 9.99989481e-01 -2.60354878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.865898227 meters 0.01617570259782685 Centerline is valid? [True, True] Translation: X:227.29, Y:9.54, Z:-2.60 [[ 9.95288611e-01 -9.68160404e-02 5.21868351e-03 2.27290164e+02] [ 9.68143858e-02 9.95302291e-01 5.69340943e-04 9.54204348e+00] [-5.24928899e-03 -6.14149179e-05 9.99986221e-01 -2.60288389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.895898227 meters 0.018098119946517544 Centerline is valid? [True, True] Translation: X:227.32, Y:9.55, Z:-2.60 [[ 9.95309698e-01 -9.65828163e-02 5.51046786e-03 2.27321024e+02] [ 9.65809695e-02 9.95324950e-01 6.00906230e-04 9.54611042e+00] [-5.54274337e-03 -6.58814698e-05 9.99984637e-01 -2.60226490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.925898227 meters 0.01646118472667998 Centerline is valid? [True, True] Translation: X:227.35, Y:9.54, Z:-2.60 [[ 9.95313974e-01 -9.65230289e-02 5.77910388e-03 2.27353784e+02] [ 9.65209978e-02 9.95330749e-01 6.29982978e-04 9.54441431e+00] [-5.81292766e-03 -6.92259890e-05 9.99983102e-01 -2.60208129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.955898227 meters 0.016062347570089425 Centerline is valid? [True, True] Translation: X:227.39, Y:9.54, Z:-2.60 [[ 9.95270231e-01 -9.69544817e-02 6.08239606e-03 2.27385342e+02] [ 9.69522417e-02 9.95288814e-01 6.62758734e-04 9.54402198e+00] [-6.11799819e-03 -6.99221056e-05 9.99981282e-01 -2.60180799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.985898227 meters 0.01647220031184647 Centerline is valid? [True, True] Translation: X:227.42, Y:9.54, Z:-2.60 [[ 9.95286754e-01 -9.68107422e-02 5.65315374e-03 2.27416572e+02] [ 9.68088059e-02 9.95302806e-01 6.15803333e-04 9.54105744e+00] [-5.68621616e-03 -6.56258372e-05 9.99983831e-01 -2.60251046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.015898227 meters 0.01647220031184647 Centerline is valid? [True, True] Translation: X:227.45, Y:9.54, Z:-2.60 [[ 9.95291118e-01 -9.67658654e-02 5.65317525e-03 2.27448077e+02] [ 9.67639295e-02 9.95307170e-01 6.15605810e-04 9.54439684e+00] [-5.68621549e-03 -6.56835435e-05 9.99983831e-01 -2.60267638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.045898227 meters 0.017532801972528808 Centerline is valid? [True, True] Translation: X:227.48, Y:9.55, Z:-2.60 [[ 9.95382049e-01 -9.58557515e-02 5.12360211e-03 2.27479171e+02] [ 9.58541504e-02 9.95395233e-01 5.57725169e-04 9.54651092e+00] [-5.15347028e-03 -6.40310950e-05 9.99986719e-01 -2.60352273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.075898227 meters 0.01857429868585033 Centerline is valid? [True, True] Translation: X:227.51, Y:9.55, Z:-2.60 [[ 9.95489595e-01 -9.47340585e-02 5.09157535e-03 2.27511108e+02] [ 9.47324635e-02 9.95502613e-01 5.54067837e-04 9.54887686e+00] [-5.12116566e-03 -6.92312912e-05 9.99986884e-01 -2.60360691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.105898227 meters 0.01923025488630822 Centerline is valid? [True, True] Translation: X:227.54, Y:9.55, Z:-2.60 [[ 9.95612199e-01 -9.34116024e-02 5.53363972e-03 2.27543521e+02] [ 9.34096995e-02 9.95627574e-01 6.01900348e-04 9.55089963e+00] [-5.56566877e-03 -8.23637057e-05 9.99984508e-01 -2.60302826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.135898227 meters 0.02069473694042657 Centerline is valid? [True, True] Translation: X:227.58, Y:9.55, Z:-2.60 [[ 9.95735246e-01 -9.20550801e-02 6.09766432e-03 2.27575565e+02] [ 9.20527460e-02 9.95753912e-01 6.62939812e-04 9.55392273e+00] [-6.13280008e-03 -9.88057926e-05 9.99981189e-01 -2.60225188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16589822699999 meters 0.028562361499574432 Centerline is valid? [True, True] Translation: X:227.61, Y:9.56, Z:-2.60 [[ 9.95851738e-01 -9.07463456e-02 6.66461297e-03 2.27607708e+02] [ 9.07435302e-02 9.95874032e-01 7.24244705e-04 9.55719267e+00] [-6.70283755e-03 -1.16469840e-04 9.99977529e-01 -2.60259031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.195898227 meters 0.027205286315216622 Centerline is valid? [True, True] Translation: X:227.64, Y:9.56, Z:-2.60 [[ 9.96153059e-01 -8.73694955e-02 6.75673929e-03 2.27638358e+02] [ 8.73665266e-02 9.96175964e-01 7.33884123e-04 9.56107252e+00] [-6.79502036e-03 -1.40748071e-04 9.99976904e-01 -2.60142448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.225898227 meters 0.026692869657534337 Centerline is valid? [True, True] Translation: X:227.67, Y:9.56, Z:-2.60 [[ 9.96279347e-01 -8.59365191e-02 6.50983466e-03 2.27670913e+02] [ 8.59337357e-02 9.96300604e-01 7.06597999e-04 9.56064318e+00] [-6.54647478e-03 -1.44554582e-04 9.99978561e-01 -2.60234686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.255898227 meters 0.026891890699838578 Centerline is valid? [True, True] Translation: X:227.70, Y:9.56, Z:-2.60 [[ 9.96388697e-01 -8.46698856e-02 6.36979722e-03 2.27702740e+02] [ 8.46671966e-02 9.96409047e-01 6.91112680e-04 9.56115291e+00] [-6.40544000e-03 -1.49303989e-04 9.99979474e-01 -2.60286198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.285898227 meters 0.029294448288731737 Centerline is valid? [True, True] Translation: X:227.73, Y:9.56, Z:-2.60 [[ 9.96503245e-01 -8.33600584e-02 5.69061429e-03 2.27733784e+02] [ 8.33578920e-02 9.96519483e-01 6.17234031e-04 9.56463937e+00] [-5.72226068e-03 -1.40718104e-04 9.99983618e-01 -2.60381938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.315898227 meters 0.029317991567308233 Centerline is valid? [True, True] Translation: X:227.77, Y:9.56, Z:-2.61 [[ 9.96641639e-01 -8.17038166e-02 5.47088395e-03 2.27766456e+02] [ 8.17017904e-02 9.96656644e-01 5.93205470e-04 9.56483594e+00] [-5.50105998e-03 -1.44232258e-04 9.99984859e-01 -2.60519850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.345898227 meters 0.0337235689776874 Centerline is valid? [True, True] Translation: X:227.80, Y:9.57, Z:-2.61 [[ 9.96769767e-01 -8.01549331e-02 5.02174021e-03 2.27797391e+02] [ 8.01532074e-02 9.96782407e-01 5.44276749e-04 9.57066401e+00] [-5.04920876e-03 -1.40010024e-04 9.99987243e-01 -2.60569530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.375898227 meters 0.03661965774905533 Centerline is valid? [True, True] Translation: X:227.83, Y:9.57, Z:-2.60 [[ 9.97085835e-01 -7.60832841e-02 5.58312618e-03 2.27828904e+02] [ 7.60810886e-02 9.97101450e-01 6.04899818e-04 9.57092174e+00] [-5.61296598e-03 -1.78366723e-04 9.99984231e-01 -2.60397571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.405898227 meters 0.03735037748329602 Centerline is valid? [True, True] Translation: X:227.86, Y:9.57, Z:-2.60 [[ 9.97258390e-01 -7.37917931e-02 5.52048849e-03 2.27860912e+02] [ 7.37896122e-02 9.97273651e-01 5.97977557e-04 9.57044987e+00] [-5.54956355e-03 -1.88983430e-04 9.99984583e-01 -2.60438335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.435898227 meters 0.04035940445379725 Centerline is valid? [True, True] Translation: X:227.89, Y:9.58, Z:-2.60 [[ 9.97471555e-01 -7.08334976e-02 5.75441068e-03 2.27891012e+02] [ 7.08310801e-02 9.97488130e-01 6.23093482e-04 9.57540304e+00] [-5.78409224e-03 -2.13926900e-04 9.99983249e-01 -2.60482765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.465898227 meters 0.04302283037939221 Centerline is valid? [True, True] Translation: X:227.92, Y:9.58, Z:-2.61 [[ 9.97660249e-01 -6.81494510e-02 5.44783952e-03 2.27921633e+02] [ 6.81472451e-02 9.97675100e-01 5.89736918e-04 9.57873535e+00] [-5.47536409e-03 -2.17101825e-04 9.99984987e-01 -2.60545560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.495898227 meters 0.04463306291194047 Centerline is valid? [True, True] Translation: X:227.95, Y:9.58, Z:-2.61 [[ 9.97804961e-01 -6.60246463e-02 5.09950669e-03 2.27952746e+02] [ 6.60226860e-02 9.97817970e-01 5.51972293e-04 9.58087898e+00] [-5.12482319e-03 -2.14077563e-04 9.99986845e-01 -2.60639510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.525898227 meters 0.0528861988853541 Centerline is valid? [True, True] Translation: X:227.98, Y:9.58, Z:-2.61 [[ 9.98013372e-01 -6.28578465e-02 4.26627053e-03 2.27982853e+02] [ 6.28564461e-02 9.98022472e-01 4.61675371e-04 9.58350041e+00] [-4.28685378e-03 -1.92595590e-04 9.99990793e-01 -2.60883342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.555898227 meters 0.05165363827812166 Centerline is valid? [True, True] Translation: X:228.01, Y:9.59, Z:-2.61 [[ 9.98087171e-01 -6.16756271e-02 4.25623138e-03 2.28013645e+02] [ 6.16742224e-02 9.98096227e-01 4.60611944e-04 9.58528096e+00] [-4.27653701e-03 -1.97231112e-04 9.99990836e-01 -2.60877610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.585898227 meters 0.052418365971270565 Centerline is valid? [True, True] Translation: X:228.05, Y:9.59, Z:-2.61 [[ 9.98117286e-01 -6.12024282e-02 4.01821513e-03 2.28046338e+02] [ 6.12011727e-02 9.98125357e-01 4.34791613e-04 9.58570454e+00] [-4.03729271e-03 -1.88053547e-04 9.99991832e-01 -2.60919776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.615898227 meters 0.052081017544911096 Centerline is valid? [True, True] Translation: X:228.08, Y:9.58, Z:-2.61 [[ 9.98127968e-01 -6.10080761e-02 4.30972685e-03 2.28078775e+02] [ 6.10066310e-02 9.98137252e-01 4.66111945e-04 9.58412074e+00] [-4.33013551e-03 -2.02317453e-04 9.99990604e-01 -2.60921652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.645898227 meters 0.05780557947965436 Centerline is valid? [True, True] Translation: X:228.11, Y:9.59, Z:-2.61 [[ 9.98132017e-01 -6.09239300e-02 4.55535937e-03 2.28109235e+02] [ 6.09223156e-02 9.98142389e-01 4.92466489e-04 9.58985234e+00] [-4.57690028e-03 -2.14023529e-04 9.99989503e-01 -2.60957770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.675898227 meters 0.05248149375929734 Centerline is valid? [True, True] Translation: X:228.14, Y:9.58, Z:-2.61 [[ 9.98110991e-01 -6.12473806e-02 4.81746832e-03 2.28142697e+02] [ 6.12455808e-02 9.98122592e-01 5.20378905e-04 9.58153013e+00] [-4.84029581e-03 -2.24347259e-04 9.99988261e-01 -2.60975429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.705898227 meters 0.051875038810961775 Centerline is valid? [True, True] Translation: X:228.18, Y:9.57, Z:-2.61 [[ 9.98078089e-01 -6.18132599e-02 4.38746201e-03 2.28175621e+02] [ 6.18117734e-02 9.98087712e-01 4.73745088e-04 9.57460911e+00] [-4.40835564e-03 -2.01637784e-04 9.99990263e-01 -2.61088943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.735898227 meters 0.05156486146959905 Centerline is valid? [True, True] Translation: X:228.21, Y:9.57, Z:-2.61 [[ 9.98065151e-01 -6.20049593e-02 4.61945571e-03 2.28207847e+02] [ 6.20033145e-02 9.98075819e-01 4.98564959e-04 9.57322922e+00] [-4.64148054e-03 -2.11178745e-04 9.99989206e-01 -2.61072696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.765898227 meters 0.052837948401488526 Centerline is valid? [True, True] Translation: X:228.24, Y:9.57, Z:-2.61 [[ 9.98057315e-01 -6.20968061e-02 5.05800191e-03 2.28239039e+02] [ 6.20948366e-02 9.98070105e-01 5.45635475e-04 9.57420232e+00] [-5.08212272e-03 -2.30499675e-04 9.99987059e-01 -2.61001721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.795898227 meters 0.05305671692191801 Centerline is valid? [True, True] Translation: X:228.27, Y:9.57, Z:-2.61 [[ 9.98083062e-01 -6.16880989e-02 4.97787798e-03 2.28270992e+02] [ 6.16861874e-02 9.98095449e-01 5.36770067e-04 9.57342216e+00] [-5.00150969e-03 -2.28674798e-04 9.99987466e-01 -2.60978602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.825898227 meters 0.05108000149986161 Centerline is valid? [True, True] Translation: X:228.30, Y:9.57, Z:-2.61 [[ 9.98127013e-01 -6.09794341e-02 4.89635371e-03 2.28303857e+02] [ 6.09775780e-02 9.98138997e-01 5.27610901e-04 9.56978111e+00] [-4.91941500e-03 -2.28054903e-04 9.99987874e-01 -2.61075338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.855898227 meters 0.04914473258663141 Centerline is valid? [True, True] Translation: X:228.34, Y:9.57, Z:-2.61 [[ 9.98192162e-01 -5.99171936e-02 4.72633447e-03 2.28335719e+02] [ 5.99154534e-02 9.98203326e-01 5.09061902e-04 9.56602540e+00] [-4.74834435e-03 -2.24961128e-04 9.99988701e-01 -2.61126730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.885898227 meters 0.058378904656634346 Centerline is valid? [True, True] Translation: X:228.37, Y:9.57, Z:-2.61 [[ 9.98385493e-01 -5.65160698e-02 5.68687195e-03 2.28365118e+02] [ 5.65134962e-02 9.98401648e-01 6.12369564e-04 9.56767058e+00] [-5.71239104e-03 -2.89995873e-04 9.99983642e-01 -2.61068123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91589822699999 meters 0.0655785774634408 Centerline is valid? [True, True] Translation: X:228.39, Y:9.58, Z:-2.61 [[ 9.98541878e-01 -5.36822908e-02 5.68599485e-03 2.28393685e+02] [ 5.36796718e-02 9.98558019e-01 6.12324114e-04 9.58407575e+00] [-5.71066672e-03 -3.06208933e-04 9.99983647e-01 -2.60968745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.945898227 meters 0.06775925795400513 Centerline is valid? [True, True] Translation: X:228.42, Y:9.59, Z:-2.61 [[ 9.98684599e-01 -5.09700324e-02 5.57922453e-03 2.28423680e+02] [ 5.09674687e-02 9.98700133e-01 6.00825542e-04 9.58851164e+00] [-5.60259638e-03 -3.15676264e-04 9.99984256e-01 -2.60972727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.975898227 meters 0.07046817409541878 Centerline is valid? [True, True] Translation: X:228.45, Y:9.59, Z:-2.61 [[ 9.98849096e-01 -4.76732010e-02 5.26784723e-03 2.28453840e+02] [ 4.76708698e-02 9.98862937e-01 5.67276648e-04 9.59403240e+00] [-5.28890125e-03 -3.15500907e-04 9.99985964e-01 -2.61107481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.005898227 meters 0.07645534623929776 Centerline is valid? [True, True] Translation: X:228.48, Y:9.60, Z:-2.61 [[ 9.99008786e-01 -4.42046208e-02 5.23423561e-03 2.28482189e+02] [ 4.42022719e-02 9.99022443e-01 5.63647357e-04 9.60381217e+00] [-5.25403466e-03 -3.31723557e-04 9.99986142e-01 -2.61193078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.035898227 meters 0.07563086968124252 Centerline is valid? [True, True] Translation: X:228.51, Y:9.61, Z:-2.61 [[ 9.99146141e-01 -4.09567152e-02 5.43470580e-03 2.28512485e+02] [ 4.09541349e-02 9.99160856e-01 5.85285095e-04 9.60578857e+00] [-5.45411665e-03 -3.62211670e-04 9.99985061e-01 -2.61161706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.065898227 meters 0.0800829409377973 Centerline is valid? [True, True] Translation: X:228.54, Y:9.62, Z:-2.61 [[ 9.99404195e-01 -3.41148080e-02 5.23788699e-03 2.28541959e+02] [ 3.41123177e-02 9.99417846e-01 5.64078816e-04 9.61656840e+00] [-5.25408118e-03 -3.85066270e-04 9.99986123e-01 -2.61301353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.095898227 meters 0.0803118073663117 Centerline is valid? [True, True] Translation: X:228.57, Y:9.62, Z:-2.61 [[ 9.99490472e-01 -3.16295215e-02 4.28589617e-03 2.28571789e+02] [ 3.16278315e-02 9.99499608e-01 4.61544367e-04 9.62191701e+00] [-4.29834997e-03 -3.25755595e-04 9.99990709e-01 -2.61438385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.125898227 meters 0.08503056610085855 Centerline is valid? [True, True] Translation: X:228.60, Y:9.63, Z:-2.62 [[ 9.99541523e-01 -3.00696637e-02 3.54389392e-03 2.28600531e+02] [ 3.00684985e-02 9.99547768e-01 3.81629134e-04 9.63349261e+00] [-3.55376672e-03 -2.74894597e-04 9.99993648e-01 -2.61624977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.155898227 meters 0.08898022866367179 Centerline is valid? [True, True] Translation: X:228.63, Y:9.64, Z:-2.62 [[ 9.99543442e-01 -3.00280745e-02 3.34991261e-03 2.28630723e+02] [ 3.00270326e-02 9.99549022e-01 3.60883451e-04 9.64399851e+00] [-3.35923851e-03 -2.60130751e-04 9.99994324e-01 -2.61702765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.185898227 meters 0.07579334671172641 Centerline is valid? [True, True] Translation: X:228.66, Y:9.63, Z:-2.62 [[ 9.99501180e-01 -3.12715284e-02 4.41389453e-03 2.28663645e+02] [ 3.12697340e-02 9.99510869e-01 4.74994730e-04 9.63218855e+00] [-4.42658937e-03 -3.36736486e-04 9.99990146e-01 -2.61536449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.215898227 meters 0.08139828984175866 Centerline is valid? [True, True] Translation: X:228.69, Y:9.64, Z:-2.61 [[ 9.99429347e-01 -3.33147482e-02 5.57748211e-03 2.28692268e+02] [ 3.33119154e-02 9.99444824e-01 6.00053416e-04 9.64398910e+00] [-5.59437625e-03 -4.13914382e-04 9.99984266e-01 -2.61392233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.245898227 meters 0.0737445463400211 Centerline is valid? [True, True] Translation: X:228.72, Y:9.64, Z:-2.61 [[ 9.99176330e-01 -3.97275919e-02 8.26927929e-03 2.28723442e+02] [ 3.97215835e-02 9.99210390e-01 8.89630599e-04 9.63878110e+00] [-8.29809267e-03 -5.60428969e-04 9.99965413e-01 -2.60996153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.275898227 meters 0.07110636911241448 Centerline is valid? [True, True] Translation: X:228.75, Y:9.63, Z:-2.61 [[ 9.99023962e-01 -4.33827033e-02 8.31054769e-03 2.28754821e+02] [ 4.33767610e-02 9.99058385e-01 8.94038766e-04 9.63450683e+00] [-8.34150817e-03 -5.32681509e-04 9.99965067e-01 -2.61090414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.305898227 meters 0.06790032278459884 Centerline is valid? [True, True] Translation: X:228.78, Y:9.64, Z:-2.61 [[ 9.98914128e-01 -4.59547864e-02 7.66305115e-03 2.28784301e+02] [ 4.59498093e-02 9.98943410e-01 8.24396294e-04 9.63755527e+00] [-7.69283940e-03 -4.71385366e-04 9.99970299e-01 -2.61181882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.335898227 meters 0.0655124132562994 Centerline is valid? [True, True] Translation: X:228.82, Y:9.64, Z:-2.61 [[ 9.98815738e-01 -4.81660801e-02 6.86653492e-03 2.28815181e+02] [ 4.81621359e-02 9.98839258e-01 7.38702069e-04 9.63709440e+00] [-6.89414502e-03 -4.07120264e-04 9.99976152e-01 -2.61347018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.365898227 meters 0.06596582139439175 Centerline is valid? [True, True] Translation: X:228.85, Y:9.64, Z:-2.61 [[ 9.98740145e-01 -4.97952425e-02 6.20942590e-03 2.28846396e+02] [ 4.97920491e-02 9.98759383e-01 6.67915393e-04 9.63805686e+00] [-6.23498140e-03 -3.57893878e-04 9.99980498e-01 -2.61468872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.395898227 meters 0.06283359319951619 Centerline is valid? [True, True] Translation: X:228.88, Y:9.64, Z:-2.62 [[ 9.98679712e-01 -5.10529844e-02 5.69434248e-03 2.28878007e+02] [ 5.10503199e-02 9.98695895e-01 6.12387486e-04 9.63822866e+00] [-5.71818066e-03 -3.20880953e-04 9.99983600e-01 -2.61505814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.425898227 meters 0.06259864031077446 Centerline is valid? [True, True] Translation: X:228.91, Y:9.64, Z:-2.62 [[ 9.98582953e-01 -5.30330687e-02 4.42492554e-03 2.28908288e+02] [ 5.30314795e-02 9.98592728e-01 4.75775749e-04 9.63838033e+00] [-4.44393032e-03 -2.40441204e-04 9.99990097e-01 -2.61746723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.455898227 meters 0.06135631356267227 Centerline is valid? [True, True] Translation: X:228.94, Y:9.64, Z:-2.62 [[ 9.98563909e-01 -5.34058507e-02 4.23487034e-03 2.28940676e+02] [ 5.34043983e-02 9.98572863e-01 4.55385985e-04 9.63849410e+00] [-4.25314687e-03 -2.28571307e-04 9.99990929e-01 -2.61758136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.485898227 meters 0.06122072920039449 Centerline is valid? [True, True] Translation: X:228.97, Y:9.64, Z:-2.62 [[ 9.98556952e-01 -5.35084311e-02 4.56750485e-03 2.28972864e+02] [ 5.35067437e-02 9.98567367e-01 4.90923244e-04 9.63995494e+00] [-4.58722982e-03 -2.45822507e-04 9.99989448e-01 -2.61698303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.515898227 meters 0.0615967738838726 Centerline is valid? [True, True] Translation: X:229.00, Y:9.64, Z:-2.62 [[ 9.98589721e-01 -5.28341027e-02 5.20829661e-03 2.29004783e+02] [ 5.28319009e-02 9.98603263e-01 5.59520632e-04 9.64166443e+00] [-5.23058376e-03 -2.83567342e-04 9.99986280e-01 -2.61595608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.545898227 meters 0.05446624562119022 Centerline is valid? [True, True] Translation: X:229.04, Y:9.63, Z:-2.61 [[ 9.98620106e-01 -5.22024547e-02 5.72596658e-03 2.29037898e+02] [ 5.21997848e-02 9.98636473e-01 6.14842068e-04 9.63368709e+00] [-5.75025533e-03 -3.15099428e-04 9.99983418e-01 -2.61493689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.575898227 meters 0.05635678404576565 Centerline is valid? [True, True] Translation: X:229.07, Y:9.64, Z:-2.61 [[ 9.98662143e-01 -5.13128658e-02 6.39632341e-03 2.29069236e+02] [ 5.13095181e-02 9.98682563e-01 6.86491859e-04 9.63710339e+00] [-6.42312253e-03 -3.57381160e-04 9.99979308e-01 -2.61400686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.605898227 meters 0.06696108847331915 Centerline is valid? [True, True] Translation: X:229.10, Y:9.65, Z:-2.61 [[ 9.98752598e-01 -4.93368216e-02 7.68931139e-03 2.29098196e+02] [ 4.93319270e-02 9.98782099e-01 8.25032241e-04 9.64828952e+00] [-7.72065103e-03 -4.44674547e-04 9.99970096e-01 -2.61288967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.635898227 meters 0.06350646129406273 Centerline is valid? [True, True] Translation: X:229.13, Y:9.64, Z:-2.61 [[ 9.98779251e-01 -4.88622818e-02 7.24469572e-03 2.29131375e+02] [ 4.88579251e-02 9.98805436e-01 7.77231534e-04 9.64395100e+00] [-7.27401877e-03 -4.22321928e-04 9.99973455e-01 -2.61454409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66589822699999 meters 0.06414849639437542 Centerline is valid? [True, True] Translation: X:229.16, Y:9.64, Z:-2.62 [[ 9.98781529e-01 -4.89497779e-02 6.27508944e-03 2.29163175e+02] [ 4.89465128e-02 9.98801174e-01 6.72948810e-04 9.64487406e+00] [-6.30050739e-03 -3.64985096e-04 9.99980085e-01 -2.61678691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.695898227 meters 0.05892251963427168 Centerline is valid? [True, True] Translation: X:229.20, Y:9.64, Z:-2.62 [[ 9.98788883e-01 -4.88934955e-02 5.49485121e-03 2.29196749e+02] [ 4.88909923e-02 9.98803947e-01 5.89048816e-04 9.63736718e+00] [-5.51707973e-03 -3.19686680e-04 9.99984730e-01 -2.61838528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.725898227 meters 0.05968591110820593 Centerline is valid? [True, True] Translation: X:229.23, Y:9.64, Z:-2.62 [[ 9.98784947e-01 -4.89545377e-02 5.66422090e-03 2.29228996e+02] [ 4.89518803e-02 9.98800954e-01 6.06922769e-04 9.63748482e+00] [-5.68714086e-03 -3.28911062e-04 9.99983774e-01 -2.61822955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.755898227 meters 0.05835073586937043 Centerline is valid? [True, True] Translation: X:229.26, Y:9.63, Z:-2.62 [[ 9.98773641e-01 -4.90241706e-02 6.91697424e-03 2.29261771e+02] [ 4.90202121e-02 9.98797512e-01 7.40766132e-04 9.63445036e+00] [-6.94497210e-03 -4.00786143e-04 9.99975803e-01 -2.61662269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.785898227 meters 0.06376293001342195 Centerline is valid? [True, True] Translation: X:229.29, Y:9.63, Z:-2.61 [[ 9.98777794e-01 -4.85936149e-02 9.03204873e-03 2.29293370e+02] [ 4.85868521e-02 9.98818494e-01 9.66808339e-04 9.63493502e+00] [-9.06835802e-03 -5.26787884e-04 9.99958743e-01 -2.61246184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.815898227 meters 0.06128444423742923 Centerline is valid? [True, True] Translation: X:229.33, Y:9.63, Z:-2.61 [[ 9.98809318e-01 -4.79285367e-02 9.09956280e-03 2.29325886e+02] [ 4.79216480e-02 9.98850623e-01 9.73703762e-04 9.62940248e+00] [-9.13577218e-03 -5.36478345e-04 9.99958124e-01 -2.61391921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.845898227 meters 0.06743908567822764 Centerline is valid? [True, True] Translation: X:229.35, Y:9.64, Z:-2.61 [[ 9.98901499e-01 -4.61369647e-02 8.19608817e-03 2.29354878e+02] [ 4.61313173e-02 9.98934999e-01 8.76856467e-04 9.63768356e+00] [-8.22781483e-03 -4.97796895e-04 9.99966027e-01 -2.61473680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.875898227 meters 0.06743908567822764 Centerline is valid? [True, True] Translation: X:229.39, Y:9.64, Z:-2.61 [[ 9.98903600e-01 -4.60914425e-02 8.19610274e-03 2.29386439e+02] [ 4.60857947e-02 9.98937101e-01 8.76720306e-04 9.64097233e+00] [-8.22780041e-03 -4.98035162e-04 9.99966027e-01 -2.61490302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.905898227 meters 0.07227426439961596 Centerline is valid? [True, True] Translation: X:229.42, Y:9.64, Z:-2.62 [[ 9.99097554e-01 -4.20387296e-02 6.06816023e-03 2.29415989e+02] [ 4.20355603e-02 9.99115904e-01 6.48924656e-04 9.64371460e+00] [-6.09007536e-03 -3.93260521e-04 9.99981378e-01 -2.61912571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.935898227 meters 0.07339162326791636 Centerline is valid? [True, True] Translation: X:229.45, Y:9.65, Z:-2.62 [[ 9.99190523e-01 -3.97597105e-02 6.12084596e-03 2.29446371e+02] [ 3.97564433e-02 9.99209186e-01 6.54577383e-04 9.64552054e+00] [-6.14203132e-03 -4.10704452e-04 9.99981053e-01 -2.61950342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.965898227 meters 0.07306705836567602 Centerline is valid? [True, True] Translation: X:229.48, Y:9.65, Z:-2.62 [[ 9.99275062e-01 -3.75617461e-02 6.20212574e-03 2.29477107e+02] [ 3.75583497e-02 9.99294216e-01 6.63228028e-04 9.64543753e+00] [-6.22266038e-03 -4.29805621e-04 9.99980547e-01 -2.61926863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.995898227 meters 0.07701596497922532 Centerline is valid? [True, True] Translation: X:229.51, Y:9.65, Z:-2.62 [[ 9.99359668e-01 -3.52033112e-02 6.40164190e-03 2.29506734e+02] [ 3.51996452e-02 9.99380066e-01 6.84469128e-04 9.65125253e+00] [-6.42176888e-03 -4.58695316e-04 9.99979275e-01 -2.61965868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.025898227 meters 0.07834613595302498 Centerline is valid? [True, True] Translation: X:229.54, Y:9.65, Z:-2.62 [[ 9.99439996e-01 -3.29864607e-02 5.62029150e-03 2.29536779e+02] [ 3.29836002e-02 9.99455712e-01 6.00915004e-04 9.65391439e+00] [-5.63705451e-03 -4.15201041e-04 9.99984025e-01 -2.62179744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.055898227 meters 0.07342723657088822 Centerline is valid? [True, True] Translation: X:229.57, Y:9.65, Z:-2.62 [[ 9.99514819e-01 -3.08997653e-02 3.91554660e-03 2.29567768e+02] [ 3.08983610e-02 9.99522444e-01 4.18642915e-04 9.64948936e+00] [-3.92661267e-03 -2.97455825e-04 9.99992247e-01 -2.62459086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.085898227 meters 0.08459355925063161 Centerline is valid? [True, True] Translation: X:229.60, Y:9.66, Z:-2.63 [[ 9.99627070e-01 -2.72389736e-02 1.93911890e-03 2.29596019e+02] [ 2.72386224e-02 9.99628938e-01 2.07296309e-04 9.66425962e+00] [-1.94404590e-03 -1.54400074e-04 9.99998098e-01 -2.62880796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.115898227 meters 0.0786747781711905 Centerline is valid? [True, True] Translation: X:229.63, Y:9.66, Z:-2.63 [[ 9.99657358e-01 -2.60389892e-02 2.67167452e-03 2.29628206e+02] [ 2.60383180e-02 9.99660905e-01 2.85704943e-04 9.65899658e+00] [-2.67820804e-03 -2.16041137e-04 9.99996390e-01 -2.62779442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.145898227 meters 0.0788403638323877 Centerline is valid? [True, True] Translation: X:229.66, Y:9.66, Z:-2.63 [[ 9.99705222e-01 -2.40333052e-02 3.44531456e-03 2.29658829e+02] [ 2.40321777e-02 9.99711118e-01 3.68282549e-04 9.66151816e+00] [-3.45317031e-03 -2.85375576e-04 9.99993997e-01 -2.62660915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.175898227 meters 0.09075321774920556 Centerline is valid? [True, True] Translation: X:229.69, Y:9.68, Z:-2.63 [[ 9.99764639e-01 -2.13989074e-02 3.57116399e-03 2.29686414e+02] [ 2.13976794e-02 9.99770971e-01 3.81724018e-04 9.68024303e+00] [-3.57851456e-03 -3.05219553e-04 9.99993551e-01 -2.62674497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.205898227 meters 0.09329674369052042 Centerline is valid? [True, True] Translation: X:229.72, Y:9.69, Z:-2.63 [[ 9.99827347e-01 -1.83336747e-02 3.02545239e-03 2.29717078e+02] [ 1.83327793e-02 9.99831888e-01 3.23417352e-04 9.68742072e+00] [-3.03087320e-03 -2.67896562e-04 9.99995371e-01 -2.62756559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.235898227 meters 0.09540510688174748 Centerline is valid? [True, True] Translation: X:229.75, Y:9.69, Z:-2.63 [[ 9.99878966e-01 -1.53118896e-02 2.75683251e-03 2.29747973e+02] [ 1.53111349e-02 9.99882734e-01 2.94657225e-04 9.69396034e+00] [-2.76102099e-03 -2.52411327e-04 9.99996157e-01 -2.62837720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.265898227 meters 0.09942861616824203 Centerline is valid? [True, True] Translation: X:229.78, Y:9.70, Z:-2.63 [[ 9.99933499e-01 -1.10656343e-02 3.24801781e-03 2.29778056e+02] [ 1.10645649e-02 9.99938726e-01 3.47041020e-04 9.70295011e+00] [-3.25165902e-03 -3.11080038e-04 9.99994665e-01 -2.62806813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.295898227 meters 0.0954446222947001 Centerline is valid? [True, True] Translation: X:229.81, Y:9.70, Z:-2.63 [[ 9.99939215e-01 -1.03870510e-02 3.69803013e-03 2.29809831e+02] [ 1.03856600e-02 9.99945990e-01 3.95142505e-04 9.70166119e+00] [-3.70193476e-03 -3.56712003e-04 9.99993084e-01 -2.62753906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.325898227 meters 0.09936410355164411 Centerline is valid? [True, True] Translation: X:229.84, Y:9.71, Z:-2.63 [[ 9.99937713e-01 -1.03577616e-02 4.15774026e-03 2.29840052e+02] [ 1.03560035e-02 9.99946277e-01 4.44163343e-04 9.71057435e+00] [-4.16211743e-03 -4.01078105e-04 9.99991258e-01 -2.62720313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.355898227 meters 0.09844122897030014 Centerline is valid? [True, True] Translation: X:229.87, Y:9.71, Z:-2.63 [[ 9.99933415e-01 -1.06174323e-02 4.52048449e-03 2.29872454e+02] [ 1.06153574e-02 9.99943539e-01 4.82748535e-04 9.71355455e+00] [-4.52535481e-03 -4.34729833e-04 9.99989666e-01 -2.62689282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.385898227 meters 0.10460415562835455 Centerline is valid? [True, False] Translation: X:229.87, Y:9.71, Z:-2.63 [[ 9.99932962e-01 -1.06633134e-02 4.51277155e-03 2.29872454e+02] [ 1.06617319e-02 9.99943092e-01 3.74374559e-04 9.71404255e+00] [-4.51650681e-03 -3.26235501e-04 9.99989747e-01 -2.62685417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41589822699999 meters 0.10135419013163466 Centerline is valid? [False, False] Translation: X:229.87, Y:9.71, Z:-2.63 [[ 9.99932549e-01 -1.07057859e-02 4.50383496e-03 2.29872486e+02] [ 1.07046595e-02 9.99942666e-01 2.74117956e-04 9.71449157e+00] [-4.50651139e-03 -2.25887447e-04 9.99989820e-01 -2.62687463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.445898227 meters 0.10143203152123267 Centerline is valid? [False, False] Translation: X:229.87, Y:9.72, Z:-2.62 [[ 9.99994387e-01 -3.32345571e-03 -4.25327956e-04 2.29872014e+02] [ 3.31837070e-03 9.99929003e-01 -1.14445409e-02 9.71757539e+00] [ 4.63333184e-04 1.14430652e-02 9.99934419e-01 -2.62225422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.475898227 meters 0.10998953618370617 Centerline is valid? [False, False] Translation: X:229.89, Y:9.72, Z:-2.63 [[ 9.99991223e-01 -2.90746289e-03 3.01668592e-03 2.29894231e+02] [ 2.91013709e-03 9.99995376e-01 -8.82458460e-04 9.71756193e+00] [-3.01410625e-03 8.91229684e-04 9.99995060e-01 -2.62619527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.505898227 meters 0.11110529742931552 Centerline is valid? [False, False] Translation: X:229.89, Y:9.72, Z:-2.63 [[ 9.99990847e-01 -2.99899384e-03 3.05168241e-03 2.29894149e+02] [ 3.00237800e-03 9.99994882e-01 -1.10497266e-03 9.71855280e+00] [-3.04835299e-03 1.11412485e-03 9.99994733e-01 -2.62626443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.535898227 meters 0.10109036054936503 Centerline is valid? [False, False] Translation: X:229.89, Y:9.72, Z:-2.63 [[ 9.99990524e-01 -3.09513968e-03 3.06153287e-03 2.29894184e+02] [ 3.09923266e-03 9.99994309e-01 -1.33306654e-03 9.71956715e+00] [-3.05738942e-03 1.34254231e-03 9.99994425e-01 -2.62641234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.565898227 meters 0.09552948951419189 Centerline is valid? [False, True] Translation: X:229.88, Y:9.72, Z:-2.63 [[ 9.99999927e-01 3.15137872e-04 2.17906790e-04 2.29875264e+02] [-3.13305703e-04 9.99965026e-01 -8.35756518e-03 9.71940955e+00] [-2.20532955e-04 8.35749629e-03 9.99965051e-01 -2.62558994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.595898227 meters 0.10310544217282376 Centerline is valid? [True, False] Translation: X:229.90, Y:9.72, Z:-2.63 [[ 9.99998000e-01 -1.61989603e-03 1.17322800e-03 2.29897846e+02] [ 1.62004413e-03 9.99998680e-01 -1.25291102e-04 9.72158871e+00] [-1.17302349e-03 1.27191532e-04 9.99999304e-01 -2.62704029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.625898227 meters 0.09702930525331317 Centerline is valid? [False, True] Translation: X:229.90, Y:9.72, Z:-2.63 [[ 9.99999719e-01 7.48570669e-04 -4.80055013e-05 2.29904140e+02] [-7.48472136e-04 9.99997678e-01 2.02071047e-03 9.72379419e+00] [ 4.95180344e-05 -2.02067397e-03 9.99997957e-01 -2.63065629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.655898227 meters 0.09329969050659442 Centerline is valid? [True, True] Translation: X:229.93, Y:9.73, Z:-2.63 [[ 9.99999061e-01 -1.29440994e-03 4.48940130e-04 2.29934692e+02] [ 1.29439164e-03 9.99999161e-01 4.10533499e-05 9.72504968e+00] [-4.48992894e-04 -4.04722070e-05 9.99999898e-01 -2.62868009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.685898227 meters 0.09223969640913997 Centerline is valid? [True, True] Translation: X:229.97, Y:9.73, Z:-2.63 [[ 9.99993958e-01 -3.43998081e-03 5.00366333e-04 2.29965113e+02] [ 3.43995835e-03 9.99994082e-01 4.57532735e-05 9.72755238e+00] [-5.00520763e-04 -4.40317577e-05 9.99999874e-01 -2.62885668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.715898227 meters 0.09072840278740872 Centerline is valid? [True, True] Translation: X:230.00, Y:9.73, Z:-2.63 [[ 9.99983567e-01 -5.73104054e-03 1.43487642e-04 2.29995130e+02] [ 5.73103872e-03 9.99983577e-01 1.31205817e-05 9.73000668e+00] [-1.43560480e-04 -1.22980329e-05 9.99999990e-01 -2.62942879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.745898227 meters 0.09156824939104127 Centerline is valid? [True, True] Translation: X:230.02, Y:9.74, Z:-2.63 [[ 9.99974680e-01 -7.10018557e-03 -4.75511108e-04 2.30024391e+02] [ 7.10016569e-03 9.99974793e-01 -4.34810031e-05 9.73557385e+00] [ 4.75807845e-04 4.01036945e-05 9.99999886e-01 -2.62986399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.775898227 meters 0.08188548493773382 Centerline is valid? [True, True] Translation: X:230.06, Y:9.73, Z:-2.63 [[ 9.99964808e-01 -8.18579297e-03 -1.83753011e-03 2.30056125e+02] [ 8.18549798e-03 9.99966484e-01 -1.68004294e-04 9.72947532e+00] [ 1.83884378e-03 1.52957283e-04 9.99998298e-01 -2.63124366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.805898227 meters 0.08802055227318507 Centerline is valid? [True, True] Translation: X:230.09, Y:9.74, Z:-2.63 [[ 9.99962414e-01 -8.35307583e-03 -2.32287626e-03 2.30085411e+02] [ 8.35260493e-03 9.99965094e-01 -2.12351307e-04 9.74137227e+00] [ 2.32456896e-03 1.92941258e-04 9.99997280e-01 -2.63280475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.835898227 meters 0.09240863683318547 Centerline is valid? [True, True] Translation: X:230.12, Y:9.75, Z:-2.63 [[ 9.99958454e-01 -8.50098562e-03 -3.29000680e-03 2.30115463e+02] [ 8.50004189e-03 9.99963829e-01 -3.00725717e-04 9.75070261e+00] [ 3.29244426e-03 2.72748027e-04 9.99994543e-01 -2.63406251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.865898227 meters 0.08652035426202007 Centerline is valid? [True, True] Translation: X:230.15, Y:9.75, Z:-2.63 [[ 9.99951429e-01 -9.16308033e-03 -3.63005128e-03 2.30145968e+02] [ 9.16193520e-03 9.99957973e-01 -3.31961715e-04 9.74712779e+00] [ 3.63294051e-03 2.98687297e-04 9.99993356e-01 -2.63463357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.895898227 meters 0.08010326394870795 Centerline is valid? [True, True] Translation: X:230.18, Y:9.74, Z:-2.63 [[ 9.99937359e-01 -1.04891552e-02 -3.90592404e-03 2.30176376e+02] [ 1.04878386e-02 9.99944937e-01 -3.57409666e-04 9.74310232e+00] [ 3.90945790e-03 3.16422577e-04 9.99992308e-01 -2.63431381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.925898227 meters 0.0846127930402383 Centerline is valid? [True, True] Translation: X:230.21, Y:9.75, Z:-2.63 [[ 9.99922072e-01 -1.19601866e-02 -3.57835410e-03 2.30205691e+02] [ 1.19590909e-02 9.99928434e-01 -3.27441578e-04 9.75249942e+00] [ 3.58201428e-03 2.84622199e-04 9.99993544e-01 -2.63417375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.955898227 meters 0.08265827885698915 Centerline is valid? [True, True] Translation: X:230.24, Y:9.75, Z:-2.63 [[ 9.99878380e-01 -1.55608755e-02 -1.04109140e-03 2.30236451e+02] [ 1.55607847e-02 9.99878919e-01 -9.52680441e-05 9.74937357e+00] [ 1.04244779e-03 7.90562585e-05 9.99999454e-01 -2.63103830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.985898227 meters 0.07820269850094501 Centerline is valid? [True, True] Translation: X:230.27, Y:9.75, Z:-2.63 [[ 9.99837686e-01 -1.80143465e-02 2.92088497e-04 2.30267339e+02] [ 1.80143394e-02 9.99837728e-01 2.67279538e-05 9.74789123e+00] [-2.92522586e-04 -2.14618342e-05 9.99999957e-01 -2.62790486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.015898227 meters 0.06499089806405955 Centerline is valid? [True, True] Translation: X:230.30, Y:9.73, Z:-2.63 [[ 9.99794688e-01 -2.02465764e-02 8.10734683e-04 2.30300098e+02] [ 2.02465229e-02 9.99795015e-01 7.41789665e-05 9.73230947e+00] [-8.12070365e-04 -5.77491784e-05 9.99999669e-01 -2.62696224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.045898227 meters 0.07544945462902435 Centerline is valid? [True, True] Translation: X:230.33, Y:9.75, Z:-2.63 [[ 9.99753867e-01 -2.21715836e-02 7.90927825e-04 2.30329134e+02] [ 2.21715332e-02 9.99754179e-01 7.23677982e-05 9.74751379e+00] [-7.92337907e-04 -5.48139035e-05 9.99999685e-01 -2.62686492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.075898227 meters 0.07662401066524846 Centerline is valid? [True, True] Translation: X:230.36, Y:9.75, Z:-2.63 [[ 9.99739128e-01 -2.28394266e-02 -1.93417053e-04 2.30360642e+02] [ 2.28394236e-02 9.99739146e-01 -1.76953598e-05 9.74700374e+00] [ 1.93770751e-04 1.32732095e-05 9.99999981e-01 -2.62909583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.105898227 meters 0.07841694102572225 Centerline is valid? [True, True] Translation: X:230.39, Y:9.75, Z:-2.63 [[ 9.99745154e-01 -2.25398211e-02 -1.25819520e-03 2.30390107e+02] [ 2.25396940e-02 9.99745942e-01 -1.15079041e-04 9.75387617e+00] [ 1.26046941e-03 8.66903789e-05 9.99999202e-01 -2.62990037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.135898227 meters 0.08340394559558023 Centerline is valid? [True, True] Translation: X:230.42, Y:9.76, Z:-2.63 [[ 9.99785902e-01 -2.06289917e-02 -1.61086750e-03 2.30419393e+02] [ 2.06287811e-02 9.99787193e-01 -1.47290828e-04 9.76000962e+00] [ 1.61356316e-03 1.14029061e-04 9.99998692e-01 -2.63058469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.16589822699999 meters 0.07326414666198418 Centerline is valid? [True, True] Translation: X:230.45, Y:9.74, Z:-2.63 [[ 9.99807894e-01 -1.95433590e-02 -1.49379353e-03 2.30451572e+02] [ 1.95431766e-02 9.99809005e-01 -1.36582965e-04 9.74494354e+00] [ 1.49617751e-03 1.07363256e-04 9.99998875e-01 -2.63054985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.195898227 meters 0.08289744202044243 Centerline is valid? [True, True] Translation: X:230.48, Y:9.76, Z:-2.63 [[ 9.99826892e-01 -1.85588646e-02 -1.32465425e-03 2.30480265e+02] [ 1.85587204e-02 9.99827765e-01 -1.21087253e-04 9.76204551e+00] [ 1.32667334e-03 9.64824042e-05 9.99999115e-01 -2.63019123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.225898227 meters 0.07454948430247557 Centerline is valid? [True, True] Translation: X:230.51, Y:9.75, Z:-2.63 [[ 9.99842959e-01 -1.76649833e-02 -1.41609936e-03 2.30511953e+02] [ 1.76648176e-02 9.99843957e-01 -1.29443128e-04 9.74958737e+00] [ 1.41816500e-03 1.04407663e-04 9.99998989e-01 -2.63126362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.255898227 meters 0.07886966702638251 Centerline is valid? [True, True] Translation: X:230.54, Y:9.76, Z:-2.63 [[ 9.99849373e-01 -1.72490162e-02 -1.92422395e-03 2.30542018e+02] [ 1.72487095e-02 9.99851214e-01 -1.75868248e-04 9.75702367e+00] [ 1.92697120e-03 1.42651377e-04 9.99998133e-01 -2.63096324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.285898227 meters 0.0784484929867763 Centerline is valid? [True, True] Translation: X:230.57, Y:9.75, Z:-2.63 [[ 9.99841018e-01 -1.76728980e-02 -2.36820431e-03 2.30572804e+02] [ 1.76724346e-02 9.99843807e-01 -2.16444993e-04 9.75329074e+00] [ 2.37165963e-03 1.74558646e-04 9.99997172e-01 -2.63174462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.315898227 meters 0.07682487405877553 Centerline is valid? [True, True] Translation: X:230.60, Y:9.75, Z:-2.63 [[ 9.99832071e-01 -1.80474845e-02 -3.18079905e-03 2.30604048e+02] [ 1.80466506e-02 9.99837104e-01 -2.90677484e-04 9.75127130e+00] [ 3.18552691e-03 2.33225902e-04 9.99994899e-01 -2.63317920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.345898227 meters 0.08747486328131843 Centerline is valid? [True, True] Translation: X:230.63, Y:9.77, Z:-2.64 [[ 9.99837254e-01 -1.75972474e-02 -3.97527843e-03 2.30632729e+02] [ 1.75959412e-02 9.99845113e-01 -3.63323939e-04 9.76503510e+00] [ 3.98105622e-03 2.93316043e-04 9.99992033e-01 -2.63558850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.375898227 meters 0.07862017910323861 Centerline is valid? [True, True] Translation: X:230.66, Y:9.75, Z:-2.64 [[ 9.99852221e-01 -1.65098653e-02 -4.79174228e-03 2.30663958e+02] [ 1.65079547e-02 9.99863638e-01 -4.37999101e-04 9.75417270e+00] [ 4.79832018e-03 3.58832509e-04 9.99988424e-01 -2.63641101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.405898227 meters 0.07974975837054593 Centerline is valid? [True, True] Translation: X:230.69, Y:9.76, Z:-2.64 [[ 9.99878179e-01 -1.47070695e-02 -5.22776894e-03 2.30693801e+02] [ 1.47047706e-02 9.99891765e-01 -4.77916097e-04 9.75664473e+00] [ 5.23423186e-03 4.00984734e-04 9.99986221e-01 -2.63661432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.435898227 meters 0.08063708073657154 Centerline is valid? [True, True] Translation: X:230.72, Y:9.76, Z:-2.64 [[ 9.99912668e-01 -1.23496816e-02 -4.70542113e-03 2.30723657e+02] [ 1.23477931e-02 9.99923671e-01 -4.30173724e-04 9.75944283e+00] [ 4.71037447e-03 3.72034590e-04 9.99988837e-01 -2.63550724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.465898227 meters 0.07852518775634297 Centerline is valid? [True, True] Translation: X:230.75, Y:9.76, Z:-2.63 [[ 9.99972434e-01 -6.68083257e-03 -3.24016168e-03 2.30753954e+02] [ 6.67990746e-03 9.99977645e-01 -2.96251567e-04 9.75917779e+00] [ 3.24206845e-03 2.74599421e-04 9.99994707e-01 -2.63222952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.495898227 meters 0.09201445074552304 Centerline is valid? [True, True] Translation: X:230.78, Y:9.78, Z:-2.63 [[ 9.99989348e-01 -3.78649250e-03 -2.63934235e-03 2.30781122e+02] [ 3.78586850e-03 9.99992804e-01 -2.41378096e-04 9.77939592e+00] [ 2.64023734e-03 2.31383322e-04 9.99996488e-01 -2.63151977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.525898227 meters 0.09577190529950239 Centerline is valid? [True, True] Translation: X:230.81, Y:9.79, Z:-2.63 [[ 9.99997493e-01 -7.99691069e-04 -2.09140796e-03 2.30810562e+02] [ 7.99292737e-04 9.99999662e-01 -1.91290179e-04 9.78728195e+00] [ 2.09156023e-03 1.89618052e-04 9.99997795e-01 -2.63072001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.555898227 meters 0.09897831779829143 Centerline is valid? [True, True] Translation: X:230.84, Y:9.80, Z:-2.63 [[ 9.99996507e-01 1.99900478e-03 -1.72937599e-03 2.30840465e+02] [-1.99928130e-03 9.99997989e-01 -1.58176669e-04 9.79520423e+00] [ 1.72905632e-03 1.61633626e-04 9.99998492e-01 -2.63062673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.585898227 meters 0.09590565967969543 Centerline is valid? [True, True] Translation: X:230.87, Y:9.80, Z:-2.63 [[ 9.99989545e-01 4.06413302e-03 -2.09590968e-03 2.30871288e+02] [-4.06454366e-03 9.99991721e-01 -1.91702370e-04 9.79532603e+00] [ 2.09511322e-03 2.00219282e-04 9.99997785e-01 -2.63149800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.615898227 meters 0.09270338001557826 Centerline is valid? [True, True] Translation: X:230.90, Y:9.80, Z:-2.63 [[ 9.99980589e-01 5.77600915e-03 -2.33672756e-03 2.30901826e+02] [-5.77652424e-03 9.99983293e-01 -2.13742533e-04 9.79527302e+00] [ 2.33545394e-03 2.27236548e-04 9.99997247e-01 -2.63266623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.645898227 meters 0.10557814732157406 Centerline is valid? [True, False] Translation: X:230.90, Y:9.80, Z:-2.63 [[ 9.99981942e-01 5.55966599e-03 -2.28156718e-03 2.30901778e+02] [-5.56140375e-03 9.99984249e-01 -7.56013193e-04 9.79766126e+00] [ 2.27732807e-03 7.68688257e-04 9.99997111e-01 -2.63295963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.675898227 meters 0.0969613025515996 Centerline is valid? [False, True] Translation: X:230.90, Y:9.80, Z:-2.63 [[ 9.99982335e-01 5.49198096e-03 -2.27330886e-03 2.30901681e+02] [-5.49407603e-03 9.99984488e-01 -9.16375968e-04 9.79838519e+00] [ 2.26824088e-03 9.28849512e-04 9.99996996e-01 -2.63282358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.705898227 meters 0.11304960501136735 Centerline is valid? [True, False] Translation: X:230.92, Y:9.80, Z:-2.62 [[ 9.99981538e-01 5.48456588e-04 -6.05174106e-03 2.30916703e+02] [-5.36800033e-04 9.99997998e-01 1.92760526e-03 9.80065756e+00] [ 6.05278615e-03 -1.92432110e-03 9.99979830e-01 -2.62413715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.735898227 meters 0.09463670423556624 Centerline is valid? [False, True] Translation: X:230.87, Y:9.80, Z:-2.63 [[ 9.99983339e-01 -8.84618463e-04 -5.70434712e-03 2.30874500e+02] [ 8.90026894e-04 9.99999157e-01 9.45655607e-04 9.79829711e+00] [ 5.70350577e-03 -9.50716874e-04 9.99983283e-01 -2.62595514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.765898227 meters 0.09883769139002999 Centerline is valid? [True, True] Translation: X:230.90, Y:9.81, Z:-2.62 [[ 9.99984475e-01 -2.50942367e-03 -4.97519651e-03 2.30903310e+02] [ 2.50706106e-03 9.99996742e-01 -4.81057615e-04 9.80831946e+00] [ 4.97638748e-03 4.68577025e-04 9.99987508e-01 -2.62423336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.795898227 meters 0.10623860297917274 Centerline is valid? [True, False] Translation: X:230.90, Y:9.81, Z:-2.62 [[ 9.99983891e-01 -2.50712321e-03 -5.09242560e-03 2.30903713e+02] [ 2.50476531e-03 9.99996753e-01 -4.69345973e-04 9.80826054e+00] [ 5.09358578e-03 4.56583081e-04 9.99986923e-01 -2.62430962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.825898227 meters 0.10623860297917274 Centerline is valid? [False, False] Translation: X:230.90, Y:9.81, Z:-2.62 [[ 9.99983891e-01 -2.50712321e-03 -5.09242560e-03 2.30903713e+02] [ 2.50476531e-03 9.99996753e-01 -4.69345973e-04 9.80826054e+00] [ 5.09358578e-03 4.56583081e-04 9.99986923e-01 -2.62430962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.855898227 meters 0.09612647798194801 Centerline is valid? [False, True] Translation: X:230.90, Y:9.81, Z:-2.63 [[ 9.99983004e-01 -2.60039723e-03 -5.21829250e-03 2.30904449e+02] [ 2.59686208e-03 9.99996394e-01 -6.84115826e-04 9.80918305e+00] [ 5.22005265e-03 6.70553013e-04 9.99986151e-01 -2.62506773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.885898227 meters 0.09470207767036617 Centerline is valid? [True, True] Translation: X:230.93, Y:9.81, Z:-2.63 [[ 9.99978500e-01 -2.91310515e-03 -5.87480975e-03 2.30933514e+02] [ 2.90988231e-03 9.99995611e-01 -5.57058742e-04 9.81127684e+00] [ 5.87640673e-03 5.39951760e-04 9.99982588e-01 -2.62672878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91589822699999 meters 0.09666821159351083 Centerline is valid? [True, True] Translation: X:230.96, Y:9.82, Z:-2.63 [[ 9.99981795e-01 -3.28609323e-03 -5.06073082e-03 2.30961400e+02] [ 3.28370452e-03 9.99994493e-01 -4.80244874e-04 9.81756381e+00] [ 5.06228108e-03 4.63618186e-04 9.99987079e-01 -2.62592285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.945898227 meters 0.09630616085612455 Centerline is valid? [True, True] Translation: X:230.99, Y:9.82, Z:-2.62 [[ 9.99985556e-01 -3.69956502e-03 -3.89889949e-03 2.30990120e+02] [ 3.69814890e-03 9.99993093e-01 -3.70354741e-04 9.82090021e+00] [ 3.90024271e-03 3.55930681e-04 9.99992331e-01 -2.62422813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.975898227 meters 0.09793299115474692 Centerline is valid? [True, True] Translation: X:231.02, Y:9.83, Z:-2.62 [[ 9.99987777e-01 -4.06306040e-03 -2.81718874e-03 2.31018834e+02] [ 4.06232181e-03 9.99991713e-01 -2.67847511e-04 9.82639584e+00] [ 2.81825367e-03 2.56399909e-04 9.99995996e-01 -2.62204674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.005898227 meters 0.09629348284646032 Centerline is valid? [True, True] Translation: X:231.05, Y:9.83, Z:-2.62 [[ 9.99986068e-01 -4.72075678e-03 -2.36190385e-03 2.31049181e+02] [ 4.72023934e-03 9.99988834e-01 -2.24602448e-04 9.82720995e+00] [ 2.36293777e-03 2.13450568e-04 9.99997185e-01 -2.62075192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.035898227 meters 0.0953068593995875 Centerline is valid? [True, True] Translation: X:231.08, Y:9.83, Z:-2.62 [[ 9.99964144e-01 -7.48466475e-03 -3.96114336e-03 2.31078370e+02] [ 7.48323064e-03 9.99971929e-01 -3.76741923e-04 9.82934632e+00] [ 3.96385196e-03 3.47086266e-04 9.99992084e-01 -2.62180381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.065898227 meters 0.09559765389921153 Centerline is valid? [True, True] Translation: X:231.11, Y:9.83, Z:-2.62 [[ 9.99950159e-01 -8.41380515e-03 -5.37478705e-03 2.31107865e+02] [ 8.41117751e-03 9.99964495e-01 -5.11301987e-04 9.83320012e+00] [ 5.37889822e-03 4.66068215e-04 9.99985425e-01 -2.62377745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.095898227 meters 0.09465534466330469 Centerline is valid? [True, True] Translation: X:231.14, Y:9.84, Z:-2.63 [[ 9.99937063e-01 -8.98085950e-03 -6.72413774e-03 2.31137215e+02] [ 8.97675849e-03 9.99959503e-01 -6.39827391e-04 9.83525974e+00] [ 6.72961164e-03 5.79426162e-04 9.99977188e-01 -2.62605397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.125898227 meters 0.09609770651934378 Centerline is valid? [True, True] Translation: X:231.17, Y:9.84, Z:-2.63 [[ 9.99933025e-01 -9.12013097e-03 -7.12520757e-03 2.31166139e+02] [ 9.11552354e-03 9.99958222e-01 -6.78846837e-04 9.84009553e+00] [ 7.13110106e-03 6.13851374e-04 9.99974385e-01 -2.62710498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.155898227 meters 0.09723212475140618 Centerline is valid? [True, True] Translation: X:231.19, Y:9.85, Z:-2.63 [[ 9.99940972e-01 -9.05998720e-03 -5.99749484e-03 2.31194140e+02] [ 9.05671641e-03 9.99958823e-01 -5.72293716e-04 9.84512498e+00] [ 6.00243285e-03 5.17942324e-04 9.99981851e-01 -2.62617510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.185898227 meters 0.09807731756929301 Centerline is valid? [True, True] Translation: X:231.22, Y:9.85, Z:-2.62 [[ 9.99952324e-01 -8.62981263e-03 -4.56913056e-03 2.31222519e+02] [ 8.62790837e-03 9.99962684e-01 -4.36314919e-04 9.84990716e+00] [ 4.57272537e-03 3.96872077e-04 9.99989466e-01 -2.62409383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.215898227 meters 0.08676923135956413 Centerline is valid? [True, True] Translation: X:231.25, Y:9.84, Z:-2.62 [[ 9.99960926e-01 -8.37681489e-03 -2.82425339e-03 2.31253373e+02] [ 8.37608616e-03 9.99964884e-01 -2.69754021e-04 9.84081536e+00] [ 2.82641389e-03 2.46087291e-04 9.99995975e-01 -2.62049686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.245898227 meters 0.0892239395338827 Centerline is valid? [True, True] Translation: X:231.28, Y:9.85, Z:-2.62 [[ 9.99960543e-01 -8.26250171e-03 -3.26239200e-03 2.31281845e+02] [ 8.26152852e-03 9.99965824e-01 -3.11670309e-04 9.84813152e+00] [ 3.26485568e-03 2.84705667e-04 9.99994630e-01 -2.62009852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.275898227 meters 0.08990555638215701 Centerline is valid? [True, True] Translation: X:231.31, Y:9.85, Z:-2.62 [[ 9.99957211e-01 -8.25668115e-03 -4.17169267e-03 2.31311706e+02] [ 8.25508968e-03 9.99965847e-01 -3.98568774e-04 9.85283557e+00] [ 4.17484105e-03 3.64114023e-04 9.99991219e-01 -2.62139988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.305898227 meters 0.1026122020723757 Centerline is valid? [True, False] Translation: X:231.33, Y:9.86, Z:-2.62 [[ 9.99992732e-01 -3.76881913e-03 -5.76338696e-04 2.31332448e+02] [ 3.76514776e-03 9.99973419e-01 -6.24380944e-03 9.85526119e+00] [ 5.99855165e-04 6.24159406e-03 9.99980341e-01 -2.62398427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.335898227 meters 0.09191669386441716 Centerline is valid? [False, True] Translation: X:231.29, Y:9.85, Z:-2.63 [[ 9.99998070e-01 -8.73207904e-04 -1.76012787e-03 2.31294591e+02] [ 8.68727075e-04 9.99996384e-01 -2.54489961e-03 9.85037550e+00] [ 1.76234373e-03 2.54336562e-03 9.99995213e-01 -2.62764648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.365898227 meters 0.10248343745508999 Centerline is valid? [True, False] Translation: X:231.29, Y:9.85, Z:-2.63 [[ 9.99997990e-01 -9.41420255e-04 -1.77047618e-03 2.31294764e+02] [ 9.36628000e-04 9.99995901e-01 -2.70564465e-03 9.85108699e+00] [ 1.77301607e-03 2.70398093e-03 9.99994772e-01 -2.62795208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.395898227 meters 0.09810521549728124 Centerline is valid? [False, True] Translation: X:231.29, Y:9.85, Z:-2.63 [[ 9.99998030e-01 -1.01124262e-03 -1.70779329e-03 2.31294569e+02] [ 1.00632706e-03 9.99995356e-01 -2.87672149e-03 9.85185323e+00] [ 1.71069442e-03 2.87499723e-03 9.99994404e-01 -2.62795588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.425898227 meters 0.10038742984808346 Centerline is valid? [True, False] Translation: X:231.32, Y:9.85, Z:-2.63 [[ 9.99994398e-01 -3.12342723e-03 1.20320252e-03 2.31316184e+02] [ 3.11719307e-03 9.99981886e-01 5.14879634e-03 9.85290224e+00] [-1.21926261e-03 -5.14501688e-03 9.99986021e-01 -2.63072660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.455898227 meters 0.09250685397652547 Centerline is valid? [False, True] Translation: X:231.32, Y:9.85, Z:-2.63 [[ 9.99994124e-01 -3.19851006e-03 1.23375139e-03 2.31315972e+02] [ 3.19234539e-03 9.99982570e-01 4.96671145e-03 9.85372887e+00] [-1.24961596e-03 -4.96274370e-03 9.99986905e-01 -2.63050143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.485898227 meters 0.09303538412482469 Centerline is valid? [True, True] Translation: X:231.35, Y:9.86, Z:-2.63 [[ 9.99990034e-01 -3.82149274e-03 2.30839949e-03 2.31346258e+02] [ 3.82103708e-03 9.99992679e-01 2.01770747e-04 9.86031731e+00] [-2.30915366e-03 -1.92948256e-04 9.99997315e-01 -2.62844339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.515898227 meters 0.09181586911730615 Centerline is valid? [True, True] Translation: X:231.38, Y:9.86, Z:-2.63 [[ 9.99986276e-01 -4.78045820e-03 2.14349586e-03 2.31377422e+02] [ 4.78006759e-03 9.99988558e-01 1.87313724e-04 9.86270322e+00] [-2.14436678e-03 -1.77065098e-04 9.99997685e-01 -2.62808888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.545898227 meters 0.0917860677555112 Centerline is valid? [True, True] Translation: X:231.41, Y:9.87, Z:-2.63 [[ 9.99965785e-01 -8.23143460e-03 8.19638684e-04 2.31406559e+02] [ 8.23137868e-03 9.99966119e-01 7.15715859e-05 9.86801959e+00] [-8.20200051e-04 -6.48223807e-05 9.99999662e-01 -2.62954285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.575898227 meters 0.09956723934798718 Centerline is valid? [True, True] Translation: X:231.44, Y:9.88, Z:-2.63 [[ 9.99942270e-01 -1.07140612e-02 8.16209757e-04 2.31435463e+02] [ 1.07140065e-02 9.99942601e-01 7.13097562e-05 9.88200042e+00] [-8.16926924e-04 -6.25607628e-05 9.99999664e-01 -2.63003605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.605898227 meters 0.07764638325877109 Centerline is valid? [True, True] Translation: X:231.47, Y:9.86, Z:-2.63 [[ 9.99901127e-01 -1.38974207e-02 2.14424050e-03 2.31469017e+02] [ 1.38970507e-02 9.99903414e-01 1.87345752e-04 9.85510323e+00] [-2.14663702e-03 -1.57528609e-04 9.99997684e-01 -2.62945790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.635898227 meters 0.0760068520266003 Centerline is valid? [True, True] Translation: X:231.50, Y:9.86, Z:-2.63 [[ 9.99843834e-01 -1.73169694e-02 3.52569262e-03 2.31498566e+02] [ 1.73159905e-02 9.99850020e-01 3.07994566e-04 9.85691387e+00] [-3.53049737e-03 -2.46895608e-04 9.99993737e-01 -2.62748933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.66589822699999 meters 0.08046736434746704 Centerline is valid? [True, True] Translation: X:231.53, Y:9.87, Z:-2.62 [[ 9.99754565e-01 -2.15977546e-02 4.93423456e-03 2.31527815e+02] [ 2.15958889e-02 9.99766689e-01 4.31097535e-04 9.86755877e+00] [-4.94239409e-03 -3.24432548e-04 9.99987734e-01 -2.62390039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.695898227 meters 0.07486700940578603 Centerline is valid? [True, True] Translation: X:231.56, Y:9.86, Z:-2.62 [[ 9.99632264e-01 -2.65356857e-02 5.58509524e-03 2.31559077e+02] [ 2.65333721e-02 9.99647809e-01 4.87949564e-04 9.86316423e+00] [-5.59607629e-03 -3.39578718e-04 9.99984284e-01 -2.62252773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.725898227 meters 0.055710760190110904 Centerline is valid? [True, True] Translation: X:231.59, Y:9.84, Z:-2.62 [[ 9.99294259e-01 -3.71032710e-02 5.85922648e-03 2.31591761e+02] [ 3.71009059e-02 9.99311393e-01 5.11865969e-04 9.84072593e+00] [-5.87418368e-03 -2.94122114e-04 9.99982704e-01 -2.62163717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.755898227 meters 0.0514256530662684 Centerline is valid? [True, True] Translation: X:231.62, Y:9.84, Z:-2.62 [[ 9.99112633e-01 -4.17300235e-02 5.70542967e-03 2.31623204e+02] [ 4.17278566e-02 9.99128889e-01 4.98358054e-04 9.83774578e+00] [-5.72125610e-03 -2.59840476e-04 9.99983600e-01 -2.62141328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.785898227 meters 0.04782428814877247 Centerline is valid? [True, True] Translation: X:231.65, Y:9.84, Z:-2.62 [[ 9.98931378e-01 -4.58037417e-02 6.17414141e-03 2.31652890e+02] [ 4.58012821e-02 9.98950425e-01 5.39251963e-04 9.83538126e+00] [-6.19236095e-03 -2.55892114e-04 9.99980794e-01 -2.62109716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.815898227 meters 0.04126554986095059 Centerline is valid? [True, True] Translation: X:231.68, Y:9.83, Z:-2.62 [[ 9.98783422e-01 -4.88766080e-02 6.53852891e-03 2.31684589e+02] [ 4.88739153e-02 9.98804793e-01 5.71066746e-04 9.82880321e+00] [-6.55862582e-03 -2.50808490e-04 9.99978461e-01 -2.62104506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.845898227 meters 0.04239281905712296 Centerline is valid? [True, True] Translation: X:231.71, Y:9.83, Z:-2.62 [[ 9.98606504e-01 -5.22651043e-02 7.30818834e-03 2.31713855e+02] [ 5.22618309e-02 9.98633213e-01 6.38297057e-04 9.83172782e+00] [-7.33156026e-03 -2.55468289e-04 9.99973091e-01 -2.62030117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.875898227 meters 0.046391334471592674 Centerline is valid? [True, True] Translation: X:231.74, Y:9.84, Z:-2.62 [[ 9.98556249e-01 -5.32730451e-02 6.88478209e-03 2.31743567e+02] [ 5.32701640e-02 9.98579956e-01 6.01308286e-04 9.83926920e+00] [-6.90703892e-03 -2.33686675e-04 9.99976119e-01 -2.62059579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.905898227 meters 0.041169417105301004 Centerline is valid? [True, True] Translation: X:231.78, Y:9.83, Z:-2.62 [[ 9.98533138e-01 -5.37997415e-02 6.09587825e-03 2.31775775e+02] [ 5.37974933e-02 9.98551724e-01 5.32307328e-04 9.83440973e+00] [-6.11568773e-03 -2.03583537e-04 9.99981278e-01 -2.62338818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.935898227 meters 0.03822620234149929 Centerline is valid? [True, True] Translation: X:231.81, Y:9.83, Z:-2.63 [[ 9.98492936e-01 -5.46614172e-02 4.89755151e-03 2.31806171e+02] [ 5.46599766e-02 9.98504934e-01 4.27610570e-04 9.83239542e+00] [-4.91360315e-03 -1.59266083e-04 9.99987915e-01 -2.62554545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.965898227 meters 0.03935543935493717 Centerline is valid? [True, True] Translation: X:231.84, Y:9.84, Z:-2.63 [[ 9.98442297e-01 -5.56714947e-02 3.69658807e-03 2.31835150e+02] [ 5.56706809e-02 9.98449133e-01 3.22747591e-04 9.83561702e+00] [-3.70882300e-03 -1.16453271e-04 9.99993116e-01 -2.62821520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.995898227 meters 0.03868938477444217 Centerline is valid? [True, True] Translation: X:231.86, Y:9.84, Z:-2.63 [[ 9.98392240e-01 -5.66429415e-02 2.12424847e-03 2.31864517e+02] [ 5.66426750e-02 9.98394498e-01 1.85440671e-04 9.83645640e+00] [-2.13134189e-03 -6.48194105e-05 9.99997727e-01 -2.63110121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.025898227 meters 0.03255626188666473 Centerline is valid? [True, True] Translation: X:231.90, Y:9.83, Z:-2.64 [[ 9.98311140e-01 -5.80866583e-02 8.99327406e-04 2.31895378e+02] [ 5.80866111e-02 9.98311544e-01 7.84970076e-05 9.82927580e+00] [-9.02368561e-04 -2.61255558e-05 9.99999593e-01 -2.63501843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.055898227 meters 0.03238694323630037 Centerline is valid? [True, True] Translation: X:231.92, Y:9.83, Z:-2.64 [[ 9.98256938e-01 -5.90057512e-02 1.18606095e-03 2.31923658e+02] [ 5.90056698e-02 9.98257642e-01 1.03504960e-04 9.83128357e+00] [-1.19010179e-03 -3.33402236e-05 9.99999291e-01 -2.63511784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.085898227 meters 0.036576579242512154 Centerline is valid? [True, True] Translation: X:231.95, Y:9.84, Z:-2.63 [[ 9.98225581e-01 -5.94953238e-02 2.44874276e-03 2.31951784e+02] [ 5.94949780e-02 9.98228582e-01 2.13902550e-04 9.83933633e+00] [-2.45713122e-03 -6.78351002e-05 9.99996979e-01 -2.63346637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.115898227 meters 0.03092986547679087 Centerline is valid? [True, True] Translation: X:231.98, Y:9.83, Z:-2.63 [[ 9.98151045e-01 -6.06486044e-02 4.02967549e-03 2.31981952e+02] [ 6.06476764e-02 9.98159173e-01 3.52202686e-04 9.83477562e+00] [-4.04361816e-03 -1.07161024e-04 9.99991819e-01 -2.63085429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.145898227 meters 0.028795553145382426 Centerline is valid? [True, True] Translation: X:232.01, Y:9.83, Z:-2.63 [[ 9.98031748e-01 -6.24877135e-02 5.28344738e-03 2.32012376e+02] [ 6.24861433e-02 9.98045725e-01 4.61906100e-04 9.83426439e+00] [-5.30198553e-03 -1.30854702e-04 9.99985936e-01 -2.62914289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.175898227 meters 0.02270894283278436 Centerline is valid? [True, True] Translation: X:232.04, Y:9.83, Z:-2.63 [[ 9.97613515e-01 -6.88824393e-02 4.74174610e-03 2.32042445e+02] [ 6.88812465e-02 9.97624780e-01 4.14599953e-04 9.82565897e+00] [-4.75904207e-03 -8.69931340e-05 9.99988672e-01 -2.62960119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.205898227 meters 0.017691850696346597 Centerline is valid? [True, True] Translation: X:232.07, Y:9.82, Z:-2.63 [[ 9.97312995e-01 -7.31752403e-02 3.48910597e-03 2.32071825e+02] [ 7.31746205e-02 9.97319097e-01 3.05120647e-04 9.81930530e+00] [-3.50207929e-03 -4.89867811e-05 9.99993867e-01 -2.63160017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.235898227 meters 0.0158158386946105 Centerline is valid? [True, True] Translation: X:232.10, Y:9.82, Z:-2.63 [[ 9.96962511e-01 -7.78230788e-02 3.05299033e-03 2.32101549e+02] [ 7.78226257e-02 9.96967185e-01 2.67110411e-04 9.81509760e+00] [-3.06451853e-03 -2.87073418e-05 9.99995304e-01 -2.63329627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.265898227 meters 0.011370736633677344 Centerline is valid? [True, True] Translation: X:232.13, Y:9.81, Z:-2.63 [[ 9.96583104e-01 -8.25161749e-02 3.63295924e-03 2.32129946e+02] [ 8.25155622e-02 9.96589725e-01 3.18487610e-04 9.80978282e+00] [-3.64685023e-03 -1.76236969e-05 9.99993350e-01 -2.63219831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.295898227 meters 0.0099965826035745 Centerline is valid? [True, True] Translation: X:232.16, Y:9.80, Z:-2.63 [[ 9.96154088e-01 -8.74739271e-02 5.03435115e-03 2.32159442e+02] [ 8.74728102e-02 9.96166809e-01 4.42056053e-04 9.80306484e+00] [-5.05372191e-03 1.28987305e-08 9.99987230e-01 -2.63065399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.325898227 meters 0.01164238171098356 Centerline is valid? [True, True] Translation: X:232.19, Y:9.80, Z:-2.63 [[ 9.95691731e-01 -9.25117105e-02 6.28965514e-03 2.32188227e+02] [ 9.25100622e-02 9.95711596e-01 5.53112552e-04 9.79573784e+00] [-6.31385195e-03 3.11267937e-05 9.99980067e-01 -2.62855564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.355898227 meters 0.0147131488615164 Centerline is valid? [True, True] Translation: X:232.22, Y:9.79, Z:-2.63 [[ 9.95219627e-01 -9.74077841e-02 7.04397482e-03 2.32217444e+02] [ 9.74058332e-02 9.95244552e-01 6.20316262e-04 9.78916802e+00] [-7.07090120e-03 6.87733178e-05 9.99974999e-01 -2.62876785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.385898227 meters 0.021606763433557774 Centerline is valid? [True, True] Translation: X:232.25, Y:9.77, Z:-2.63 [[ 9.94486775e-01 -1.04706322e-01 5.71317486e-03 2.32247438e+02] [ 1.04705156e-01 9.94503181e-01 5.03634409e-04 9.77471810e+00] [-5.73450428e-03 9.73411042e-05 9.99983553e-01 -2.63085242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41589822699999 meters 0.024217223524953493 Centerline is valid? [True, True] Translation: X:232.28, Y:9.77, Z:-2.63 [[ 9.94256378e-01 -1.06928948e-01 4.52278197e-03 2.32275785e+02] [ 1.06928240e-01 9.94266661e-01 3.98868830e-04 9.77073302e+00] [-4.53950195e-03 8.70352363e-05 9.99989693e-01 -2.63242780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.445898227 meters 0.024736228932438337 Centerline is valid? [True, True] Translation: X:232.31, Y:9.77, Z:-2.63 [[ 9.94116628e-01 -1.08239371e-01 4.04587811e-03 2.32305030e+02] [ 1.08238813e-01 9.94124857e-01 3.57129570e-04 9.77012389e+00] [-4.06076348e-03 8.28926015e-05 9.99991752e-01 -2.63351955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.475898227 meters 0.025784086544842134 Centerline is valid? [True, True] Translation: X:232.33, Y:9.77, Z:-2.63 [[ 9.94044132e-01 -1.08908728e-01 3.89251802e-03 2.32332889e+02] [ 1.08908215e-01 9.94051750e-01 3.44127430e-04 9.76998821e+00] [-3.90684283e-03 8.18493381e-05 9.99992365e-01 -2.63371907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.505898227 meters 0.025824283029689272 Centerline is valid? [True, True] Translation: X:232.36, Y:9.77, Z:-2.63 [[ 9.94064047e-01 -1.08716447e-01 4.17195549e-03 2.32360804e+02] [ 1.08715855e-01 9.94072797e-01 3.69087437e-04 9.77178792e+00] [-4.18735334e-03 8.66611553e-05 9.99991229e-01 -2.63347353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.535898227 meters 0.022423411395165894 Centerline is valid? [True, True] Translation: X:232.39, Y:9.78, Z:-2.63 [[ 9.94305025e-01 -1.06441614e-01 5.26313029e-03 2.32389527e+02] [ 1.06440637e-01 9.94318950e-01 4.66184020e-04 9.78018040e+00] [-5.28285156e-03 9.66818245e-05 9.99986041e-01 -2.63130672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.565898227 meters 0.02069685526162282 Centerline is valid? [True, True] Translation: X:232.42, Y:9.79, Z:-2.63 [[ 9.94480307e-01 -1.04760587e-01 5.84277428e-03 2.32417595e+02] [ 1.04759349e-01 9.94497466e-01 5.18512909e-04 9.78645728e+00] [-5.86494394e-03 9.64343509e-05 9.99982796e-01 -2.63068817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.595898227 meters 0.020821294937650954 Centerline is valid? [True, True] Translation: X:232.45, Y:9.79, Z:-2.63 [[ 9.94620485e-01 -1.03439299e-01 5.51380167e-03 2.32445668e+02] [ 1.03438171e-01 9.94635765e-01 4.90206376e-04 9.79009732e+00] [-5.53493095e-03 8.27682570e-05 9.99984679e-01 -2.63114265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.625898227 meters 0.018942154075708584 Centerline is valid? [True, True] Translation: X:232.47, Y:9.80, Z:-2.63 [[ 9.94653285e-01 -1.03148046e-01 5.03220677e-03 2.32473868e+02] [ 1.03147098e-01 9.94666012e-01 4.48179875e-04 9.79631171e+00] [-5.05159392e-03 7.32739419e-05 9.99987238e-01 -2.63329473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.655898227 meters 0.020008469814613822 Centerline is valid? [True, True] Translation: X:232.50, Y:9.80, Z:-2.64 [[ 9.94556034e-01 -1.04110903e-01 4.38339177e-03 2.32501427e+02] [ 1.04110191e-01 9.94565692e-01 3.90914631e-04 9.79785595e+00] [-4.40026954e-03 6.75692487e-05 9.99990316e-01 -2.63549058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.685898227 meters 0.020008469814613822 Centerline is valid? [True, True] Translation: X:232.53, Y:9.80, Z:-2.64 [[ 9.94536584e-01 -1.04296550e-01 4.38335405e-03 2.32528795e+02] [ 1.04295838e-01 9.94546241e-01 3.91337112e-04 9.80049082e+00] [-4.40026340e-03 6.79665082e-05 9.99990316e-01 -2.63557559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.715898227 meters 0.023460696024966452 Centerline is valid? [True, True] Translation: X:232.56, Y:9.80, Z:-2.64 [[ 9.94303193e-01 -1.06514188e-01 3.98611939e-03 2.32557128e+02] [ 1.06513614e-01 9.94311180e-01 3.56452721e-04 9.79864375e+00] [-4.00141034e-03 7.01539048e-05 9.99991992e-01 -2.63732743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.745898227 meters 0.02488220905627884 Centerline is valid? [True, True] Translation: X:232.59, Y:9.80, Z:-2.64 [[ 9.93986811e-01 -1.09430369e-01 3.90057104e-03 2.32586412e+02] [ 1.09429842e-01 9.93994461e-01 3.49007649e-04 9.79992516e+00] [-3.91533804e-03 7.99298721e-05 9.99992332e-01 -2.63896336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.775898227 meters 0.03621655723980813 Centerline is valid? [True, True] Translation: X:232.62, Y:9.80, Z:-2.64 [[ 9.93285205e-01 -1.15592641e-01 4.77941168e-03 2.32616607e+02] [ 1.15591920e-01 9.93296695e-01 4.27795494e-04 9.79565548e+00] [-4.79682384e-03 1.27538438e-04 9.99988487e-01 -2.63916507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.805898227 meters 0.03384456599228827 Centerline is valid? [True, True] Translation: X:232.65, Y:9.79, Z:-2.64 [[ 9.92976063e-01 -1.18195751e-01 5.32003140e-03 2.32646665e+02] [ 1.18194894e-01 9.92990302e-01 4.76277623e-04 9.79446447e+00] [-5.33903358e-03 1.55868270e-04 9.99985735e-01 -2.63641788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.835898227 meters 0.03649183989087847 Centerline is valid? [True, True] Translation: X:232.68, Y:9.79, Z:-2.64 [[ 9.92671610e-01 -1.20719964e-01 5.45576650e-03 2.32676112e+02] [ 1.20719100e-01 9.92686587e-01 4.88585784e-04 9.79378272e+00] [-5.47484828e-03 1.73609988e-04 9.99984998e-01 -2.63613758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.865898227 meters 0.03836706812617179 Centerline is valid? [True, True] Translation: X:232.71, Y:9.79, Z:-2.64 [[ 9.92410644e-01 -1.22863889e-01 5.05759640e-03 2.32705806e+02] [ 1.22863174e-01 9.92423516e-01 4.53073796e-04 9.79479282e+00] [-5.07494402e-03 1.71757090e-04 9.99987108e-01 -2.63700109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.895898227 meters 0.04073090929380698 Centerline is valid? [True, True] Translation: X:232.73, Y:9.80, Z:-2.64 [[ 9.92255038e-01 -1.24150895e-01 4.06135196e-03 2.32733282e+02] [ 1.24150444e-01 9.92263339e-01 3.63953567e-04 9.79519880e+00] [-4.07511582e-03 1.43083888e-04 9.99991686e-01 -2.63824356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.925898227 meters 0.04400596010367893 Centerline is valid? [True, True] Translation: X:232.76, Y:9.80, Z:-2.64 [[ 9.92119428e-01 -1.25248729e-01 3.43451826e-03 2.32761468e+02] [ 1.25248412e-01 9.92125365e-01 3.07982423e-04 9.79505277e+00] [-3.44604709e-03 1.24612612e-04 9.99994055e-01 -2.63944909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.955898227 meters 0.04168394036156167 Centerline is valid? [True, True] Translation: X:232.79, Y:9.80, Z:-2.64 [[ 9.92042035e-01 -1.25844357e-01 3.97474739e-03 2.32789311e+02] [ 1.25843937e-01 9.92049987e-01 3.56776455e-04 9.80352537e+00] [-3.98804640e-03 1.46260618e-04 9.99992037e-01 -2.63967309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.985898227 meters 0.04123937510499543 Centerline is valid? [True, True] Translation: X:232.82, Y:9.81, Z:-2.64 [[ 9.92094128e-01 -1.25400898e-01 4.88419917e-03 2.32817776e+02] [ 1.25400253e-01 9.92106135e-01 4.39314666e-04 9.80881801e+00] [-4.90073442e-03 1.76638313e-04 9.99987976e-01 -2.63792076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.015898227 meters 0.0401117409271359 Centerline is valid? [True, True] Translation: X:232.85, Y:9.82, Z:-2.64 [[ 9.92224394e-01 -1.24333373e-01 5.65377589e-03 2.32846412e+02] [ 1.24332485e-01 9.92240482e-01 5.09525980e-04 9.81592149e+00] [-5.67325640e-03 1.97383902e-04 9.99983887e-01 -2.63690982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.045898227 meters 0.04206656256064786 Centerline is valid? [True, True] Translation: X:232.87, Y:9.82, Z:-2.64 [[ 9.92401367e-01 -1.22902333e-01 5.87738529e-03 2.32874311e+02] [ 1.22901345e-01 9.92418751e-01 5.30353481e-04 9.81962123e+00] [-5.89800905e-03 1.96015038e-04 9.99982587e-01 -2.63552088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.075898227 meters 0.038060212137789075 Centerline is valid? [True, True] Translation: X:232.90, Y:9.83, Z:-2.64 [[ 9.92525112e-01 -1.21908247e-01 5.68169646e-03 2.32901752e+02] [ 1.21907304e-01 9.92541357e-01 5.13283101e-04 9.83208197e+00] [-5.70189216e-03 1.83193928e-04 9.99983727e-01 -2.63505637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.105898227 meters 0.03651533089280061 Centerline is valid? [True, True] Translation: X:232.93, Y:9.85, Z:-2.64 [[ 9.92780824e-01 -1.19831198e-01 5.16903074e-03 2.32928754e+02] [ 1.19830386e-01 9.92794269e-01 4.67514095e-04 9.84775501e+00] [-5.18780686e-03 1.55267922e-04 9.99986531e-01 -2.63669071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.135898227 meters 0.03598493428130694 Centerline is valid? [True, True] Translation: X:232.96, Y:9.86, Z:-2.64 [[ 9.92828539e-01 -1.19452975e-01 4.74117367e-03 2.32955648e+02] [ 1.19452287e-01 9.92839850e-01 4.29039362e-04 9.85533631e+00] [-4.75847618e-03 1.40381515e-04 9.99988669e-01 -2.63706094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.16589822699999 meters 0.036834722299392164 Centerline is valid? [True, True] Translation: X:232.98, Y:9.86, Z:-2.64 [[ 9.92754490e-01 -1.20072318e-01 4.60010644e-03 2.32984045e+02] [ 1.20071675e-01 9.92765138e-01 4.16682592e-04 9.86263654e+00] [-4.61685734e-03 1.38678971e-04 9.99989333e-01 -2.63795580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.195898227 meters 0.0374005566683573 Centerline is valid? [True, True] Translation: X:233.01, Y:9.87, Z:-2.64 [[ 9.92626445e-01 -1.21130632e-01 4.48442174e-03 2.33012286e+02] [ 1.21130028e-01 9.92636565e-01 4.06899619e-04 9.87040356e+00] [-4.50068900e-03 1.39298811e-04 9.99989862e-01 -2.63846676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.225898227 meters 0.037812638907672 Centerline is valid? [True, True] Translation: X:233.04, Y:9.88, Z:-2.64 [[ 9.92409879e-01 -1.22874237e-01 4.95521874e-03 2.33040283e+02] [ 1.22873518e-01 9.92422237e-01 4.50458402e-04 9.87863259e+00] [-4.97301899e-03 1.61825789e-04 9.99987621e-01 -2.63828261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.255898227 meters 0.043778594444875016 Centerline is valid? [True, True] Translation: X:233.07, Y:9.89, Z:-2.64 [[ 9.92033271e-01 -1.25856142e-01 5.49734177e-03 2.33068220e+02] [ 1.25855298e-01 9.92048483e-01 5.00421168e-04 9.88591214e+00] [-5.51661064e-03 1.95435140e-04 9.99984764e-01 -2.63772263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.285898227 meters 0.04155977814015383 Centerline is valid? [True, True] Translation: X:233.10, Y:9.90, Z:-2.64 [[ 9.91800253e-01 -1.27692855e-01 5.17628012e-03 2.33096931e+02] [ 1.27692131e-01 9.91813741e-01 4.71402334e-04 9.89770246e+00] [-5.19410046e-03 1.93433286e-04 9.99986492e-01 -2.63891502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.315898227 meters 0.04834756169370338 Centerline is valid? [True, True] Translation: X:233.13, Y:9.90, Z:-2.64 [[ 9.91540295e-01 -1.29720949e-01 4.50752984e-03 2.33125814e+02] [ 1.29720421e-01 9.91550525e-01 4.10611713e-04 9.89708102e+00] [-4.52270852e-03 1.77580610e-04 9.99989757e-01 -2.64030407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.345898227 meters 0.04691327773623119 Centerline is valid? [True, True] Translation: X:233.15, Y:9.91, Z:-2.64 [[ 9.91211416e-01 -1.32233873e-01 3.75932085e-03 2.33154182e+02] [ 1.32233523e-01 9.91218532e-01 3.42566746e-04 9.90697219e+00] [-3.77160742e-03 1.57552169e-04 9.99992875e-01 -2.64209987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.375898227 meters 0.055183681930538256 Centerline is valid? [True, True] Translation: X:233.18, Y:9.91, Z:-2.64 [[ 9.90416429e-01 -1.38066382e-01 3.60164610e-03 2.33183497e+02] [ 1.38066099e-01 9.90422962e-01 3.28306069e-04 9.90912812e+00] [-3.61248103e-03 1.72105503e-04 9.99993460e-01 -2.64312574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.405898227 meters 0.06273010005480123 Centerline is valid? [True, True] Translation: X:233.21, Y:9.91, Z:-2.64 [[ 9.89991941e-01 -1.41071169e-01 3.85770690e-03 2.33212460e+02] [ 1.41070867e-01 9.89999438e-01 3.51692397e-04 9.90695216e+00] [-3.86874132e-03 1.96037418e-04 9.99992497e-01 -2.64284765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.435898227 meters 0.056027043936106094 Centerline is valid? [True, True] Translation: X:233.24, Y:9.92, Z:-2.64 [[ 9.89621224e-01 -1.43643152e-01 4.05937260e-03 2.33241687e+02] [ 1.43642838e-01 9.89629526e-01 3.70120196e-04 9.92311247e+00] [-4.07044021e-03 2.16821000e-04 9.99991692e-01 -2.64323711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.465898227 meters 0.05463657586691542 Centerline is valid? [True, True] Translation: X:233.27, Y:9.93, Z:-2.64 [[ 9.89334187e-01 -1.45610856e-01 3.91720831e-03 2.33270153e+02] [ 1.45610579e-01 9.89341918e-01 3.57187950e-04 9.93192740e+00] [-3.92746883e-03 2.17008721e-04 9.99992264e-01 -2.64326226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.495898227 meters 0.05975395906511465 Centerline is valid? [True, True] Translation: X:233.30, Y:9.93, Z:-2.64 [[ 9.89072600e-01 -1.47385999e-01 3.57200930e-03 2.33298759e+02] [ 1.47385781e-01 9.89079029e-01 3.25834562e-04 9.93159078e+00] [-3.58102294e-03 2.04189341e-04 9.99993567e-01 -2.64410508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.525898227 meters 0.061521206990463484 Centerline is valid? [True, True] Translation: X:233.33, Y:9.94, Z:-2.64 [[ 9.88840640e-01 -1.48937543e-01 3.43456881e-03 2.33328212e+02] [ 1.48937350e-01 9.88846584e-01 3.13446224e-04 9.93511161e+00] [-3.44294555e-03 2.01587211e-04 9.99994053e-01 -2.64486811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.555898227 meters 0.06423543679997022 Centerline is valid? [True, True] Translation: X:233.36, Y:9.94, Z:-2.65 [[ 9.88461577e-01 -1.51433729e-01 3.39644056e-03 2.33357475e+02] [ 1.51433554e-01 9.88467391e-01 3.10040651e-04 9.93983967e+00] [-3.40422135e-03 2.07871795e-04 9.99994184e-01 -2.64562308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.585898227 meters 0.0703463961499657 Centerline is valid? [True, True] Translation: X:233.39, Y:9.94, Z:-2.65 [[ 9.88279473e-01 -1.52615727e-01 3.48169112e-03 2.33387068e+02] [ 1.52615551e-01 9.88285583e-01 3.17868242e-04 9.94394036e+00] [-3.48941683e-03 2.17217548e-04 9.99993888e-01 -2.64625777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.615898227 meters 0.06501262560828658 Centerline is valid? [True, True] Translation: X:233.42, Y:9.95, Z:-2.64 [[ 9.88171994e-01 -1.53296036e-01 4.05412418e-03 2.33415115e+02] [ 1.53295802e-01 9.88180277e-01 3.70268531e-04 9.94880165e+00] [-4.06296625e-03 2.55591224e-04 9.99991713e-01 -2.64443946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.645898227 meters 0.07415725180527144 Centerline is valid? [True, True] Translation: X:233.44, Y:9.94, Z:-2.64 [[ 9.87970862e-01 -1.54574625e-01 4.50135344e-03 2.33444235e+02] [ 1.54574348e-01 9.87981074e-01 4.11389590e-04 9.94156775e+00] [-4.51084239e-03 2.89352845e-04 9.99989784e-01 -2.64312800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.675898227 meters 0.0760172016783339 Centerline is valid? [True, True] Translation: X:233.47, Y:9.94, Z:-2.64 [[ 9.87724891e-01 -1.56137084e-01 4.55539322e-03 2.33474681e+02] [ 1.56136816e-01 9.87735350e-01 4.16496256e-04 9.94346207e+00] [-4.56455342e-03 2.99880873e-04 9.99989537e-01 -2.64285902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.705898227 meters 0.0786403644522425 Centerline is valid? [True, True] Translation: X:233.50, Y:9.94, Z:-2.64 [[ 9.87436248e-01 -1.57964089e-01 4.12345925e-03 2.33504317e+02] [ 1.57963886e-01 9.87444818e-01 3.77016218e-04 9.94429069e+00] [-4.13124349e-03 2.79078166e-04 9.99991427e-01 -2.64391826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.735898227 meters 0.08341286929398876 Centerline is valid? [True, True] Translation: X:233.54, Y:9.95, Z:-2.65 [[ 9.86986120e-01 -1.60796303e-01 1.71690316e-03 2.33535137e+02] [ 1.60796272e-01 9.86987606e-01 1.56988323e-04 9.94581511e+00] [-1.71980528e-03 1.21126330e-04 9.99998514e-01 -2.64742824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.765898227 meters 0.07421777806049448 Centerline is valid? [True, True] Translation: X:233.56, Y:9.96, Z:-2.65 [[ 9.86948063e-01 -1.61036237e-01 9.22996525e-04 2.33562989e+02] [ 1.61036229e-01 9.86948492e-01 8.40597297e-05 9.96166939e+00] [-9.24486691e-04 6.56732921e-05 9.99999571e-01 -2.64721925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.795898227 meters 0.08407991552395128 Centerline is valid? [True, True] Translation: X:233.59, Y:9.95, Z:-2.65 [[ 9.87015485e-01 -1.60624558e-01 4.28158113e-04 2.33591788e+02] [ 1.60624556e-01 9.87015578e-01 3.90706546e-05 9.95473369e+00] [-4.28874434e-04 3.02093655e-05 9.99999908e-01 -2.64814528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.825898227 meters 0.08387190156155361 Centerline is valid? [True, True] Translation: X:233.62, Y:9.96, Z:-2.65 [[ 9.87121979e-01 -1.59968514e-01 5.22748124e-04 2.33620678e+02] [ 1.59968511e-01 9.87122117e-01 4.75615903e-05 9.96112900e+00] [-5.23624591e-04 3.66741479e-05 9.99999862e-01 -2.64794063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.855898227 meters 0.0694103585600087 Centerline is valid? [True, True] Translation: X:233.65, Y:9.99, Z:-2.65 [[ 9.87243243e-01 -1.59217156e-01 8.22968134e-04 2.33647163e+02] [ 1.59217148e-01 9.87243584e-01 7.54422849e-05 9.98565760e+00] [-8.24481716e-04 5.65507533e-05 9.99999659e-01 -2.64672586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.885898227 meters 0.06881199830613326 Centerline is valid? [True, True] Translation: X:233.68, Y:9.99, Z:-2.65 [[ 9.87377925e-01 -1.58377119e-01 1.23341008e-03 2.33675269e+02] [ 1.58377100e-01 9.87378692e-01 1.13196728e-04 9.99156447e+00] [-1.23577060e-03 8.35759618e-05 9.99999233e-01 -2.64634230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91589822699999 meters 0.0749938277804563 Centerline is valid? [True, True] Translation: X:233.70, Y:9.99, Z:-2.64 [[ 9.87633527e-01 -1.56755606e-01 2.77411928e-03 2.33704515e+02] [ 1.56755506e-01 9.87637406e-01 2.54908828e-04 9.98993962e+00] [-2.77978236e-03 1.83101965e-04 9.99996120e-01 -2.64373322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.945898227 meters 0.08176499159652609 Centerline is valid? [True, True] Translation: X:233.73, Y:9.99, Z:-2.64 [[ 9.87740657e-01 -1.56061785e-01 3.62133556e-03 2.33733037e+02] [ 1.56061609e-01 9.87747267e-01 3.32879716e-04 9.98561042e+00] [-3.62891410e-03 2.36352626e-04 9.99993388e-01 -2.64179486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.975898227 meters 0.0685383572962194 Centerline is valid? [True, True] Translation: X:233.76, Y:10.01, Z:-2.64 [[ 9.87872316e-01 -1.55210701e-01 4.23387351e-03 2.33760325e+02] [ 1.55210451e-01 9.87881351e-01 3.89550154e-04 1.00071051e+01] [-4.24302703e-03 2.72315603e-04 9.99990961e-01 -2.64144516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.005898227 meters 0.06541613853511963 Centerline is valid? [True, True] Translation: X:233.79, Y:10.02, Z:-2.64 [[ 9.88031124e-01 -1.54195726e-01 4.26329557e-03 2.33788194e+02] [ 1.54195461e-01 9.88040285e-01 3.92766755e-04 1.00158607e+01] [-4.27287073e-03 2.69315049e-04 9.99990835e-01 -2.64111180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.035898227 meters 0.06844830038683504 Centerline is valid? [True, True] Translation: X:233.82, Y:10.02, Z:-2.64 [[ 9.88153392e-01 -1.53419815e-01 3.90307940e-03 2.33815698e+02] [ 1.53419586e-01 9.88161070e-01 3.59757521e-04 1.00166150e+01] [-3.91206505e-03 2.43313212e-04 9.99992318e-01 -2.64109535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.065898227 meters 0.06739072945843799 Centerline is valid? [True, True] Translation: X:233.84, Y:10.02, Z:-2.64 [[ 9.88261802e-01 -1.52718910e-01 3.94279939e-03 2.33844644e+02] [ 1.52718670e-01 9.88269637e-01 3.63722158e-04 1.00222964e+01] [-3.95209617e-03 2.42686362e-04 9.99992161e-01 -2.64132167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.095898227 meters 0.06795711658068236 Centerline is valid? [True, True] Translation: X:233.87, Y:10.03, Z:-2.64 [[ 9.88239504e-01 -1.52854837e-01 4.25233417e-03 2.33872692e+02] [ 1.52854556e-01 9.88248618e-01 3.92969277e-04 1.00270512e+01] [-4.26243062e-03 2.61640886e-04 9.99990882e-01 -2.64064182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.125898227 meters 0.06784666156458469 Centerline is valid? [True, True] Translation: X:233.90, Y:10.03, Z:-2.64 [[ 9.88141605e-01 -1.53496699e-01 3.86409026e-03 2.33901299e+02] [ 1.53496469e-01 9.88149131e-01 3.57713226e-04 1.00312991e+01] [-3.87320523e-03 2.39652890e-04 9.99992470e-01 -2.64176014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.155898227 meters 0.06235701671953483 Centerline is valid? [True, True] Translation: X:233.93, Y:10.04, Z:-2.64 [[ 9.87992127e-01 -1.54474592e-01 3.02613152e-03 2.33929703e+02] [ 1.54474454e-01 9.87996743e-01 2.80515960e-04 1.00427986e+01] [-3.03314068e-03 1.90312455e-04 9.99995382e-01 -2.64263042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.185898227 meters 0.06482383903894544 Centerline is valid? [True, True] Translation: X:233.96, Y:10.04, Z:-2.64 [[ 9.87834085e-01 -1.55494017e-01 2.33056751e-03 2.33957707e+02] [ 1.55493938e-01 9.87836823e-01 2.16087016e-04 1.00441183e+01] [-2.33582065e-03 1.48931002e-04 9.99997261e-01 -2.64354338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.215898227 meters 0.07197583538904956 Centerline is valid? [True, True] Translation: X:233.99, Y:10.04, Z:-2.64 [[ 9.87684248e-01 -1.56448650e-01 1.90956194e-03 2.33987131e+02] [ 1.56448599e-01 9.87686086e-01 1.77129536e-04 1.00391355e+01] [-1.91375943e-03 1.23800237e-04 9.99998161e-01 -2.64412840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.245898227 meters 0.07628601924671888 Centerline is valid? [True, True] Translation: X:234.02, Y:10.04, Z:-2.65 [[ 9.87531731e-01 -1.57417013e-01 9.82028055e-04 2.34015974e+02] [ 1.57417000e-01 9.87532217e-01 9.10774577e-05 1.00395586e+01] [-9.84121484e-04 6.46460307e-05 9.99999514e-01 -2.64605698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.275898227 meters 0.06700814682720149 Centerline is valid? [True, True] Translation: X:234.04, Y:10.06, Z:-2.65 [[ 9.87376198e-01 -1.58391518e-01 6.08365986e-04 2.34043440e+02] [ 1.58391513e-01 9.87376385e-01 5.60818149e-05 1.00582256e+01] [-6.09569091e-04 4.09861600e-05 9.99999813e-01 -2.64744790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.305898227 meters 0.06654439128308644 Centerline is valid? [True, True] Translation: X:234.07, Y:10.06, Z:-2.65 [[ 9.87296978e-01 -1.58884049e-01 7.31612326e-04 2.34071902e+02] [ 1.58884042e-01 9.87297248e-01 6.76656588e-05 1.00607191e+01] [-7.33069830e-04 4.94354234e-05 9.99999730e-01 -2.64768938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.335898227 meters 0.06844530214851142 Centerline is valid? [True, True] Translation: X:234.10, Y:10.06, Z:-2.65 [[ 9.87080955e-01 -1.60218980e-01 1.03295738e-03 2.34100381e+02] [ 1.60218967e-01 9.87081493e-01 9.61737020e-05 1.00620651e+01] [-1.03502197e-03 7.05681351e-05 9.99999462e-01 -2.64800222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.365898227 meters 0.08092843796493007 Centerline is valid? [True, True] Translation: X:234.13, Y:10.05, Z:-2.65 [[ 9.86746450e-01 -1.62263967e-01 1.35945477e-03 2.34130844e+02] [ 1.62263946e-01 9.86747382e-01 1.26692783e-04 1.00497854e+01] [-1.36199611e-03 9.55768424e-05 9.99999068e-01 -2.64879977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.395898227 meters 0.07407334623649513 Centerline is valid? [True, True] Translation: X:234.16, Y:10.06, Z:-2.65 [[ 9.86326825e-01 -1.64796265e-01 1.25945692e-03 2.34160232e+02] [ 1.64796249e-01 9.86327624e-01 1.17400792e-04 1.00620384e+01] [-1.26158437e-03 9.17582255e-05 9.99999200e-01 -2.64931760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.425898227 meters 0.08024113907609584 Centerline is valid? [True, True] Translation: X:234.19, Y:10.06, Z:-2.65 [[ 9.85397496e-01 -1.70260284e-01 1.79208367e-03 2.34191192e+02] [ 1.70260260e-01 9.85399115e-01 1.67058387e-04 1.00574231e+01] [-1.79436107e-03 1.40501715e-04 9.99998380e-01 -2.64878424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.455898227 meters 0.08301461292829167 Centerline is valid? [True, True] Translation: X:234.22, Y:10.06, Z:-2.65 [[ 9.85020711e-01 -1.72428533e-01 1.61226618e-03 2.34220717e+02] [ 1.72428516e-01 9.85022022e-01 1.50309663e-04 1.00571905e+01] [-1.61403537e-03 1.29942534e-04 9.99998689e-01 -2.64896138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.485898227 meters 0.0816137771773915 Centerline is valid? [True, True] Translation: X:234.25, Y:10.06, Z:-2.65 [[ 9.84733083e-01 -1.74067508e-01 1.12156163e-03 2.34250386e+02] [ 1.74067501e-01 9.84733717e-01 1.04538667e-04 1.00625822e+01] [-1.12263634e-03 9.22847462e-05 9.99999366e-01 -2.64983108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.515898227 meters 0.08141453353490073 Centerline is valid? [True, True] Translation: X:234.28, Y:10.07, Z:-2.65 [[ 9.84539579e-01 -1.75162087e-01 2.47168445e-04 2.34279866e+02] [ 1.75162087e-01 9.84539610e-01 2.29806126e-05 1.00667495e+01] [-2.47372456e-04 2.06692179e-05 9.99999969e-01 -2.65126079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.545898227 meters 0.09405454354858192 Centerline is valid? [True, True] Translation: X:234.31, Y:10.05, Z:-2.65 [[ 9.84418598e-01 -1.75840362e-01 -4.36200535e-04 2.34308592e+02] [ 1.75840361e-01 9.84418694e-01 -4.10353112e-05 1.00542507e+01] [ 4.36619625e-04 -3.63057360e-05 9.99999904e-01 -2.65347516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.575898227 meters 0.08511246163599877 Centerline is valid? [True, True] Translation: X:234.34, Y:10.07, Z:-2.65 [[ 9.84317433e-01 -1.76404192e-01 -8.67885050e-04 2.34336356e+02] [ 1.76404188e-01 9.84317812e-01 -8.16582030e-05 1.00697627e+01] [ 8.68679563e-04 -7.27209645e-05 9.99999620e-01 -2.65452627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.605898227 meters 0.08131231380269999 Centerline is valid? [True, True] Translation: X:234.37, Y:10.08, Z:-2.65 [[ 9.84162461e-01 -1.77268576e-01 -3.18737744e-04 2.34365148e+02] [ 1.77268575e-01 9.84162513e-01 -2.98884787e-05 1.00798576e+01] [ 3.18988028e-04 -2.70870672e-05 9.99999949e-01 -2.65356199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.635898227 meters 0.08131231380269999 Centerline is valid? [True, True] Translation: X:234.39, Y:10.08, Z:-2.65 [[ 9.84129831e-01 -1.77449638e-01 -3.18685871e-04 2.34392585e+02] [ 1.77449637e-01 9.84129882e-01 -3.04423830e-05 1.00825702e+01] [ 3.19030278e-04 -2.65914349e-05 9.99999949e-01 -2.65364725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.66589822699999 meters 0.08446315158537486 Centerline is valid? [True, True] Translation: X:234.42, Y:10.08, Z:-2.65 [[ 9.84066732e-01 -1.77797509e-01 8.44445870e-04 2.34420275e+02] [ 1.77797506e-01 9.84067091e-01 7.90226911e-05 1.00825792e+01] [-8.45041429e-04 7.23767685e-05 9.99999640e-01 -2.65235204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.695898227 meters 0.09569922211265323 Centerline is valid? [True, True] Translation: X:234.45, Y:10.07, Z:-2.65 [[ 9.84067066e-01 -1.77791628e-01 1.46508103e-03 2.34449242e+02] [ 1.77791619e-01 9.84068149e-01 1.37317839e-04 1.00724921e+01] [-1.46615354e-03 1.25349165e-04 9.99998917e-01 -2.65129295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.725898227 meters 0.0825529343830606 Centerline is valid? [True, True] Translation: X:234.48, Y:10.09, Z:-2.65 [[ 9.84178731e-01 -1.77164207e-01 2.25129036e-03 2.34475968e+02] [ 1.77164184e-01 9.84181288e-01 2.11236672e-04 1.00936628e+01] [-2.25310142e-03 1.90953380e-04 9.99997444e-01 -2.64986141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.755898227 meters 0.08171895991722872 Centerline is valid? [True, True] Translation: X:234.51, Y:10.10, Z:-2.65 [[ 9.84407044e-01 -1.75883944e-01 2.75867752e-03 2.34505376e+02] [ 1.75883904e-01 9.84410882e-01 2.59008403e-04 1.00992276e+01] [-2.76122759e-03 2.30237276e-04 9.99996161e-01 -2.64920539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.785898227 meters 0.08389084390768142 Centerline is valid? [True, True] Translation: X:234.53, Y:10.11, Z:-2.65 [[ 9.85116313e-01 -1.71853720e-01 3.48539191e-03 2.34534723e+02] [ 1.71853631e-01 9.85122440e-01 3.27352667e-04 1.01054804e+01] [-3.48979455e-03 2.76496801e-04 9.99993872e-01 -2.64871391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.815898227 meters 0.07822392190334922 Centerline is valid? [True, True] Translation: X:234.56, Y:10.12, Z:-2.65 [[ 9.85525251e-01 -1.69493760e-01 3.44173599e-03 2.34564029e+02] [ 1.69493658e-01 9.85531225e-01 3.23295149e-04 1.01197333e+01] [-3.44673479e-03 2.64736890e-04 9.99994025e-01 -2.64912597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.845898227 meters 0.07390593528947158 Centerline is valid? [True, True] Translation: X:234.59, Y:10.13, Z:-2.65 [[ 9.85851396e-01 -1.67586414e-01 3.43800866e-03 2.34592674e+02] [ 1.67586301e-01 9.85857357e-01 3.22958207e-04 1.01325633e+01] [-3.44350954e-03 2.57774353e-04 9.99994038e-01 -2.64960440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.875898227 meters 0.0725206821229152 Centerline is valid? [True, True] Translation: X:234.62, Y:10.14, Z:-2.65 [[ 9.86063597e-01 -1.66334921e-01 3.35812567e-03 2.34622067e+02] [ 1.66334806e-01 9.86069284e-01 3.15517547e-04 1.01419344e+01] [-3.36382616e-03 2.47452815e-04 9.99994312e-01 -2.64947382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.905898227 meters 0.07859863368617231 Centerline is valid? [True, True] Translation: X:234.65, Y:10.14, Z:-2.65 [[ 9.86201161e-01 -1.65508089e-01 3.78718325e-03 2.34650566e+02] [ 1.65507937e-01 9.86208394e-01 3.55902698e-04 1.01410861e+01] [-3.79385669e-03 2.75817231e-04 9.99992765e-01 -2.64880088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.935898227 meters 0.07673370768441638 Centerline is valid? [True, True] Translation: X:234.68, Y:10.15, Z:-2.65 [[ 9.86226442e-01 -1.65339713e-01 4.49268322e-03 2.34678983e+02] [ 1.65339495e-01 9.86236621e-01 4.22574181e-04 1.01512243e+01] [-4.50071701e-03 3.26064143e-04 9.99989819e-01 -2.64777386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.965898227 meters 0.07355744551145077 Centerline is valid? [True, True] Translation: X:234.71, Y:10.17, Z:-2.65 [[ 9.86105772e-01 -1.66020535e-01 5.70854903e-03 2.34706609e+02] [ 1.66020188e-01 9.86122207e-01 5.37921859e-04 1.01680183e+01] [-5.71863305e-03 4.17286534e-04 9.99983561e-01 -2.64662618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.995898227 meters 0.07002935584918582 Centerline is valid? [True, True] Translation: X:234.74, Y:10.18, Z:-2.65 [[ 9.85995944e-01 -1.66678697e-01 5.49644259e-03 2.34735366e+02] [ 1.66678383e-01 9.86011180e-01 5.18464228e-04 1.01810222e+01] [-5.50597079e-03 4.04934537e-04 9.99984760e-01 -2.64671981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.025898227 meters 0.07997341330378627 Centerline is valid? [True, True] Translation: X:234.76, Y:10.18, Z:-2.65 [[ 9.85859182e-01 -1.67479894e-01 5.67075961e-03 2.34764728e+02] [ 1.67479571e-01 9.85875401e-01 5.35103134e-04 1.01768364e+01] [-5.68028142e-03 4.22200048e-04 9.99983778e-01 -2.64594465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.055898227 meters 0.08104045231212781 Centerline is valid? [True, True] Translation: X:234.79, Y:10.18, Z:-2.64 [[ 9.85771904e-01 -1.67977452e-01 6.10973211e-03 2.34792406e+02] [ 1.67977085e-01 9.85790731e-01 5.76939040e-04 1.01841006e+01] [-6.11983004e-03 4.57564693e-04 9.99981169e-01 -2.64487304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.085898227 meters 0.08171212320114918 Centerline is valid? [True, True] Translation: X:234.82, Y:10.19, Z:-2.64 [[ 9.85714668e-01 -1.68314880e-01 6.05762858e-03 2.34820197e+02] [ 1.68314521e-01 9.85733176e-01 5.72733517e-04 1.01925183e+01] [-6.06760503e-03 4.55035023e-04 9.99981488e-01 -2.64455996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.115898227 meters 0.08216853223806066 Centerline is valid? [True, True] Translation: X:234.85, Y:10.20, Z:-2.64 [[ 9.85816401e-01 -1.67722552e-01 5.93030194e-03 2.34847003e+02] [ 1.67722193e-01 9.85834140e-01 5.61310016e-04 1.02011303e+01] [-5.94043846e-03 4.41294626e-04 9.99982258e-01 -2.64479071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.145898227 meters 0.07890173849968649 Centerline is valid? [True, True] Translation: X:234.87, Y:10.22, Z:-2.65 [[ 9.86165764e-01 -1.65690731e-01 4.86486652e-03 2.34874978e+02] [ 1.65690464e-01 9.86177701e-01 4.60626361e-04 1.02227913e+01] [-4.87394440e-03 3.51808045e-04 9.99988060e-01 -2.64603922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.175898227 meters 0.076772915531918 Centerline is valid? [True, True] Translation: X:234.90, Y:10.24, Z:-2.65 [[ 9.86343881e-01 -1.64617672e-01 5.17405369e-03 2.34903313e+02] [ 1.64617355e-01 9.86357383e-01 4.89991358e-04 1.02359631e+01] [-5.18412730e-03 3.68439057e-04 9.99986494e-01 -2.64580998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.205898227 meters 0.06949274356057464 Centerline is valid? [True, True] Translation: X:234.93, Y:10.26, Z:-2.64 [[ 9.86463724e-01 -1.63869357e-01 6.01291982e-03 2.34933347e+02] [ 1.63868915e-01 9.86481959e-01 5.69410927e-04 1.02559637e+01] [-6.02494592e-03 4.23627421e-04 9.99981760e-01 -2.64481684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.235898227 meters 0.07063812645982485 Centerline is valid? [True, True] Translation: X:234.96, Y:10.27, Z:-2.64 [[ 9.86447123e-01 -1.63942390e-01 6.70562184e-03 2.34964693e+02] [ 1.63941845e-01 9.86469801e-01 6.34725323e-04 1.02666190e+01] [-6.71895183e-03 4.73209046e-04 9.99977316e-01 -2.64414399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.265898227 meters 0.07019305601591626 Centerline is valid? [True, True] Translation: X:235.00, Y:10.28, Z:-2.64 [[ 9.86354378e-01 -1.64462002e-01 7.56907706e-03 2.34995795e+02] [ 1.64461325e-01 9.86383272e-01 7.16026934e-04 1.02750888e+01] [-7.58377022e-03 5.38564145e-04 9.99971098e-01 -2.64275427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.295898227 meters 0.07109364657824523 Centerline is valid? [True, True] Translation: X:235.03, Y:10.28, Z:-2.64 [[ 9.86103446e-01 -1.65952839e-01 7.72321831e-03 2.35026016e+02] [ 1.65952182e-01 9.86133530e-01 7.30366544e-04 1.02834426e+01] [-7.73733094e-03 5.61467962e-04 9.99969909e-01 -2.64291948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.325898227 meters 0.08011212412121622 Centerline is valid? [True, True] Translation: X:235.06, Y:10.29, Z:-2.65 [[ 9.85463893e-01 -1.69775542e-01 6.09763565e-03 2.35055762e+02] [ 1.69775205e-01 9.85482647e-01 5.76614858e-04 1.02865052e+01] [-6.10700922e-03 4.66994220e-04 9.99981243e-01 -2.64518487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.355898227 meters 0.08569642882213342 Centerline is valid? [True, True] Translation: X:235.09, Y:10.29, Z:-2.65 [[ 9.85079103e-01 -1.72025497e-01 5.13712671e-03 2.35085402e+02] [ 1.72025288e-01 9.85092414e-01 4.85771411e-04 1.02873796e+01] [-5.14410962e-03 4.05192438e-04 9.99986687e-01 -2.64696775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.385898227 meters 0.08064377876084178 Centerline is valid? [True, True] Translation: X:235.11, Y:10.30, Z:-2.65 [[ 9.84719094e-01 -1.74104387e-01 3.99601443e-03 2.35114531e+02] [ 1.74104278e-01 9.84727149e-01 3.77845074e-04 1.03041572e+01] [-4.00076838e-03 3.23651949e-04 9.99991945e-01 -2.64958348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41589822699999 meters 0.08183336042542477 Centerline is valid? [True, True] Translation: X:235.14, Y:10.31, Z:-2.65 [[ 9.84195461e-01 -1.77058054e-01 3.12099492e-03 2.35144886e+02] [ 1.77058003e-01 9.84200374e-01 2.95101993e-04 1.03115165e+01] [-3.12393456e-03 2.62159085e-04 9.99995086e-01 -2.64993953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.445898227 meters 0.07983903331101003 Centerline is valid? [True, True] Translation: X:235.17, Y:10.32, Z:-2.65 [[ 9.84035601e-01 -1.77942575e-01 3.22110892e-03 2.35174941e+02] [ 1.77942525e-01 9.84040835e-01 3.04543285e-04 1.03209803e+01] [-3.22389393e-03 2.73490820e-04 9.99994766e-01 -2.64924450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.475898227 meters 0.09005673885762235 Centerline is valid? [True, True] Translation: X:235.21, Y:10.31, Z:-2.65 [[ 9.83909711e-01 -1.78635721e-01 3.31038967e-03 2.35206266e+02] [ 1.78635672e-01 9.83915240e-01 3.12930032e-04 1.03143172e+01] [-3.31304333e-03 2.83458786e-04 9.99994472e-01 -2.64905541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.505898227 meters 0.08690281681800403 Centerline is valid? [True, True] Translation: X:235.24, Y:10.32, Z:-2.65 [[ 9.83830459e-01 -1.79065141e-01 3.64732015e-03 2.35237115e+02] [ 1.79065085e-01 9.83837170e-01 3.44492021e-04 1.03244980e+01] [-3.65005564e-03 3.14185950e-04 9.99993289e-01 -2.64938729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.535898227 meters 0.08916301458696972 Centerline is valid? [True, True] Translation: X:235.27, Y:10.33, Z:-2.65 [[ 9.83745148e-01 -1.79531483e-01 3.73236654e-03 2.35268416e+02] [ 1.79531429e-01 9.83752175e-01 3.52399040e-04 1.03281389e+01] [-3.73499042e-03 3.23406251e-04 9.99992973e-01 -2.64925595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.565898227 meters 0.08779522287934052 Centerline is valid? [True, True] Translation: X:235.30, Y:10.34, Z:-2.65 [[ 9.83661518e-01 -1.79995126e-01 3.43113332e-03 2.35299531e+02] [ 1.79995083e-01 9.83667457e-01 3.23852783e-04 1.03367737e+01] [-3.43338611e-03 2.99025607e-04 9.99994061e-01 -2.64963367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.595898227 meters 0.08854032148396651 Centerline is valid? [True, True] Translation: X:235.33, Y:10.35, Z:-2.65 [[ 9.83606972e-01 -1.80303709e-01 2.81005709e-03 2.35330481e+02] [ 1.80303682e-01 9.83610956e-01 2.65156771e-04 1.03464450e+01] [-2.81181169e-03 2.45853591e-04 9.99996017e-01 -2.65156027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.625898227 meters 0.08955463808870716 Centerline is valid? [True, True] Translation: X:235.36, Y:10.35, Z:-2.65 [[ 9.83612506e-01 -1.80268889e-01 3.09278767e-03 2.35362596e+02] [ 1.80268856e-01 9.83617331e-01 2.91722302e-04 1.03505405e+01] [-3.09470801e-03 2.70591589e-04 9.99995175e-01 -2.65111381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.655898227 meters 0.08239011670574678 Centerline is valid? [True, True] Translation: X:235.39, Y:10.37, Z:-2.65 [[ 9.83664940e-01 -1.79984490e-01 2.97814208e-03 2.35393818e+02] [ 1.79984458e-01 9.83669414e-01 2.80750325e-04 1.03660498e+01] [-2.98003798e-03 2.59855036e-04 9.99995526e-01 -2.65159150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.685898227 meters 0.08726745059673419 Centerline is valid? [True, True] Translation: X:235.42, Y:10.37, Z:-2.65 [[ 9.83803766e-01 -1.79228665e-01 2.68994965e-03 2.35424887e+02] [ 1.79228637e-01 9.83807416e-01 2.53465280e-04 1.03660147e+01] [-2.69182066e-03 2.32755912e-04 9.99996350e-01 -2.65217333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.715898227 meters 0.081033666902206 Centerline is valid? [True, True] Translation: X:235.46, Y:10.38, Z:-2.65 [[ 9.84017881e-01 -1.78051175e-01 2.56676344e-03 2.35455452e+02] [ 1.78051145e-01 9.84021205e-01 2.41808573e-04 1.03800843e+01] [-2.56880395e-03 2.19071210e-04 9.99996677e-01 -2.65241074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.745898227 meters 0.07915727617929944 Centerline is valid? [True, True] Translation: X:235.49, Y:10.39, Z:-2.65 [[ 9.84214571e-01 -1.76959540e-01 2.64574822e-03 2.35486002e+02] [ 1.76959505e-01 9.84218102e-01 2.49152334e-04 1.03880923e+01] [-2.64808317e-03 2.22970938e-04 9.99996469e-01 -2.65267058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.775898227 meters 0.0835644459589241 Centerline is valid? [True, True] Translation: X:235.52, Y:10.39, Z:-2.65 [[ 9.84756381e-01 -1.73902087e-01 3.59636474e-03 2.35516146e+02] [ 1.73902002e-01 9.84762905e-01 3.38574396e-04 1.03886436e+01] [-3.60044538e-03 2.92001733e-04 9.99993476e-01 -2.65189777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.805898227 meters 0.07956682586745084 Centerline is valid? [True, True] Translation: X:235.55, Y:10.40, Z:-2.65 [[ 9.85017586e-01 -1.72403959e-01 4.15093389e-03 2.35545725e+02] [ 1.72403834e-01 9.85026276e-01 3.90760228e-04 1.03985697e+01] [-4.15614756e-03 3.30731220e-04 9.99991308e-01 -2.65074548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.835898227 meters 0.07372632149974487 Centerline is valid? [True, True] Translation: X:235.58, Y:10.41, Z:-2.65 [[ 9.85301786e-01 -1.70752438e-01 4.89847037e-03 2.35576073e+02] [ 1.70752243e-01 9.85313889e-01 4.61111121e-04 1.04103658e+01] [-4.90526674e-03 3.82091192e-04 9.99987896e-01 -2.65000432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.865898227 meters 0.07787679457232514 Centerline is valid? [True, True] Translation: X:235.61, Y:10.41, Z:-2.65 [[ 9.85536235e-01 -1.69383341e-01 5.25493801e-03 2.35606083e+02] [ 1.69383097e-01 9.85550162e-01 4.94629306e-04 1.04096302e+01] [-5.26278697e-03 4.02622569e-04 9.99986070e-01 -2.64963375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.895898227 meters 0.078122964842884 Centerline is valid? [True, True] Translation: X:235.64, Y:10.41, Z:-2.65 [[ 9.85760102e-01 -1.68077785e-01 5.18453284e-03 2.35635245e+02] [ 1.68077529e-01 9.85773659e-01 4.88025317e-04 1.04134262e+01] [-5.19280212e-03 3.90327584e-04 9.99986441e-01 -2.65063669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.925898227 meters 0.07290665839957342 Centerline is valid? [True, True] Translation: X:235.67, Y:10.43, Z:-2.65 [[ 9.85993388e-01 -1.66691183e-01 5.57572492e-03 2.35665068e+02] [ 1.66690865e-01 9.86009067e-01 5.24855401e-04 1.04258858e+01] [-5.58520409e-03 4.11918458e-04 9.99984318e-01 -2.65181104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.955898227 meters 0.06845761482551864 Centerline is valid? [True, True] Translation: X:235.70, Y:10.44, Z:-2.65 [[ 9.85993739e-01 -1.66664058e-01 6.27998254e-03 2.35696752e+02] [ 1.66663657e-01 9.86013629e-01 5.90961043e-04 1.04368178e+01] [-6.29064034e-03 4.63960964e-04 9.99980106e-01 -2.65140299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.985898227 meters 0.07486809697544784 Centerline is valid? [True, True] Translation: X:235.73, Y:10.43, Z:-2.65 [[ 9.86096399e-01 -1.65992597e-01 7.76852745e-03 2.35728982e+02] [ 1.65991965e-01 9.86126835e-01 7.30647992e-04 1.04334803e+01] [-7.78203554e-03 5.69023780e-04 9.99969558e-01 -2.64851775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.015898227 meters 0.06898607818825375 Centerline is valid? [True, True] Translation: X:235.76, Y:10.45, Z:-2.65 [[ 9.86290087e-01 -1.64756713e-01 9.33218750e-03 2.35759298e+02] [ 1.64755748e-01 9.86334007e-01 8.77403084e-04 1.04468026e+01] [-9.34921194e-03 6.72157567e-04 9.99956069e-01 -2.64575970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.045898227 meters 0.0677593797444083 Centerline is valid? [True, True] Translation: X:235.79, Y:10.45, Z:-2.64 [[ 9.86568972e-01 -1.63009376e-01 1.04693263e-02 2.35789193e+02] [ 1.63008064e-01 9.86624246e-01 9.84237284e-04 1.04535534e+01] [-1.04897311e-02 7.35566652e-04 9.99944711e-01 -2.64418203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.075898227 meters 0.06577960575402061 Centerline is valid? [True, True] Translation: X:235.82, Y:10.46, Z:-2.64 [[ 9.86869643e-01 -1.61208426e-01 1.00075068e-02 2.35819780e+02] [ 1.61207136e-01 9.86920146e-01 9.40719212e-04 1.04620874e+01] [-1.00282620e-02 6.84914286e-04 9.99949481e-01 -2.64483602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.105898227 meters 0.06912134839661141 Centerline is valid? [True, True] Translation: X:235.85, Y:10.46, Z:-2.65 [[ 9.87144522e-01 -1.59596052e-01 8.64822994e-03 2.35849313e+02] [ 1.59595028e-01 9.87182236e-01 8.12906287e-04 1.04640946e+01] [-8.66711560e-03 5.77758509e-04 9.99962273e-01 -2.64607556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.135898227 meters 0.07058334493208063 Centerline is valid? [True, True] Translation: X:235.88, Y:10.47, Z:-2.65 [[ 9.87380335e-01 -1.58193503e-01 7.40876140e-03 2.35878108e+02] [ 1.58192711e-01 9.87408011e-01 6.96447743e-04 1.04719727e+01] [-7.42564387e-03 4.84353248e-04 9.99972312e-01 -2.64936304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.16589822699999 meters 0.06676881072148942 Centerline is valid? [True, True] Translation: X:235.91, Y:10.48, Z:-2.65 [[ 9.87381625e-01 -1.58170758e-01 7.71606508e-03 2.35909639e+02] [ 1.58169905e-01 9.87411645e-01 7.24650658e-04 1.04824727e+01] [-7.73355106e-03 5.04942533e-04 9.99969968e-01 -2.64976904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.195898227 meters 0.06637989808738304 Centerline is valid? [True, True] Translation: X:235.94, Y:10.49, Z:-2.65 [[ 9.87307835e-01 -1.58602295e-01 8.27955267e-03 2.35940904e+02] [ 1.58601338e-01 9.87342399e-01 7.76304325e-04 1.04882179e+01] [-8.29787705e-03 5.46696786e-04 9.99965423e-01 -2.64943358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.225898227 meters 0.07011214313700932 Centerline is valid? [True, True] Translation: X:235.97, Y:10.49, Z:-2.65 [[ 9.87154261e-01 -1.59527608e-01 8.79812194e-03 2.35971679e+02] [ 1.59526569e-01 9.87193291e-01 8.24325118e-04 1.04907286e+01] [-8.81694957e-03 5.89798150e-04 9.99960956e-01 -2.64822121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.255898227 meters 0.06994653007207566 Centerline is valid? [True, True] Translation: X:236.00, Y:10.50, Z:-2.65 [[ 9.87187049e-01 -1.59344845e-01 8.42318177e-03 2.36004151e+02] [ 1.59343894e-01 9.87222823e-01 7.88197611e-04 1.04960419e+01] [-8.44115251e-03 5.64084110e-04 9.99964214e-01 -2.64849354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.285898227 meters 0.0706299759794901 Centerline is valid? [True, True] Translation: X:236.04, Y:10.50, Z:-2.65 [[ 9.87212150e-01 -1.59209039e-01 8.04064263e-03 2.36036652e+02] [ 1.59208179e-01 9.87244748e-01 7.51023103e-04 1.05002195e+01] [-8.05765187e-03 5.38716940e-04 9.99967391e-01 -2.64925994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.315898227 meters 0.07062131508148152 Centerline is valid? [True, True] Translation: X:236.07, Y:10.51, Z:-2.65 [[ 9.87245362e-01 -1.59009658e-01 7.90724465e-03 2.36069442e+02] [ 1.59008831e-01 9.87276885e-01 7.37194024e-04 1.05050957e+01] [-7.92386084e-03 5.29530344e-04 9.99968466e-01 -2.64980668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.345898227 meters 0.0631624051928609 Centerline is valid? [True, True] Translation: X:236.10, Y:10.52, Z:-2.65 [[ 9.87291759e-01 -1.58720843e-01 7.91681719e-03 2.36100659e+02] [ 1.58720015e-01 9.87323358e-01 7.36776640e-04 1.05193735e+01] [-7.93340034e-03 5.29143841e-04 9.99968390e-01 -2.65045688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.375898227 meters 0.06798465477614332 Centerline is valid? [True, True] Translation: X:236.13, Y:10.52, Z:-2.65 [[ 9.87334945e-01 -1.58413710e-01 8.64885790e-03 2.36132593e+02] [ 1.58412722e-01 9.87372657e-01 8.03542148e-04 1.05183734e+01] [-8.66693789e-03 5.76723875e-04 9.99962275e-01 -2.64925158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.405898227 meters 0.06270031715362114 Centerline is valid? [True, True] Translation: X:236.16, Y:10.53, Z:-2.65 [[ 9.87362874e-01 -1.58133556e-01 1.04083622e-02 2.36164876e+02] [ 1.58132121e-01 9.87417490e-01 9.65879386e-04 1.05335482e+01] [-1.04301368e-02 6.92222948e-04 9.99945365e-01 -2.64774732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.435898227 meters 0.06965146324854328 Centerline is valid? [True, True] Translation: X:236.20, Y:10.53, Z:-2.65 [[ 9.87276508e-01 -1.58639926e-01 1.08844517e-02 2.36196427e+02] [ 1.58638403e-01 9.87336234e-01 1.00865528e-03 1.05318408e+01] [-1.09066265e-02 7.30870370e-04 9.99940254e-01 -2.64766622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.465898227 meters 0.06446699027734774 Centerline is valid? [True, True] Translation: X:236.23, Y:10.54, Z:-2.65 [[ 9.87195112e-01 -1.59146060e-01 1.08785250e-02 2.36228126e+02] [ 1.59144588e-01 9.87254773e-01 1.00641172e-03 1.05424264e+01] [-1.09000422e-02 7.37733656e-04 9.99940321e-01 -2.64877815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.495898227 meters 0.06446699027734774 Centerline is valid? [True, True] Translation: X:236.26, Y:10.55, Z:-2.65 [[ 9.87223866e-01 -1.58967581e-01 1.08787002e-02 2.36260656e+02] [ 1.58966118e-01 9.87283528e-01 1.00451554e-03 1.05452997e+01] [-1.09000470e-02 7.37663029e-04 9.99940321e-01 -2.64887895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.525898227 meters 0.07606120600282187 Centerline is valid? [True, True] Translation: X:236.29, Y:10.54, Z:-2.65 [[ 9.87105626e-01 -1.59729131e-01 1.04445228e-02 2.36292776e+02] [ 1.59727843e-01 9.87160620e-01 9.62800863e-04 1.05363952e+01] [-1.04642090e-02 7.17894949e-04 9.99944991e-01 -2.64860260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.555898227 meters 0.07213650488642594 Centerline is valid? [True, True] Translation: X:236.32, Y:10.55, Z:-2.65 [[ 9.86907014e-01 -1.60968640e-01 1.01805289e-02 2.36322492e+02] [ 1.60967486e-01 9.86959264e-01 9.37945777e-04 1.05478178e+01] [-1.01987471e-02 7.13068878e-04 9.99947737e-01 -2.64921067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.585898227 meters 0.061824091992278375 Centerline is valid? [True, True] Translation: X:236.35, Y:10.57, Z:-2.65 [[ 9.86590947e-01 -1.62911741e-01 9.90289274e-03 2.36351356e+02] [ 1.62910749e-01 9.86640388e-01 9.12171461e-04 1.05678134e+01] [-9.91919738e-03 7.13347567e-04 9.99950549e-01 -2.65133373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.615898227 meters 0.06900025881684244 Centerline is valid? [True, True] Translation: X:236.38, Y:10.57, Z:-2.65 [[ 9.85612971e-01 -1.68791418e-01 8.74800914e-03 2.36381843e+02] [ 1.68790875e-01 9.85651557e-01 8.05636803e-04 1.05671381e+01] [-8.75847340e-03 6.82538037e-04 9.99961411e-01 -2.65337318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.645898227 meters 0.08079317006656205 Centerline is valid? [True, True] Translation: X:236.41, Y:10.56, Z:-2.65 [[ 9.84915267e-01 -1.72832655e-01 8.41367623e-03 2.36412364e+02] [ 1.72832301e-01 9.84950961e-01 7.74681669e-04 1.05564850e+01] [-8.42094878e-03 6.91159221e-04 9.99964304e-01 -2.65369925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.675898227 meters 0.08691192582059176 Centerline is valid? [True, True] Translation: X:236.44, Y:10.55, Z:-2.65 [[ 9.84135875e-01 -1.77225289e-01 8.23268781e-03 2.36442371e+02] [ 1.77225103e-01 9.84170051e-01 7.57889607e-04 1.05527399e+01] [-8.23668198e-03 7.13172597e-04 9.99965824e-01 -2.65410813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.705898227 meters 0.08449552574856882 Centerline is valid? [True, True] Translation: X:236.47, Y:10.56, Z:-2.66 [[ 9.82637694e-01 -1.85370908e-01 7.79674406e-03 2.36472926e+02] [ 1.85370996e-01 9.82668346e-01 7.17680273e-04 1.05592311e+01] [-7.79465064e-03 7.40070528e-04 9.99969347e-01 -2.65620675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.735898227 meters 0.09861408419137159 Centerline is valid? [True, True] Translation: X:236.50, Y:10.54, Z:-2.66 [[ 9.82012769e-01 -1.88655165e-01 7.75565895e-03 2.36504323e+02] [ 1.88655354e-01 9.82043099e-01 7.13780357e-04 1.05431633e+01] [-7.75104970e-03 7.62205162e-04 9.99969670e-01 -2.65585279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.765898227 meters 0.09785508644032509 Centerline is valid? [True, True] Translation: X:236.54, Y:10.55, Z:-2.66 [[ 9.81624144e-01 -1.90661988e-01 7.87694360e-03 2.36535285e+02] [ 1.90662249e-01 9.81655429e-01 7.24837140e-04 1.05456549e+01] [-7.87064334e-03 7.90318143e-04 9.99968714e-01 -2.65601652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.795898227 meters 0.09206987686803313 Centerline is valid? [True, True] Translation: X:236.57, Y:10.55, Z:-2.66 [[ 9.81505506e-01 -1.91259410e-01 8.17192537e-03 2.36567051e+02] [ 1.91259713e-01 9.81539178e-01 7.51722948e-04 1.05542161e+01] [-8.16483899e-03 8.25139886e-04 9.99966327e-01 -2.65569915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.825898227 meters 0.09021024769585614 Centerline is valid? [True, True] Translation: X:236.60, Y:10.56, Z:-2.66 [[ 9.81614923e-01 -1.90702366e-01 8.04681669e-03 2.36599409e+02] [ 1.90702648e-01 9.81647571e-01 7.39293744e-04 1.05574502e+01] [-8.04012312e-03 8.08847481e-04 9.99967351e-01 -2.65561846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.855898227 meters 0.10025634984937185 Centerline is valid? [True, False] Translation: X:236.60, Y:10.55, Z:-2.66 [[ 9.84514008e-01 -1.75021442e-01 9.98312624e-03 2.36599724e+02] [ 1.75043925e-01 9.84559604e-01 -1.41775066e-03 1.05513822e+01] [-9.58084605e-03 3.14328098e-03 9.99949162e-01 -2.65684008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.885898227 meters 0.09642078211301015 Centerline is valid? [False, True] Translation: X:236.61, Y:10.54, Z:-2.66 [[ 9.87574161e-01 -1.56949619e-01 8.00587663e-03 2.36613012e+02] [ 1.56995567e-01 9.87584147e-01 -5.47216285e-03 1.05410906e+01] [-7.04762297e-03 6.66105377e-03 9.99952980e-01 -2.65557957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91589822699999 meters 0.08953689090032266 Centerline is valid? [True, True] Translation: X:236.64, Y:10.55, Z:-2.66 [[ 9.87744106e-01 -1.55914682e-01 7.22450399e-03 2.36643362e+02] [ 1.55915585e-01 9.87770285e-01 4.41419024e-04 1.05460592e+01] [-7.20497407e-03 6.90403728e-04 9.99973806e-01 -2.65951450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.945898227 meters 0.09035860927869643 Centerline is valid? [True, True] Translation: X:236.67, Y:10.54, Z:-2.66 [[ 9.87840002e-01 -1.55315033e-01 7.02650852e-03 2.36674869e+02] [ 1.55315875e-01 9.87864766e-01 4.29081989e-04 1.05445496e+01] [-7.00788307e-03 6.67463964e-04 9.99975222e-01 -2.66064460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.975898227 meters 0.10276565642036285 Centerline is valid? [True, False] Translation: X:236.68, Y:10.54, Z:-2.66 [[ 9.89862492e-01 -1.41872862e-01 6.65874275e-03 2.36677542e+02] [ 1.41904056e-01 9.89870322e-01 -4.47035027e-03 1.05393632e+01] [-5.95707045e-03 5.36993467e-03 9.99967838e-01 -2.66153888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.005898227 meters 0.09214159229298112 Centerline is valid? [False, True] Translation: X:236.68, Y:10.53, Z:-2.66 [[ 9.91872318e-01 -1.27017544e-01 7.47321854e-03 2.36677060e+02] [ 1.27073847e-01 9.91864040e-01 -7.61339985e-03 1.05329641e+01] [-6.44538138e-03 8.50117118e-03 9.99943092e-01 -2.66131447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.035898227 meters 0.08517885898685686 Centerline is valid? [True, True] Translation: X:236.71, Y:10.54, Z:-2.66 [[ 9.92109369e-01 -1.25100614e-01 8.29673854e-03 2.36707682e+02] [ 1.25102527e-01 9.92143777e-01 2.90012729e-04 1.05361640e+01] [-8.26783828e-03 7.50218611e-04 9.99965539e-01 -2.66192029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.065898227 meters 0.08625033688098586 Centerline is valid? [True, True] Translation: X:236.74, Y:10.53, Z:-2.66 [[ 9.92398951e-01 -1.22711788e-01 9.28112287e-03 2.36737566e+02] [ 1.22714078e-01 9.92442013e-01 3.24495372e-04 1.05324814e+01] [-9.25079568e-03 8.16895567e-04 9.99956877e-01 -2.66026730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.095898227 meters 0.08298825828248621 Centerline is valid? [True, True] Translation: X:236.77, Y:10.53, Z:-2.66 [[ 9.93010700e-01 -1.17605890e-01 9.92992598e-03 2.36768274e+02] [ 1.17608258e-01 9.93060007e-01 3.47139130e-04 1.05317779e+01] [-9.90183796e-03 8.23128430e-04 9.99950637e-01 -2.65923648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.125898227 meters 0.0760038033490003 Centerline is valid? [True, True] Translation: X:236.80, Y:10.54, Z:-2.66 [[ 9.93244491e-01 -1.15553757e-01 1.06165534e-02 2.36798774e+02] [ 1.15556348e-01 9.93300857e-01 3.71082869e-04 1.05389961e+01] [-1.05883116e-02 8.58234124e-04 9.99943574e-01 -2.66070143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.155898227 meters 0.07395386985521038 Centerline is valid? [True, True] Translation: X:236.83, Y:10.54, Z:-2.66 [[ 9.93414313e-01 -1.14046221e-01 1.10210072e-02 2.36829591e+02] [ 1.14048922e-01 9.93475060e-01 3.85110475e-04 1.05404090e+01] [-1.09930162e-02 8.74359736e-04 9.99939193e-01 -2.66088612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.185898227 meters 0.07495243846649695 Centerline is valid? [True, True] Translation: X:236.86, Y:10.54, Z:-2.66 [[ 9.93529586e-01 -1.12995996e-01 1.14396816e-02 2.36860243e+02] [ 1.12998839e-01 9.93595040e-01 3.99610494e-04 1.05374978e+01] [-1.14115652e-02 8.95645885e-04 9.99934485e-01 -2.66197784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.215898227 meters 0.07537071997170645 Centerline is valid? [True, True] Translation: X:236.89, Y:10.53, Z:-2.66 [[ 9.93550615e-01 -1.12829171e-01 1.12584534e-02 2.36892551e+02] [ 1.12831931e-01 9.93614011e-01 3.91742394e-04 1.05340033e+01] [-1.12307570e-02 8.81097136e-04 9.99936545e-01 -2.66240704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.245898227 meters 0.07711023149289774 Centerline is valid? [True, True] Translation: X:236.92, Y:10.53, Z:-2.66 [[ 9.93503450e-01 -1.13363445e-01 9.98123085e-03 2.36923415e+02] [ 1.13365650e-01 9.93553275e-01 3.46372667e-04 1.05302050e+01] [-9.95615059e-03 7.87406284e-04 9.99950126e-01 -2.66408676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.275898227 meters 0.07864289544150965 Centerline is valid? [True, True] Translation: X:236.96, Y:10.53, Z:-2.67 [[ 9.93404914e-01 -1.14324013e-01 8.75772638e-03 2.36955075e+02] [ 1.14325753e-01 9.93443270e-01 3.03303500e-04 1.05274109e+01] [-8.73497920e-03 6.99930478e-04 9.99961604e-01 -2.66649565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.305898227 meters 0.07339405264807283 Centerline is valid? [True, True] Translation: X:236.99, Y:10.53, Z:-2.67 [[ 9.93307929e-01 -1.15259277e-01 7.39301006e-03 2.36986925e+02] [ 1.15260546e-01 9.93335261e-01 2.55672962e-04 1.05331536e+01] [-7.37320626e-03 5.98160394e-04 9.99972639e-01 -2.66911533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.335898227 meters 0.08387524017689647 Centerline is valid? [True, True] Translation: X:237.02, Y:10.52, Z:-2.67 [[ 9.93118927e-01 -1.16907365e-01 6.88950534e-03 2.37017989e+02] [ 1.16908507e-01 9.93142661e-01 2.38060095e-04 1.05163296e+01] [-6.87009264e-03 5.69019796e-04 9.99976239e-01 -2.67024620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.365898227 meters 0.07738389880463076 Centerline is valid? [True, True] Translation: X:237.05, Y:10.52, Z:-2.67 [[ 9.93129480e-01 -1.16825960e-01 6.74767446e-03 2.37050171e+02] [ 1.16827055e-01 9.93152247e-01 2.32907517e-04 1.05233813e+01] [-6.72867769e-03 5.57003617e-04 9.99977207e-01 -2.67147176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.395898227 meters 0.08465789826767715 Centerline is valid? [True, True] Translation: X:237.08, Y:10.51, Z:-2.67 [[ 9.93226685e-01 -1.16020472e-01 6.32478551e-03 2.37081247e+02] [ 1.16021419e-01 9.93246688e-01 2.18126635e-04 1.05124276e+01] [-6.30737941e-03 5.17161396e-04 9.99979975e-01 -2.67123796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.425898227 meters 0.0779016268487306 Centerline is valid? [True, True] Translation: X:237.11, Y:10.52, Z:-2.67 [[ 9.93370718e-01 -1.14798193e-01 5.99924980e-03 2.37112545e+02] [ 1.14799024e-01 9.93388716e-01 2.06728291e-04 1.05193698e+01] [-5.98331910e-03 4.83350192e-04 9.99981983e-01 -2.67206972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.455898227 meters 0.0785140349801157 Centerline is valid? [True, True] Translation: X:237.14, Y:10.52, Z:-2.67 [[ 9.93508041e-01 -1.13600955e-01 6.04949927e-03 2.37143585e+02] [ 1.13601779e-01 9.93526342e-01 2.08301377e-04 1.05170520e+01] [-6.03400011e-03 4.80284787e-04 9.99981680e-01 -2.67250789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.485898227 meters 0.07155935889477963 Centerline is valid? [True, True] Translation: X:237.17, Y:10.52, Z:-2.67 [[ 9.93665998e-01 -1.12195560e-01 6.32782818e-03 2.37173947e+02] [ 1.12196434e-01 9.93686023e-01 2.17833730e-04 1.05244827e+01] [-6.31231440e-03 4.93505788e-04 9.99979955e-01 -2.67262822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.515898227 meters 0.07124247557858938 Centerline is valid? [True, True] Translation: X:237.20, Y:10.52, Z:-2.67 [[ 9.93955562e-01 -1.09532646e-01 7.41218498e-03 2.37203882e+02] [ 1.09533771e-01 9.93983042e-01 2.55221601e-04 1.05221584e+01] [-7.39554127e-03 5.58205639e-04 9.99972497e-01 -2.67052424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.545898227 meters 0.0684785116593402 Centerline is valid? [True, True] Translation: X:237.24, Y:10.53, Z:-2.67 [[ 9.94094877e-01 -1.08254000e-01 7.51310541e-03 2.37235550e+02] [ 1.08255120e-01 9.94123112e-01 2.58540176e-04 1.05252362e+01] [-7.49693974e-03 5.56318666e-04 9.99971743e-01 -2.66991274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.575898227 meters 0.07426250053907932 Centerline is valid? [True, True] Translation: X:237.27, Y:10.52, Z:-2.67 [[ 9.94225054e-01 -1.07057171e-01 7.43670046e-03 2.37266496e+02] [ 1.07058237e-01 9.94252719e-01 2.55716859e-04 1.05171129e+01] [-7.42133597e-03 5.41919935e-04 9.99972315e-01 -2.66961155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.605898227 meters 0.077960971826755 Centerline is valid? [True, True] Translation: X:237.30, Y:10.51, Z:-2.67 [[ 9.94316808e-01 -1.06204157e-01 7.40014553e-03 2.37296853e+02] [ 1.06205190e-01 9.94344202e-01 2.54353435e-04 1.05110913e+01] [-7.38530520e-03 5.33025964e-04 9.99972586e-01 -2.67032212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.635898227 meters 0.06898617681135567 Centerline is valid? [True, True] Translation: X:237.33, Y:10.52, Z:-2.67 [[ 9.94358100e-01 -1.05824318e-01 7.29271870e-03 2.37328292e+02] [ 1.05825312e-01 9.94384704e-01 2.50408994e-04 1.05218268e+01] [-7.27826729e-03 5.22758023e-04 9.99973376e-01 -2.67143191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66589822699999 meters 0.06936142256974305 Centerline is valid? [True, True] Translation: X:237.36, Y:10.52, Z:-2.67 [[ 9.94389289e-01 -1.05505878e-01 7.64531841e-03 2.37361028e+02] [ 1.05506965e-01 9.94418529e-01 2.62108224e-04 1.05209078e+01] [-7.63030025e-03 5.45996731e-04 9.99970740e-01 -2.67046737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.695898227 meters 0.07157413394261124 Centerline is valid? [True, True] Translation: X:237.39, Y:10.52, Z:-2.67 [[ 9.94477554e-01 -1.04593616e-01 8.63536170e-03 2.37391701e+02] [ 1.04594971e-01 9.94514859e-01 2.95838831e-04 1.05166566e+01] [-8.61893838e-03 6.09010327e-04 9.99962671e-01 -2.66877222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.725898227 meters 0.07212015392329005 Centerline is valid? [True, True] Translation: X:237.42, Y:10.52, Z:-2.67 [[ 9.94562142e-01 -1.03808931e-01 8.35768724e-03 2.37422346e+02] [ 1.03810173e-01 9.94597087e-01 2.86235080e-04 1.05163666e+01] [-8.34224515e-03 5.82934384e-04 9.99965033e-01 -2.66892001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.755898227 meters 0.07269864196005307 Centerline is valid? [True, True] Translation: X:237.45, Y:10.52, Z:-2.67 [[ 9.94661336e-01 -1.02900333e-01 7.76843477e-03 2.37452747e+02] [ 1.02901382e-01 9.94691528e-01 2.65671590e-04 1.05165510e+01] [-7.75453394e-03 5.35129412e-04 9.99969790e-01 -2.66960839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.785898227 meters 0.06493018023450373 Centerline is valid? [True, True] Translation: X:237.49, Y:10.53, Z:-2.67 [[ 9.94741395e-01 -1.02158228e-01 7.29751458e-03 2.37485094e+02] [ 1.02159137e-01 9.94768038e-01 2.49144076e-04 1.05282684e+01] [-7.28478638e-03 4.97673866e-04 9.99973342e-01 -2.67133895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.815898227 meters 0.06672934964826849 Centerline is valid? [True, True] Translation: X:237.52, Y:10.53, Z:-2.67 [[ 9.94829857e-01 -1.01288975e-01 7.35515285e-03 2.37515598e+02] [ 1.01289875e-01 9.94856923e-01 2.50927775e-04 1.05275667e+01] [-7.34274095e-03 4.95372072e-04 9.99972919e-01 -2.67075649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.845898227 meters 0.06653269385019676 Centerline is valid? [True, True] Translation: X:237.55, Y:10.53, Z:-2.67 [[ 9.94914125e-01 -1.00421578e-01 7.83517149e-03 2.37546920e+02] [ 1.00422575e-01 9.94944840e-01 2.67152205e-04 1.05294462e+01] [-7.82239129e-03 5.21034592e-04 9.99969269e-01 -2.67013884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.875898227 meters 0.06875222124083963 Centerline is valid? [True, True] Translation: X:237.58, Y:10.53, Z:-2.67 [[ 9.94958902e-01 -9.98781523e-02 9.00767931e-03 2.37578083e+02] [ 9.98794495e-02 9.94999498e-01 3.06846961e-04 1.05290498e+01] [-8.99328370e-03 5.94381935e-04 9.99959383e-01 -2.66873851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.905898227 meters 0.062468637883181195 Centerline is valid? [True, True] Translation: X:237.61, Y:10.54, Z:-2.67 [[ 9.94904320e-01 -1.00393656e-01 9.30097936e-03 2.37609895e+02] [ 1.00395065e-01 9.94947602e-01 3.16437514e-04 1.05388702e+01] [-9.28575543e-03 6.18947377e-04 9.99956695e-01 -2.66985175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.935898227 meters 0.06534169434978009 Centerline is valid? [True, True] Translation: X:237.64, Y:10.54, Z:-2.67 [[ 9.94744365e-01 -1.01955651e-01 9.41772256e-03 2.37640519e+02] [ 1.01957167e-01 9.94788738e-01 3.20224669e-04 1.05368589e+01] [-9.40129305e-03 6.41662626e-04 9.99955601e-01 -2.66973301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.965898227 meters 0.06712786426666625 Centerline is valid? [True, True] Translation: X:237.67, Y:10.53, Z:-2.67 [[ 9.94248673e-01 -1.06757550e-01 8.50895933e-03 2.37670799e+02] [ 1.06758963e-01 9.94284889e-01 2.89285396e-04 1.05349697e+01] [-8.49121309e-03 6.20786050e-04 9.99963756e-01 -2.67230339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.995898227 meters 0.07411702996973421 Centerline is valid? [True, True] Translation: X:237.70, Y:10.53, Z:-2.67 [[ 9.93981395e-01 -1.09301283e-01 7.36312820e-03 2.37700267e+02] [ 1.09302410e-01 9.94008511e-01 2.50370123e-04 1.05261325e+01] [-7.34637788e-03 5.55944414e-04 9.99972860e-01 -2.67337645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.025898227 meters 0.075493279291417 Centerline is valid? [True, True] Translation: X:237.73, Y:10.52, Z:-2.67 [[ 9.93759117e-01 -1.11345692e-01 6.70485787e-03 2.37731021e+02] [ 1.11346672e-01 9.93781599e-01 2.27988397e-04 1.05244771e+01] [-6.68854990e-03 5.19998063e-04 9.99977496e-01 -2.67418433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.055898227 meters 0.0757698687285413 Centerline is valid? [True, True] Translation: X:237.76, Y:10.53, Z:-2.67 [[ 9.93572640e-01 -1.13010191e-01 6.48895079e-03 2.37762360e+02] [ 1.13011146e-01 9.93593696e-01 2.20543461e-04 1.05250750e+01] [-6.47230426e-03 5.14197815e-04 9.99978922e-01 -2.67409907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.085898227 meters 0.0826170410184001 Centerline is valid? [True, True] Translation: X:237.79, Y:10.52, Z:-2.67 [[ 9.93454447e-01 -1.14008900e-01 7.08745284e-03 2.37792495e+02] [ 1.14010066e-01 9.93479565e-01 2.40565134e-04 1.05171642e+01] [-7.06866613e-03 5.69050465e-04 9.99974855e-01 -2.67321986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.115898227 meters 0.07848806552484806 Centerline is valid? [True, True] Translation: X:237.82, Y:10.52, Z:-2.67 [[ 9.93402247e-01 -1.14443140e-01 7.39883194e-03 2.37824085e+02] [ 1.14444427e-01 9.93429620e-01 2.50599118e-04 1.05237675e+01] [-7.37889815e-03 5.97809352e-04 9.99972597e-01 -2.67318599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.145898227 meters 0.0831698176060562 Centerline is valid? [True, True] Translation: X:237.86, Y:10.52, Z:-2.67 [[ 9.93474945e-01 -1.13842401e-01 6.88774922e-03 2.37855098e+02] [ 1.13843504e-01 9.93498667e-01 2.32970482e-04 1.05186769e+01] [-6.86949159e-03 5.52675170e-04 9.99976252e-01 -2.67382807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.175898227 meters 0.07596561150246171 Centerline is valid? [True, True] Translation: X:237.89, Y:10.53, Z:-2.68 [[ 9.93596320e-01 -1.12811438e-01 6.31924909e-03 2.37886096e+02] [ 1.12812347e-01 9.93616288e-01 2.13581596e-04 1.05288800e+01] [-6.30300328e-03 5.00675433e-04 9.99980011e-01 -2.67537406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.205898227 meters 0.07416938125810678 Centerline is valid? [True, True] Translation: X:237.92, Y:10.53, Z:-2.68 [[ 9.93715866e-01 -1.11771490e-01 5.99265388e-03 2.37917162e+02] [ 1.11772289e-01 9.93733825e-01 2.02410426e-04 1.05318886e+01] [-5.97772657e-03 4.68674191e-04 9.99982023e-01 -2.67617319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.235898227 meters 0.08146122681037182 Centerline is valid? [True, True] Translation: X:237.95, Y:10.52, Z:-2.68 [[ 9.93776959e-01 -1.11200205e-01 6.47072742e-03 2.37948883e+02] [ 1.11201128e-01 9.93797898e-01 2.18121648e-04 1.05227685e+01] [-6.45485047e-03 5.02787920e-04 9.99979041e-01 -2.67518801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.265898227 meters 0.0740630373500714 Centerline is valid? [True, True] Translation: X:237.98, Y:10.53, Z:-2.68 [[ 9.93643941e-01 -1.12329294e-01 7.33816228e-03 2.37980073e+02] [ 1.12330514e-01 9.93670868e-01 2.47020458e-04 1.05305165e+01] [-7.31946572e-03 5.78849157e-04 9.99973045e-01 -2.67584177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.295898227 meters 0.08381147464638228 Centerline is valid? [True, True] Translation: X:238.01, Y:10.52, Z:-2.68 [[ 9.93556741e-01 -1.13111147e-01 7.13241191e-03 2.38011914e+02] [ 1.13112323e-01 9.93582178e-01 2.39680111e-04 1.05166081e+01] [-7.11374785e-03 5.68627887e-04 9.99974535e-01 -2.67594333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.325898227 meters 0.08049419979794548 Centerline is valid? [True, True] Translation: X:238.04, Y:10.52, Z:-2.68 [[ 9.93496816e-01 -1.13647036e-01 6.95896991e-03 2.38043987e+02] [ 1.13648170e-01 9.93521031e-01 2.33481524e-04 1.05196220e+01] [-6.94041745e-03 5.58911045e-04 9.99975759e-01 -2.67670718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.355898227 meters 0.083307658096148 Centerline is valid? [True, True] Translation: X:238.08, Y:10.51, Z:-2.68 [[ 9.93507116e-01 -1.13566190e-01 6.80675522e-03 2.38075625e+02] [ 1.13567275e-01 9.93530282e-01 2.28127059e-04 1.05146831e+01] [-6.78862495e-03 5.46378785e-04 9.99976808e-01 -2.67722287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.385898227 meters 0.07498978456316693 Centerline is valid? [True, True] Translation: X:238.11, Y:10.52, Z:-2.68 [[ 9.93559911e-01 -1.13109757e-01 6.69975022e-03 2.38107692e+02] [ 1.13110800e-01 9.93582355e-01 2.24265948e-04 1.05240838e+01] [-6.68212027e-03 5.34992453e-04 9.99977531e-01 -2.67827808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41589822699999 meters 0.07498978456316693 Centerline is valid? [True, True] Translation: X:238.14, Y:10.53, Z:-2.68 [[ 9.93567590e-01 -1.13042282e-01 6.69976375e-03 2.38140306e+02] [ 1.13043326e-01 9.93590034e-01 2.23861365e-04 1.05250624e+01] [-6.68212429e-03 5.34942182e-04 9.99977531e-01 -2.67835040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.445898227 meters 0.08225181714107217 Centerline is valid? [True, True] Translation: X:238.17, Y:10.52, Z:-2.68 [[ 9.93636432e-01 -1.12470974e-01 6.07631709e-03 2.38171797e+02] [ 1.12471824e-01 9.93654894e-01 2.02762876e-04 1.05153276e+01] [-6.06056715e-03 4.81941885e-04 9.99981518e-01 -2.67978410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.475898227 meters 0.07446936877144239 Centerline is valid? [True, True] Translation: X:238.20, Y:10.52, Z:-2.68 [[ 9.93868474e-01 -1.10452235e-01 5.07552325e-03 2.38202492e+02] [ 1.10452802e-01 9.93881356e-01 1.69293132e-04 1.05209409e+01] [-5.06316674e-03 3.92350659e-04 9.99987105e-01 -2.68209787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.505898227 meters 0.08059715157161203 Centerline is valid? [True, True] Translation: X:238.23, Y:10.51, Z:-2.68 [[ 9.93976304e-01 -1.09521750e-01 4.01156564e-03 2.38232891e+02] [ 1.09522097e-01 9.93984352e-01 1.33777868e-04 1.05123737e+01] [-4.00208506e-03 3.06383050e-04 9.99991945e-01 -2.68338275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.535898227 meters 0.07880769310081798 Centerline is valid? [True, True] Translation: X:238.26, Y:10.51, Z:-2.69 [[ 9.94045272e-01 -1.08937510e-01 2.57229656e-03 2.38264820e+02] [ 1.08937651e-01 9.94048581e-01 8.57495477e-05 1.05136970e+01] [-2.56632909e-03 1.94981012e-04 9.99996688e-01 -2.68574959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.565898227 meters 0.07158223375144628 Centerline is valid? [True, True] Translation: X:238.30, Y:10.52, Z:-2.69 [[ 9.94077158e-01 -1.08664151e-01 1.64515911e-03 2.38296802e+02] [ 1.08664208e-01 9.94078511e-01 5.48069361e-05 1.05221929e+01] [-1.64137287e-03 1.24287589e-04 9.99998645e-01 -2.68710914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.595898227 meters 0.07194189085501417 Centerline is valid? [True, True] Translation: X:238.33, Y:10.52, Z:-2.69 [[ 9.94065033e-01 -1.08767917e-01 2.06176028e-03 2.38329454e+02] [ 1.08768008e-01 9.94067159e-01 6.85661949e-05 1.05202179e+01] [-2.05698598e-03 1.56094301e-04 9.99997872e-01 -2.68608765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.625898227 meters 0.08148568134091838 Centerline is valid? [True, True] Translation: X:238.36, Y:10.51, Z:-2.69 [[ 9.94019340e-01 -1.09172494e-01 2.63018607e-03 2.38360558e+02] [ 1.09172643e-01 9.94022800e-01 8.73316634e-05 1.05082657e+01] [-2.62399914e-03 2.00335002e-04 9.99996537e-01 -2.68510273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.655898227 meters 0.0752697014170858 Centerline is valid? [True, True] Translation: X:238.39, Y:10.52, Z:-2.68 [[ 9.93955174e-01 -1.09742883e-01 3.10040860e-03 2.38392330e+02] [ 1.09743093e-01 9.93959981e-01 1.02845789e-04 1.05167288e+01] [-3.09296866e-03 2.38024325e-04 9.99995188e-01 -2.68475453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.685898227 meters 0.0792932269560835 Centerline is valid? [True, True] Translation: X:238.42, Y:10.51, Z:-2.68 [[ 9.93911694e-01 -1.10139924e-01 2.95657993e-03 2.38423886e+02] [ 1.10140117e-01 9.93916065e-01 9.79550873e-05 1.05122900e+01] [-2.94938106e-03 2.28279353e-04 9.99995625e-01 -2.68483802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.715898227 meters 0.08786134813702749 Centerline is valid? [True, True] Translation: X:238.46, Y:10.50, Z:-2.69 [[ 9.93912059e-01 -1.10145290e-01 2.61406022e-03 2.38455246e+02] [ 1.10145441e-01 9.93915476e-01 8.65283118e-05 1.05025132e+01] [-2.60768560e-03 2.01925282e-04 9.99996580e-01 -2.68527797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.745898227 meters 0.07691460147087882 Centerline is valid? [True, True] Translation: X:238.49, Y:10.52, Z:-2.69 [[ 9.94013142e-01 -1.09237798e-01 2.23115285e-03 2.38486178e+02] [ 1.09237906e-01 9.94015631e-01 7.37915731e-05 1.05186578e+01] [-2.22586163e-03 1.70376671e-04 9.99997508e-01 -2.68623547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.775898227 meters 0.0780452309315478 Centerline is valid? [True, True] Translation: X:238.52, Y:10.52, Z:-2.69 [[ 9.94053706e-01 -1.08875079e-01 1.85641303e-03 2.38518915e+02] [ 1.08875153e-01 9.94055430e-01 6.13767405e-05 1.05185799e+01] [-1.85205985e-03 1.41105476e-04 9.99998275e-01 -2.68607784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.805898227 meters 0.0753957939950069 Centerline is valid? [True, True] Translation: X:238.55, Y:10.52, Z:-2.69 [[ 9.94045684e-01 -1.08945202e-01 2.02987770e-03 2.38551244e+02] [ 1.08945291e-01 9.94047745e-01 6.69873838e-05 1.05232541e+01] [-2.02509331e-03 1.54557097e-04 9.99997938e-01 -2.68580330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.835898227 meters 0.08321365968723841 Centerline is valid? [True, True] Translation: X:238.58, Y:10.51, Z:-2.69 [[ 9.93717348e-01 -1.11882773e-01 2.84199968e-03 2.38581128e+02] [ 1.11882960e-01 9.93721387e-01 9.36181015e-05 1.05142088e+01] [-2.83463012e-03 2.24941405e-04 9.99995957e-01 -2.68566186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.865898227 meters 0.08455374809074316 Centerline is valid? [True, True] Translation: X:238.61, Y:10.51, Z:-2.69 [[ 9.93444250e-01 -1.14278195e-01 3.00262457e-03 2.38611533e+02] [ 1.14278415e-01 9.93448758e-01 9.87892986e-05 1.05128685e+01] [-2.99424311e-03 2.44993517e-04 9.99995487e-01 -2.68559540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.895898227 meters 0.08646506609134604 Centerline is valid? [True, True] Translation: X:238.64, Y:10.51, Z:-2.69 [[ 9.93190542e-01 -1.16457983e-01 3.17563019e-03 2.38641941e+02] [ 1.16458240e-01 9.93195584e-01 1.04475102e-04 1.05101558e+01] [-3.16618884e-03 2.66064621e-04 9.99994952e-01 -2.68585962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.925898227 meters 0.08989753326842809 Centerline is valid? [True, True] Translation: X:238.67, Y:10.50, Z:-2.69 [[ 9.92989666e-01 -1.18151579e-01 3.42457060e-03 2.38672122e+02] [ 1.18151888e-01 9.92995528e-01 1.12670101e-04 1.05047379e+01] [-3.41389544e-03 2.92739237e-04 9.99994130e-01 -2.68546069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.955898227 meters 0.08390561253440294 Centerline is valid? [True, True] Translation: X:238.70, Y:10.51, Z:-2.69 [[ 9.92875070e-01 -1.19117155e-01 3.19364355e-03 2.38703366e+02] [ 1.19117429e-01 9.92880168e-01 1.05067022e-04 1.05112000e+01] [-3.18342062e-03 2.76100182e-04 9.99994895e-01 -2.68620040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.985898227 meters 0.08192011491211464 Centerline is valid? [True, True] Translation: X:238.74, Y:10.51, Z:-2.69 [[ 9.92866999e-01 -1.19185891e-01 3.13764819e-03 2.38735264e+02] [ 1.19186156e-01 9.92871920e-01 1.03135250e-04 1.05123461e+01] [-3.12757505e-03 2.71564640e-04 9.99995072e-01 -2.68698856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.015898227 meters 0.08394923023092364 Centerline is valid? [True, True] Translation: X:238.76, Y:10.51, Z:-2.69 [[ 9.93130017e-01 -1.16968339e-01 3.34327832e-03 2.38764977e+02] [ 1.16968627e-01 9.93135604e-01 1.09800815e-04 1.05061337e+01] [-3.33317195e-03 2.82012191e-04 9.99994405e-01 -2.68603906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.045898227 meters 0.0752903098152423 Centerline is valid? [True, True] Translation: X:238.80, Y:10.52, Z:-2.69 [[ 9.93305038e-01 -1.15465957e-01 3.56580427e-03 2.38795093e+02] [ 1.15466275e-01 9.93311394e-01 1.17135068e-04 1.05164843e+01] [-3.55547912e-03 2.95379283e-04 9.99993636e-01 -2.68567170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.075898227 meters 0.08755461130831393 Centerline is valid? [True, True] Translation: X:238.83, Y:10.50, Z:-2.69 [[ 9.93432548e-01 -1.14364814e-01 3.53017392e-03 2.38826629e+02] [ 1.14365119e-01 9.93438778e-01 1.15934398e-04 1.04993999e+01] [-3.52027048e-03 2.88555758e-04 9.99993762e-01 -2.68555683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.105898227 meters 0.08806321550209621 Centerline is valid? [True, True] Translation: X:238.86, Y:10.50, Z:-2.69 [[ 9.93487302e-01 -1.13900373e-01 3.11236632e-03 2.38857970e+02] [ 1.13900608e-01 9.93492144e-01 1.02139425e-04 1.04973620e+01] [-3.10374521e-03 2.53026194e-04 9.99995151e-01 -2.68631481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.135898227 meters 0.07548490390921204 Centerline is valid? [True, True] Translation: X:238.89, Y:10.51, Z:-2.69 [[ 9.93457514e-01 -1.14178629e-01 2.32570551e-03 2.38889450e+02] [ 1.14178761e-01 9.93460218e-01 7.62650996e-05 1.05118550e+01] [-2.31920375e-03 1.89780039e-04 9.99997293e-01 -2.68805121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16589822699999 meters 0.09218834966845389 Centerline is valid? [True, True] Translation: X:238.92, Y:10.49, Z:-2.69 [[ 9.93331245e-01 -1.15295247e-01 2.11007395e-04 2.38920580e+02] [ 1.15295248e-01 9.93331267e-01 6.96853594e-06 1.04868074e+01] [-2.10403682e-04 1.74060855e-05 9.99999978e-01 -2.69201936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.195898227 meters 0.07865940339409644 Centerline is valid? [True, True] Translation: X:238.95, Y:10.50, Z:-2.69 [[ 9.93336463e-01 -1.15249177e-01 -5.46098669e-04 2.38951971e+02] [ 1.15249185e-01 9.93336612e-01 -1.77428513e-05 1.05035628e+01] [ 5.44504651e-04 -4.53128053e-05 9.99999851e-01 -2.69264027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.225898227 meters 0.08906796953420051 Centerline is valid? [True, True] Translation: X:238.98, Y:10.49, Z:-2.69 [[ 9.93355410e-01 -1.15084775e-01 -7.23588067e-04 2.38983479e+02] [ 1.15084789e-01 9.93355672e-01 -2.35430804e-05 1.04904943e+01] [ 7.21489761e-04 -5.98873334e-05 9.99999738e-01 -2.69368433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.255898227 meters 0.07999842845976378 Centerline is valid? [True, True] Translation: X:239.02, Y:10.50, Z:-2.69 [[ 9.93411114e-01 -1.14599095e-01 -1.18615536e-03 2.39015050e+02] [ 1.14599130e-01 9.93411817e-01 -3.85638019e-05 1.05029501e+01] [ 1.18276013e-03 -9.76226626e-05 9.99999296e-01 -2.69333810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.285898227 meters 0.0784051783593342 Centerline is valid? [True, True] Translation: X:239.05, Y:10.51, Z:-2.69 [[ 9.93492810e-01 -1.13887754e-01 -1.27117548e-03 2.39046424e+02] [ 1.13887793e-01 9.93493618e-01 -4.13560035e-05 1.05059259e+01] [ 1.26761467e-03 -1.03684479e-04 9.99999191e-01 -2.69326385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.315898227 meters 0.07448120163928644 Centerline is valid? [True, True] Translation: X:239.08, Y:10.51, Z:-2.69 [[ 9.93618025e-01 -1.12781838e-01 -1.86492118e-03 2.39077423e+02] [ 1.12781922e-01 9.93619763e-01 -6.06524075e-05 1.05115109e+01] [ 1.85986303e-03 -1.50064069e-04 9.99998259e-01 -2.69469574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.345898227 meters 0.08926784619695956 Centerline is valid? [True, True] Translation: X:239.11, Y:10.49, Z:-2.70 [[ 9.93578694e-01 -1.13122593e-01 -2.15808058e-03 2.39109640e+02] [ 1.13122706e-01 9.93581023e-01 -6.99532300e-05 1.04922709e+01] [ 2.15214120e-03 -1.74623876e-04 9.99997669e-01 -2.69687796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.375898227 meters 0.08747652637313776 Centerline is valid? [True, True] Translation: X:239.14, Y:10.49, Z:-2.70 [[ 9.93428550e-01 -1.14435622e-01 -2.05036110e-03 2.39140441e+02] [ 1.14435727e-01 9.93430652e-01 -6.64985094e-05 1.04941860e+01] [ 2.04450136e-03 -1.68573044e-04 9.99997896e-01 -2.69722247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.405898227 meters 0.08960693276639442 Centerline is valid? [True, True] Translation: X:239.17, Y:10.49, Z:-2.70 [[ 9.93009255e-01 -1.18032126e-01 -1.01836013e-03 2.39171305e+02] [ 1.18032154e-01 9.93009773e-01 -3.30534373e-05 1.04892894e+01] [ 1.01514293e-03 -8.73768705e-05 9.99999481e-01 -2.69611355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.435898227 meters 0.083085068704924 Centerline is valid? [True, True] Translation: X:239.20, Y:10.50, Z:-2.70 [[ 9.92833398e-01 -1.19491868e-01 -1.88093748e-03 2.39201857e+02] [ 1.19491965e-01 9.92835166e-01 -6.10063824e-05 1.04976526e+01] [ 1.87475064e-03 -1.64187742e-04 9.99998229e-01 -2.69627867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.465898227 meters 0.09308594273703058 Centerline is valid? [True, True] Translation: X:239.23, Y:10.49, Z:-2.70 [[ 9.92694061e-01 -1.20612981e-01 -3.31798917e-03 2.39232484e+02] [ 1.20613290e-01 9.92699563e-01 -1.07597795e-04 1.04874221e+01] [ 3.30674409e-03 -2.93381898e-04 9.99994490e-01 -2.69936133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.495898227 meters 0.09033371649670381 Centerline is valid? [True, True] Translation: X:239.26, Y:10.49, Z:-2.70 [[ 9.92678646e-01 -1.20724551e-01 -3.83264098e-03 2.39264896e+02] [ 1.20724965e-01 9.92685986e-01 -1.24051232e-04 1.04875481e+01] [ 3.81958502e-03 -3.39552439e-04 9.99992648e-01 -2.70043685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.525898227 meters 0.08429963590488586 Centerline is valid? [True, True] Translation: X:239.30, Y:10.49, Z:-2.70 [[ 9.92739694e-01 -1.20241158e-01 -3.15670288e-03 2.39295726e+02] [ 1.20241436e-01 9.92744673e-01 -1.02132583e-04 1.04922162e+01] [ 3.14608051e-03 -2.78175418e-04 9.99995012e-01 -2.69882268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.555898227 meters 0.08550632956898578 Centerline is valid? [True, True] Translation: X:239.33, Y:10.49, Z:-2.70 [[ 9.92785145e-01 -1.19878030e-01 -2.62923747e-03 2.39327059e+02] [ 1.19878222e-01 9.92788600e-01 -8.49457801e-05 1.04899201e+01] [ 2.62046012e-03 -2.30855405e-04 9.99996540e-01 -2.69813774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.585898227 meters 0.09061294979986224 Centerline is valid? [True, True] Translation: X:239.36, Y:10.48, Z:-2.70 [[ 9.92845486e-01 -1.19380371e-01 -2.48360388e-03 2.39357306e+02] [ 1.19380541e-01 9.92848568e-01 -8.00816122e-05 1.04822946e+01] [ 2.47540273e-03 -2.16985308e-04 9.99996913e-01 -2.69845315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.615898227 meters 0.08414567430929007 Centerline is valid? [True, True] Translation: X:239.39, Y:10.49, Z:-2.70 [[ 9.92916528e-01 -1.18784809e-01 -2.63389578e-03 2.39388373e+02] [ 1.18784999e-01 9.92919995e-01 -8.49336440e-05 1.04896348e+01] [ 2.62533661e-03 -2.28535287e-04 9.99996528e-01 -2.69854164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.645898227 meters 0.09073385248733638 Centerline is valid? [True, True] Translation: X:239.42, Y:10.48, Z:-2.70 [[ 9.93005291e-01 -1.18044132e-01 -2.46488750e-03 2.39418901e+02] [ 1.18044296e-01 9.93008327e-01 -7.92767470e-05 1.04802075e+01] [ 2.45701197e-03 -2.12243681e-04 9.99996959e-01 -2.69926363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.675898227 meters 0.08907776896792367 Centerline is valid? [True, True] Translation: X:239.45, Y:10.48, Z:-2.70 [[ 9.93242911e-01 -1.16017636e-01 -2.90292557e-03 2.39449052e+02] [ 1.16017855e-01 9.93247124e-01 -9.35007008e-05 1.04796651e+01] [ 2.89417020e-03 -2.43922289e-04 9.99995782e-01 -2.69955377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.705898227 meters 0.08668492634027973 Centerline is valid? [True, True] Translation: X:239.48, Y:10.48, Z:-2.70 [[ 9.93427772e-01 -1.14408032e-01 -3.47322769e-03 2.39480003e+02] [ 1.14408335e-01 9.93433803e-01 -1.11799881e-04 1.04847465e+01] [ 3.46321260e-03 -2.86301092e-04 9.99993962e-01 -2.69983877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.735898227 meters 0.07758628294931347 Centerline is valid? [True, True] Translation: X:239.51, Y:10.49, Z:-2.70 [[ 9.93651267e-01 -1.12433713e-01 -3.97751627e-03 2.39510252e+02] [ 1.12434095e-01 9.93659176e-01 -1.28026591e-04 1.04933523e+01] [ 3.96669004e-03 -3.19994658e-04 9.99992081e-01 -2.69986521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.765898227 meters 0.07851531965887644 Centerline is valid? [True, True] Translation: X:239.54, Y:10.49, Z:-2.70 [[ 9.93816622e-01 -1.10944527e-01 -4.45358642e-03 2.39540011e+02] [ 1.10944991e-01 9.93826538e-01 -1.43365475e-04 1.04917088e+01] [ 4.44199799e-03 -3.51624114e-04 9.99990072e-01 -2.70039848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.795898227 meters 0.08617944290091621 Centerline is valid? [True, True] Translation: X:239.57, Y:10.48, Z:-2.70 [[ 9.93911808e-01 -1.10079232e-01 -4.67764560e-03 2.39570443e+02] [ 1.10079736e-01 9.93922748e-01 -1.50500915e-04 1.04808417e+01] [ 4.66578539e-03 -3.65329354e-04 9.99989048e-01 -2.70201383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.825898227 meters 0.07656422929720148 Centerline is valid? [True, True] Translation: X:239.60, Y:10.49, Z:-2.70 [[ 9.93786324e-01 -1.11247545e-01 -3.56728900e-03 2.39600977e+02] [ 1.11247845e-01 9.93792687e-01 -1.14729032e-04 1.04887765e+01] [ 3.55790904e-03 -2.82837071e-04 9.99993631e-01 -2.69973083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.855898227 meters 0.07884214439335659 Centerline is valid? [True, True] Translation: X:239.63, Y:10.48, Z:-2.70 [[ 9.93575717e-01 -1.13131215e-01 -2.93646832e-03 2.39630981e+02] [ 1.13131426e-01 9.93580028e-01 -9.44992537e-05 1.04840509e+01] [ 2.92830709e-03 -2.38314685e-04 9.99995684e-01 -2.69934419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.885898227 meters 0.08143387133564443 Centerline is valid? [True, True] Translation: X:239.66, Y:10.48, Z:-2.70 [[ 9.93338632e-01 -1.15196907e-01 -2.83459185e-03 2.39661497e+02] [ 1.15197113e-01 9.93342648e-01 -9.11947017e-05 1.04790897e+01] [ 2.82622633e-03 -2.35949577e-04 9.99995978e-01 -2.69906367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91589822699999 meters 0.08477317456199034 Centerline is valid? [True, True] Translation: X:239.69, Y:10.47, Z:-2.70 [[ 9.92920662e-01 -1.18733844e-01 -3.29153785e-03 2.39691868e+02] [ 1.18734141e-01 9.92926076e-01 -1.05875230e-04 1.04719288e+01] [ 3.28082473e-03 -2.85692214e-04 9.99994577e-01 -2.69916713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.945898227 meters 0.09363699191578348 Centerline is valid? [True, True] Translation: X:239.72, Y:10.46, Z:-2.70 [[ 9.92806640e-01 -1.19663042e-01 -3.96628593e-03 2.39721995e+02] [ 1.19663480e-01 9.92814502e-01 -1.27659760e-04 1.04601129e+01] [ 3.95306235e-03 -3.47878120e-04 9.99992126e-01 -2.70072156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.975898227 meters 0.08611134656323963 Centerline is valid? [True, True] Translation: X:239.75, Y:10.47, Z:-2.70 [[ 9.92810691e-01 -1.19593126e-01 -4.94126767e-03 2.39751881e+02] [ 1.19593804e-01 9.92822893e-01 -1.59010280e-04 1.04702466e+01] [ 4.92482019e-03 -4.33077892e-04 9.99987779e-01 -2.70093200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.005898227 meters 0.089543530474198 Centerline is valid? [True, True] Translation: X:239.78, Y:10.47, Z:-2.70 [[ 9.93002368e-01 -1.18011263e-01 -4.43152105e-03 2.39781388e+02] [ 1.18011793e-01 9.93012183e-01 -1.42684401e-04 1.04665444e+01] [ 4.41739276e-03 -3.81285797e-04 9.99990171e-01 -2.69990569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03589822699996 meters 0.0859359856424916 Centerline is valid? [True, True] Translation: X:239.81, Y:10.47, Z:-2.70 [[ 9.93098738e-01 -1.17227956e-01 -3.53598548e-03 2.39811570e+02] [ 1.17228288e-01 9.93104987e-01 -1.13829599e-04 1.04722195e+01] [ 3.52494883e-03 -3.01473494e-04 9.99993742e-01 -2.69834212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.065898227 meters 0.08381629418849725 Centerline is valid? [True, True] Translation: X:239.84, Y:10.48, Z:-2.70 [[ 9.93169845e-01 -1.16639485e-01 -2.98151983e-03 2.39842454e+02] [ 1.16639719e-01 9.93174288e-01 -9.59799249e-05 1.04755512e+01] [ 2.97236389e-03 -2.52439268e-04 9.99995551e-01 -2.69713736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09589822699996 meters 0.08756274862851121 Centerline is valid? [True, True] Translation: X:239.87, Y:10.47, Z:-2.70 [[ 9.93163734e-01 -1.16698414e-01 -2.69751950e-03 2.39872543e+02] [ 1.16698606e-01 9.93167372e-01 -8.67827439e-05 1.04711443e+01] [ 2.68921576e-03 -2.28607292e-04 9.99996358e-01 -2.69799000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.125898227 meters 0.08511049766818925 Centerline is valid? [True, True] Translation: X:239.90, Y:10.47, Z:-2.70 [[ 9.93040019e-01 -1.17735133e-01 -3.15580017e-03 2.39903603e+02] [ 1.17735401e-01 9.93044996e-01 -1.01434552e-04 1.04747989e+01] [ 3.14579398e-03 -2.70820828e-04 9.99995015e-01 -2.69952613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15589822699997 meters 0.09515931550061103 Centerline is valid? [True, True] Translation: X:239.93, Y:10.46, Z:-2.70 [[ 9.92811859e-01 -1.19612640e-01 -4.17477528e-03 2.39932950e+02] [ 1.19613124e-01 9.92820569e-01 -1.34339494e-04 1.04619785e+01] [ 4.16087147e-03 -3.65984072e-04 9.99991277e-01 -2.70230805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.185898227 meters 0.09000082759572746 Centerline is valid? [True, True] Translation: X:239.96, Y:10.47, Z:-2.70 [[ 9.92046661e-01 -1.25694994e-01 -6.64759150e-03 2.39963025e+02] [ 1.25696358e-01 9.92068737e-01 -2.13941008e-04 1.04658263e+01] [ 6.62175902e-03 -6.23338577e-04 9.99977882e-01 -2.70492515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21589822699997 meters 0.10208760283665425 Centerline is valid? [True, False] Translation: X:239.96, Y:10.46, Z:-2.71 [[ 9.93343530e-01 -1.15051608e-01 -5.63559269e-03 2.39963195e+02] [ 1.15006139e-01 9.93334001e-01 -7.81989613e-03 1.04616922e+01] [ 6.49771745e-03 7.11971546e-03 9.99953544e-01 -2.70524540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.245898227 meters 0.09526280875715637 Centerline is valid? [False, True] Translation: X:239.96, Y:10.46, Z:-2.71 [[ 9.94734724e-01 -1.02312009e-01 -5.92293466e-03 2.39963556e+02] [ 1.02226877e-01 9.94673090e-01 -1.32328805e-02 1.04561813e+01] [ 7.24526631e-03 1.25577226e-02 9.99894899e-01 -2.70510311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.27589822699997 meters 0.10788109199120487 Centerline is valid? [True, False] Translation: X:239.96, Y:10.45, Z:-2.70 [[ 9.96008642e-01 -8.89887588e-02 -6.91274426e-03 2.39963980e+02] [ 8.88520433e-02 9.95881145e-01 -1.80570935e-02 1.04509563e+01] [ 8.49115001e-03 1.73708097e-02 9.99813060e-01 -2.70471567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.30589822699994 meters 0.10788109199120487 Centerline is valid? [False, False] Translation: X:239.96, Y:10.45, Z:-2.71 [[ 9.97120346e-01 -7.54395254e-02 -7.73903755e-03 2.39964821e+02] [ 7.52454805e-02 9.96902554e-01 -2.28782902e-02 1.04492370e+01] [ 9.44099365e-03 2.22300811e-02 9.99708303e-01 -2.70513088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.335898227 meters 0.09919607508518609 Centerline is valid? [False, True] Translation: X:239.99, Y:10.44, Z:-2.71 [[ 9.97483100e-01 -7.08588209e-02 -2.54797177e-03 2.39985203e+02] [ 7.08400506e-02 9.97464330e-01 -6.82620861e-03 1.04352064e+01] [ 3.02520805e-03 6.62852928e-03 9.99973455e-01 -2.70999596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.36589822699995 meters 0.08423092680789568 Centerline is valid? [True, True] Translation: X:240.02, Y:10.45, Z:-2.71 [[ 9.97688736e-01 -6.79185637e-02 -2.06279126e-03 2.40016330e+02] [ 6.79188253e-02 9.97690849e-01 5.69701658e-05 1.04499229e+01] [ 2.05415863e-03 -1.96940852e-04 9.99997871e-01 -2.70943371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.395898227 meters 0.09583935940173316 Centerline is valid? [True, True] Translation: X:240.05, Y:10.43, Z:-2.71 [[ 9.97960031e-01 -6.38024448e-02 -2.24160243e-03 2.40045581e+02] [ 6.38027434e-02 9.97962527e-01 6.18620780e-05 1.04296693e+01] [ 2.23308828e-03 -2.04756266e-04 9.99997486e-01 -2.71029589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.42589822699995 meters 0.08575071160031662 Centerline is valid? [True, True] Translation: X:240.08, Y:10.44, Z:-2.71 [[ 9.98181190e-01 -6.02527846e-02 -1.97844632e-03 2.40076119e+02] [ 6.02530102e-02 9.98183135e-01 5.45663823e-05 1.04398336e+01] [ 1.97156397e-03 -1.73674483e-04 9.99998041e-01 -2.71017674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.455898227 meters 0.0802077700817173 Centerline is valid? [True, True] Translation: X:240.11, Y:10.44, Z:-2.71 [[ 9.98541009e-01 -5.39280924e-02 -2.75935419e-03 2.40107071e+02] [ 5.39285075e-02 9.98544796e-01 7.61632540e-05 1.04422142e+01] [ 2.75123143e-03 -2.24859986e-04 9.99996190e-01 -2.71051511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.48589822699995 meters 0.08574074024176369 Centerline is valid? [True, True] Translation: X:240.14, Y:10.43, Z:-2.71 [[ 9.98665481e-01 -5.15671985e-02 -2.84282194e-03 2.40136019e+02] [ 5.15676292e-02 9.98669502e-01 7.83697950e-05 1.04317798e+01] [ 2.83499826e-03 -2.24862797e-04 9.99995956e-01 -2.71192999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.515898227 meters 0.07593528473666414 Centerline is valid? [True, True] Translation: X:240.17, Y:10.44, Z:-2.71 [[ 9.98739350e-01 -5.01059550e-02 -3.01717183e-03 2.40167546e+02] [ 5.01064340e-02 9.98743880e-01 8.33175233e-05 1.04403002e+01] [ 3.00920720e-03 -2.34392210e-04 9.99995445e-01 -2.71079325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.54589822699995 meters 0.08263063104881985 Centerline is valid? [True, True] Translation: X:240.20, Y:10.43, Z:-2.71 [[ 9.98765947e-01 -4.95960753e-02 -2.60990105e-03 2.40197409e+02] [ 4.95964327e-02 9.98769337e-01 7.23740418e-05 1.04278097e+01] [ 2.60309967e-03 -2.01726510e-04 9.99996592e-01 -2.71137758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.575898227 meters 0.08607974410065572 Centerline is valid? [True, True] Translation: X:240.23, Y:10.42, Z:-2.71 [[ 9.98711358e-01 -5.06985020e-02 -2.29913728e-03 2.40227089e+02] [ 5.06987818e-02 9.98713988e-01 6.35595845e-05 1.04166169e+01] [ 2.29295818e-03 -1.80041138e-04 9.99997355e-01 -2.71182506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.60589822699995 meters 0.08106810918952562 Centerline is valid? [True, True] Translation: X:240.26, Y:10.42, Z:-2.71 [[ 9.98651651e-01 -5.18491738e-02 -2.55794496e-03 2.40257578e+02] [ 5.18495239e-02 9.98654906e-01 7.07143156e-05 1.04183298e+01] [ 2.55083781e-03 -2.03247197e-04 9.99996726e-01 -2.71163722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.635898227 meters 0.08201757589554816 Centerline is valid? [True, True] Translation: X:240.29, Y:10.41, Z:-2.71 [[ 9.98589721e-01 -5.30132886e-02 -2.85670205e-03 2.40287801e+02] [ 5.30137300e-02 9.98593780e-01 7.89734468e-05 1.04122895e+01] [ 2.84849826e-03 -2.30306503e-04 9.99995916e-01 -2.71227753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.66589822699996 meters 0.08272225552504599 Centerline is valid? [True, True] Translation: X:240.32, Y:10.41, Z:-2.71 [[ 9.98514763e-01 -5.43911457e-02 -3.14190770e-03 2.40317597e+02] [ 5.43916860e-02 9.98519673e-01 8.67261994e-05 1.04066182e+01] [ 3.13253951e-03 -2.57491048e-04 9.99995060e-01 -2.71295960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.695898227 meters 0.09449132716234375 Centerline is valid? [True, True] Translation: X:240.35, Y:10.38, Z:-2.71 [[ 9.98385542e-01 -5.66987006e-02 -3.40091700e-03 2.40346436e+02] [ 5.66993472e-02 9.98391294e-01 9.39584700e-05 1.03837314e+01] [ 3.39011860e-03 -2.86636552e-04 9.99994212e-01 -2.71396040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.72589822699996 meters 0.08596483023999323 Centerline is valid? [True, True] Translation: X:240.38, Y:10.39, Z:-2.71 [[ 9.98356167e-01 -5.72270437e-02 -3.16683556e-03 2.40377286e+02] [ 5.72276071e-02 9.98361154e-01 8.74926188e-05 1.03907217e+01] [ 3.15663866e-03 -2.68579217e-04 9.99994982e-01 -2.71282885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.755898227 meters 0.08820394573062237 Centerline is valid? [True, True] Translation: X:240.41, Y:10.38, Z:-2.71 [[ 9.98357100e-01 -5.72210469e-02 -2.97537856e-03 2.40405483e+02] [ 5.72215434e-02 9.98361502e-01 8.19485031e-05 1.03846039e+01] [ 2.96581423e-03 -2.52069624e-04 9.99995570e-01 -2.71267451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.78589822699996 meters 0.09019616392941424 Centerline is valid? [True, True] Translation: X:240.43, Y:10.38, Z:-2.71 [[ 9.98416830e-01 -5.62137512e-02 -1.96149090e-03 2.40434696e+02] [ 5.62139650e-02 9.98418743e-01 5.39805764e-05 1.03785208e+01] [ 1.95535483e-03 -1.64158297e-04 9.99998075e-01 -2.71144347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.815898227 meters 0.08689744888668577 Centerline is valid? [True, True] Translation: X:240.46, Y:10.38, Z:-2.71 [[ 9.98577996e-01 -5.32804329e-02 -1.78377901e-03 2.40464655e+02] [ 5.32806049e-02 9.98579579e-01 4.90502673e-05 1.03793860e+01] [ 1.77863188e-03 -1.44021342e-04 9.99998408e-01 -2.71082457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.84589822699996 meters 0.08819086640279401 Centerline is valid? [True, True] Translation: X:240.49, Y:10.38, Z:-2.71 [[ 9.98625926e-01 -5.23425279e-02 -2.55319349e-03 2.40493069e+02] [ 5.23428771e-02 9.98629170e-01 7.01094933e-05 1.03766766e+01] [ 2.54602379e-03 -2.03654651e-04 9.99996738e-01 -2.71241051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.875898227 meters 0.08472600860605352 Centerline is valid? [True, True] Translation: X:240.52, Y:10.38, Z:-2.71 [[ 9.98650323e-01 -5.18388962e-02 -3.20340336e-03 2.40522890e+02] [ 5.18394434e-02 9.98655428e-01 8.79818145e-05 1.03797999e+01] [ 3.19453528e-03 -2.53925715e-04 9.99994865e-01 -2.71310685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.90589822699997 meters 0.08138039492020165 Centerline is valid? [True, True] Translation: X:240.55, Y:10.38, Z:-2.71 [[ 9.98651444e-01 -5.18096249e-02 -3.32500571e-03 2.40553499e+02] [ 5.18102147e-02 9.98656945e-01 9.14277291e-05 1.03828938e+01] [ 3.31580321e-03 -2.63573693e-04 9.99994468e-01 -2.71291902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.935898227 meters 0.07799743935607133 Centerline is valid? [True, True] Translation: X:240.58, Y:10.39, Z:-2.71 [[ 9.98637496e-01 -5.20782115e-02 -3.31840334e-03 2.40584263e+02] [ 5.20788004e-02 9.98642974e-01 9.12461837e-05 1.03901990e+01] [ 3.30914825e-03 -2.63940326e-04 9.99994490e-01 -2.71226610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.96589822699997 meters 0.08283798371928983 Centerline is valid? [True, True] Translation: X:240.61, Y:10.38, Z:-2.71 [[ 9.98641673e-01 -5.20439113e-02 -2.49804030e-03 2.40614039e+02] [ 5.20442449e-02 9.98644778e-01 6.86886495e-05 1.03812072e+01] [ 2.49108007e-03 -1.98603969e-04 9.99996878e-01 -2.71190353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.995898227 meters 0.08137601378065609 Centerline is valid? [True, True] Translation: X:240.64, Y:10.38, Z:-2.71 [[ 9.98585531e-01 -5.31552201e-02 -1.20787208e-03 2.40644381e+02] [ 5.31552989e-02 9.98586257e-01 3.32128756e-05 1.03823970e+01] [ 1.20439902e-03 -9.73706982e-05 9.99999270e-01 -2.70906636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.02589822699997 meters 0.07881186458407421 Centerline is valid? [True, True] Translation: X:240.68, Y:10.39, Z:-2.71 [[ 9.98534950e-01 -5.40880002e-02 -1.56258577e-03 2.40675194e+02] [ 5.40881334e-02 9.98536165e-01 4.30377480e-05 1.03853915e+01] [ 1.55797058e-03 -1.27492043e-04 9.99998778e-01 -2.70943139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05589822699994 meters 0.08880819585274441 Centerline is valid? [True, True] Translation: X:240.70, Y:10.37, Z:-2.71 [[ 9.98495308e-01 -5.47956370e-02 -2.13492634e-03 2.40704559e+02] [ 5.47958868e-02 9.98497575e-01 5.86512492e-05 1.03721259e+01] [ 2.12850494e-03 -1.75548179e-04 9.99997719e-01 -2.71218552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.085898227 meters 0.08740259006085574 Centerline is valid? [True, True] Translation: X:240.73, Y:10.38, Z:-2.72 [[ 9.98473599e-01 -5.51289609e-02 -3.35702756e-03 2.40734655e+02] [ 5.51295805e-02 9.98479204e-01 9.22194973e-05 1.03760342e+01] [ 3.34683824e-03 -2.77150254e-04 9.99994361e-01 -2.71533308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11589822699995 meters 0.08945348439704112 Centerline is valid? [True, True] Translation: X:240.76, Y:10.37, Z:-2.72 [[ 9.98508416e-01 -5.45055945e-02 -3.17542774e-03 2.40763635e+02] [ 5.45061453e-02 9.98513431e-01 8.71062684e-05 1.03703296e+01] [ 3.16595947e-03 -2.60056668e-04 9.99994955e-01 -2.71548004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.145898227 meters 0.08375938293989059 Centerline is valid? [True, True] Translation: X:240.79, Y:10.38, Z:-2.72 [[ 9.98524777e-01 -5.42109112e-02 -3.07372478e-03 2.40793111e+02] [ 5.42114256e-02 9.98529476e-01 8.42433488e-05 1.03770191e+01] [ 3.06463789e-03 -2.50750074e-04 9.99995273e-01 -2.71513551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17589822699995 meters 0.07908387609048954 Centerline is valid? [True, True] Translation: X:240.82, Y:10.38, Z:-2.71 [[ 9.98553846e-01 -5.36844660e-02 -2.86272633e-03 2.40823597e+02] [ 5.36849104e-02 9.98557922e-01 7.85572469e-05 1.03821915e+01] [ 2.85438075e-03 -2.32128847e-04 9.99995899e-01 -2.71448043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.205898227 meters 0.08493912995791839 Centerline is valid? [True, True] Translation: X:240.85, Y:10.37, Z:-2.72 [[ 9.98585329e-01 -5.30789790e-02 -3.15645726e-03 2.40852535e+02] [ 5.30795157e-02 9.98590285e-01 8.64399182e-05 1.03735219e+01] [ 3.14741941e-03 -2.53860857e-04 9.99995015e-01 -2.71567181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23589822699995 meters 0.08967830032851809 Centerline is valid? [True, True] Translation: X:240.88, Y:10.37, Z:-2.72 [[ 9.98613799e-01 -5.24625209e-02 -4.26203777e-03 2.40881407e+02] [ 5.24634936e-02 9.98622836e-01 1.16662491e-04 1.03662635e+01] [ 4.25004783e-03 -3.40102165e-04 9.99990911e-01 -2.71930429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.265898227 meters 0.07875956888919862 Centerline is valid? [True, True] Translation: X:240.91, Y:10.37, Z:-2.72 [[ 9.98608834e-01 -5.22973069e-02 -6.73708896e-03 2.40912397e+02] [ 5.22997348e-02 9.98631415e-01 1.84572957e-04 1.03740673e+01] [ 6.71821602e-03 -5.36664151e-04 9.99977289e-01 -2.72170879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29589822699995 meters 0.0898786514293467 Centerline is valid? [True, True] Translation: X:240.94, Y:10.36, Z:-2.72 [[ 9.98581907e-01 -5.27855371e-02 -6.91829879e-03 2.40939281e+02] [ 5.27881019e-02 9.98605718e-01 1.88517325e-04 1.03566775e+01] [ 6.89870174e-03 -5.53453852e-04 9.99976051e-01 -2.72381692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.325898227 meters 0.08875708728330257 Centerline is valid? [True, True] Translation: X:240.97, Y:10.36, Z:-2.72 [[ 9.98548091e-01 -5.34536950e-02 -6.66425412e-03 2.40967782e+02] [ 5.34560807e-02 9.98570185e-01 1.80258882e-04 1.03555070e+01] [ 6.64508996e-03 -5.36242069e-04 9.99977777e-01 -2.72311300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35589822699995 meters 0.0903751966806228 Centerline is valid? [True, True] Translation: X:241.00, Y:10.35, Z:-2.72 [[ 9.98522643e-01 -5.39620369e-02 -6.37420016e-03 2.40996065e+02] [ 5.39642303e-02 9.98542854e-01 1.72494884e-04 1.03521700e+01] [ 6.35560385e-03 -5.16218853e-04 9.99979670e-01 -2.72326382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.385898227 meters 0.07752232958872861 Centerline is valid? [True, True] Translation: X:241.03, Y:10.36, Z:-2.72 [[ 9.98591666e-01 -5.28186277e-02 -4.98779927e-03 2.41026256e+02] [ 5.28199561e-02 9.98604043e-01 1.34877646e-04 1.03614069e+01] [ 4.97371247e-03 -3.98143032e-04 9.99987552e-01 -2.71858334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41589822699996 meters 0.08431832631604362 Centerline is valid? [True, True] Translation: X:241.05, Y:10.35, Z:-2.72 [[ 9.98660517e-01 -5.15823077e-02 -4.05428939e-03 2.41054678e+02] [ 5.15831744e-02 9.98668696e-01 1.09450973e-04 1.03508463e+01] [ 4.04324617e-03 -3.18437482e-04 9.99991775e-01 -2.71816556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.445898227 meters 0.07697886092609327 Centerline is valid? [True, True] Translation: X:241.08, Y:10.36, Z:-2.72 [[ 9.98753896e-01 -4.97833279e-02 -3.50370242e-03 2.41084920e+02] [ 4.97839644e-02 9.98760005e-01 9.46353127e-05 1.03596699e+01] [ 3.49464659e-03 -2.68945584e-04 9.99993858e-01 -2.71636993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47589822699996 meters 0.07529615608040406 Centerline is valid? [True, True] Translation: X:241.11, Y:10.36, Z:-2.72 [[ 9.98841162e-01 -4.80357194e-02 -2.98373075e-03 2.41114604e+02] [ 4.80361729e-02 9.98845593e-01 8.04609009e-05 1.03615782e+01] [ 2.97642131e-03 -2.23694666e-04 9.99995545e-01 -2.71639405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.505898227 meters 0.08689077417021762 Centerline is valid? [True, True] Translation: X:241.14, Y:10.35, Z:-2.72 [[ 9.98910398e-01 -4.66078298e-02 -2.39297170e-03 2.41143168e+02] [ 4.66081172e-02 9.98913249e-01 6.44563384e-05 1.03468385e+01] [ 2.38736696e-03 -1.75918012e-04 9.99997135e-01 -2.71765884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53589822699996 meters 0.0713616222771197 Centerline is valid? [True, True] Translation: X:241.17, Y:10.37, Z:-2.72 [[ 9.98977964e-01 -4.51521859e-02 -2.07543039e-03 2.41173775e+02] [ 4.51523991e-02 9.98980109e-01 5.59170330e-05 1.03659678e+01] [ 2.07078890e-03 -1.49570545e-04 9.99997845e-01 -2.71545367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.565898227 meters 0.08083928002954677 Centerline is valid? [True, True] Translation: X:241.20, Y:10.35, Z:-2.72 [[ 9.98962202e-01 -4.55253845e-02 -1.39929804e-03 2.41202569e+02] [ 4.55254817e-02 9.98963177e-01 3.77193002e-05 1.03534509e+01] [ 1.39613003e-03 -1.01383873e-04 9.99999020e-01 -2.71638662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59589822699996 meters 0.08612825013662932 Centerline is valid? [True, True] Translation: X:241.23, Y:10.35, Z:-2.72 [[ 9.98904406e-01 -4.67770641e-02 -1.37648872e-03 2.41231372e+02] [ 4.67771593e-02 9.98905349e-01 3.69875441e-05 1.03457389e+01] [ 1.37325178e-03 -1.01335253e-04 9.99999052e-01 -2.71691585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.625898227 meters 0.07259564396965026 Centerline is valid? [True, True] Translation: X:241.26, Y:10.36, Z:-2.72 [[ 9.98817013e-01 -4.86062253e-02 -1.41774325e-03 2.41262409e+02] [ 4.86063282e-02 9.98818013e-01 3.81991763e-05 1.03623027e+01] [ 1.41421078e-03 -1.07065281e-04 9.99998994e-01 -2.71584454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65589822699997 meters 0.08010492443522071 Centerline is valid? [True, True] Translation: X:241.29, Y:10.35, Z:-2.72 [[ 9.98726555e-01 -5.04338761e-02 -1.30068854e-03 2.41291745e+02] [ 5.04339642e-02 9.98727397e-01 3.49767097e-05 1.03509061e+01] [ 1.29726927e-03 -1.00531048e-04 9.99999153e-01 -2.71674211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.685898227 meters 0.08506715518542976 Centerline is valid? [True, True] Translation: X:241.32, Y:10.34, Z:-2.72 [[ 9.98525983e-01 -5.42512876e-02 -1.63066248e-03 2.41321727e+02] [ 5.42514311e-02 9.98527306e-01 4.38547935e-05 1.03438377e+01] [ 1.62588184e-03 -1.32255924e-04 9.99998670e-01 -2.71837046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71589822699997 meters 0.08205312750411636 Centerline is valid? [True, True] Translation: X:241.35, Y:10.34, Z:-2.72 [[ 9.98479869e-01 -5.50548682e-02 -2.62913947e-03 2.41351858e+02] [ 5.50552440e-02 9.98483307e-01 7.06995809e-05 1.03441385e+01] [ 2.62125952e-03 -2.15340023e-04 9.99996541e-01 -2.71875249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.745898227 meters 0.08635675306491929 Centerline is valid? [True, True] Translation: X:241.38, Y:10.34, Z:-2.72 [[ 9.98474361e-01 -5.51003018e-02 -3.59261882e-03 2.41380706e+02] [ 5.51010030e-02 9.98480781e-01 9.64029272e-05 1.03376910e+01] [ 3.58184901e-03 -2.94212751e-04 9.99993542e-01 -2.72093544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.77589822699997 meters 0.09724782962979943 Centerline is valid? [True, True] Translation: X:241.41, Y:10.32, Z:-2.72 [[ 9.98522916e-01 -5.41942368e-02 -3.86927678e-03 2.41409662e+02] [ 5.41950433e-02 9.98530363e-01 1.03806491e-04 1.03234050e+01] [ 3.85796464e-03 -3.13348783e-04 9.99992509e-01 -2.72278530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.80589822699994 meters 0.07558127677033503 Centerline is valid? [True, True] Translation: X:241.44, Y:10.35, Z:-2.72 [[ 9.98629768e-01 -5.22700331e-02 -2.53585902e-03 2.41440336e+02] [ 5.22703732e-02 9.98632967e-01 6.79986368e-05 1.03509845e+01] [ 2.52883813e-03 -2.00455760e-04 9.99996782e-01 -2.71825052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.835898227 meters 0.07550475025715597 Centerline is valid? [True, True] Translation: X:241.47, Y:10.35, Z:-2.72 [[ 9.98838820e-01 -4.81737692e-02 5.47927734e-04 2.41470079e+02] [ 4.81737845e-02 9.98838969e-01 -1.47614180e-05 1.03533507e+01] [-5.46580460e-04 4.11400299e-05 9.99999850e-01 -2.71503479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.86589822699995 meters 0.07451591546141256 Centerline is valid? [True, True] Translation: X:241.50, Y:10.36, Z:-2.71 [[ 9.98954447e-01 -4.57132272e-02 5.60268675e-04 2.41501088e+02] [ 4.57132428e-02 9.98954603e-01 -1.50319258e-05 1.03555632e+01] [-5.58995814e-04 4.06279071e-05 9.99999843e-01 -2.71456472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.895898227 meters 0.07044208806260444 Centerline is valid? [True, True] Translation: X:241.53, Y:10.36, Z:-2.72 [[ 9.99077064e-01 -4.29528678e-02 -2.65434667e-04 2.41531564e+02] [ 4.29528712e-02 9.99077100e-01 7.12385125e-06 1.03620068e+01] [ 2.64883707e-04 -1.85184575e-05 9.99999965e-01 -2.71597279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.92589822699995 meters 0.07307186766357307 Centerline is valid? [True, True] Translation: X:241.56, Y:10.36, Z:-2.72 [[ 9.99175181e-01 -4.05472515e-02 -2.20867622e-03 2.41561054e+02] [ 4.05474810e-02 9.99177611e-01 5.92279772e-05 1.03599833e+01] [ 2.20445830e-03 -1.48735382e-04 9.99997559e-01 -2.71955709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.955898227 meters 0.07234886951597687 Centerline is valid? [True, True] Translation: X:241.59, Y:10.36, Z:-2.72 [[ 9.99235448e-01 -3.89695710e-02 -3.14524490e-03 2.41591773e+02] [ 3.89700287e-02 9.99240376e-01 8.43680545e-05 1.03625247e+01] [ 3.13956791e-03 -2.06873835e-04 9.99995050e-01 -2.72197054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.98589822699995 meters 0.07123701386016204 Centerline is valid? [True, True] Translation: X:241.62, Y:10.37, Z:-2.72 [[ 9.99265836e-01 -3.82894077e-02 -1.30801219e-03 2.41622874e+02] [ 3.82894864e-02 9.99266688e-01 3.51517248e-05 1.03683056e+01] [ 1.30570707e-03 -8.52090325e-05 9.99999144e-01 -2.71939703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.015898227 meters 0.06696676020504573 Centerline is valid? [True, True] Translation: X:241.65, Y:10.38, Z:-2.72 [[ 9.99257381e-01 -3.85287041e-02 4.74318071e-04 2.41654572e+02] [ 3.85287145e-02 9.99257493e-01 -1.26334448e-05 1.03755835e+01] [-4.73479136e-04 3.08989285e-05 9.99999887e-01 -2.71585315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.04589822699995 meters 0.06593930155992721 Centerline is valid? [True, True] Translation: X:241.69, Y:10.38, Z:-2.71 [[ 9.99255252e-01 -3.85566493e-02 1.52530815e-03 2.41685875e+02] [ 3.85567564e-02 9.99256411e-01 -4.08948256e-05 1.03782122e+01] [-1.52259718e-03 9.96753042e-05 9.99998836e-01 -2.71414220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.075898227 meters 0.0652056152285843 Centerline is valid? [True, True] Translation: X:241.72, Y:10.38, Z:-2.71 [[ 9.99261960e-01 -3.83910680e-02 1.28925543e-03 2.41718175e+02] [ 3.83911443e-02 9.99262788e-01 -3.45009236e-05 1.03800628e+01] [-1.28698045e-03 8.39714519e-05 9.99999168e-01 -2.71463633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.10589822699995 meters 0.06628753557275326 Centerline is valid? [True, True] Translation: X:241.75, Y:10.38, Z:-2.72 [[ 9.99275582e-01 -3.80539484e-02 4.57192967e-04 2.41749659e+02] [ 3.80539578e-02 9.99275686e-01 -1.19733532e-05 1.03792665e+01] [-4.56406183e-04 2.93626814e-05 9.99999895e-01 -2.71612231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.135898227 meters 0.06558849769654733 Centerline is valid? [True, True] Translation: X:241.78, Y:10.38, Z:-2.72 [[ 9.99291874e-01 -3.76213879e-02 -6.17707760e-04 2.41780938e+02] [ 3.76214055e-02 9.99292064e-01 1.68026929e-05 1.03834389e+01] [ 6.16638322e-04 -4.00298286e-05 9.99999809e-01 -2.71807197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.16589822699996 meters 0.06987293605092267 Centerline is valid? [True, True] Translation: X:241.81, Y:10.38, Z:-2.72 [[ 9.99306514e-01 -3.72241736e-02 -9.22493588e-04 2.41811330e+02] [ 3.72242125e-02 9.99306939e-01 2.49982388e-05 1.03796016e+01] [ 9.20923704e-04 -5.93200001e-05 9.99999574e-01 -2.71824644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.195898227 meters 0.06854682578482292 Centerline is valid? [True, True] Translation: X:241.84, Y:10.39, Z:-2.72 [[ 9.99324677e-01 -3.67345405e-02 -8.73301232e-04 2.41842535e+02] [ 3.67345751e-02 9.99325057e-01 2.36772620e-05 1.03853692e+01] [ 8.71842030e-04 -5.57416219e-05 9.99999618e-01 -2.71756499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.22589822699996 meters 0.06854682578482292 Centerline is valid? [True, True] Translation: X:241.87, Y:10.38, Z:-2.72 [[ 9.99325500e-01 -3.67121628e-02 -8.73299294e-04 2.41873424e+02] [ 3.67121975e-02 9.99325880e-01 2.37488535e-05 1.03844929e+01] [ 8.71838713e-04 -5.57935711e-05 9.99999618e-01 -2.71770860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.255898227 meters 0.06408394864605298 Centerline is valid? [True, True] Translation: X:241.91, Y:10.39, Z:-2.72 [[ 9.99347699e-01 -3.61120124e-02 -3.13683479e-04 2.41905390e+02] [ 3.61120169e-02 9.99347748e-01 8.65495429e-06 1.03879824e+01] [ 3.13166330e-04 -1.99770517e-05 9.99999951e-01 -2.71706431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.28589822699996 meters 0.06917533537298494 Centerline is valid? [True, True] Translation: X:241.93, Y:10.38, Z:-2.72 [[ 9.99280148e-01 -3.79250927e-02 -9.33962596e-04 2.41934829e+02] [ 3.79251328e-02 9.99280583e-01 2.53176999e-05 1.03810314e+01] [ 9.32330512e-04 -6.07201305e-05 9.99999564e-01 -2.71960742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.315898227 meters 0.06735219222613226 Centerline is valid? [True, True] Translation: X:241.97, Y:10.38, Z:-2.72 [[ 9.99212351e-01 -3.96465856e-02 -1.68119429e-03 2.41966365e+02] [ 3.96467184e-02 9.99213759e-01 4.57178347e-05 1.03816388e+01] [ 1.67805991e-03 -1.12335662e-04 9.99998586e-01 -2.71992991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.34589822699996 meters 0.0704656046229346 Centerline is valid? [True, True] Translation: X:242.00, Y:10.38, Z:-2.72 [[ 9.99123283e-01 -4.17862993e-02 -2.56336504e-03 2.41996933e+02] [ 4.17866148e-02 9.99126556e-01 6.96112872e-05 1.03759423e+01] [ 2.55821729e-03 -1.76664605e-04 9.99996712e-01 -2.72102993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.375898227 meters 0.07473740645284799 Centerline is valid? [True, True] Translation: X:242.03, Y:10.37, Z:-2.72 [[ 9.99049280e-01 -4.34338782e-02 -3.74620555e-03 2.42026847e+02] [ 4.34345632e-02 9.99056269e-01 1.01671013e-04 1.03682895e+01] [ 3.73825418e-03 -2.64289154e-04 9.99992978e-01 -2.72269882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.40589822699997 meters 0.08002494462200964 Centerline is valid? [True, True] Translation: X:242.06, Y:10.36, Z:-2.72 [[ 9.98998326e-01 -4.44724230e-02 -4.95458420e-03 2.42055722e+02] [ 4.44736340e-02 9.99010549e-01 1.34447076e-04 1.03623235e+01] [ 4.94370270e-03 -3.54660768e-04 9.99987717e-01 -2.72427109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.435898227 meters 0.07008108504149764 Centerline is valid? [True, True] Translation: X:242.09, Y:10.37, Z:-2.72 [[ 9.99058439e-01 -4.32038852e-02 -3.95714650e-03 2.42086652e+02] [ 4.32046480e-02 9.99066237e-01 1.07439231e-04 1.03692730e+01] [ 3.94880967e-03 -2.78305192e-04 9.99992165e-01 -2.72042983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.46589822699997 meters 0.0727819158416866 Centerline is valid? [True, True] Translation: X:242.12, Y:10.36, Z:-2.72 [[ 9.99141755e-01 -4.13488745e-02 -2.45418392e-03 2.42116657e+02] [ 4.13491623e-02 9.99144755e-01 6.66156315e-05 1.03644663e+01] [ 2.44933051e-03 -1.68036908e-04 9.99996986e-01 -2.71889973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.495898227 meters 0.07439567407968564 Centerline is valid? [True, True] Translation: X:242.15, Y:10.36, Z:-2.72 [[ 9.99241219e-01 -3.89295312e-02 -1.21543941e-03 2.42146090e+02] [ 3.89295999e-02 9.99241955e-01 3.29364063e-05 1.03615848e+01] [ 1.21323586e-03 -8.02279848e-05 9.99999261e-01 -2.71736477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.52589822699997 meters 0.06603116984276491 Centerline is valid? [True, True] Translation: X:242.18, Y:10.37, Z:-2.72 [[ 9.99318537e-01 -3.69087503e-02 -4.53780047e-04 2.42177642e+02] [ 3.69087597e-02 9.99318640e-01 1.23715944e-05 1.03748931e+01] [ 4.53014239e-04 -2.91116223e-05 9.99999897e-01 -2.71505676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55589822699994 meters 0.06614685469625244 Centerline is valid? [True, True] Translation: X:242.21, Y:10.37, Z:-2.71 [[ 9.99429045e-01 -3.37764038e-02 8.59852218e-04 2.42206882e+02] [ 3.37764364e-02 9.99429413e-01 -2.33848318e-05 1.03711083e+01] [-8.58571742e-04 5.24142239e-05 9.99999630e-01 -2.71298541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.585898227 meters 0.06786561738275025 Centerline is valid? [True, True] Translation: X:242.24, Y:10.37, Z:-2.71 [[ 9.99440028e-01 -3.33899758e-02 2.17733944e-03 2.42237063e+02] [ 3.33901832e-02 9.99442391e-01 -5.89777513e-05 1.03673158e+01] [-2.17415607e-03 1.31646488e-04 9.99997628e-01 -2.71136048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61589822699995 meters 0.06722376667636595 Centerline is valid? [True, True] Translation: X:242.27, Y:10.37, Z:-2.71 [[ 9.99419462e-01 -3.39378972e-02 2.99300331e-03 2.42268927e+02] [ 3.39382922e-02 9.99423927e-01 -8.12641767e-05 1.03681026e+01] [-2.98852118e-03 1.82794421e-04 9.99995518e-01 -2.71090654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.645898227 meters 0.0634442444273487 Centerline is valid? [True, True] Translation: X:242.30, Y:10.37, Z:-2.71 [[ 9.99384586e-01 -3.49511397e-02 2.97766943e-03 2.42300523e+02] [ 3.49515355e-02 9.99389005e-01 -8.09962747e-05 1.03691473e+01] [-2.97301917e-03 1.85020547e-04 9.99995563e-01 -2.71019919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67589822699995 meters 0.06531684087855506 Centerline is valid? [True, True] Translation: X:242.33, Y:10.37, Z:-2.71 [[ 9.99344864e-01 -3.61283053e-02 2.14197343e-03 2.42330929e+02] [ 3.61285129e-02 9.99347150e-01 -5.83021065e-05 1.03652799e+01] [-2.13846868e-03 1.35650225e-04 9.99997704e-01 -2.71233857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.705898227 meters 0.07701406663794348 Centerline is valid? [True, True] Translation: X:242.36, Y:10.35, Z:-2.72 [[ 9.99255178e-01 -3.85877081e-02 2.78701312e-04 2.42360564e+02] [ 3.85877117e-02 9.99255217e-01 -7.59483644e-06 1.03496151e+01] [-2.78200673e-04 1.83436255e-05 9.99999961e-01 -2.71589134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73589822699995 meters 0.07157821641592403 Centerline is valid? [True, True] Translation: X:242.39, Y:10.36, Z:-2.71 [[ 9.99224862e-01 -3.93649846e-02 2.71169943e-04 2.42391910e+02] [ 3.93649880e-02 9.99224898e-01 -7.30268325e-06 1.03561835e+01] [-2.70672289e-04 1.79716242e-05 9.99999963e-01 -2.71497464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.765898227 meters 0.06634418333403494 Centerline is valid? [True, True] Translation: X:242.42, Y:10.36, Z:-2.71 [[ 9.99201144e-01 -3.99502267e-02 1.02590092e-03 2.42423495e+02] [ 3.99502763e-02 9.99201669e-01 -2.79339038e-05 1.03626691e+01] [-1.02396594e-03 6.88966139e-05 9.99999473e-01 -2.71378298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79589822699995 meters 0.07297636824924388 Centerline is valid? [True, True] Translation: X:242.45, Y:10.35, Z:-2.71 [[ 9.99190136e-01 -4.01901208e-02 1.95622225e-03 2.42454229e+02] [ 4.01903018e-02 9.99192042e-01 -5.32720074e-05 1.03542801e+01] [-1.95250069e-03 1.31850027e-04 9.99998085e-01 -2.71279635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.825898227 meters 0.07184773201562045 Centerline is valid? [True, True] Translation: X:242.49, Y:10.36, Z:-2.71 [[ 9.99154556e-01 -4.10063256e-02 2.94175983e-03 2.42485258e+02] [ 4.10067398e-02 9.99158867e-01 -8.06036359e-05 1.03575369e+01] [-2.93598015e-03 2.01167470e-04 9.99995670e-01 -2.71193467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85589822699995 meters 0.07582577244648021 Centerline is valid? [True, True] Translation: X:242.51, Y:10.35, Z:-2.71 [[ 9.99125861e-01 -4.17176642e-02 2.67397395e-03 2.42514945e+02] [ 4.17180088e-02 9.99129422e-01 -7.32077971e-05 1.03525774e+01] [-2.66859199e-03 1.84696672e-04 9.99996422e-01 -2.71328715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.885898227 meters 0.0752663155807658 Centerline is valid? [True, True] Translation: X:242.55, Y:10.35, Z:-2.71 [[ 9.99080364e-01 -4.28391127e-02 1.79880984e-03 2.42546535e+02] [ 4.28392706e-02 9.99081976e-01 -4.93524728e-05 1.03535279e+01] [-1.79504427e-03 1.26366788e-04 9.99998381e-01 -2.71457976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91589822699996 meters 0.07414930704475471 Centerline is valid? [True, True] Translation: X:242.58, Y:10.36, Z:-2.72 [[ 9.99009763e-01 -4.44890241e-02 4.69985679e-04 2.42577754e+02] [ 4.44890350e-02 9.99009873e-01 -1.28742275e-05 1.03566684e+01] [-4.68947571e-04 3.37706883e-05 9.99999889e-01 -2.71745510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.945898227 meters 0.08178082344949018 Centerline is valid? [True, True] Translation: X:242.61, Y:10.35, Z:-2.72 [[ 9.98929875e-01 -4.62424672e-02 -8.59433855e-04 2.42607206e+02] [ 4.62425046e-02 9.98930243e-01 2.37726577e-05 1.03453256e+01] [ 8.57415163e-04 -6.34895920e-05 9.99999630e-01 -2.71903751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97589822699996 meters 0.07958940666536991 Centerline is valid? [True, True] Translation: X:242.64, Y:10.35, Z:-2.72 [[ 9.98790291e-01 -4.91253346e-02 -2.15800710e-03 2.42637802e+02] [ 4.91255771e-02 9.98792608e-01 5.94424827e-05 1.03494956e+01] [ 2.15248141e-03 -1.65383919e-04 9.99997670e-01 -2.72020434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.005898227 meters 0.0856283377940162 Centerline is valid? [True, True] Translation: X:242.67, Y:10.34, Z:-2.72 [[ 9.98772929e-01 -4.94805674e-02 -2.07581252e-03 2.42666748e+02] [ 4.94807923e-02 9.98775074e-01 5.70808194e-05 1.03421209e+01] [ 2.07044541e-03 -1.59723625e-04 9.99997844e-01 -2.72094849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03589822699996 meters 0.07962260897163939 Centerline is valid? [True, True] Translation: X:242.70, Y:10.35, Z:-2.72 [[ 9.98772190e-01 -4.95158763e-02 -1.51330069e-03 2.42698509e+02] [ 4.95159962e-02 9.98773330e-01 4.17880316e-05 1.03504338e+01] [ 1.50937519e-03 -1.16669315e-04 9.99998854e-01 -2.71991594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.065898227 meters 0.07756657759857764 Centerline is valid? [True, True] Translation: X:242.73, Y:10.35, Z:-2.72 [[ 9.98781838e-01 -4.93291855e-02 -1.21279933e-03 2.42729945e+02] [ 4.93292624e-02 9.98782570e-01 3.35388181e-05 1.03534010e+01] [ 1.20966839e-03 -9.33244590e-05 9.99999264e-01 -2.71936147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09589822699996 meters 0.07802964795912096 Centerline is valid? [True, True] Translation: X:242.76, Y:10.35, Z:-2.72 [[ 9.98786865e-01 -4.92354306e-02 -8.18795107e-04 2.42761142e+02] [ 4.92354656e-02 9.98787199e-01 2.26952947e-05 1.03533586e+01] [ 8.16684659e-04 -6.29815206e-05 9.99999665e-01 -2.71916525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.125898227 meters 0.07695657182129188 Centerline is valid? [True, True] Translation: X:242.79, Y:10.36, Z:-2.72 [[ 9.98778710e-01 -4.94015956e-02 -7.56092858e-04 2.42792473e+02] [ 4.94016256e-02 9.98778994e-01 2.09833418e-05 1.03550218e+01] [ 7.54133054e-04 -5.83099313e-05 9.99999714e-01 -2.71895291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15589822699997 meters 0.07598270421990257 Centerline is valid? [True, True] Translation: X:242.82, Y:10.36, Z:-2.72 [[ 9.98760072e-01 -4.97498881e-02 -1.80767566e-03 2.42823335e+02] [ 4.97500596e-02 9.98761698e-01 4.99890329e-05 1.03555581e+01] [ 1.80295027e-03 -1.39859022e-04 9.99998365e-01 -2.72113668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.185898227 meters 0.07580720610834898 Centerline is valid? [True, True] Translation: X:242.85, Y:10.36, Z:-2.72 [[ 9.98750596e-01 -4.99199174e-02 -2.29083118e-03 2.42854385e+02] [ 4.99201935e-02 9.98753208e-01 6.34436884e-05 1.03571295e+01] [ 2.28480789e-03 -1.77723158e-04 9.99997374e-01 -2.72299216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21589822699997 meters 0.08026295863099568 Centerline is valid? [True, True] Translation: X:242.88, Y:10.35, Z:-2.72 [[ 9.98727925e-01 -5.03323331e-02 -3.03119469e-03 2.42884453e+02] [ 5.03328181e-02 9.98732497e-01 8.38938187e-05 1.03463028e+01] [ 3.02313007e-03 -2.36355670e-04 9.99995402e-01 -2.72418520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.245898227 meters 0.08804759347663098 Centerline is valid? [True, True] Translation: X:242.91, Y:10.33, Z:-2.73 [[ 9.98692509e-01 -5.10146058e-02 -3.28367787e-03 2.42913962e+02] [ 5.10151785e-02 9.98697874e-01 9.08236568e-05 1.03342041e+01] [ 3.27476878e-03 -2.58222318e-04 9.99994605e-01 -2.72594196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.27589822699997 meters 0.07968596000188678 Centerline is valid? [True, True] Translation: X:242.95, Y:10.34, Z:-2.73 [[ 9.98589105e-01 -5.29298642e-02 -4.26945699e-03 2.42945030e+02] [ 5.29308500e-02 9.98598173e-01 1.18160208e-04 1.03418000e+01] [ 4.25721775e-03 -3.43979484e-04 9.99990879e-01 -2.72610397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.30589822699994 meters 0.08800540186806699 Centerline is valid? [True, True] Translation: X:242.97, Y:10.33, Z:-2.73 [[ 9.98541737e-01 -5.38630688e-02 -3.62902589e-03 2.42973602e+02] [ 5.38637872e-02 9.98548287e-01 1.00433580e-04 1.03290500e+01] [ 3.61834793e-03 -2.95760199e-04 9.99993410e-01 -2.72624495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.335898227 meters 0.09060203157920732 Centerline is valid? [True, True] Translation: X:243.00, Y:10.32, Z:-2.72 [[ 9.98521129e-01 -5.43019360e-02 -2.61799990e-03 2.43002580e+02] [ 5.43023111e-02 9.98524538e-01 7.23630052e-05 1.03236310e+01] [ 2.61020769e-03 -2.14419435e-04 9.99996570e-01 -2.72474574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.36589822699995 meters 0.08713534847988148 Centerline is valid? [True, True] Translation: X:243.03, Y:10.32, Z:-2.72 [[ 9.98544430e-01 -5.39353373e-02 -2.95147928e-05 2.43033284e+02] [ 5.39353373e-02 9.98544430e-01 8.16372160e-07 1.03242181e+01] [ 2.94278007e-05 -2.40707418e-06 1.00000000e+00 -2.72126821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.395898227 meters 0.0804121009973286 Centerline is valid? [True, True] Translation: X:243.06, Y:10.33, Z:-2.72 [[ 9.98575267e-01 -5.33581908e-02 5.83039419e-04 2.43064233e+02] [ 5.33582093e-02 9.98575436e-01 -1.61267317e-05 1.03309623e+01] [-5.81348349e-04 4.72136948e-05 9.99999830e-01 -2.72029980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.42589822699995 meters 0.09003806712383365 Centerline is valid? [True, True] Translation: X:243.09, Y:10.32, Z:-2.72 [[ 9.98614048e-01 -5.26264298e-02 6.64253213e-04 2.43094108e+02] [ 5.26264535e-02 9.98614268e-01 -1.83283365e-05 1.03173567e+01] [-6.62368181e-04 5.32602251e-05 9.99999779e-01 -2.72100155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.455898227 meters 0.08514958104017702 Centerline is valid? [True, True] Translation: X:243.13, Y:10.32, Z:-2.72 [[ 9.98666216e-01 -5.16288269e-02 5.03873376e-04 2.43125252e+02] [ 5.16288404e-02 9.98666342e-01 -1.38975306e-05 1.03228922e+01] [-5.02483869e-04 3.98933925e-05 9.99999873e-01 -2.72106041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.48589822699995 meters 0.07692287875663777 Centerline is valid? [True, True] Translation: X:243.16, Y:10.33, Z:-2.72 [[ 9.98711105e-01 -5.07535699e-02 4.50991299e-04 2.43156793e+02] [ 5.07535806e-02 9.98711206e-01 -1.23882762e-05 1.03330142e+01] [-4.49781315e-04 3.52617322e-05 9.99999898e-01 -2.72037014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.515898227 meters 0.07524084365594254 Centerline is valid? [True, True] Translation: X:243.19, Y:10.34, Z:-2.72 [[ 9.98740130e-01 -5.01793474e-02 4.31737817e-04 2.43188510e+02] [ 5.01793572e-02 9.98740222e-01 -1.18643884e-05 1.03350321e+01] [-4.30598576e-04 3.35137669e-05 9.99999907e-01 -2.72043034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.54589822699995 meters 0.07741784009942848 Centerline is valid? [True, True] Translation: X:243.22, Y:10.33, Z:-2.72 [[ 9.98732405e-01 -5.03126237e-02 1.49109626e-03 2.43218336e+02] [ 5.03127411e-02 9.98733511e-01 -4.13087124e-05 1.03327485e+01] [-1.48712945e-03 1.16277490e-04 9.99998887e-01 -2.71984725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.575898227 meters 0.07462806628586294 Centerline is valid? [True, True] Translation: X:243.25, Y:10.34, Z:-2.72 [[ 9.98701527e-01 -5.08856821e-02 2.43038249e-03 2.43249807e+02] [ 5.08859958e-02 9.98704466e-01 -6.73657239e-05 1.03359853e+01] [-2.42380589e-03 1.90950684e-04 9.99997044e-01 -2.71883685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.60589822699995 meters 0.07588719708660731 Centerline is valid? [True, True] Translation: X:243.28, Y:10.33, Z:-2.72 [[ 9.98635418e-01 -5.21394497e-02 2.96295755e-03 2.43281162e+02] [ 5.21399217e-02 9.98639786e-01 -8.22196579e-05 1.03345668e+01] [-2.95464041e-03 2.36595837e-04 9.99995607e-01 -2.71802079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.635898227 meters 0.09881513393589586 Centerline is valid? [True, True] Translation: X:243.31, Y:10.30, Z:-2.72 [[ 9.98528522e-01 -5.41569906e-02 2.79488375e-03 2.43309999e+02] [ 5.41574186e-02 9.98532407e-01 -7.76293281e-05 1.03049647e+01] [-2.78657783e-03 2.28878788e-04 9.99996091e-01 -2.71880810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.66589822699996 meters 0.08856780151351427 Centerline is valid? [True, True] Translation: X:243.34, Y:10.32, Z:-2.72 [[ 9.98393292e-01 -5.66241254e-02 2.13163561e-03 2.43340646e+02] [ 5.66243800e-02 9.98395551e-01 -5.92604090e-05 1.03190570e+01] [-2.12485994e-03 1.79867740e-04 9.99997726e-01 -2.72010829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.695898227 meters 0.08707847066618224 Centerline is valid? [True, True] Translation: X:243.37, Y:10.32, Z:-2.72 [[ 9.98166682e-01 -6.05249628e-02 -5.44887848e-05 2.43371690e+02] [ 6.05249630e-02 9.98166684e-01 1.53270598e-06 1.03197639e+01] [ 5.42961227e-05 -4.82782773e-06 9.99999999e-01 -2.72350590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.72589822699996 meters 0.09129123283559507 Centerline is valid? [True, True] Translation: X:243.40, Y:10.32, Z:-2.72 [[ 9.98116302e-01 -6.13493710e-02 -3.20480399e-04 2.43402055e+02] [ 6.13493770e-02 9.98116353e-01 8.96622787e-06 1.03170391e+01] [ 3.19326655e-04 -2.86106111e-05 9.99999949e-01 -2.72480998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.755898227 meters 0.08767158114514408 Centerline is valid? [True, True] Translation: X:243.43, Y:10.32, Z:-2.72 [[ 9.98149622e-01 -6.08052760e-02 -2.25643182e-04 2.43432417e+02] [ 6.08052790e-02 9.98149647e-01 6.27622295e-06 1.03190128e+01] [ 2.24844035e-04 -1.99849062e-05 9.99999975e-01 -2.72380926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.78589822699996 meters 0.092721306400423 Centerline is valid? [True, True] Translation: X:243.46, Y:10.31, Z:-2.72 [[ 9.98226350e-01 -5.95328033e-02 1.70169704e-05 2.43461801e+02] [ 5.95328033e-02 9.98226350e-01 -5.24954650e-07 1.03135751e+01] [-1.69555362e-05 1.53709151e-06 1.00000000e+00 -2.72273053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.815898227 meters 0.0818676407479337 Centerline is valid? [True, True] Translation: X:243.49, Y:10.33, Z:-2.72 [[ 9.98352544e-01 -5.73745447e-02 5.99328980e-04 2.43493140e+02] [ 5.73745650e-02 9.98352723e-01 -1.66611742e-05 1.03293042e+01] [-5.97385792e-04 5.10199652e-05 9.99999820e-01 -2.72132229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.84589822699996 meters 0.07961741416960048 Centerline is valid? [True, True] Translation: X:243.52, Y:10.34, Z:-2.72 [[ 9.98673333e-01 -5.14914425e-02 4.53825528e-04 2.43523255e+02] [ 5.14914535e-02 9.98673435e-01 -1.26363877e-05 1.03377866e+01] [-4.52572833e-04 3.59877595e-05 9.99999897e-01 -2.72261172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.875898227 meters 0.08590462139644181 Centerline is valid? [True, True] Translation: X:243.55, Y:10.33, Z:-2.73 [[ 9.98790300e-01 -4.91724797e-02 -5.50155466e-05 2.43552674e+02] [ 4.91724799e-02 9.98790302e-01 1.53486777e-06 1.03323096e+01] [ 5.48735212e-05 -4.23826190e-06 9.99999998e-01 -2.72512949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.90589822699997 meters 0.08216559705891356 Centerline is valid? [True, True] Translation: X:243.58, Y:10.34, Z:-2.73 [[ 9.98878894e-01 -4.73363850e-02 -4.71689722e-04 2.43584029e+02] [ 4.73363965e-02 9.98879004e-01 1.31551669e-05 1.03394985e+01] [ 4.70538241e-04 -3.54685103e-05 9.99999889e-01 -2.72578382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.935898227 meters 0.07617653608245865 Centerline is valid? [True, True] Translation: X:243.62, Y:10.35, Z:-2.73 [[ 9.98969487e-01 -4.53851723e-02 3.87898958e-04 2.43615595e+02] [ 4.53851799e-02 9.98969562e-01 -1.07406738e-05 1.03522320e+01] [-3.87011785e-04 2.83344694e-05 9.99999925e-01 -2.72526989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.96589822699997 meters 0.08034768494964194 Centerline is valid? [True, True] Translation: X:243.65, Y:10.35, Z:-2.72 [[ 9.98952999e-01 -4.57377546e-02 9.81372741e-04 2.43645553e+02] [ 4.57378034e-02 9.98953479e-01 -2.72615640e-05 1.03484806e+01] [-9.79098831e-04 7.21188546e-05 9.99999518e-01 -2.72469808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.995898227 meters 0.07457844802458222 Centerline is valid? [True, True] Translation: X:243.68, Y:10.36, Z:-2.72 [[ 9.98902324e-01 -4.68330469e-02 9.01170653e-04 2.43677285e+02] [ 4.68330884e-02 9.98902729e-01 -2.49958609e-05 1.03573718e+01] [-8.99011192e-04 6.71730285e-05 9.99999594e-01 -2.72481675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.02589822699997 meters 0.08179535781455304 Centerline is valid? [True, True] Translation: X:243.71, Y:10.35, Z:-2.73 [[ 9.98827712e-01 -4.84065896e-02 6.25253790e-05 2.43707375e+02] [ 4.84065898e-02 9.98827714e-01 -1.69008734e-06 1.03492093e+01] [-6.23702700e-05 4.71474645e-06 9.99999998e-01 -2.72637563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05589822699994 meters 0.07952590997760862 Centerline is valid? [True, True] Translation: X:243.74, Y:10.35, Z:-2.73 [[ 9.98733675e-01 -5.03048568e-02 -6.83793594e-04 2.43738071e+02] [ 5.03048816e-02 9.98733908e-01 1.90695782e-05 1.03532258e+01] [ 6.81968556e-04 -5.34435857e-05 9.99999766e-01 -2.72703667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.085898227 meters 0.08776825988852881 Centerline is valid? [True, True] Translation: X:243.77, Y:10.34, Z:-2.73 [[ 9.98543151e-01 -5.39567027e-02 -4.99180401e-04 2.43767386e+02] [ 5.39567164e-02 9.98543275e-01 1.38326629e-05 1.03437798e+01] [ 4.97706868e-04 -4.07466461e-05 9.99999875e-01 -2.72743097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11589822699995 meters 0.08776825988852881 Centerline is valid? [True, True] Translation: X:243.80, Y:10.34, Z:-2.73 [[ 9.98544324e-01 -5.39350042e-02 -4.99175313e-04 2.43798315e+02] [ 5.39350179e-02 9.98544448e-01 1.40152802e-05 1.03428777e+01] [ 4.97692823e-04 -4.09179080e-05 9.99999875e-01 -2.72757480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.145898227 meters 0.08437568044279642 Centerline is valid? [True, True] Translation: X:243.83, Y:10.35, Z:-2.73 [[ 9.98465013e-01 -5.53856790e-02 2.12127294e-04 2.43829858e+02] [ 5.53856815e-02 9.98465035e-01 -5.81396123e-06 1.03474067e+01] [-2.11479676e-04 1.75538516e-05 9.99999977e-01 -2.72571244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17589822699995 meters 0.08311021077045652 Centerline is valid? [True, True] Translation: X:243.86, Y:10.35, Z:-2.73 [[ 9.98394700e-01 -5.66374682e-02 4.69945246e-04 2.43860942e+02] [ 5.66374806e-02 9.98394809e-01 -1.30626328e-05 1.03495179e+01] [-4.68451060e-04 3.96581781e-05 9.99999889e-01 -2.72519807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.205898227 meters 0.09084365075964959 Centerline is valid? [True, True] Translation: X:243.89, Y:10.34, Z:-2.73 [[ 9.98316020e-01 -5.80096517e-02 -7.12801749e-05 2.43890739e+02] [ 5.80096520e-02 9.98316022e-01 1.98929529e-06 1.03399574e+01] [ 7.10447423e-05 -6.12088350e-06 9.99999997e-01 -2.72665479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23589822699995 meters 0.0947162805433767 Centerline is valid? [True, True] Translation: X:243.92, Y:10.33, Z:-2.73 [[ 9.98151938e-01 -6.07370126e-02 -1.92972729e-03 2.43920681e+02] [ 6.07372295e-02 9.98153789e-01 5.39744265e-05 1.03334501e+01] [ 1.92288636e-03 -1.71080968e-04 9.99998137e-01 -2.73024245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.265898227 meters 0.09488234921328377 Centerline is valid? [True, True] Translation: X:243.95, Y:10.33, Z:-2.73 [[ 9.98042789e-01 -6.25127266e-02 -1.65853472e-03 2.43950811e+02] [ 6.25128892e-02 9.98044156e-01 4.63302867e-05 1.03311898e+01] [ 1.65239465e-03 -1.49919406e-04 9.99998624e-01 -2.73005511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29589822699995 meters 0.08928898254196199 Centerline is valid? [True, True] Translation: X:243.98, Y:10.34, Z:-2.73 [[ 9.97928462e-01 -6.43309808e-02 -5.56990104e-04 2.43981148e+02] [ 6.43309995e-02 9.97928616e-01 1.55680910e-05 1.03364197e+01] [ 5.54834853e-04 -5.13675712e-05 9.99999845e-01 -2.72788763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.325898227 meters 0.0971500822641685 Centerline is valid? [True, True] Translation: X:244.01, Y:10.32, Z:-2.73 [[ 9.97828736e-01 -6.58593394e-02 6.01298040e-04 2.44010345e+02] [ 6.58593613e-02 9.97828915e-01 -1.66955234e-05 1.03241324e+01] [-5.98893015e-04 5.62603779e-05 9.99999819e-01 -2.72652160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35589822699995 meters 0.0932183872658229 Centerline is valid? [True, True] Translation: X:244.04, Y:10.33, Z:-2.73 [[ 9.97754997e-01 -6.69647542e-02 8.29746198e-04 2.44041747e+02] [ 6.69647963e-02 9.97755339e-01 -2.31100925e-05 1.03268928e+01] [-8.26336137e-04 7.86219954e-05 9.99999655e-01 -2.72559098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.385898227 meters 0.11343985560510325 Centerline is valid? [True, False] Translation: X:244.04, Y:10.33, Z:-2.72 [[ 9.98337895e-01 -5.76247510e-02 -9.14136468e-04 2.44043465e+02] [ 5.76130957e-02 9.98291094e-01 -9.77868582e-03 1.03259663e+01] [ 1.47606863e-03 9.70976638e-03 9.99951770e-01 -2.72486767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41589822699996 meters 0.10077611011651538 Centerline is valid? [False, False] Translation: X:244.04, Y:10.32, Z:-2.72 [[ 9.98983631e-01 -4.49794624e-02 -2.92438576e-03 2.44044753e+02] [ 4.49285018e-02 9.98867942e-01 -1.56289737e-02 1.03218795e+01] [ 3.62405802e-03 1.54817006e-02 9.99873584e-01 -2.72458400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.445898227 meters 0.09744513097609082 Centerline is valid? [False, True] Translation: X:244.04, Y:10.32, Z:-2.72 [[ 9.99456972e-01 -3.24879171e-02 -5.50429888e-03 2.44044759e+02] [ 3.23601147e-02 9.99236244e-01 -2.19032365e-02 1.03202578e+01] [ 6.21168546e-03 2.17132226e-02 9.99744943e-01 -2.72257965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47589822699996 meters 0.0864181296820176 Centerline is valid? [True, True] Translation: X:244.08, Y:10.32, Z:-2.72 [[ 9.99527079e-01 -3.05842199e-02 -3.19748575e-03 2.44075913e+02] [ 3.05849936e-02 9.99532151e-01 1.93343177e-04 1.03229756e+01] [ 3.19007656e-03 -2.91046822e-04 9.99994869e-01 -2.72278672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.505898227 meters 0.08563640756073689 Centerline is valid? [True, True] Translation: X:244.11, Y:10.32, Z:-2.72 [[ 9.99586908e-01 -2.85657518e-02 -3.16417549e-03 2.44106029e+02] [ 2.85664994e-02 9.99591876e-01 1.91330949e-04 1.03220071e+01] [ 3.15741861e-03 -2.81641329e-04 9.99994976e-01 -2.72231472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53589822699996 meters 0.08560130993894748 Centerline is valid? [True, True] Translation: X:244.14, Y:10.32, Z:-2.72 [[ 9.99665821e-01 -2.55264628e-02 -4.08004143e-03 2.44135542e+02] [ 2.55276806e-02 9.99674085e-01 2.46668400e-04 1.03193135e+01] [ 4.07241511e-03 -3.50739963e-04 9.99991646e-01 -2.72459424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.565898227 meters 0.08388080941112608 Centerline is valid? [True, True] Translation: X:244.17, Y:10.32, Z:-2.73 [[ 9.99684601e-01 -2.47319870e-02 -4.36202749e-03 2.44166094e+02] [ 2.47333714e-02 9.99694049e-01 2.63709369e-04 1.03187269e+01] [ 4.35417087e-03 -3.71513841e-04 9.99990452e-01 -2.72504249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59589822699996 meters 0.09045029062663319 Centerline is valid? [True, True] Translation: X:244.19, Y:10.31, Z:-2.73 [[ 9.99698353e-01 -2.42123306e-02 -4.11892421e-03 2.44194632e+02] [ 2.42135608e-02 9.99706778e-01 2.49052155e-04 1.03074316e+01] [ 4.11168632e-03 -3.48710851e-04 9.99991486e-01 -2.72517936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.625898227 meters 0.0904195847064765 Centerline is valid? [True, True] Translation: X:244.23, Y:10.30, Z:-2.73 [[ 9.99707269e-01 -2.38007526e-02 -4.34748084e-03 2.44225071e+02] [ 2.38021193e-02 9.99716655e-01 2.62878265e-04 1.03044647e+01] [ 4.33999230e-03 -3.66280570e-04 9.99990515e-01 -2.72541483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65589822699997 meters 0.08120045209110917 Centerline is valid? [True, True] Translation: X:244.26, Y:10.31, Z:-2.73 [[ 9.99730708e-01 -2.26949766e-02 -4.84237676e-03 2.44256176e+02] [ 2.26966592e-02 9.99742355e-01 2.92803038e-04 1.03135602e+01] [ 4.83448398e-03 -4.02629964e-04 9.99988233e-01 -2.72561594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.685898227 meters 0.08881360842868588 Centerline is valid? [True, True] Translation: X:244.29, Y:10.30, Z:-2.73 [[ 9.99756982e-01 -2.12976841e-02 -5.69085981e-03 2.44285066e+02] [ 2.12999853e-02 9.99773070e-01 3.44049934e-04 1.03012596e+01] [ 5.68224092e-03 -4.65181553e-04 9.99983748e-01 -2.72739992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71589822699997 meters 0.08219604691160018 Centerline is valid? [True, True] Translation: X:244.32, Y:10.31, Z:-2.73 [[ 9.99831685e-01 -1.71759697e-02 -6.44887977e-03 2.44315966e+02] [ 1.71788393e-02 9.99852357e-01 3.89843434e-04 1.03083138e+01] [ 6.44123169e-03 -5.00562087e-04 9.99979130e-01 -2.72759933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.745898227 meters 0.07499992968786574 Centerline is valid? [True, True] Translation: X:244.35, Y:10.32, Z:-2.73 [[ 9.99880096e-01 -1.44645733e-02 -5.52900119e-03 2.44347164e+02] [ 1.44666413e-02 9.99895297e-01 3.34223574e-04 1.03161973e+01] [ 5.52358789e-03 -4.14169576e-04 9.99984659e-01 -2.72570825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.77589822699997 meters 0.07831703419738756 Centerline is valid? [True, True] Translation: X:244.38, Y:10.31, Z:-2.73 [[ 9.99914730e-01 -1.19939756e-02 -5.16506271e-03 2.44376732e+02] [ 1.19957472e-02 9.99928000e-01 3.12160489e-04 1.03115411e+01] [ 5.16094677e-03 -3.74092658e-04 9.99986612e-01 -2.72509392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.80589822699994 meters 0.07499720824116764 Centerline is valid? [True, True] Translation: X:244.41, Y:10.31, Z:-2.73 [[ 9.99937283e-01 -9.78370264e-03 -5.45059187e-03 2.44407630e+02] [ 9.78564279e-03 9.99952065e-01 3.29397360e-04 1.03129812e+01] [ 5.44710787e-03 -3.82714246e-04 9.99985091e-01 -2.72542870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.835898227 meters 0.06925153907031263 Centerline is valid? [True, True] Translation: X:244.44, Y:10.32, Z:-2.73 [[ 9.99953701e-01 -7.74894560e-03 -5.70517169e-03 2.44437667e+02] [ 7.75103793e-03 9.99969901e-01 3.44723553e-04 1.03172353e+01] [ 5.70232873e-03 -3.88928595e-04 9.99983666e-01 -2.72582438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.86589822699995 meters 0.0678724780218707 Centerline is valid? [True, True] Translation: X:244.47, Y:10.32, Z:-2.72 [[ 9.99959986e-01 -7.40569854e-03 -5.01822912e-03 2.44466992e+02] [ 7.40731250e-03 9.99972520e-01 3.03108886e-04 1.03172286e+01] [ 5.01584648e-03 -3.40268348e-04 9.99987363e-01 -2.72486245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.895898227 meters 0.07290251357328824 Centerline is valid? [True, True] Translation: X:244.49, Y:10.31, Z:-2.72 [[ 9.99963625e-01 -7.08918942e-03 -4.74256236e-03 2.44494985e+02] [ 7.09062687e-03 9.99974820e-01 2.86351464e-04 1.03088191e+01] [ 4.74041295e-03 -3.19968788e-04 9.99988713e-01 -2.72425634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.92589822699995 meters 0.06669903569540402 Centerline is valid? [True, True] Translation: X:244.53, Y:10.31, Z:-2.72 [[ 9.99970943e-01 -5.98146853e-03 -4.72604489e-03 2.44525437e+02] [ 5.98288339e-03 9.99982062e-01 2.85293960e-04 1.03146485e+01] [ 4.72425364e-03 -3.13561046e-04 9.99988791e-01 -2.72285949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.955898227 meters 0.06499820546417566 Centerline is valid? [True, True] Translation: X:244.56, Y:10.32, Z:-2.72 [[ 9.99979038e-01 -4.16559427e-03 -4.95692287e-03 2.44555985e+02] [ 4.16712824e-03 9.99991273e-01 2.99174086e-04 1.03154348e+01] [ 4.95563337e-03 -3.19823949e-04 9.99987670e-01 -2.72254924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.98589822699995 meters 0.05966368629374392 Centerline is valid? [True, True] Translation: X:244.59, Y:10.32, Z:-2.72 [[ 9.99988564e-01 -1.99688077e-03 -4.34563892e-03 2.44586761e+02] [ 1.99803912e-03 9.99997970e-01 2.62230251e-04 1.03207797e+01] [ 4.34510645e-03 -2.70910008e-04 9.99990523e-01 -2.72188228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.015898227 meters 0.06543869744451383 Centerline is valid? [True, True] Translation: X:244.61, Y:10.31, Z:-2.72 [[ 9.99992714e-01 2.39383535e-04 -3.80991972e-03 2.44614934e+02] [-2.38509801e-04 9.99999945e-01 2.29784057e-04 1.03115669e+01] [ 3.80997452e-03 -2.28873679e-04 9.99992716e-01 -2.72133138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.04589822699995 meters 0.0572768661312849 Centerline is valid? [True, True] Translation: X:244.65, Y:10.32, Z:-2.72 [[ 9.99993206e-01 2.18186167e-03 -2.97103465e-03 2.44645176e+02] [-2.18133910e-03 9.99997605e-01 1.79118225e-04 1.03204119e+01] [ 2.97141834e-03 -1.72636174e-04 9.99995570e-01 -2.72007930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.075898227 meters 0.05583826415245759 Centerline is valid? [True, True] Translation: X:244.67, Y:10.32, Z:-2.72 [[ 9.99984293e-01 5.41324738e-03 -1.45241592e-03 2.44674964e+02] [-5.41312592e-03 9.99985345e-01 8.75448248e-05 1.03195319e+01] [ 1.45286854e-03 -7.96813395e-05 9.99998941e-01 -2.71874654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.10589822699995 meters 0.05808814367035595 Centerline is valid? [True, True] Translation: X:244.70, Y:10.31, Z:-2.72 [[ 9.99976328e-01 6.78872258e-03 -1.12116118e-03 2.44703074e+02] [-6.78865110e-03 9.99976955e-01 6.75526918e-05 1.03140211e+01] [ 1.12159394e-03 -5.99399206e-05 9.99999369e-01 -2.71803560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.135898227 meters 0.05420276495076203 Centerline is valid? [True, True] Translation: X:244.73, Y:10.32, Z:-2.72 [[ 9.99964578e-01 8.38457290e-03 -7.36028630e-04 2.44733409e+02] [-8.38454254e-03 9.99964848e-01 4.43330953e-05 1.03160208e+01] [ 7.36374472e-04 -3.81602616e-05 9.99999728e-01 -2.71794689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.16589822699996 meters 0.05208754462885145 Centerline is valid? [True, True] Translation: X:244.76, Y:10.32, Z:-2.72 [[ 9.99945458e-01 1.04305667e-02 -5.32361890e-04 2.44763515e+02] [-1.04305511e-02 9.99945600e-01 3.20613182e-05 1.03158118e+01] [ 5.32667348e-04 -2.65067416e-05 9.99999858e-01 -2.71788378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.195898227 meters 0.05340287964570603 Centerline is valid? [True, True] Translation: X:244.79, Y:10.31, Z:-2.72 [[ 9.99909670e-01 1.34175749e-02 -7.87307963e-04 2.44792277e+02] [-1.34175417e-02 9.99909980e-01 4.74007477e-05 1.03112935e+01] [ 7.87873092e-04 -3.68327285e-05 9.99999689e-01 -2.71779081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.22589822699996 meters 0.040818418292468336 Centerline is valid? [True, True] Translation: X:244.82, Y:10.32, Z:-2.72 [[ 9.99773019e-01 2.12598547e-02 -1.38870105e-03 2.44823879e+02] [-2.12597591e-02 9.99773982e-01 8.35854578e-05 1.03240988e+01] [ 1.39016419e-03 -5.40430357e-05 9.99999032e-01 -2.71898683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.255898227 meters 0.03863085464423506 Centerline is valid? [True, True] Translation: X:244.85, Y:10.32, Z:-2.72 [[ 9.99675249e-01 2.54292725e-02 -1.65767252e-03 2.44852789e+02] [-2.54291420e-02 9.99676622e-01 9.97426790e-05 1.03244356e+01] [ 1.65967285e-03 -5.75570975e-05 9.99998621e-01 -2.71943880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.28589822699996 meters 0.03544828450705348 Centerline is valid? [True, True] Translation: X:244.88, Y:10.33, Z:-2.72 [[ 9.99565908e-01 2.93828795e-02 -2.15432622e-03 2.44881540e+02] [-2.93826685e-02 9.99568228e-01 1.29552387e-04 1.03262313e+01] [ 2.15720266e-03 -6.61962963e-05 9.99997671e-01 -2.72011169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.315898227 meters 0.030651501804674283 Centerline is valid? [True, True] Translation: X:244.91, Y:10.33, Z:-2.72 [[ 9.99448845e-01 3.30815223e-02 -2.76034093e-03 2.44911721e+02] [-3.30811901e-02 9.99452654e-01 1.65946861e-04 1.03304697e+01] [ 2.76431984e-03 -7.45400359e-05 9.99996176e-01 -2.72073737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.34589822699996 meters 0.024297271758434803 Centerline is valid? [True, True] Translation: X:244.94, Y:10.34, Z:-2.72 [[ 9.99239738e-01 3.88139093e-02 -3.66423680e-03 2.44942522e+02] [-3.88133625e-02 9.99246453e-01 2.20243176e-04 1.03368467e+01] [ 3.67002413e-03 -7.78543825e-05 9.99993262e-01 -2.72270158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.375898227 meters 0.02462690807173823 Centerline is valid? [True, True] Translation: X:244.97, Y:10.33, Z:-2.72 [[ 9.99169291e-01 4.05761696e-02 -3.78182430e-03 2.44970424e+02] [-4.05756006e-02 9.99176445e-01 2.27102245e-04 1.03345163e+01] [ 3.78792470e-03 -7.34637965e-05 9.99992823e-01 -2.72409294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.40589822699997 meters 0.023014644657354526 Centerline is valid? [True, True] Translation: X:245.00, Y:10.33, Z:-2.72 [[ 9.99117212e-01 4.18735513e-02 -3.37666512e-03 2.44999602e+02] [-4.18731055e-02 9.99122916e-01 2.02615484e-04 1.03346457e+01] [ 3.38218774e-03 -6.10451622e-05 9.99994279e-01 -2.72335590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.435898227 meters 0.020914230096286686 Centerline is valid? [True, True] Translation: X:245.03, Y:10.34, Z:-2.72 [[ 9.99104859e-01 4.21477450e-02 -3.61233435e-03 2.45028766e+02] [-4.21472373e-02 9.99111387e-01 2.16587354e-04 1.03358001e+01] [ 3.61825305e-03 -6.41435646e-05 9.99993452e-01 -2.72329739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.46589822699997 meters 0.023278525198752675 Centerline is valid? [True, True] Translation: X:245.06, Y:10.33, Z:-2.73 [[ 9.99161599e-01 4.06240386e-02 -5.07801966e-03 2.45056005e+02] [-4.06230172e-02 9.99174498e-01 3.04167264e-04 1.03294451e+01] [ 5.08618425e-03 -9.76277695e-05 9.99987061e-01 -2.72613147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.495898227 meters 0.023891455269620287 Centerline is valid? [True, True] Translation: X:245.08, Y:10.33, Z:-2.73 [[ 9.99207331e-01 3.93433230e-02 -6.06727895e-03 2.45084879e+02] [-3.93418430e-02 9.99225744e-01 3.63127709e-04 1.03251052e+01] [ 6.07686798e-03 -1.24141933e-04 9.99981528e-01 -2.72786489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.52589822699997 meters 0.028229503776046074 Centerline is valid? [True, True] Translation: X:245.11, Y:10.32, Z:-2.73 [[ 9.99265848e-01 3.77188817e-02 -6.71193410e-03 2.45111746e+02] [-3.77170367e-02 9.99288379e-01 4.01286198e-04 1.03157533e+01] [ 6.72229381e-03 -1.47837329e-04 9.99977394e-01 -2.72967194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55589822699994 meters 0.02857012886569975 Centerline is valid? [True, True] Translation: X:245.14, Y:10.31, Z:-2.73 [[ 9.99326484e-01 3.60553077e-02 -6.82590311e-03 2.45140655e+02] [-3.60533629e-02 9.99349783e-01 4.07783287e-04 1.03122920e+01] [ 6.83616754e-03 -1.61411876e-04 9.99976620e-01 -2.72918088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.585898227 meters 0.028646238422743556 Centerline is valid? [True, True] Translation: X:245.17, Y:10.31, Z:-2.73 [[ 9.99379073e-01 3.45717073e-02 -6.80187120e-03 2.45168810e+02] [-3.45697445e-02 9.99402205e-01 4.05963621e-04 1.03096620e+01] [ 6.81183993e-03 -1.70572597e-04 9.99976785e-01 -2.72798136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61589822699995 meters 0.030225913274244554 Centerline is valid? [True, True] Translation: X:245.20, Y:10.30, Z:-2.73 [[ 9.99414203e-01 3.36347958e-02 -6.32065093e-03 2.45196502e+02] [-3.36330844e-02 9.99434177e-01 3.76882400e-04 1.03048645e+01] [ 6.32975092e-03 -1.64078637e-04 9.99979953e-01 -2.72716335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.645898227 meters 0.036222257788390694 Centerline is valid? [True, True] Translation: X:245.23, Y:10.30, Z:-2.73 [[ 9.99456892e-01 3.25815260e-02 -4.93610403e-03 2.45225673e+02] [-3.25804706e-02 9.99469072e-01 2.94098641e-04 1.03026186e+01] [ 4.94306550e-03 -1.33118321e-04 9.99987774e-01 -2.72537166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67589822699995 meters 0.029776854484425998 Centerline is valid? [True, True] Translation: X:245.25, Y:10.30, Z:-2.72 [[ 9.99434863e-01 3.33669900e-02 -4.07405152e-03 2.45253890e+02] [-3.33662783e-02 9.99443161e-01 2.42553434e-04 1.03004692e+01] [ 4.07987621e-03 -1.06480421e-04 9.99991672e-01 -2.72338939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.705898227 meters 0.028536613174410044 Centerline is valid? [True, True] Translation: X:245.28, Y:10.30, Z:-2.72 [[ 9.99419300e-01 3.39095441e-02 -3.34761840e-03 2.45282353e+02] [-3.39090672e-02 9.99424902e-01 1.99153263e-04 1.03007371e+01] [ 3.35244638e-03 -8.55229974e-05 9.99994377e-01 -2.72129585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73589822699995 meters 0.0280079860110946 Centerline is valid? [True, True] Translation: X:245.31, Y:10.30, Z:-2.72 [[ 9.99409585e-01 3.42689577e-02 -2.47393529e-03 2.45310819e+02] [-3.42686986e-02 9.99412645e-01 1.47068399e-04 1.03002532e+01] [ 2.47752209e-03 -6.22030252e-05 9.99996929e-01 -2.71952823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.765898227 meters 0.029452586722927873 Centerline is valid? [True, True] Translation: X:245.34, Y:10.30, Z:-2.72 [[ 9.99451049e-01 3.30907389e-02 -1.61357692e-03 2.45338659e+02] [-3.30906272e-02 9.99452351e-01 9.58442510e-05 1.02968778e+01] [ 1.61586480e-03 -4.23973649e-05 9.99998694e-01 -2.71873510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79589822699995 meters 0.032653375523633794 Centerline is valid? [True, True] Translation: X:245.37, Y:10.29, Z:-2.72 [[ 9.99513138e-01 3.11735678e-02 -1.30178924e-03 2.45367251e+02] [-3.11734936e-02 9.99513986e-01 7.72732349e-05 1.02913990e+01] [ 1.30356543e-03 -3.66542950e-05 9.99999150e-01 -2.71922305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.825898227 meters 0.03398816316038601 Centerline is valid? [True, True] Translation: X:245.40, Y:10.29, Z:-2.72 [[ 9.99591267e-01 2.85741259e-02 -9.05018601e-04 2.45396946e+02] [-2.85740890e-02 9.99591676e-01 5.36999992e-05 1.02888709e+01] [ 9.06183491e-04 -2.78179682e-05 9.99999589e-01 -2.71912618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85589822699995 meters 0.035937781444558496 Centerline is valid? [True, True] Translation: X:245.43, Y:10.29, Z:-2.72 [[ 9.99665661e-01 2.58565999e-02 -5.59068329e-05 2.45426483e+02] [-2.58565997e-02 9.99665662e-01 3.32778283e-06 1.02860922e+01] [ 5.59741862e-05 -1.88110963e-06 9.99999998e-01 -2.71820578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.885898227 meters 0.039201522992382117 Centerline is valid? [True, True] Translation: X:245.45, Y:10.28, Z:-2.72 [[ 9.99728334e-01 2.32778079e-02 1.18377540e-03 2.45454333e+02] [-2.32777412e-02 9.99729034e-01 -7.01169752e-05 1.02817180e+01] [-1.18508680e-03 4.25423095e-05 9.99999297e-01 -2.71606966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91589822699996 meters 0.04326778344172057 Centerline is valid? [True, True] Translation: X:245.48, Y:10.28, Z:-2.71 [[ 9.99776893e-01 2.10137123e-02 2.14197271e-03 2.45482279e+02] [-2.10134887e-02 9.99779184e-01 -1.26851852e-04 1.02759761e+01] [-2.14416536e-03 8.18132312e-05 9.99997698e-01 -2.71473347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.945898227 meters 0.04662302148419564 Centerline is valid? [True, True] Translation: X:245.51, Y:10.27, Z:-2.72 [[ 9.99860383e-01 1.65703917e-02 2.15321178e-03 2.45511983e+02] [-1.65701555e-02 9.99862697e-01 -1.27496394e-04 1.02711040e+01] [-2.15502880e-03 9.17995396e-05 9.99997674e-01 -2.71588611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97589822699996 meters 0.05133792604134693 Centerline is valid? [True, True] Translation: X:245.54, Y:10.26, Z:-2.72 [[ 9.99896369e-01 1.43057661e-02 1.61116254e-03 2.45540946e+02] [-1.43056309e-02 9.99897665e-01 -9.53986784e-05 1.02635096e+01] [-1.61236241e-03 7.23400956e-05 9.99998698e-01 -2.71717164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.005898227 meters 0.054945691330131156 Centerline is valid? [True, True] Translation: X:245.57, Y:10.26, Z:-2.72 [[ 9.99931215e-01 1.17220719e-02 3.97031458e-04 2.45569541e+02] [-1.17220635e-02 9.99931294e-01 -2.35135684e-05 1.02578543e+01] [-3.97279807e-04 1.88579231e-05 9.99999921e-01 -2.71978501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03589822699996 meters 0.054945691330131156 Centerline is valid? [True, True] Translation: X:245.60, Y:10.26, Z:-2.72 [[ 9.99931470e-01 1.17003212e-02 3.97032819e-04 2.45598687e+02] [-1.17003128e-02 9.99931549e-01 -2.34905750e-05 1.02561708e+01] [-3.97280489e-04 1.88435570e-05 9.99999921e-01 -2.71976916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.065898227 meters 0.05114099118443527 Centerline is valid? [True, True] Translation: X:245.63, Y:10.26, Z:-2.72 [[ 9.99955462e-01 9.39677645e-03 -8.79572943e-04 2.45629361e+02] [-9.39673428e-03 9.99955848e-01 5.20664158e-05 1.02568210e+01] [ 8.80023365e-04 -4.37989836e-05 9.99999612e-01 -2.72266387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09589822699996 meters 0.05169430532663077 Centerline is valid? [True, True] Translation: X:245.66, Y:10.25, Z:-2.72 [[ 9.99976000e-01 6.67042224e-03 -1.87207912e-03 2.45659002e+02] [-6.67022646e-03 9.99977748e-01 1.10802358e-04 1.02528889e+01] [ 1.87277656e-03 -9.83125075e-05 9.99998242e-01 -2.72438334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.125898227 meters 0.05812627147524582 Centerline is valid? [True, True] Translation: X:245.69, Y:10.24, Z:-2.72 [[ 9.99992005e-01 3.35283234e-03 -2.17895177e-03 2.45688032e+02] [-3.35255933e-03 9.99994372e-01 1.28935448e-04 1.02402360e+01] [ 2.17937181e-03 -1.21629352e-04 9.99997618e-01 -2.72478598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15589822699997 meters 0.057122555215143714 Centerline is valid? [True, True] Translation: X:245.72, Y:10.24, Z:-2.72 [[ 9.99993511e-01 3.11861739e-03 -1.80352932e-03 2.45717568e+02] [-3.11843003e-03 9.99995132e-01 1.06685444e-04 1.02388145e+01] [ 1.80385325e-03 -1.01060572e-04 9.99998368e-01 -2.72400415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.185898227 meters 0.05627434735690897 Centerline is valid? [True, True] Translation: X:245.75, Y:10.24, Z:-2.72 [[ 9.99991224e-01 3.61167881e-03 -2.12302443e-03 2.45746836e+02] [-3.61142041e-03 9.99993471e-01 1.25533565e-04 1.02372288e+01] [ 2.12346395e-03 -1.17865329e-04 9.99997739e-01 -2.72454782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21589822699997 meters 0.061741866549930254 Centerline is valid? [True, True] Translation: X:245.77, Y:10.23, Z:-2.73 [[ 9.99986775e-01 4.39765258e-03 -2.66638456e-03 2.45774624e+02] [-4.39724801e-03 9.99990320e-01 1.57572758e-04 1.02278949e+01] [ 2.66705170e-03 -1.45845920e-04 9.99996433e-01 -2.72624711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.245898227 meters 0.05638798563205038 Centerline is valid? [True, True] Translation: X:245.80, Y:10.23, Z:-2.73 [[ 9.99980252e-01 5.32245690e-03 -3.34182600e-03 2.45803472e+02] [-5.32182705e-03 9.99985820e-01 1.97337520e-04 1.02328685e+01] [ 3.34282893e-03 -1.79549003e-04 9.99994397e-01 -2.72705161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.27589822699997 meters 0.053381753731615265 Centerline is valid? [True, True] Translation: X:245.83, Y:10.24, Z:-2.73 [[ 9.99969809e-01 6.70105820e-03 -3.93408117e-03 2.45833011e+02] [-6.70019639e-03 9.99977526e-01 2.32203531e-04 1.02351582e+01] [ 3.93554876e-03 -2.05837404e-04 9.99992235e-01 -2.72839883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.30589822699994 meters 0.05646063859493727 Centerline is valid? [True, True] Translation: X:245.86, Y:10.23, Z:-2.73 [[ 9.99971533e-01 6.43749139e-03 -3.93600818e-03 2.45860517e+02] [-6.43662751e-03 9.99979258e-01 2.32110284e-04 1.02297469e+01] [ 3.93742075e-03 -2.06769058e-04 9.99992227e-01 -2.72944576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.335898227 meters 0.0595464747162722 Centerline is valid? [True, True] Translation: X:245.89, Y:10.22, Z:-2.73 [[ 9.99973681e-01 5.57914782e-03 -4.63801724e-03 2.45889246e+02] [-5.57793990e-03 9.99984406e-01 2.73334158e-04 1.02241644e+01] [ 4.63946988e-03 -2.47456383e-04 9.99989207e-01 -2.73067703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.36589822699995 meters 0.06175333792410924 Centerline is valid? [True, True] Translation: X:245.92, Y:10.22, Z:-2.73 [[ 9.99976741e-01 4.13300502e-03 -5.42549413e-03 2.45917114e+02] [-4.13133215e-03 9.99991415e-01 3.19506670e-04 1.02198596e+01] [ 5.42676808e-03 -2.97084720e-04 9.99985231e-01 -2.73216098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.395898227 meters 0.059833514013705076 Centerline is valid? [True, True] Translation: X:245.95, Y:10.22, Z:-2.73 [[ 9.99978082e-01 2.50889842e-03 -6.12705194e-03 2.45946941e+02] [-2.50673549e-03 9.99996793e-01 3.60668072e-04 1.02203942e+01] [ 6.12793717e-03 -3.45301268e-04 9.99981164e-01 -2.73285759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.42589822699995 meters 0.06085336376702254 Centerline is valid? [True, True] Translation: X:245.98, Y:10.22, Z:-2.73 [[ 9.99976825e-01 -1.88794021e-03 -6.54096255e-03 2.45976893e+02] [ 1.89049849e-03 9.99998139e-01 3.84956497e-04 1.02171181e+01] [ 6.54022360e-03 -3.97313256e-04 9.99978534e-01 -2.73279727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.455898227 meters 0.06328021644224352 Centerline is valid? [True, True] Translation: X:246.01, Y:10.21, Z:-2.73 [[ 9.99973833e-01 -3.82548309e-03 -6.13994661e-03 2.46007257e+02] [ 3.82777365e-03 9.99992609e-01 3.61350066e-04 1.02119326e+01] [ 6.13851889e-03 -3.84842937e-04 9.99981085e-01 -2.73192252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.48589822699995 meters 0.07186664082232569 Centerline is valid? [True, True] Translation: X:246.04, Y:10.20, Z:-2.73 [[ 9.99969720e-01 -5.69278001e-03 -5.30574031e-03 2.46036146e+02] [ 5.69451632e-03 9.99983737e-01 3.12200405e-04 1.01986802e+01] [ 5.30387674e-03 -3.42404576e-04 9.99985876e-01 -2.73133966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.515898227 meters 0.07163697663693742 Centerline is valid? [True, True] Translation: X:246.07, Y:10.20, Z:-2.73 [[ 9.99959725e-01 -7.46939114e-03 -4.97550186e-03 2.46066233e+02] [ 7.47093966e-03 9.99972049e-01 2.92713470e-04 1.01968765e+01] [ 4.97317640e-03 -3.29873355e-04 9.99987579e-01 -2.73036771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.54589822699995 meters 0.06904684185669444 Centerline is valid? [True, True] Translation: X:246.10, Y:10.20, Z:-2.73 [[ 9.99947084e-01 -9.18725362e-03 -4.62852231e-03 2.46096906e+02] [ 9.18861197e-03 9.99957747e-01 2.72294742e-04 1.01975277e+01] [ 4.62582510e-03 -3.14810029e-04 9.99989251e-01 -2.72947639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.575898227 meters 0.07794302660035539 Centerline is valid? [True, True] Translation: X:246.13, Y:10.18, Z:-2.73 [[ 9.99933976e-01 -1.08239633e-02 -3.85805295e-03 2.46125480e+02] [ 1.08249191e-02 9.99941383e-01 2.26935165e-04 1.01833084e+01] [ 3.85537046e-03 -2.68683293e-04 9.99992532e-01 -2.72872122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.60589822699995 meters 0.07136876666380447 Centerline is valid? [True, True] Translation: X:246.16, Y:10.19, Z:-2.72 [[ 9.99910990e-01 -1.33261290e-02 -6.52849734e-04 2.46155744e+02] [ 1.33261569e-02 9.99911202e-01 3.84001563e-05 1.01879708e+01] [ 6.52280037e-04 -4.70967163e-05 9.99999786e-01 -2.72265106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.635898227 meters 0.0772873170262376 Centerline is valid? [True, True] Translation: X:246.19, Y:10.18, Z:-2.72 [[ 9.99907129e-01 -1.36176268e-02 5.42611125e-04 2.46185041e+02] [ 1.36176462e-02 9.99907275e-01 -3.19768083e-05 1.01776612e+01] [-5.42125363e-04 3.93629249e-05 9.99999852e-01 -2.71995454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.66589822699996 meters 0.07177608455238448 Centerline is valid? [True, True] Translation: X:246.22, Y:10.18, Z:-2.72 [[ 9.99904697e-01 -1.38020680e-02 3.16196834e-04 2.46216350e+02] [ 1.38020745e-02 9.99904747e-01 -1.86354737e-05 1.01818030e+01] [-3.15909507e-04 2.29978700e-05 9.99999950e-01 -2.72056193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.695898227 meters 0.07333693586032627 Centerline is valid? [True, True] Translation: X:246.25, Y:10.18, Z:-2.72 [[ 9.99909072e-01 -1.34412925e-02 -1.08643039e-03 2.46246572e+02] [ 1.34413699e-02 9.99909659e-01 6.39937721e-05 1.01763523e+01] [ 1.08547208e-03 -7.85910660e-05 9.99999408e-01 -2.72309638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.72589822699996 meters 0.07905806565841197 Centerline is valid? [True, True] Translation: X:246.28, Y:10.16, Z:-2.73 [[ 9.99911815e-01 -1.28320768e-02 -3.42042984e-03 2.46276205e+02] [ 1.28328409e-02 9.99917635e-01 2.01524560e-04 1.01649989e+01] [ 3.41756214e-03 -2.45400621e-04 9.99994130e-01 -2.72838968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.755898227 meters 0.07181129950598285 Centerline is valid? [True, True] Translation: X:246.31, Y:10.17, Z:-2.73 [[ 9.99916747e-01 -1.24116114e-02 -3.52871299e-03 2.46307406e+02] [ 1.24124220e-02 9.99922941e-01 2.07910661e-04 1.01700288e+01] [ 3.52586057e-03 -2.51693226e-04 9.99993752e-01 -2.72753083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.78589822699996 meters 0.07121705081594197 Centerline is valid? [True, True] Translation: X:246.34, Y:10.17, Z:-2.73 [[ 9.99922210e-01 -1.20554483e-02 -3.19987864e-03 2.46338223e+02] [ 1.20561130e-02 9.99927305e-01 1.88535844e-04 1.01681979e+01] [ 3.19737314e-03 -2.27099277e-04 9.99994863e-01 -2.72673712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.815898227 meters 0.07345774159725259 Centerline is valid? [True, True] Translation: X:246.37, Y:10.16, Z:-2.73 [[ 9.99931419e-01 -1.13533826e-02 -2.87351165e-03 2.46367296e+02] [ 1.13539157e-02 9.99935528e-01 1.69280002e-04 1.01630226e+01] [ 2.87140449e-03 -2.01894002e-04 9.99995857e-01 -2.72596163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.84589822699996 meters 0.07770855841793699 Centerline is valid? [True, True] Translation: X:246.40, Y:10.16, Z:-2.73 [[ 9.99944131e-01 -1.02804416e-02 -2.45915165e-03 2.46396124e+02] [ 1.02808287e-02 9.99947140e-01 1.44843155e-04 1.01555522e+01] [ 2.45753261e-03 -1.70117180e-04 9.99996966e-01 -2.72581215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.875898227 meters 0.07440246523540855 Centerline is valid? [True, True] Translation: X:246.43, Y:10.16, Z:-2.73 [[ 9.99963179e-01 -7.75095527e-03 -3.68277768e-03 2.46426713e+02] [ 7.75180655e-03 9.99969931e-01 2.16933993e-04 1.01591481e+01] [ 3.68098550e-03 -2.45474185e-04 9.99993195e-01 -2.72767330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.90589822699997 meters 0.06236315480967919 Centerline is valid? [True, True] Translation: X:246.46, Y:10.17, Z:-2.73 [[ 9.99969613e-01 -6.51034684e-03 -4.28818117e-03 2.46457396e+02] [ 6.51148930e-03 9.99978768e-01 2.52512809e-04 1.01734793e+01] [ 4.28644618e-03 -2.80427582e-04 9.99990774e-01 -2.72822705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.935898227 meters 0.06917030606468273 Centerline is valid? [True, True] Translation: X:246.49, Y:10.16, Z:-2.73 [[ 9.99973823e-01 -6.04718319e-03 -3.97291707e-03 2.46485521e+02] [ 6.04815967e-03 9.99981682e-01 2.33816253e-04 1.01631631e+01] [ 3.97143036e-03 -2.57838970e-04 9.99992081e-01 -2.72942175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.96589822699997 meters 0.06456115504861598 Centerline is valid? [True, True] Translation: X:246.52, Y:10.17, Z:-2.73 [[ 9.99976571e-01 -6.16898022e-03 -2.96667875e-03 2.46515413e+02] [ 6.16952503e-03 9.99980953e-01 1.74526405e-04 1.01675042e+01] [ 2.96554559e-03 -1.92825315e-04 9.99995584e-01 -2.72815858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.995898227 meters 0.06763614409456077 Centerline is valid? [True, True] Translation: X:246.54, Y:10.16, Z:-2.73 [[ 9.99976242e-01 -6.50049327e-03 -2.29331249e-03 2.46544902e+02] [ 6.50081963e-03 9.99978860e-01 1.34883209e-04 1.01623890e+01] [ 2.29238721e-03 -1.49788416e-04 9.99997361e-01 -2.72716994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.02589822699997 meters 0.06815255143325923 Centerline is valid? [True, True] Translation: X:246.58, Y:10.16, Z:-2.73 [[ 9.99962784e-01 -8.06541492e-03 -3.06256122e-03 2.46575374e+02] [ 8.06600422e-03 9.99967453e-01 1.80118937e-04 1.01617003e+01] [ 3.06100881e-03 -2.04814866e-04 9.99995294e-01 -2.72827902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05589822699994 meters 0.06586314766631508 Centerline is valid? [True, True] Translation: X:246.61, Y:10.16, Z:-2.73 [[ 9.99949371e-01 -9.05720806e-03 -4.38429297e-03 2.46605582e+02] [ 9.05842508e-03 9.99958938e-01 2.57809475e-04 1.01633242e+01] [ 4.38177791e-03 -2.97511212e-04 9.99990356e-01 -2.72956885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.085898227 meters 0.07057695424451575 Centerline is valid? [True, True] Translation: X:246.63, Y:10.16, Z:-2.73 [[ 9.99934936e-01 -9.85827541e-03 -5.73909348e-03 2.46633931e+02] [ 9.86037287e-03 9.99951328e-01 3.37287842e-04 1.01556764e+01] [ 5.73548907e-03 -3.93855499e-04 9.99983474e-01 -2.73185744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11589822699995 meters 0.07138835824517364 Centerline is valid? [True, True] Translation: X:246.66, Y:10.15, Z:-2.73 [[ 9.99926220e-01 -1.02853322e-02 -6.46267832e-03 2.46662775e+02] [ 1.02879946e-02 9.99947005e-01 3.78857367e-04 1.01530847e+01] [ 6.45843916e-03 -4.45317414e-04 9.99979045e-01 -2.73311865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.145898227 meters 0.07007821230365838 Centerline is valid? [True, True] Translation: X:246.69, Y:10.15, Z:-2.73 [[ 9.99924979e-01 -1.02461455e-02 -6.71213992e-03 2.46691756e+02] [ 1.02490093e-02 9.99947401e-01 3.92409723e-04 1.01534976e+01] [ 6.70776618e-03 -4.61173069e-04 9.99977396e-01 -2.73301988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17589822699995 meters 0.06976307007655341 Centerline is valid? [True, True] Translation: X:246.72, Y:10.15, Z:-2.73 [[ 9.99954696e-01 -7.50499793e-03 -5.85495780e-03 2.46721213e+02] [ 7.50712939e-03 9.99971763e-01 3.42150717e-04 1.01534969e+01] [ 5.85222463e-03 -3.86089142e-04 9.99982801e-01 -2.73102606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.205898227 meters 0.06910665698276017 Centerline is valid? [True, True] Translation: X:246.75, Y:10.15, Z:-2.73 [[ 9.99969221e-01 -5.30508629e-03 -5.78040448e-03 2.46750268e+02] [ 5.30712661e-03 9.99985860e-01 3.37691485e-04 1.01532449e+01] [ 5.77853126e-03 -3.68358430e-04 9.99983236e-01 -2.73076023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23589822699995 meters 0.0662315423636161 Centerline is valid? [True, True] Translation: X:246.78, Y:10.16, Z:-2.73 [[ 9.99978441e-01 -2.62743939e-03 -6.01773780e-03 2.46780511e+02] [ 2.62960221e-03 9.99996481e-01 3.51523473e-04 1.01556045e+01] [ 6.01679302e-03 -3.67340151e-04 9.99981831e-01 -2.73155447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.265898227 meters 0.05918152852991017 Centerline is valid? [True, True] Translation: X:246.81, Y:10.16, Z:-2.73 [[ 9.99977755e-01 6.06666366e-05 -6.66980299e-03 2.46811265e+02] [-5.80694229e-05 9.99999922e-01 3.89591824e-04 1.01633782e+01] [ 6.66982611e-03 -3.89195846e-04 9.99977681e-01 -2.73191281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29589822699995 meters 0.05826224213689844 Centerline is valid? [True, True] Translation: X:246.84, Y:10.16, Z:-2.73 [[ 9.99972518e-01 2.74315313e-03 -6.88751771e-03 2.46840682e+02] [-2.74044771e-03 9.99996164e-01 4.02206506e-04 1.01641069e+01] [ 6.88859460e-03 -3.83320570e-04 9.99976200e-01 -2.73239722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.325898227 meters 0.054828209373651134 Centerline is valid? [True, True] Translation: X:246.87, Y:10.17, Z:-2.73 [[ 9.99960559e-01 5.74317899e-03 -6.77463987e-03 2.46871250e+02] [-5.74063033e-03 9.99983444e-01 3.95591392e-04 1.01660560e+01] [ 6.77679967e-03 -3.56685086e-04 9.99976974e-01 -2.73152495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35589822699995 meters 0.05090260020678311 Centerline is valid? [True, True] Translation: X:246.90, Y:10.17, Z:-2.73 [[ 9.99909736e-01 1.16573977e-02 -6.68011465e-03 2.46900583e+02] [-1.16550522e-02 9.99932002e-01 3.89948808e-04 1.01700379e+01] [ 6.68420620e-03 -3.12056525e-04 9.99977612e-01 -2.73106909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.385898227 meters 0.04796164762258967 Centerline is valid? [True, True] Translation: X:246.93, Y:10.17, Z:-2.73 [[ 9.99867368e-01 1.48391769e-02 -6.71162595e-03 2.46930977e+02] [-1.48368812e-02 9.99889851e-01 3.91708492e-04 1.01736019e+01] [ 6.71669930e-03 -2.92076942e-04 9.99977400e-01 -2.73123608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41589822699996 meters 0.048105076698630934 Centerline is valid? [True, True] Translation: X:246.96, Y:10.17, Z:-2.73 [[ 9.99806594e-01 1.86364862e-02 -6.28139594e-03 2.46959990e+02] [-1.86345507e-02 9.99826295e-01 3.66513047e-04 1.01716646e+01] [ 6.28713534e-03 -2.49391170e-04 9.99980205e-01 -2.73083060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.445898227 meters 0.04055583964521028 Centerline is valid? [True, True] Translation: X:246.99, Y:10.18, Z:-2.73 [[ 9.99731362e-01 2.26053020e-02 -5.11893013e-03 2.46990398e+02] [-2.26040687e-02 9.99744451e-01 2.98665821e-04 1.01770633e+01] [ 5.12437342e-03 -1.82876940e-04 9.99986854e-01 -2.72817306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47589822699996 meters 0.03677564339593702 Centerline is valid? [True, True] Translation: X:247.02, Y:10.18, Z:-2.73 [[ 9.99641352e-01 2.65667904e-02 -3.37253480e-03 2.47020481e+02] [-2.65662777e-02 9.99647035e-01 1.96739882e-04 1.01806663e+01] [ 3.37657116e-03 -1.07073625e-04 9.99994294e-01 -2.72579995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.505898227 meters 0.029535715966182725 Centerline is valid? [True, True] Translation: X:247.05, Y:10.19, Z:-2.72 [[ 9.99435574e-01 3.35817752e-02 -8.93738372e-04 2.47050653e+02] [-3.35817420e-02 9.99435973e-01 5.21308247e-05 1.01899263e+01] [ 8.94984925e-04 -2.20881093e-05 9.99999599e-01 -2.72236132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53589822699996 meters 0.027215576691529242 Centerline is valid? [True, True] Translation: X:247.08, Y:10.19, Z:-2.72 [[ 9.99339072e-01 3.63513191e-02 2.04983623e-05 2.47078559e+02] [-3.63513191e-02 9.99339072e-01 -1.17055089e-06 1.01925176e+01] [-2.05273654e-05 4.24634730e-07 1.00000000e+00 -2.72154622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.565898227 meters 0.024861523035005197 Centerline is valid? [True, True] Translation: X:247.11, Y:10.19, Z:-2.72 [[ 9.99260487e-01 3.84445089e-02 7.06366642e-04 2.47107779e+02] [-3.84444894e-02 9.99260737e-01 -4.11093203e-05 1.01948212e+01] [-7.07424879e-04 1.39230145e-05 9.99999750e-01 -2.72109635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59589822699996 meters 0.021045100720792295 Centerline is valid? [True, True] Translation: X:247.14, Y:10.20, Z:-2.72 [[ 9.99185884e-01 4.03371048e-02 6.97396292e-04 2.47136827e+02] [-4.03370863e-02 9.99186128e-01 -4.05534024e-05 1.01985196e+01] [-6.98464507e-04 1.23894528e-05 9.99999756e-01 -2.72188172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.625898227 meters 0.022549220041931464 Centerline is valid? [True, True] Translation: X:247.16, Y:10.20, Z:-2.72 [[ 9.99192060e-01 4.01893900e-02 2.01746600e-04 2.47164942e+02] [-4.01893884e-02 9.99192080e-01 -1.16957609e-05 1.01957875e+01] [-2.02053650e-04 3.57823892e-06 9.99999980e-01 -2.72323782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65589822699997 meters 0.028872437745528237 Centerline is valid? [True, True] Translation: X:247.19, Y:10.19, Z:-2.72 [[ 9.99215007e-01 3.96147771e-02 -1.96936179e-04 2.47192764e+02] [-3.96147756e-02 9.99215027e-01 1.14671075e-05 1.01926182e+01] [ 1.97235856e-04 -3.65652340e-06 9.99999981e-01 -2.72391706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.685898227 meters 0.022271171330005286 Centerline is valid? [True, True] Translation: X:247.22, Y:10.19, Z:-2.72 [[ 9.99231389e-01 3.91937743e-02 -6.92663488e-04 2.47221407e+02] [-3.91937558e-02 9.99231629e-01 4.02167326e-05 1.01925456e+01] [ 6.93707511e-04 -1.30377379e-05 9.99999759e-01 -2.72358861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71589822699997 meters 0.022736562535794664 Centerline is valid? [True, True] Translation: X:247.25, Y:10.19, Z:-2.72 [[ 9.99247455e-01 3.87858048e-02 -4.29118158e-04 2.47249180e+02] [-3.87857977e-02 9.99247548e-01 2.49059743e-05 1.01906245e+01] [ 4.29761265e-04 -8.24354136e-06 9.99999908e-01 -2.72329883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.745898227 meters 0.026000465655560554 Centerline is valid? [True, True] Translation: X:247.28, Y:10.18, Z:-2.72 [[ 9.99267261e-01 3.82735714e-02 -2.74072290e-04 2.47276312e+02] [-3.82735684e-02 9.99267298e-01 1.59024726e-05 1.01848625e+01] [ 2.74480121e-04 -5.40109568e-06 9.99999962e-01 -2.72310100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.77589822699997 meters 0.02613537589580429 Centerline is valid? [True, True] Translation: X:247.30, Y:10.18, Z:-2.72 [[ 9.99252887e-01 3.86264439e-02 1.29084159e-03 2.47303635e+02] [-3.86263797e-02 9.99253720e-01 -7.46546935e-05 1.01830633e+01] [-1.29276191e-03 2.47383806e-05 9.99999164e-01 -2.72131605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.80589822699994 meters 0.030836333695879264 Centerline is valid? [True, True] Translation: X:247.33, Y:10.18, Z:-2.72 [[ 9.99239652e-01 3.89547601e-02 1.62594162e-03 2.47332031e+02] [-3.89546587e-02 9.99240975e-01 -9.39789121e-05 1.01830556e+01] [-1.62836841e-03 3.05694546e-05 9.99998674e-01 -2.72199464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.835898227 meters 0.02198600474352011 Centerline is valid? [True, True] Translation: X:247.36, Y:10.19, Z:-2.72 [[ 9.99233096e-01 3.91398026e-02 1.13873085e-03 2.47360890e+02] [-3.91397531e-02 9.99233744e-01 -6.57564942e-05 1.01865773e+01] [-1.14043199e-03 2.11364210e-05 9.99999349e-01 -2.72205491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.86589822699995 meters 0.022112311454040374 Centerline is valid? [True, True] Translation: X:247.39, Y:10.19, Z:-2.72 [[ 9.99233266e-01 3.91347960e-02 1.16074750e-03 2.47389886e+02] [-3.91347446e-02 9.99233940e-01 -6.69745770e-05 1.01858540e+01] [-1.16247933e-03 2.14976685e-05 9.99999324e-01 -2.72217125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.895898227 meters 0.02214966467384398 Centerline is valid? [True, True] Translation: X:247.42, Y:10.19, Z:-2.72 [[ 9.99227891e-01 3.92775573e-02 9.45843301e-04 2.47417349e+02] [-3.92775233e-02 9.99228339e-01 -5.45090585e-05 1.01858625e+01] [-9.47254413e-04 1.73165893e-05 9.99999551e-01 -2.72174565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.92589822699995 meters 0.02214966467384398 Centerline is valid? [True, True] Translation: X:247.45, Y:10.18, Z:-2.72 [[ 9.99229695e-01 3.92316407e-02 9.45845439e-04 2.47445632e+02] [-3.92316067e-02 9.99230143e-01 -5.44719561e-05 1.01843169e+01] [-9.47254297e-04 1.73229599e-05 9.99999551e-01 -2.72173027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.955898227 meters 0.020773539101831797 Centerline is valid? [True, True] Translation: X:247.47, Y:10.19, Z:-2.72 [[ 9.99129961e-01 4.17050000e-02 -1.21932359e-04 2.47473745e+02] [-4.17049995e-02 9.99129968e-01 7.04947621e-06 1.01871313e+01] [ 1.22120273e-04 -1.95815390e-06 9.99999993e-01 -2.72347375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.98589822699995 meters 0.018661123993801293 Centerline is valid? [True, True] Translation: X:247.50, Y:10.19, Z:-2.73 [[ 9.99068925e-01 4.31347273e-02 -8.23481612e-04 2.47502898e+02] [-4.31347029e-02 9.99069264e-01 4.73865523e-05 1.01890625e+01] [ 8.24759174e-04 -1.18217973e-05 9.99999660e-01 -2.72521017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.015898227 meters 0.01820533044225306 Centerline is valid? [True, True] Translation: X:247.53, Y:10.19, Z:-2.73 [[ 9.99037635e-01 4.38339999e-02 -1.54413968e-03 2.47530632e+02] [-4.38339151e-02 9.99038828e-01 8.87524919e-05 1.01886814e+01] [ 1.54654588e-03 -2.09813918e-05 9.99998804e-01 -2.72703738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.04589822699995 meters 0.018638591682943503 Centerline is valid? [True, True] Translation: X:247.56, Y:10.19, Z:-2.73 [[ 9.99044027e-01 4.36793626e-02 -1.77344215e-03 2.47558614e+02] [-4.36792506e-02 9.99045601e-01 1.01826594e-04 1.01867212e+01] [ 1.77619730e-03 -2.42666267e-05 9.99998422e-01 -2.72736313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.075898227 meters 0.01915453586502945 Centerline is valid? [True, True] Translation: X:247.59, Y:10.18, Z:-2.73 [[ 9.99077991e-01 4.28977803e-02 -1.71716068e-03 2.47587282e+02] [-4.28976743e-02 9.99079466e-01 9.85121159e-05 1.01841173e+01] [ 1.71980592e-03 -2.47590874e-05 9.99998521e-01 -2.72713418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.10589822699995 meters 0.020384021981960692 Centerline is valid? [True, True] Translation: X:247.62, Y:10.18, Z:-2.73 [[ 9.99128451e-01 4.17154086e-02 -1.47058067e-03 2.47615833e+02] [-4.17153297e-02 9.99129533e-01 8.43032982e-05 1.01803402e+01] [ 1.47281732e-03 -2.28840663e-05 9.99998915e-01 -2.72641720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.135898227 meters 0.022222727431589893 Centerline is valid? [True, True] Translation: X:247.64, Y:10.18, Z:-2.73 [[ 9.99203411e-01 3.98815337e-02 -1.41678695e-03 2.47643450e+02] [-3.98814587e-02 9.99204415e-01 8.11383154e-05 1.01752427e+01] [ 1.41889569e-03 -2.45701514e-05 9.99998993e-01 -2.72577371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.16589822699996 meters 0.022424534939734328 Centerline is valid? [True, True] Translation: X:247.67, Y:10.17, Z:-2.73 [[ 9.99208479e-01 3.97460996e-02 -1.63186477e-03 2.47671736e+02] [-3.97460001e-02 9.99209811e-01 9.33663332e-05 1.01731725e+01] [ 1.63428624e-03 -2.84323343e-05 9.99998664e-01 -2.72529912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.195898227 meters 0.022490387114741085 Centerline is valid? [True, True] Translation: X:247.70, Y:10.17, Z:-2.73 [[ 9.99206321e-01 3.97999250e-02 -1.64110385e-03 2.47699723e+02] [-3.97998246e-02 9.99207669e-01 9.37982280e-05 1.01711767e+01] [ 1.64353672e-03 -2.84081369e-05 9.99998649e-01 -2.72560144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.22589822699996 meters 0.02262397273586622 Centerline is valid? [True, True] Translation: X:247.73, Y:10.17, Z:-2.73 [[ 9.99194686e-01 4.00964800e-02 -1.50047297e-03 2.47727396e+02] [-4.00963966e-02 9.99195812e-01 8.56750711e-05 1.01688706e+01] [ 1.50270158e-03 -2.54425165e-05 9.99998871e-01 -2.72587469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.255898227 meters 0.023081869793579846 Centerline is valid? [True, True] Translation: X:247.76, Y:10.17, Z:-2.73 [[ 9.99207180e-01 3.97925430e-02 -1.25130021e-03 2.47755140e+02] [-3.97924848e-02 9.99207963e-01 7.13842294e-05 1.01663577e+01] [ 1.25314970e-03 -2.15352899e-05 9.99999215e-01 -2.72584802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.28589822699996 meters 0.02355274340642758 Centerline is valid? [True, True] Translation: X:247.78, Y:10.16, Z:-2.73 [[ 9.99224115e-01 3.93714220e-02 -1.02925742e-03 2.47784060e+02] [-3.93713824e-02 9.99224645e-01 5.86717652e-05 1.01629980e+01] [ 1.03076937e-03 -1.81029552e-05 9.99999469e-01 -2.72527451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.315898227 meters 0.024507249385045015 Centerline is valid? [True, True] Translation: X:247.81, Y:10.16, Z:-2.73 [[ 9.99251520e-01 3.86799535e-02 -5.10172352e-04 2.47812446e+02] [-3.86799437e-02 9.99251651e-01 2.90715888e-05 1.01591513e+01] [ 5.10915053e-04 -9.31639149e-06 9.99999869e-01 -2.72528148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.34589822699996 meters 0.025903238463698373 Centerline is valid? [True, True] Translation: X:247.84, Y:10.15, Z:-2.73 [[ 9.99299948e-01 3.74091142e-02 -4.15323751e-04 2.47841411e+02] [-3.74091076e-02 9.99300034e-01 2.36531985e-05 1.01543368e+01] [ 4.15917884e-04 -8.09974912e-06 9.99999913e-01 -2.72523668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.375898227 meters 0.03016143369173752 Centerline is valid? [True, True] Translation: X:247.87, Y:10.15, Z:-2.73 [[ 9.99410760e-01 3.43043201e-02 -1.16017319e-03 2.47870939e+02] [-3.43042666e-02 9.99411433e-01 6.59945082e-05 1.01494382e+01] [ 1.16175425e-03 -2.61567311e-05 9.99999325e-01 -2.72770295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.40589822699997 meters 0.027519730335969068 Centerline is valid? [True, True] Translation: X:247.90, Y:10.15, Z:-2.73 [[ 9.99458447e-01 3.28694043e-02 -1.55379258e-03 2.47899892e+02] [-3.28693066e-02 9.99459654e-01 8.83222427e-05 1.01480982e+01] [ 1.55585610e-03 -3.72023268e-05 9.99998789e-01 -2.72782523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.435898227 meters 0.027783522771941817 Centerline is valid? [True, True] Translation: X:247.93, Y:10.15, Z:-2.73 [[ 9.99491175e-01 3.18717976e-02 -1.25683871e-03 2.47928477e+02] [-3.18717330e-02 9.99491965e-01 7.13890446e-05 1.01466711e+01] [ 1.25847549e-03 -3.12950921e-05 9.99999208e-01 -2.72727886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.46589822699997 meters 0.03531549252658794 Centerline is valid? [True, True] Translation: X:247.96, Y:10.14, Z:-2.73 [[ 9.99518211e-01 3.10266053e-02 -8.33818812e-04 2.47955850e+02] [-3.10265766e-02 9.99518559e-01 4.73277041e-05 1.01438956e+01] [ 8.34885795e-04 -2.14343590e-05 9.99999651e-01 -2.72763803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.495898227 meters 0.030296086923647342 Centerline is valid? [True, True] Translation: X:247.98, Y:10.14, Z:-2.73 [[ 9.99546747e-01 3.01036712e-02 -2.64435534e-04 2.47983482e+02] [-3.01036683e-02 9.99546782e-01 1.50175148e-05 1.01404825e+01] [ 2.64767769e-04 -7.05022850e-06 9.99999965e-01 -2.72614946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.52589822699997 meters 0.03230852038316284 Centerline is valid? [True, True] Translation: X:248.01, Y:10.14, Z:-2.72 [[ 9.99586901e-01 2.87369263e-02 4.65382823e-04 2.48010979e+02] [-2.87369171e-02 9.99587009e-01 -2.63103419e-05 1.01365917e+01] [-4.65946703e-04 1.29258055e-05 9.99999891e-01 -2.72479380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55589822699994 meters 0.03646507911951815 Centerline is valid? [True, True] Translation: X:248.04, Y:10.13, Z:-2.72 [[ 9.99687534e-01 2.49117387e-02 2.05897641e-03 2.48041300e+02] [-2.49115516e-02 9.99689652e-01 -1.16509861e-04 1.01347461e+01] [-2.06123988e-03 6.51811585e-05 9.99997874e-01 -2.72317034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.585898227 meters 0.03864799356528533 Centerline is valid? [True, True] Translation: X:248.07, Y:10.13, Z:-2.72 [[ 9.99733191e-01 2.30195434e-02 1.90986826e-03 2.48069409e+02] [-2.30193791e-02 9.99735013e-01 -1.07993830e-04 1.01285025e+01] [-1.91184814e-03 6.40010344e-05 9.99998170e-01 -2.72339426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61589822699995 meters 0.041821148900368636 Centerline is valid? [True, True] Translation: X:248.10, Y:10.12, Z:-2.72 [[ 9.99780671e-01 2.09064528e-02 1.23696106e-03 2.48097767e+02] [-2.09063823e-02 9.99781435e-01 -6.98970710e-05 1.01237928e+01] [-1.23815200e-03 4.40213597e-05 9.99999233e-01 -2.72416521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.645898227 meters 0.04354840958497476 Centerline is valid? [True, True] Translation: X:248.13, Y:10.12, Z:-2.73 [[ 9.99820303e-01 1.89426341e-02 7.33544406e-04 2.48127535e+02] [-1.89426088e-02 9.99820572e-01 -4.14330850e-05 1.01214273e+01] [-7.34197639e-04 2.75303949e-05 9.99999730e-01 -2.72531490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67589822699995 meters 0.041311461548988786 Centerline is valid? [True, True] Translation: X:248.16, Y:10.13, Z:-2.73 [[ 9.99848261e-01 1.74006575e-02 8.20404908e-04 2.48157329e+02] [-1.74006253e-02 9.99848597e-01 -4.63212269e-05 1.01253625e+01] [-8.21086716e-04 3.20386397e-05 9.99999662e-01 -2.72512014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.705898227 meters 0.04629638108224613 Centerline is valid? [True, True] Translation: X:248.19, Y:10.12, Z:-2.72 [[ 9.99871652e-01 1.59945202e-02 9.24417524e-04 2.48185138e+02] [-1.59944788e-02 9.99872079e-01 -5.21406314e-05 1.01207103e+01] [-9.25133235e-04 3.73483628e-05 9.99999571e-01 -2.72345831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73589822699995 meters 0.0470935184104317 Centerline is valid? [True, True] Translation: X:248.21, Y:10.12, Z:-2.72 [[ 9.99899745e-01 1.40963753e-02 1.33897773e-03 2.48214960e+02] [-1.40962868e-02 9.99900640e-01 -7.55175267e-05 1.01246004e+01] [-1.33990921e-03 5.66353416e-05 9.99999101e-01 -2.72308421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.765898227 meters 0.04756257486060787 Centerline is valid? [True, True] Translation: X:248.24, Y:10.12, Z:-2.72 [[ 9.99909431e-01 1.34309440e-02 8.59527773e-04 2.48244567e+02] [-1.34309073e-02 9.99909800e-01 -4.84533463e-05 1.01243738e+01] [-8.60101018e-04 3.69047201e-05 9.99999629e-01 -2.72407372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79589822699995 meters 0.04867124650018726 Centerline is valid? [True, True] Translation: X:248.27, Y:10.12, Z:-2.73 [[ 9.99921903e-01 1.24899253e-02 4.35844913e-04 2.48273822e+02] [-1.24899158e-02 9.99921998e-01 -2.45429915e-05 1.01233517e+01] [-4.36117457e-04 1.90974085e-05 9.99999905e-01 -2.72576502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.825898227 meters 0.04577809703378901 Centerline is valid? [True, True] Translation: X:248.30, Y:10.13, Z:-2.73 [[ 9.99934819e-01 1.14135242e-02 -2.97945553e-04 2.48303299e+02] [-1.14135197e-02 9.99934864e-01 1.67985286e-05 1.01277947e+01] [ 2.98117876e-04 -1.33968262e-05 9.99999955e-01 -2.72709054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85589822699995 meters 0.04932296763953509 Centerline is valid? [True, True] Translation: X:248.33, Y:10.12, Z:-2.73 [[ 9.99948656e-01 1.01081699e-02 -7.13986798e-04 2.48332053e+02] [-1.01081438e-02 9.99948911e-01 4.02147927e-05 1.01238397e+01] [ 7.14356819e-04 -3.29956467e-05 9.99999744e-01 -2.72763637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.885898227 meters 0.05284386767816603 Centerline is valid? [True, True] Translation: X:248.36, Y:10.12, Z:-2.73 [[ 9.99963312e-01 8.48918422e-03 -1.14415174e-03 2.48360708e+02] [-8.48911602e-03 9.99963965e-01 6.44456563e-05 1.01194915e+01] [ 1.14465760e-03 -5.47304551e-05 9.99999343e-01 -2.72831880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91589822699996 meters 0.05354808408278583 Centerline is valid? [True, True] Translation: X:248.39, Y:10.12, Z:-2.73 [[ 9.99985839e-01 4.76314690e-03 -2.37367250e-03 2.48391584e+02] [-4.76284302e-03 9.99988649e-01 1.33660125e-04 1.01203579e+01] [ 2.37428220e-03 -1.22352803e-04 9.99997174e-01 -2.72997630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.945898227 meters 0.055048091420479436 Centerline is valid? [True, True] Translation: X:248.42, Y:10.12, Z:-2.73 [[ 9.99993482e-01 2.55279576e-03 -2.55313806e-03 2.48421522e+02] [-2.55243706e-03 9.99996732e-01 1.43742231e-04 1.01179888e+01] [ 2.55349666e-03 -1.37224570e-04 9.99996730e-01 -2.73025085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97589822699996 meters 0.06117631757817597 Centerline is valid? [True, True] Translation: X:248.45, Y:10.11, Z:-2.73 [[ 9.99996863e-01 1.78707736e-04 -2.49846088e-03 2.48450655e+02] [-1.78356919e-04 9.99999974e-01 1.40635547e-04 1.01090866e+01] [ 2.49848595e-03 -1.40189488e-04 9.99996869e-01 -2.72996064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.005898227 meters 0.06486880413028354 Centerline is valid? [True, True] Translation: X:248.48, Y:10.10, Z:-2.73 [[ 9.99988065e-01 -4.38517377e-03 -2.15401255e-03 2.48480849e+02] [ 4.38544506e-03 9.99990377e-01 1.21243382e-04 1.01028525e+01] [ 2.15346015e-03 -1.30688239e-04 9.99997673e-01 -2.72972957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03589822699996 meters 0.06827853607003745 Centerline is valid? [True, True] Translation: X:248.51, Y:10.10, Z:-2.73 [[ 9.99977341e-01 -6.41465707e-03 -2.04209762e-03 2.48510337e+02] [ 6.41490523e-03 9.99979418e-01 1.14993865e-04 1.00965357e+01] [ 2.04131795e-03 -1.28091122e-04 9.99997908e-01 -2.72975457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.065898227 meters 0.06990025755979118 Centerline is valid? [True, True] Translation: X:248.54, Y:10.09, Z:-2.73 [[ 9.99963350e-01 -8.17683096e-03 -2.53716582e-03 2.48540004e+02] [ 8.17721968e-03 9.99966556e-01 1.42872142e-04 1.00921605e+01] [ 2.53591272e-03 -1.63613868e-04 9.99996771e-01 -2.73044825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09589822699996 meters 0.06669845704588491 Centerline is valid? [True, True] Translation: X:248.57, Y:10.09, Z:-2.73 [[ 9.99950203e-01 -9.54996612e-03 -2.89657797e-03 2.48570193e+02] [ 9.55047840e-03 9.99954380e-01 1.63077457e-04 1.00936057e+01] [ 2.89488844e-03 -1.90733041e-04 9.99995792e-01 -2.73094161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.125898227 meters 0.06674570737279836 Centerline is valid? [True, True] Translation: X:248.60, Y:10.09, Z:-2.73 [[ 9.99942016e-01 -1.03538342e-02 -2.96012540e-03 2.48600572e+02] [ 1.03543727e-02 9.99946378e-01 1.66648832e-04 1.00905485e+01] [ 2.95824122e-03 -1.97289411e-04 9.99995605e-01 -2.73081914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15589822699997 meters 0.06833847094551572 Centerline is valid? [True, True] Translation: X:248.63, Y:10.09, Z:-2.73 [[ 9.99947904e-01 -1.01802224e-02 -7.42987726e-04 2.48630729e+02] [ 1.01802562e-02 9.99948179e-01 4.18309240e-05 1.00852014e+01] [ 7.42523376e-04 -4.93925503e-05 9.99999723e-01 -2.72665394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.185898227 meters 0.06711401970297737 Centerline is valid? [True, True] Translation: X:248.66, Y:10.08, Z:-2.73 [[ 9.99955294e-01 -9.45529373e-03 -8.36560791e-05 2.48662305e+02] [ 9.45529416e-03 9.99955298e-01 4.70024778e-06 1.00843456e+01] [ 8.36078973e-05 -5.49103049e-06 9.99999996e-01 -2.72546460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21589822699997 meters 0.06547741222606002 Centerline is valid? [True, True] Translation: X:248.69, Y:10.08, Z:-2.73 [[ 9.99959344e-01 -9.01281903e-03 -2.82812701e-04 2.48694106e+02] [ 9.01282389e-03 9.99959384e-01 1.59225027e-05 1.00839051e+01] [ 2.82657708e-04 -1.84707965e-05 9.99999960e-01 -2.72536302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.245898227 meters 0.06399652486059637 Centerline is valid? [True, True] Translation: X:248.73, Y:10.08, Z:-2.73 [[ 9.99961453e-01 -8.72038898e-03 -1.02332950e-03 2.48725951e+02] [ 8.72045257e-03 9.99961974e-01 5.76976086e-05 1.00825473e+01] [ 1.02278744e-03 -6.66192808e-05 9.99999475e-01 -2.72685400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.27589822699997 meters 0.06589407796886153 Centerline is valid? [True, True] Translation: X:248.76, Y:10.08, Z:-2.73 [[ 9.99959258e-01 -8.80980585e-03 -1.96710211e-03 2.48756062e+02] [ 8.81004110e-03 9.99961185e-01 1.10961835e-04 1.00762237e+01] [ 1.96604821e-03 -1.28287564e-04 9.99998059e-01 -2.72833876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.30589822699994 meters 0.068208013443302 Centerline is valid? [True, True] Translation: X:248.79, Y:10.07, Z:-2.73 [[ 9.99949679e-01 -9.72133999e-03 -2.47702902e-03 2.48785868e+02] [ 9.72171589e-03 9.99952733e-01 1.39755865e-04 1.00689931e+01] [ 2.47555332e-03 -1.63829805e-04 9.99996922e-01 -2.72949235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.335898227 meters 0.06637094964621759 Centerline is valid? [True, True] Translation: X:248.82, Y:10.06, Z:-2.73 [[ 9.99908778e-01 -1.33723812e-02 -1.90113690e-03 2.48815692e+02] [ 1.33726092e-02 9.99910577e-01 1.07266566e-04 1.00643314e+01] [ 1.89953248e-03 -1.32679942e-04 9.99998187e-01 -2.72863084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.36589822699995 meters 0.07234110541908062 Centerline is valid? [True, True] Translation: X:248.85, Y:10.05, Z:-2.73 [[ 9.99882890e-01 -1.51638132e-02 -2.06543708e-03 2.48845089e+02] [ 1.51640861e-02 9.99885012e-01 1.16536018e-04 1.00526706e+01] [ 2.06343245e-03 -1.47842836e-04 9.99997860e-01 -2.72897197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.395898227 meters 0.0797040321464656 Centerline is valid? [True, True] Translation: X:248.87, Y:10.04, Z:-2.73 [[ 9.99859766e-01 -1.65543823e-02 -2.52992482e-03 2.48874191e+02] [ 1.65547962e-02 9.99862950e-01 1.42743329e-04 1.00391418e+01] [ 2.52721507e-03 -1.84605701e-04 9.99996790e-01 -2.72999565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.42589822699995 meters 0.07839263784301893 Centerline is valid? [True, True] Translation: X:248.90, Y:10.04, Z:-2.73 [[ 9.99847133e-01 -1.72365603e-02 -2.93448046e-03 2.48904820e+02] [ 1.72371202e-02 9.99851416e-01 1.65595542e-04 1.00364430e+01] [ 2.93119015e-03 -2.16152220e-04 9.99995681e-01 -2.73078039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.455898227 meters 0.0742959622722996 Centerline is valid? [True, True] Translation: X:248.94, Y:10.04, Z:-2.73 [[ 9.99849357e-01 -1.71122987e-02 -2.90398882e-03 2.48935558e+02] [ 1.71128465e-02 9.99853551e-01 1.63880783e-04 1.00373559e+01] [ 2.90075916e-03 -2.13551610e-04 9.99995770e-01 -2.73124157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.48589822699995 meters 0.08013948828367418 Centerline is valid? [True, True] Translation: X:248.96, Y:10.03, Z:-2.73 [[ 9.99868759e-01 -1.59105072e-02 -3.05281905e-03 2.48964899e+02] [ 1.59111069e-02 9.99873395e-01 1.72279719e-04 1.00257945e+01] [ 3.04969149e-03 -2.20830839e-04 9.99995325e-01 -2.73118593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.515898227 meters 0.07481148888390128 Centerline is valid? [True, True] Translation: X:249.00, Y:10.03, Z:-2.73 [[ 9.99917717e-01 -1.24645015e-02 -3.03252462e-03 2.48995360e+02] [ 1.24650772e-02 9.99922293e-01 1.71010544e-04 1.00297525e+01] [ 3.03015741e-03 -2.08797126e-04 9.99995387e-01 -2.73001451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.54589822699995 meters 0.07482623755320089 Centerline is valid? [True, True] Translation: X:249.02, Y:10.03, Z:-2.73 [[ 9.99934111e-01 -1.12226002e-02 -2.41387436e-03 2.49024970e+02] [ 1.12229614e-02 9.99937011e-01 1.36141518e-04 1.00287929e+01] [ 2.41219445e-03 -1.63223366e-04 9.99997077e-01 -2.72885140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.575898227 meters 0.07023148740856931 Centerline is valid? [True, True] Translation: X:249.06, Y:10.04, Z:-2.73 [[ 9.99942893e-01 -1.04841034e-02 -2.07221607e-03 2.49056462e+02] [ 1.04843680e-02 9.99945031e-01 1.16879504e-04 1.00351636e+01] [ 2.07087678e-03 -1.38598705e-04 9.99997846e-01 -2.72840646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.60589822699995 meters 0.07345448453745212 Centerline is valid? [True, True] Translation: X:249.09, Y:10.03, Z:-2.73 [[ 9.99947414e-01 -1.00886477e-02 -1.84095155e-03 2.49086227e+02] [ 1.00888559e-02 9.99949101e-01 1.03849346e-04 1.00266557e+01] [ 1.83981014e-03 -1.22416980e-04 9.99998300e-01 -2.72814184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.635898227 meters 0.07288295990356321 Centerline is valid? [True, True] Translation: X:249.12, Y:10.03, Z:-2.73 [[ 9.99947389e-01 -1.00480737e-02 -2.06293863e-03 2.49116370e+02] [ 1.00483350e-02 9.99949507e-01 1.16378638e-04 1.00255983e+01] [ 2.06166508e-03 -1.37101614e-04 9.99997865e-01 -2.72856046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.66589822699996 meters 0.073460514341354 Centerline is valid? [True, True] Translation: X:249.15, Y:10.02, Z:-2.73 [[ 9.99950647e-01 -9.65391806e-03 -2.34656828e-03 2.49147069e+02] [ 9.65425517e-03 9.99953388e-01 1.32379324e-04 1.00237716e+01] [ 2.34518093e-03 -1.55027160e-04 9.99997238e-01 -2.72893895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.695898227 meters 0.07393216408950862 Centerline is valid? [True, True] Translation: X:249.18, Y:10.03, Z:-2.73 [[ 9.99963969e-01 -8.06599292e-03 -2.64566498e-03 2.49176763e+02] [ 8.06641586e-03 9.99967455e-01 1.49229702e-04 1.00251910e+01] [ 2.64437519e-03 -1.70565359e-04 9.99996489e-01 -2.72965159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.72589822699996 meters 0.070412192856056 Centerline is valid? [True, True] Translation: X:249.21, Y:10.03, Z:-2.73 [[ 9.99973265e-01 -6.86440957e-03 -2.51958994e-03 2.49207489e+02] [ 6.86478935e-03 9.99976427e-01 1.42112784e-04 1.00301448e+01] [ 2.51855503e-03 -1.59405439e-04 9.99996816e-01 -2.72955632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.755898227 meters 0.06873119097547363 Centerline is valid? [True, True] Translation: X:249.24, Y:10.03, Z:-2.73 [[ 9.99982443e-01 -5.58364603e-03 -1.98404432e-03 2.49238469e+02] [ 5.58387901e-03 9.99984404e-01 1.11906330e-04 1.00346785e+01] [ 1.98338853e-03 -1.22983028e-04 9.99998026e-01 -2.72900474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.78589822699996 meters 0.06604410775256146 Centerline is valid? [True, True] Translation: X:249.27, Y:10.04, Z:-2.73 [[ 9.99989640e-01 -4.08087323e-03 -2.01657873e-03 2.49268579e+02] [ 4.08111084e-03 9.99991666e-01 1.13725081e-04 1.00379941e+01] [ 2.01609782e-03 -1.21953784e-04 9.99997960e-01 -2.72875184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.815898227 meters 0.06536828930138414 Centerline is valid? [True, True] Translation: X:249.30, Y:10.04, Z:-2.73 [[ 9.99992620e-01 -2.94089369e-03 -2.47218337e-03 2.49299396e+02] [ 2.94124730e-03 9.99995665e-01 1.39411594e-04 1.00408684e+01] [ 2.47176266e-03 -1.46681868e-04 9.99996934e-01 -2.72942598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.84589822699996 meters 0.06536828930138414 Centerline is valid? [True, True] Translation: X:249.33, Y:10.04, Z:-2.73 [[ 9.99992555e-01 -2.96290750e-03 -2.47218577e-03 2.49328565e+02] [ 2.96326107e-03 9.99995600e-01 1.39369100e-04 1.00392652e+01] [ 2.47176195e-03 -1.46693794e-04 9.99996934e-01 -2.72941013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.875898227 meters 0.06516889527799129 Centerline is valid? [True, True] Translation: X:249.36, Y:10.05, Z:-2.73 [[ 9.99991730e-01 -1.88901785e-03 -3.60173042e-03 2.49358174e+02] [ 1.88976108e-03 9.99998194e-01 2.02962341e-04 1.00456580e+01] [ 3.60134051e-03 -2.09767072e-04 9.99993493e-01 -2.73302047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.90589822699997 meters 0.06616693778181279 Centerline is valid? [True, True] Translation: X:249.39, Y:10.05, Z:-2.73 [[ 9.99990313e-01 -2.62121972e-03 -3.53593097e-03 2.49387829e+02] [ 2.62194033e-03 9.99996543e-01 1.99177209e-04 1.00471257e+01] [ 3.53539666e-03 -2.08446280e-04 9.99993729e-01 -2.73372866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.935898227 meters 0.06797759135655385 Centerline is valid? [True, True] Translation: X:249.42, Y:10.05, Z:-2.73 [[ 9.99990228e-01 -3.63755736e-03 -2.51238204e-03 2.49416491e+02] [ 3.63792410e-03 9.99993373e-01 1.41417625e-04 1.00459870e+01] [ 2.51185098e-03 -1.50556098e-04 9.99996834e-01 -2.73221353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.96589822699997 meters 0.06877733538994334 Centerline is valid? [True, True] Translation: X:249.45, Y:10.05, Z:-2.73 [[ 9.99986596e-01 -4.95597791e-03 -1.49856708e-03 2.49446408e+02] [ 4.95610982e-03 9.99987715e-01 8.43257259e-05 1.00465721e+01] [ 1.49813076e-03 -9.17516587e-05 9.99998874e-01 -2.73064747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.995898227 meters 0.06577092832447971 Centerline is valid? [True, True] Translation: X:249.48, Y:10.05, Z:-2.73 [[ 9.99981609e-01 -5.91734452e-03 -1.32950578e-03 2.49477711e+02] [ 5.91744920e-03 9.99982489e-01 7.48160226e-05 1.00515313e+01] [ 1.32903979e-03 -8.26819295e-05 9.99999113e-01 -2.72985319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.02589822699997 meters 0.06505929734872672 Centerline is valid? [True, True] Translation: X:249.51, Y:10.06, Z:-2.73 [[ 9.99975878e-01 -6.76283201e-03 -1.58335173e-03 2.49508731e+02] [ 6.76298156e-03 9.99977127e-01 8.91198581e-05 1.00557929e+01] [ 1.58271281e-03 -9.98258870e-05 9.99998743e-01 -2.72990298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05589822699994 meters 0.06698238948596824 Centerline is valid? [True, True] Translation: X:249.54, Y:10.06, Z:-2.73 [[ 9.99975701e-01 -6.77331371e-03 -1.64910879e-03 2.49539572e+02] [ 6.77347597e-03 9.99977055e-01 9.28274505e-05 1.00596384e+01] [ 1.64844220e-03 -1.03995394e-04 9.99998636e-01 -2.72994075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.085898227 meters 0.0733064686038055 Centerline is valid? [True, True] Translation: X:249.57, Y:10.05, Z:-2.73 [[ 9.99980263e-01 -6.15726633e-03 -1.24959065e-03 2.49569349e+02] [ 6.15735902e-03 9.99981041e-01 7.03468046e-05 1.00473626e+01] [ 1.24913381e-03 -7.80395944e-05 9.99999217e-01 -2.72966746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11589822699995 meters 0.07271098929385778 Centerline is valid? [True, True] Translation: X:249.60, Y:10.05, Z:-2.73 [[ 9.99981719e-01 -5.96547886e-03 -9.87674682e-04 2.49600233e+02] [ 5.96553668e-03 9.99982204e-01 5.56068661e-05 1.00483772e+01] [ 9.87325384e-04 -6.14978591e-05 9.99999511e-01 -2.72963851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.145898227 meters 0.07226442891139949 Centerline is valid? [True, True] Translation: X:249.63, Y:10.05, Z:-2.73 [[ 9.99985554e-01 -5.27204829e-03 -1.04772742e-03 2.49630872e+02] [ 5.27211298e-03 9.99986101e-01 5.89878829e-05 1.00489834e+01] [ 1.04740187e-03 -6.45107681e-05 9.99999449e-01 -2.72966874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17589822699995 meters 0.05961739279992807 Centerline is valid? [True, True] Translation: X:249.66, Y:10.07, Z:-2.73 [[ 9.99991062e-01 -3.88066442e-03 -1.67837164e-03 2.49662695e+02] [ 3.88082849e-03 9.99992465e-01 9.45067028e-05 1.00653877e+01] [ 1.67799225e-03 -1.01019331e-04 9.99998587e-01 -2.72995575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.205898227 meters 0.06712810791026601 Centerline is valid? [True, True] Translation: X:249.69, Y:10.06, Z:-2.74 [[ 9.99987698e-01 8.66192712e-04 -4.88398766e-03 2.49692208e+02] [-8.64859797e-04 9.99999588e-01 2.75020711e-04 1.00577137e+01] [ 4.88422387e-03 -2.70793363e-04 9.99988035e-01 -2.73581478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23589822699995 meters 0.054944903305910245 Centerline is valid? [True, True] Translation: X:249.72, Y:10.07, Z:-2.74 [[ 9.99975489e-01 3.98251251e-03 -5.75859478e-03 2.49723480e+02] [-3.98071106e-03 9.99992024e-01 3.24256607e-04 1.00738678e+01] [ 5.75984020e-03 -3.01325358e-04 9.99983367e-01 -2.73617464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.265898227 meters 0.05840960464994901 Centerline is valid? [True, True] Translation: X:249.75, Y:10.08, Z:-2.74 [[ 9.99954599e-01 7.58872332e-03 -5.76288654e-03 2.49753213e+02] [-7.58697932e-03 9.99971166e-01 3.24427093e-04 1.00750769e+01] [ 5.76518236e-03 -2.80689462e-04 9.99983342e-01 -2.73602229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29589822699995 meters 0.04485583413228766 Centerline is valid? [True, True] Translation: X:249.78, Y:10.09, Z:-2.73 [[ 9.99895756e-01 1.38899037e-02 -3.94317960e-03 2.49784244e+02] [-1.38891362e-02 9.99903517e-01 2.21950453e-04 1.00924523e+01] [ 3.94588202e-03 -1.67159957e-04 9.99992201e-01 -2.73315969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.325898227 meters 0.045803666505121014 Centerline is valid? [True, True] Translation: X:249.81, Y:10.09, Z:-2.73 [[ 9.99880217e-01 1.49841613e-02 -3.87630191e-03 2.49812703e+02] [-1.49834284e-02 9.99887718e-01 2.18030155e-04 1.00925323e+01] [ 3.87913367e-03 -1.59923746e-04 9.99992463e-01 -2.73331919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35589822699995 meters 0.045557521373170214 Centerline is valid? [True, True] Translation: X:249.84, Y:10.09, Z:-2.73 [[ 9.99887167e-01 1.44412046e-02 -4.13579861e-03 2.49841433e+02] [-1.44403665e-02 9.99895705e-01 2.32438811e-04 1.00937368e+01] [ 4.13872397e-03 -1.72690137e-04 9.99991421e-01 -2.73434582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.385898227 meters 0.04618913413927008 Centerline is valid? [True, True] Translation: X:249.87, Y:10.09, Z:-2.73 [[ 9.99906005e-01 1.30045417e-02 -4.34320655e-03 2.49871180e+02] [-1.30036044e-02 9.99915420e-01 2.43983821e-04 1.00924978e+01] [ 4.34601210e-03 -1.87483548e-04 9.99990538e-01 -2.73462824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41589822699996 meters 0.04952010448513214 Centerline is valid? [True, True] Translation: X:249.90, Y:10.09, Z:-2.73 [[ 9.99934811e-01 1.08184135e-02 -3.65181173e-03 2.49899179e+02] [-1.08177366e-02 9.99941466e-01 2.05053400e-04 1.00869852e+01] [ 3.65381632e-03 -1.65535695e-04 9.99993311e-01 -2.73361031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.445898227 meters 0.05138215458683573 Centerline is valid? [True, True] Translation: X:249.93, Y:10.08, Z:-2.73 [[ 9.99961609e-01 8.38248560e-03 -2.55243743e-03 2.49929682e+02] [-8.38214703e-03 9.99964859e-01 1.43312495e-04 1.00821892e+01] [ 2.55354905e-03 -1.21912088e-04 9.99996732e-01 -2.73191052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47589822699996 meters 0.05323012555589074 Centerline is valid? [True, True] Translation: X:249.96, Y:10.08, Z:-2.73 [[ 9.99997753e-01 2.03948438e-03 -5.77594243e-04 2.49960044e+02] [-2.03946599e-03 9.99997920e-01 3.24304364e-05 1.00762123e+01] [ 5.77659183e-04 -3.12523797e-05 9.99999833e-01 -2.72885610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.505898227 meters 0.05890394038267733 Centerline is valid? [True, True] Translation: X:249.99, Y:10.07, Z:-2.73 [[ 9.99998971e-01 -1.40682566e-03 -2.79965244e-04 2.49989141e+02] [ 1.40683012e-03 9.99999010e-01 1.57167804e-05 1.00658285e+01] [ 2.79942856e-04 -1.61106278e-05 9.99999961e-01 -2.72810767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53589822699996 meters 0.0671615650220106 Centerline is valid? [True, True] Translation: X:250.02, Y:10.05, Z:-2.73 [[ 9.99990352e-01 -4.36333938e-03 -5.08108106e-04 2.50018404e+02] [ 4.36335444e-03 9.99990480e-01 2.85362590e-05 1.00520382e+01] [ 5.07978756e-04 -3.07530394e-05 9.99999871e-01 -2.72861390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.565898227 meters 0.06951431176246925 Centerline is valid? [True, True] Translation: X:250.05, Y:10.05, Z:-2.73 [[ 9.99975345e-01 -6.85168863e-03 -1.53713740e-03 2.50048530e+02] [ 6.85182938e-03 9.99976522e-01 8.63151842e-05 1.00460756e+01] [ 1.53650990e-03 -9.68452593e-05 9.99998815e-01 -2.72988023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59589822699996 meters 0.06883988353662138 Centerline is valid? [True, True] Translation: X:250.08, Y:10.04, Z:-2.73 [[ 9.99964010e-01 -8.22044550e-03 -2.09853719e-03 2.50079171e+02] [ 8.22071083e-03 9.99966202e-01 1.17841211e-04 1.00432459e+01] [ 2.09749755e-03 -1.35088438e-04 9.99997791e-01 -2.73113395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.625898227 meters 0.07260139210198728 Centerline is valid? [True, True] Translation: X:250.11, Y:10.04, Z:-2.73 [[ 9.99956355e-01 -9.06033038e-03 -2.28021411e-03 2.50108797e+02] [ 9.06064586e-03 9.99958943e-01 1.28062096e-04 1.00350016e+01] [ 2.27896021e-03 -1.48716719e-04 9.99997392e-01 -2.73176024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65589822699997 meters 0.06700664759251362 Centerline is valid? [True, True] Translation: X:250.14, Y:10.04, Z:-2.73 [[ 9.99959324e-01 -8.94172279e-03 -1.18137722e-03 2.50140589e+02] [ 8.94180741e-03 9.99960019e-01 6.63663811e-05 1.00379630e+01] [ 1.18073656e-03 -7.69273292e-05 9.99999300e-01 -2.72981194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.685898227 meters 0.06371944040551204 Centerline is valid? [True, True] Translation: X:250.17, Y:10.04, Z:-2.73 [[ 9.99964409e-01 -8.39593335e-03 -8.29535056e-04 2.50171945e+02] [ 8.39597490e-03 9.99964752e-01 4.66160423e-05 1.00372614e+01] [ 8.29114431e-04 -5.35791387e-05 9.99999655e-01 -2.72948542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71589822699997 meters 0.06539232544326325 Centerline is valid? [True, True] Translation: X:250.20, Y:10.03, Z:-2.73 [[ 9.99967491e-01 -8.01015584e-03 -9.24457259e-04 2.50201753e+02] [ 8.01020729e-03 9.99967916e-01 5.19683265e-05 1.00321369e+01] [ 9.24011325e-04 -5.93717313e-05 9.99999571e-01 -2.72918964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.745898227 meters 0.06512750331626643 Centerline is valid? [True, True] Translation: X:250.23, Y:10.03, Z:-2.73 [[ 9.99968401e-01 -7.90797481e-03 -8.12878059e-04 2.50232803e+02] [ 7.90801457e-03 9.99968730e-01 4.57074511e-05 1.00281468e+01] [ 8.12491187e-04 -5.21342583e-05 9.99999669e-01 -2.72944750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.77589822699997 meters 0.06930726797181279 Centerline is valid? [True, True] Translation: X:250.26, Y:10.02, Z:-2.73 [[ 9.99961542e-01 -8.76476984e-03 -3.05591553e-04 2.50262283e+02] [ 8.76477550e-03 9.99961588e-01 1.71877772e-05 1.00194519e+01] [ 3.05429167e-04 -1.98655575e-05 9.99999953e-01 -2.72945357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.80589822699994 meters 0.07231609569732622 Centerline is valid? [True, True] Translation: X:250.29, Y:10.01, Z:-2.73 [[ 9.99951940e-01 -9.79674769e-03 -3.75896176e-04 2.50292377e+02] [ 9.79675633e-03 9.99952010e-01 2.11401901e-05 1.00121028e+01] [ 3.75671032e-04 -2.48217373e-05 9.99999929e-01 -2.72967186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.835898227 meters 0.06639003868247834 Centerline is valid? [True, True] Translation: X:250.32, Y:10.02, Z:-2.73 [[ 9.99938409e-01 -1.10253928e-02 -1.27255042e-03 2.50323326e+02] [ 1.10254928e-02 9.99939215e-01 7.15960033e-05 1.00162242e+01] [ 1.27168370e-03 -8.56220892e-05 9.99999188e-01 -2.73018105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.86589822699995 meters 0.07727806453864194 Centerline is valid? [True, True] Translation: X:250.35, Y:10.00, Z:-2.73 [[ 9.99919655e-01 -1.23447204e-02 -2.87953386e-03 2.50351964e+02] [ 1.23452382e-02 9.99923782e-01 1.62117297e-04 9.99756579e+00] [ 2.87731309e-03 -1.97652803e-04 9.99995841e-01 -2.73277150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.895898227 meters 0.0704331999996913 Centerline is valid? [True, True] Translation: X:250.38, Y:10.00, Z:-2.73 [[ 9.99926061e-01 -1.18264757e-02 -2.82962279e-03 2.50383316e+02] [ 1.18269739e-02 9.99930046e-01 1.59380255e-04 1.00032545e+01] [ 2.82753994e-03 -1.92834346e-04 9.99995984e-01 -2.73254287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.92589822699995 meters 0.06663032386876779 Centerline is valid? [True, True] Translation: X:250.41, Y:10.01, Z:-2.73 [[ 9.99939587e-01 -1.06228403e-02 -2.82456075e-03 2.50414231e+02] [ 1.06233319e-02 9.99943558e-01 1.59107238e-04 1.00057889e+01] [ 2.82271116e-03 -1.89103873e-04 9.99995998e-01 -2.73189945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.955898227 meters 0.06840217460801584 Centerline is valid? [True, True] Translation: X:250.44, Y:10.00, Z:-2.73 [[ 9.99957882e-01 -8.81844952e-03 -2.54329284e-03 2.50443539e+02] [ 8.81884248e-03 9.99961103e-01 1.43335480e-04 1.00013868e+01] [ 2.54192992e-03 -1.65758342e-04 9.99996756e-01 -2.73197778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.98589822699995 meters 0.0642080415099641 Centerline is valid? [True, True] Translation: X:250.47, Y:10.01, Z:-2.73 [[ 9.99982873e-01 -5.12809210e-03 -2.82087557e-03 2.50474363e+02] [ 5.12856094e-03 9.99986836e-01 1.58996774e-04 1.00053106e+01] [ 2.82002309e-03 -1.73461083e-04 9.99996009e-01 -2.73235769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.015898227 meters 0.06559725826975979 Centerline is valid? [True, True] Translation: X:250.50, Y:10.00, Z:-2.73 [[ 9.99988027e-01 -3.62933717e-03 -3.28220376e-03 2.50503542e+02] [ 3.62996376e-03 9.99993395e-01 1.84967275e-04 1.00015435e+01] [ 3.28151077e-03 -1.96879341e-04 9.99994596e-01 -2.73287287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.04589822699995 meters 0.05980429580667111 Centerline is valid? [True, True] Translation: X:250.53, Y:10.01, Z:-2.73 [[ 9.99989249e-01 -2.98107695e-03 -3.55183115e-03 2.50533492e+02] [ 2.98180637e-03 9.99995534e-01 2.00086730e-04 1.00073176e+01] [ 3.55121881e-03 -2.10675451e-04 9.99993672e-01 -2.73340169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.075898227 meters 0.06234175504136994 Centerline is valid? [True, True] Translation: X:250.56, Y:10.00, Z:-2.73 [[ 9.99989385e-01 -3.18675141e-03 -3.32788995e-03 2.50561600e+02] [ 3.18739253e-03 9.99994903e-01 1.87365088e-04 1.00023451e+01] [ 3.32727590e-03 -1.97970391e-04 9.99994445e-01 -2.73328232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.10589822699995 meters 0.06531596351932593 Centerline is valid? [True, True] Translation: X:250.59, Y:10.00, Z:-2.73 [[ 9.99987670e-01 -4.32081631e-03 -2.44757876e-03 2.50591061e+02] [ 4.32116641e-03 9.99990654e-01 1.37767402e-04 9.99650170e+00] [ 2.44696061e-03 -1.48342098e-04 9.99996995e-01 -2.73214990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.135898227 meters 0.0656204417078762 Centerline is valid? [True, True] Translation: X:250.62, Y:9.99, Z:-2.73 [[ 9.99959312e-01 -8.95213820e-03 -1.11107036e-03 2.50621178e+02] [ 8.95221318e-03 9.99959926e-01 6.25308680e-05 9.99108777e+00] [ 1.11046605e-03 -7.24748624e-05 9.99999381e-01 -2.73033523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.16589822699996 meters 0.06811258279172032 Centerline is valid? [True, True] Translation: X:250.65, Y:9.98, Z:-2.73 [[ 9.99926837e-01 -1.20264130e-02 -1.29818051e-03 2.50650987e+02] [ 1.20265179e-02 9.99927676e-01 7.30556644e-05 9.98341620e+00] [ 1.29720802e-03 -8.86629107e-05 9.99999155e-01 -2.73044408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.195898227 meters 0.07703269621664323 Centerline is valid? [True, True] Translation: X:250.68, Y:9.97, Z:-2.73 [[ 9.99887248e-01 -1.49066798e-02 -1.81176734e-03 2.50679248e+02] [ 1.49068890e-02 9.99888881e-01 1.02004179e-04 9.96721745e+00] [ 1.81004547e-03 -1.29000493e-04 9.99998354e-01 -2.73170000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.22589822699996 meters 0.08035828844865621 Centerline is valid? [True, True] Translation: X:250.71, Y:9.96, Z:-2.73 [[ 9.99838080e-01 -1.76013164e-02 -3.74255608e-03 2.50709286e+02] [ 1.76022280e-02 9.99845047e-01 2.10756208e-04 9.95727168e+00] [ 3.73826657e-03 -2.76599408e-04 9.99992974e-01 -2.73366840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.255898227 meters 0.08055805115075071 Centerline is valid? [True, True] Translation: X:250.74, Y:9.95, Z:-2.73 [[ 9.99852173e-01 -1.67884225e-02 -3.71233465e-03 2.50740109e+02] [ 1.67893139e-02 9.99859028e-01 2.09089955e-04 9.95472634e+00] [ 3.70830102e-03 -2.71386597e-04 9.99993087e-01 -2.73307557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.28589822699996 meters 0.07193358589100045 Centerline is valid? [True, True] Translation: X:250.77, Y:9.96, Z:-2.73 [[ 9.99883197e-01 -1.48775516e-02 -3.50015765e-03 2.50771274e+02] [ 1.48783323e-02 9.99889292e-01 1.97125050e-04 9.96247614e+00] [ 3.49683742e-03 -2.49178534e-04 9.99993855e-01 -2.73167176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.315898227 meters 0.0659986473980477 Centerline is valid? [True, True] Translation: X:250.80, Y:9.97, Z:-2.73 [[ 9.99921523e-01 -1.22228660e-02 -2.74764042e-03 2.50801969e+02] [ 1.22233372e-02 9.99925280e-01 1.54738468e-04 9.96814016e+00] [ 2.74554377e-03 -1.88311659e-04 9.99996213e-01 -2.72994051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.34589822699996 meters 0.06754155336088302 Centerline is valid? [True, True] Translation: X:250.83, Y:9.97, Z:-2.73 [[ 9.99974497e-01 -7.06040923e-03 -1.07548098e-03 2.50831020e+02] [ 7.06047843e-03 9.99975073e-01 6.05624236e-05 9.96595251e+00] [ 1.07502657e-03 -6.81542893e-05 9.99999420e-01 -2.72842640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.375898227 meters 0.06579488345409251 Centerline is valid? [True, True] Translation: X:250.86, Y:9.97, Z:-2.73 [[ 9.99982258e-01 -5.84698142e-03 -1.13823359e-03 2.50861642e+02] [ 5.84705814e-03 9.99982904e-01 6.40907528e-05 9.96717732e+00] [ 1.13783939e-03 -7.07449337e-05 9.99999350e-01 -2.72851546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.40589822699997 meters 0.06574575155118116 Centerline is valid? [True, True] Translation: X:250.89, Y:9.97, Z:-2.73 [[ 9.99983253e-01 -5.71210606e-03 -9.30645709e-04 2.50891993e+02] [ 5.71215729e-03 9.99983684e-01 5.24020595e-05 9.96541859e+00] [ 9.30331199e-04 -5.77171766e-05 9.99999566e-01 -2.72883282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.435898227 meters 0.070008995671561 Centerline is valid? [True, True] Translation: X:250.92, Y:9.96, Z:-2.73 [[ 9.99962454e-01 -8.53341699e-03 -1.50723412e-03 2.50921248e+02] [ 8.53355455e-03 9.99963585e-01 8.48592967e-05 9.95546598e+00] [ 1.50645510e-03 -9.77181752e-05 9.99998861e-01 -2.73079490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.46589822699997 meters 0.07576615190219262 Centerline is valid? [True, True] Translation: X:250.95, Y:9.95, Z:-2.73 [[ 9.99935228e-01 -1.12496994e-02 -1.72748014e-03 2.50950410e+02] [ 1.12498842e-02 9.99936713e-01 9.72626551e-05 9.94638975e+00] [ 1.72627664e-03 -1.16690307e-04 9.99998503e-01 -2.73149804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.495898227 meters 0.0762589781141828 Centerline is valid? [True, True] Translation: X:250.98, Y:9.94, Z:-2.73 [[ 9.99900327e-01 -1.39466195e-02 -2.19740690e-03 2.50980934e+02] [ 1.39469250e-02 9.99902729e-01 1.23729140e-04 9.94114935e+00] [ 2.19546755e-03 -1.54363876e-04 9.99997578e-01 -2.73216547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.52589822699997 meters 0.07910441242089783 Centerline is valid? [True, True] Translation: X:251.01, Y:9.93, Z:-2.73 [[ 9.99858974e-01 -1.65996299e-02 -2.54653276e-03 2.51011315e+02] [ 1.66000487e-02 9.99862199e-01 1.43392374e-04 9.93453858e+00] [ 2.54380159e-03 -1.85644719e-04 9.99996747e-01 -2.73210441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55589822699994 meters 0.07624424768652431 Centerline is valid? [True, True] Translation: X:251.04, Y:9.93, Z:-2.73 [[ 9.99799733e-01 -1.97482554e-02 -3.24036307e-03 2.51041656e+02] [ 1.97489499e-02 9.99804954e-01 1.82467324e-04 9.93448193e+00] [ 3.23612764e-03 -2.46424550e-04 9.99994733e-01 -2.73139759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.585898227 meters 0.07698525224701394 Centerline is valid? [True, True] Translation: X:251.07, Y:9.93, Z:-2.73 [[ 9.99800488e-01 -1.97664898e-02 -2.87583825e-03 2.51073271e+02] [ 1.97670371e-02 9.99804600e-01 1.61994181e-04 9.93230033e+00] [ 2.87207426e-03 -2.18808662e-04 9.99995852e-01 -2.73070367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61589822699995 meters 0.07489729272310724 Centerline is valid? [True, True] Translation: X:251.10, Y:9.93, Z:-2.73 [[ 9.99824580e-01 -1.85975635e-02 -2.22251006e-03 2.51103528e+02] [ 1.85978875e-02 9.99827036e-01 1.25202060e-04 9.93209877e+00] [ 2.21979719e-03 -1.66514089e-04 9.99997522e-01 -2.72924334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.645898227 meters 0.07542866912055747 Centerline is valid? [True, True] Translation: X:251.13, Y:9.93, Z:-2.73 [[ 9.99884009e-01 -1.52060320e-02 -8.63112584e-04 2.51133286e+02] [ 1.52060796e-02 9.99884380e-01 4.86218751e-05 9.93083891e+00] [ 8.62273445e-04 -6.17407941e-05 9.99999626e-01 -2.72768641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67589822699995 meters 0.07238783020249402 Centerline is valid? [True, True] Translation: X:251.16, Y:9.94, Z:-2.73 [[ 9.99902419e-01 -1.39374055e-02 -9.48896638e-04 2.51164697e+02] [ 1.39374625e-02 9.99902867e-01 5.34582768e-05 9.93695934e+00] [ 9.48059399e-04 -6.66782716e-05 9.99999548e-01 -2.72865378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.705898227 meters 0.07106452900102446 Centerline is valid? [True, True] Translation: X:251.20, Y:9.94, Z:-2.73 [[ 9.99910768e-01 -1.32314053e-02 -1.84003564e-03 2.51195148e+02] [ 1.32316184e-02 9.99912453e-01 1.03689373e-04 9.93542473e+00] [ 1.83850259e-03 -1.28026770e-04 9.99998302e-01 -2.73053874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73589822699995 meters 0.07106452900102446 Centerline is valid? [True, True] Translation: X:251.23, Y:9.93, Z:-2.73 [[ 9.99911066e-01 -1.32088467e-02 -1.84003364e-03 2.51226010e+02] [ 1.32090599e-02 9.99912751e-01 1.03724802e-04 9.93364557e+00] [ 1.83850302e-03 -1.28020692e-04 9.99998302e-01 -2.73052196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.765898227 meters 0.08326381101270339 Centerline is valid? [True, True] Translation: X:251.26, Y:9.92, Z:-2.73 [[ 9.99906964e-01 -1.32264582e-02 -3.33526985e-03 2.51255146e+02] [ 1.32271587e-02 9.99912500e-01 1.88066669e-04 9.91604106e+00] [ 3.33249056e-03 -2.32165316e-04 9.99994420e-01 -2.73352288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79589822699995 meters 0.07429848081475345 Centerline is valid? [True, True] Translation: X:251.29, Y:9.93, Z:-2.74 [[ 9.99853638e-01 -1.61793759e-02 -5.56153047e-03 2.51285989e+02] [ 1.61813693e-02 9.99869024e-01 3.13612092e-04 9.92655005e+00] [ 5.55572799e-03 -4.03559370e-04 9.99984485e-01 -2.73714252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.825898227 meters 0.07012159853273611 Centerline is valid? [True, True] Translation: X:251.32, Y:9.93, Z:-2.74 [[ 9.99824183e-01 -1.79031647e-02 -5.57499171e-03 2.51316256e+02] [ 1.79051941e-02 9.99839640e-01 3.14313080e-04 9.93022224e+00] [ 5.56847050e-03 -4.14079127e-04 9.99984410e-01 -2.73690407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85589822699995 meters 0.08393696225745845 Centerline is valid? [True, True] Translation: X:251.34, Y:9.91, Z:-2.74 [[ 9.99797997e-01 -1.95442143e-02 -4.68926973e-03 2.51343911e+02] [ 1.95456678e-02 9.99808930e-01 2.64324199e-04 9.91046390e+00] [ 4.68320774e-03 -3.55925713e-04 9.99988970e-01 -2.73613441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.885898227 meters 0.07958310293367347 Centerline is valid? [True, True] Translation: X:251.37, Y:9.91, Z:-2.73 [[ 9.99772873e-01 -2.10252358e-02 -3.48450368e-03 2.51374134e+02] [ 2.10260471e-02 9.99778909e-01 1.96376737e-04 9.91386885e+00] [ 3.47960442e-03 -2.69597473e-04 9.99993910e-01 -2.73377139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91589822699996 meters 0.08495016056312588 Centerline is valid? [True, True] Translation: X:251.40, Y:9.91, Z:-2.73 [[ 9.99745642e-01 -2.24626672e-02 -2.01987055e-03 2.51403918e+02] [ 2.24629427e-02 9.99747670e-01 1.13830675e-04 9.90563556e+00] [ 2.01680393e-03 -1.59173958e-04 9.99997954e-01 -2.73159679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.945898227 meters 0.07794052937627118 Centerline is valid? [True, True] Translation: X:251.44, Y:9.91, Z:-2.73 [[ 9.99760731e-01 -2.17627127e-02 -2.20588896e-03 2.51435534e+02] [ 2.17630396e-02 9.99763149e-01 1.24314096e-04 9.91404488e+00] [ 2.20266108e-03 -1.72291200e-04 9.99997559e-01 -2.73152367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97589822699996 meters 0.07654123873314152 Centerline is valid? [True, True] Translation: X:251.47, Y:9.92, Z:-2.73 [[ 9.99785996e-01 -2.05528030e-02 -2.35475772e-03 2.51466610e+02] [ 2.05531722e-02 9.99788752e-01 1.32708481e-04 9.91516203e+00] [ 2.35153275e-03 -1.81077822e-04 9.99997219e-01 -2.73166224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.005898227 meters 0.07625725091367198 Centerline is valid? [True, True] Translation: X:251.50, Y:9.91, Z:-2.73 [[ 9.99815890e-01 -1.90385329e-02 -2.39180173e-03 2.51496503e+02] [ 1.90389096e-02 9.99818734e-01 1.34797622e-04 9.91430677e+00] [ 2.38880183e-03 -1.80310101e-04 9.99997131e-01 -2.73254079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03589822699996 meters 0.0753540130825426 Centerline is valid? [True, True] Translation: X:251.53, Y:9.91, Z:-2.73 [[ 9.99851241e-01 -1.68946261e-02 -3.47375923e-03 2.51526037e+02] [ 1.68954077e-02 9.99857243e-01 1.95757774e-04 9.91446118e+00] [ 3.46995608e-03 -2.54419231e-04 9.99993947e-01 -2.73467806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.065898227 meters 0.07487935851005827 Centerline is valid? [True, True] Translation: X:251.56, Y:9.91, Z:-2.73 [[ 9.99864959e-01 -1.60318671e-02 -3.61142365e-03 2.51556691e+02] [ 1.60327062e-02 9.99871447e-01 2.03512347e-04 9.91400888e+00] [ 3.60769671e-03 -2.61385759e-04 9.99993458e-01 -2.73476935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09589822699996 meters 0.07845128532024974 Centerline is valid? [True, True] Translation: X:251.59, Y:9.91, Z:-2.73 [[ 9.99878118e-01 -1.52402830e-02 -3.38866758e-03 2.51586296e+02] [ 1.52410172e-02 9.99883831e-01 1.90959510e-04 9.90827146e+00] [ 3.38536364e-03 -2.42582977e-04 9.99994240e-01 -2.73439631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.125898227 meters 0.07626956681300037 Centerline is valid? [True, True] Translation: X:251.62, Y:9.91, Z:-2.74 [[ 9.99894629e-01 -1.39084556e-02 -4.15755089e-03 2.51617467e+02] [ 1.39095496e-02 9.99903230e-01 2.34327373e-04 9.90968484e+00] [ 4.15388943e-03 -2.92132342e-04 9.99991330e-01 -2.73543717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15589822699997 meters 0.07594421852270984 Centerline is valid? [True, True] Translation: X:251.65, Y:9.91, Z:-2.74 [[ 9.99896325e-01 -1.37320592e-02 -4.33237934e-03 2.51647631e+02] [ 1.37332455e-02 9.99905665e-01 2.44187193e-04 9.90821679e+00] [ 4.32861745e-03 -3.03659506e-04 9.99990585e-01 -2.73600198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.185898227 meters 0.07497050726648821 Centerline is valid? [True, True] Translation: X:251.68, Y:9.91, Z:-2.74 [[ 9.99906556e-01 -1.31284329e-02 -3.81096553e-03 2.51677843e+02] [ 1.31293464e-02 9.99913783e-01 2.14798591e-04 9.90740028e+00] [ 3.80781700e-03 -2.64814006e-04 9.99992715e-01 -2.73500142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21589822699997 meters 0.07604463881225307 Centerline is valid? [True, True] Translation: X:251.71, Y:9.90, Z:-2.73 [[ 9.99915403e-01 -1.26470556e-02 -3.03968188e-03 2.51707787e+02] [ 1.26476346e-02 9.99920001e-01 1.71326500e-04 9.90405405e+00] [ 3.03727194e-03 -2.09756792e-04 9.99995365e-01 -2.73419553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.245898227 meters 0.07703533988841968 Centerline is valid? [True, True] Translation: X:251.74, Y:9.90, Z:-2.73 [[ 9.99930273e-01 -1.17102239e-02 -1.52325875e-03 2.51738274e+02] [ 1.17103682e-02 9.99931428e-01 8.58558887e-05 9.90334176e+00] [ 1.52214890e-03 -1.03687823e-04 9.99998836e-01 -2.73230271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.27589822699997 meters 0.07601785489348369 Centerline is valid? [True, True] Translation: X:251.77, Y:9.90, Z:-2.73 [[ 9.99934297e-01 -1.14108124e-02 -1.09359170e-03 2.51768211e+02] [ 1.14108866e-02 9.99934892e-01 6.16603381e-05 9.89915605e+00] [ 1.09281691e-03 -7.41351377e-05 9.99999400e-01 -2.73196996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.30589822699994 meters 0.07437983706720278 Centerline is valid? [True, True] Translation: X:251.80, Y:9.90, Z:-2.73 [[ 9.99933719e-01 -1.14574313e-02 -1.13333658e-03 2.51799097e+02] [ 1.14575111e-02 9.99934359e-01 6.39364610e-05 9.89876465e+00] [ 1.13252964e-03 -7.69174398e-05 9.99999356e-01 -2.73238722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.335898227 meters 0.0685881423582486 Centerline is valid? [True, True] Translation: X:251.83, Y:9.90, Z:-2.73 [[ 9.99926301e-01 -1.20116907e-02 -1.76407847e-03 2.51830294e+02] [ 1.20118850e-02 9.99927850e-01 9.95516379e-05 9.90398580e+00] [ 1.76275541e-03 -1.20734209e-04 9.99998439e-01 -2.73358159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.36589822699995 meters 0.07724210071792253 Centerline is valid? [True, True] Translation: X:251.86, Y:9.89, Z:-2.74 [[ 9.99893408e-01 -1.42767712e-02 -3.05706438e-03 2.51858848e+02] [ 1.42773650e-02 9.99898058e-01 1.72506390e-04 9.88770362e+00] [ 3.05428991e-03 -2.16134827e-04 9.99995312e-01 -2.73720448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.395898227 meters 0.08079298109046533 Centerline is valid? [True, True] Translation: X:251.89, Y:9.88, Z:-2.74 [[ 9.99866703e-01 -1.59813601e-02 -3.34265387e-03 2.51888069e+02] [ 1.59820794e-02 9.99872261e-01 1.88586139e-04 9.87880276e+00] [ 3.33921302e-03 -2.41983560e-04 9.99994396e-01 -2.73862145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.42589822699995 meters 0.07455235754522113 Centerline is valid? [True, True] Translation: X:251.92, Y:9.88, Z:-2.74 [[ 9.99829141e-01 -1.80885415e-02 -3.80707776e-03 2.51918877e+02] [ 1.80894897e-02 9.99836349e-01 2.14767006e-04 9.88296636e+00] [ 3.80256991e-03 -2.83598405e-04 9.99992730e-01 -2.73889335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.455898227 meters 0.07940837409954941 Centerline is valid? [True, True] Translation: X:251.95, Y:9.87, Z:-2.74 [[ 9.99794908e-01 -1.97037076e-02 -4.68038069e-03 2.51946967e+02] [ 1.97051578e-02 9.99805800e-01 2.63935570e-04 9.86999497e+00] [ 4.67427125e-03 -3.56109079e-04 9.99989012e-01 -2.73997632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.48589822699995 meters 0.08444025899363224 Centerline is valid? [True, True] Translation: X:251.98, Y:9.85, Z:-2.74 [[ 9.99735982e-01 -2.24877878e-02 -4.71859581e-03 2.51975711e+02] [ 2.24892925e-02 9.99747048e-01 2.66050176e-04 9.85379377e+00] [ 4.71141936e-03 -3.72097815e-04 9.99988832e-01 -2.74081963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.515898227 meters 0.0783316892652681 Centerline is valid? [True, True] Translation: X:252.01, Y:9.86, Z:-2.74 [[ 9.99713907e-01 -2.35916171e-02 -3.94202327e-03 2.52006606e+02] [ 2.35926757e-02 9.99721629e-01 2.22261386e-04 9.85626827e+00] [ 3.93568242e-03 -3.15200675e-04 9.99992205e-01 -2.73914350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.54589822699995 meters 0.09558961841096805 Centerline is valid? [True, True] Translation: X:252.03, Y:9.83, Z:-2.74 [[ 9.99703857e-01 -2.41392775e-02 -3.08109057e-03 2.52034501e+02] [ 2.41399267e-02 9.99708574e-01 1.73690874e-04 9.82903956e+00] [ 3.07599989e-03 -2.48016737e-04 9.99995238e-01 -2.73815194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.575898227 meters 0.08197650425699647 Centerline is valid? [True, True] Translation: X:252.07, Y:9.84, Z:-2.74 [[ 9.99693400e-01 -2.46143158e-02 -2.69094741e-03 2.52065252e+02] [ 2.46148127e-02 9.99696998e-01 1.51691874e-04 9.83740859e+00] [ 2.68639825e-03 -2.17882532e-04 9.99996368e-01 -2.73686830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.60589822699995 meters 0.07813556277939455 Centerline is valid? [True, True] Translation: X:252.10, Y:9.84, Z:-2.74 [[ 9.99701586e-01 -2.42797382e-02 -2.68964558e-03 2.52095948e+02] [ 2.42802334e-02 9.99705180e-01 1.51618488e-04 9.83685677e+00] [ 2.68517136e-03 -2.16878466e-04 9.99996371e-01 -2.73639848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.635898227 meters 0.08716822478275381 Centerline is valid? [True, True] Translation: X:252.12, Y:9.82, Z:-2.74 [[ 9.99722322e-01 -2.34432683e-02 -2.38565184e-03 2.52124936e+02] [ 2.34436555e-02 9.99725151e-01 1.34482004e-04 9.82004972e+00] [ 2.38184345e-03 -1.90373061e-04 9.99997145e-01 -2.73677018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.66589822699996 meters 0.08033822983622595 Centerline is valid? [True, True] Translation: X:252.16, Y:9.82, Z:-2.74 [[ 9.99751656e-01 -2.21792754e-02 -2.16950702e-03 2.52155580e+02] [ 2.21795927e-02 9.99753995e-01 1.22297666e-04 9.82331253e+00] [ 2.16626084e-03 -1.70386076e-04 9.99997639e-01 -2.73690415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.695898227 meters 0.08185573064430121 Centerline is valid? [True, True] Translation: X:252.18, Y:9.81, Z:-2.74 [[ 9.99797783e-01 -2.00836676e-02 -1.01982693e-03 2.52184151e+02] [ 2.00837366e-02 9.99798300e-01 5.74827977e-05 9.81235969e+00] [ 1.01846676e-03 -7.79531090e-05 9.99999478e-01 -2.73549520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.72589822699996 meters 0.08375337295465064 Centerline is valid? [True, True] Translation: X:252.21, Y:9.80, Z:-2.73 [[ 9.99799980e-01 -1.99967641e-02 -3.59950735e-04 2.52213489e+02] [ 1.99967727e-02 9.99800044e-01 2.02882983e-05 9.80462869e+00] [ 3.59473060e-04 -2.74820933e-05 9.99999935e-01 -2.73477882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.755898227 meters 0.07627283724700654 Centerline is valid? [True, True] Translation: X:252.24, Y:9.81, Z:-2.73 [[ 9.99787707e-01 -2.05956272e-02 -6.01327858e-04 2.52244473e+02] [ 2.05956513e-02 9.99787887e-01 3.38833224e-05 9.80890841e+00] [ 6.00502460e-04 -4.62608681e-05 9.99999819e-01 -2.73460024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.78589822699996 meters 0.08822803609825774 Centerline is valid? [True, True] Translation: X:252.27, Y:9.79, Z:-2.74 [[ 9.99771173e-01 -2.13412618e-02 -1.46673669e-03 2.52272829e+02] [ 2.13414059e-02 9.99772243e-01 8.26364821e-05 9.78845073e+00] [ 1.46463906e-03 -1.13919796e-04 9.99998921e-01 -2.73553462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.815898227 meters 0.08511486326645568 Centerline is valid? [True, True] Translation: X:252.30, Y:9.78, Z:-2.74 [[ 9.99717898e-01 -2.30775521e-02 -5.61705498e-03 2.52302281e+02] [ 2.30796916e-02 9.99733578e-01 3.16353870e-04 9.78255628e+00] [ 5.60825780e-03 -4.45904522e-04 9.99984174e-01 -2.74277188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.84589822699996 meters 0.08618164667801478 Centerline is valid? [True, True] Translation: X:252.33, Y:9.77, Z:-2.75 [[ 9.99690971e-01 -2.37988012e-02 -7.18191783e-03 2.52331039e+02] [ 2.38023157e-02 9.99716603e-01 4.04255674e-04 9.77469619e+00] [ 7.17026170e-03 -5.75077023e-04 9.99974128e-01 -2.74560166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.875898227 meters 0.0928716122083516 Centerline is valid? [True, True] Translation: X:252.36, Y:9.76, Z:-2.75 [[ 9.99677536e-01 -2.42940607e-02 -7.39075628e-03 2.52358303e+02] [ 2.42977914e-02 9.99704679e-01 4.15392969e-04 9.76015087e+00] [ 7.37848205e-03 -5.94838074e-04 9.99972602e-01 -2.74647373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.90589822699997 meters 0.08969011946187275 Centerline is valid? [True, True] Translation: X:252.39, Y:9.76, Z:-2.75 [[ 9.99666600e-01 -2.48973539e-02 -6.84185617e-03 2.52386915e+02] [ 2.49005582e-02 9.99689859e-01 3.83537167e-04 9.75892364e+00] [ 6.83018518e-03 -5.53775334e-04 9.99976521e-01 -2.74500204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.935898227 meters 0.0801152345563166 Centerline is valid? [True, True] Translation: X:252.42, Y:9.76, Z:-2.74 [[ 9.99680072e-01 -2.45353836e-02 -6.14563914e-03 2.52416335e+02] [ 2.45379565e-02 9.99698840e-01 3.43596158e-04 9.76184908e+00] [ 6.13535806e-03 -4.94287658e-04 9.99981056e-01 -2.74206316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.96589822699997 meters 0.08464712947092691 Centerline is valid? [True, True] Translation: X:252.44, Y:9.75, Z:-2.74 [[ 9.99716912e-01 -2.30825108e-02 -5.77008799e-03 2.52444988e+02] [ 2.30847537e-02 9.99733460e-01 3.22403504e-04 9.75039119e+00] [ 5.76110814e-03 -4.55513296e-04 9.99983301e-01 -2.74172653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.995898227 meters 0.0841116888120209 Centerline is valid? [True, True] Translation: X:252.47, Y:9.75, Z:-2.74 [[ 9.99763250e-01 -2.10422001e-02 -5.53808794e-03 2.52474036e+02] [ 2.10442347e-02 9.99778498e-01 3.09360709e-04 9.74592051e+00] [ 5.53035161e-03 -4.25832290e-04 9.99984617e-01 -2.74123083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.02589822699997 meters 0.08083550911749031 Centerline is valid? [True, True] Translation: X:252.50, Y:9.75, Z:-2.74 [[ 9.99821129e-01 -1.82636146e-02 -4.91433376e-03 2.52504181e+02] [ 1.82651829e-02 9.99833140e-01 2.74425507e-04 9.74594757e+00] [ 4.90850175e-03 -3.64137625e-04 9.99987887e-01 -2.73995670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05589822699994 meters 0.0753264853473128 Centerline is valid? [True, True] Translation: X:252.53, Y:9.75, Z:-2.74 [[ 9.99922719e-01 -1.18596509e-02 -3.72901414e-03 2.52534236e+02] [ 1.18605094e-02 9.99929640e-01 2.08194655e-04 9.74967293e+00] [ 3.72628265e-03 -2.52406572e-04 9.99993026e-01 -2.73672757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.085898227 meters 0.07310536908904329 Centerline is valid? [True, True] Translation: X:252.56, Y:9.75, Z:-2.74 [[ 9.99953805e-01 -9.18979332e-03 -2.81686573e-03 2.52563892e+02] [ 9.19027256e-03 9.99957756e-01 1.57235086e-04 9.75023759e+00] [ 2.81530178e-03 -1.83115586e-04 9.99996020e-01 -2.73580153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11589822699995 meters 0.07273815267083404 Centerline is valid? [True, True] Translation: X:252.59, Y:9.75, Z:-2.73 [[ 9.99971096e-01 -7.44827786e-03 -1.52657068e-03 2.52592624e+02] [ 7.44841655e-03 9.99972257e-01 8.51867773e-05 9.74871269e+00] [ 1.52589384e-03 -9.65548494e-05 9.99998831e-01 -2.73409829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.145898227 meters 0.05936406681603529 Centerline is valid? [True, True] Translation: X:252.62, Y:9.76, Z:-2.73 [[ 9.99978018e-01 -6.56023656e-03 9.62296942e-04 2.52624266e+02] [ 6.56029126e-03 9.99978480e-01 -5.36913704e-05 9.76370159e+00] [-9.61924005e-04 6.00031384e-05 9.99999536e-01 -2.73033059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17589822699995 meters 0.06257081193127186 Centerline is valid? [True, True] Translation: X:252.65, Y:9.76, Z:-2.73 [[ 9.99970385e-01 -7.65335867e-03 8.09850270e-04 2.52654439e+02] [ 7.65339778e-03 9.99970711e-01 -4.52015062e-05 9.75758286e+00] [-8.09480608e-04 5.13982738e-05 9.99999671e-01 -2.73133514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.205898227 meters 0.07336588981518133 Centerline is valid? [True, True] Translation: X:252.68, Y:9.74, Z:-2.73 [[ 9.99954395e-01 -9.54945785e-03 1.22537368e-04 2.52683190e+02] [ 9.54945876e-03 9.99954403e-01 -6.85796284e-06 9.74162408e+00] [-1.22466291e-04 8.02781563e-06 9.99999992e-01 -2.73213952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23589822699995 meters 0.07631790774742551 Centerline is valid? [True, True] Translation: X:252.71, Y:9.74, Z:-2.73 [[ 9.99929187e-01 -1.18946815e-02 -3.70457577e-04 2.52713861e+02] [ 1.18946900e-02 9.99929255e-01 2.06848786e-05 9.73537566e+00] [ 3.70185329e-04 -2.50898919e-05 9.99999931e-01 -2.73310154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.265898227 meters 0.07255274903944121 Centerline is valid? [True, True] Translation: X:252.74, Y:9.74, Z:-2.73 [[ 9.99833808e-01 -1.82295689e-02 -1.97444258e-04 2.52744679e+02] [ 1.82295715e-02 9.99833827e-01 1.10239175e-05 9.73582768e+00] [ 1.97210487e-04 -1.46214096e-05 9.99999980e-01 -2.73409150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29589822699995 meters 0.08743888593428714 Centerline is valid? [True, True] Translation: X:252.77, Y:9.71, Z:-2.73 [[ 9.99767245e-01 -2.15720485e-02 -3.19627599e-04 2.52772917e+02] [ 2.15720554e-02 9.99767296e-01 1.78499407e-05 9.71279236e+00] [ 3.19168160e-04 -2.47408103e-05 9.99999949e-01 -2.73446703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.325898227 meters 0.07979362750736639 Centerline is valid? [True, True] Translation: X:252.80, Y:9.72, Z:-2.73 [[ 9.99707750e-01 -2.41742087e-02 -1.49010868e-04 2.52803929e+02] [ 2.41742103e-02 9.99707761e-01 8.32073603e-06 9.71886881e+00] [ 1.48766174e-04 -1.19205244e-05 9.99999989e-01 -2.73414457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35589822699995 meters 0.08143580764297077 Centerline is valid? [True, True] Translation: X:252.83, Y:9.71, Z:-2.73 [[ 9.99681040e-01 -2.52542785e-02 2.01156177e-04 2.52832817e+02] [ 2.52542813e-02 9.99681060e-01 -1.12122556e-05 9.71377879e+00] [-2.00808862e-04 1.62887340e-05 9.99999980e-01 -2.73266232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.385898227 meters 0.08199303038884632 Centerline is valid? [True, True] Translation: X:252.86, Y:9.71, Z:-2.73 [[ 9.99747368e-01 -2.24765173e-02 7.76865202e-05 2.52862130e+02] [ 2.24765177e-02 9.99747371e-01 -4.32476517e-06 9.71231366e+00] [-7.75696886e-05 6.06979504e-06 9.99999997e-01 -2.73052424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41589822699996 meters 0.07767892342017876 Centerline is valid? [True, True] Translation: X:252.89, Y:9.72, Z:-2.73 [[ 9.99815757e-01 -1.91948122e-02 1.02632847e-04 2.52892335e+02] [ 1.91948129e-02 9.99815763e-01 -5.71428579e-06 9.71832477e+00] [-1.02504254e-04 7.68325127e-06 9.99999995e-01 -2.73090821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.445898227 meters 0.08552074727668385 Centerline is valid? [True, True] Translation: X:252.92, Y:9.71, Z:-2.73 [[ 9.99871937e-01 -1.60034308e-02 -2.68954942e-05 2.52921083e+02] [ 1.60034308e-02 9.99871937e-01 1.50661538e-06 9.70890269e+00] [ 2.68679389e-05 -1.93684262e-06 1.00000000e+00 -2.73189578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47589822699996 meters 0.07509253384939754 Centerline is valid? [True, True] Translation: X:252.95, Y:9.72, Z:-2.73 [[ 9.99910836e-01 -1.32955540e-02 1.24453758e-03 2.52952678e+02] [ 1.32956506e-02 9.99911607e-01 -6.93825281e-05 9.72491769e+00] [-1.24350509e-03 8.59232785e-05 9.99999223e-01 -2.73108757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.505898227 meters 0.07321241383699033 Centerline is valid? [True, True] Translation: X:252.98, Y:9.73, Z:-2.73 [[ 9.99909413e-01 -1.32764320e-02 2.21428274e-03 2.52984409e+02] [ 1.32767379e-02 9.99911853e-01 -1.23509976e-04 9.72753164e+00] [-2.21244779e-03 1.52897239e-04 9.99997541e-01 -2.73042119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53589822699996 meters 0.07630540880914219 Centerline is valid? [True, True] Translation: X:253.01, Y:9.72, Z:-2.73 [[ 9.99896235e-01 -1.42464455e-02 2.13487005e-03 2.53014290e+02] [ 1.42467321e-02 9.99898503e-01 -1.19068751e-04 9.72359353e+00] [-2.13295707e-03 1.49471318e-04 9.99997714e-01 -2.73003008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.565898227 meters 0.08159107832199727 Centerline is valid? [True, True] Translation: X:253.04, Y:9.72, Z:-2.73 [[ 9.99825298e-01 -1.86803318e-02 6.46438800e-04 2.53043844e+02] [ 1.86803590e-02 9.99825506e-01 -3.60425595e-05 9.71797627e+00] [-6.45652713e-04 4.81119717e-05 9.99999790e-01 -2.73342953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59589822699996 meters 0.07664075266825647 Centerline is valid? [True, True] Translation: X:253.07, Y:9.72, Z:-2.73 [[ 9.99772903e-01 -2.13089442e-02 -2.67904169e-04 2.53074571e+02] [ 2.13089490e-02 9.99772938e-01 1.49388546e-05 9.72404299e+00] [ 2.67525007e-04 -2.06442183e-05 9.99999964e-01 -2.73483182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.625898227 meters 0.08652651828501905 Centerline is valid? [True, True] Translation: X:253.10, Y:9.71, Z:-2.74 [[ 9.99731085e-01 -2.31807087e-02 -6.42692186e-04 2.53103635e+02] [ 2.31807365e-02 9.99731290e-01 3.58399171e-05 9.71112254e+00] [ 6.41688694e-04 -5.07283575e-05 9.99999793e-01 -2.73568942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65589822699997 meters 0.08652651828501905 Centerline is valid? [True, True] Translation: X:253.13, Y:9.71, Z:-2.74 [[ 9.99731085e-01 -2.31807087e-02 -6.42692194e-04 2.53133681e+02] [ 2.31807365e-02 9.99731290e-01 3.58397771e-05 9.70944698e+00] [ 6.41688705e-04 -5.07282176e-05 9.99999793e-01 -2.73567309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.685898227 meters 0.08885618174304293 Centerline is valid? [True, True] Translation: X:253.16, Y:9.71, Z:-2.74 [[ 9.99708173e-01 -2.41413655e-02 -8.73833227e-04 2.53162814e+02] [ 2.41414172e-02 9.99708552e-01 4.87221618e-05 9.70638002e+00] [ 8.72402331e-04 -6.98035159e-05 9.99999617e-01 -2.73565630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71589822699997 meters 0.09039890247380862 Centerline is valid? [True, True] Translation: X:253.19, Y:9.71, Z:-2.74 [[ 9.99716459e-01 -2.36821822e-02 -2.48099233e-03 2.53191743e+02] [ 2.36825978e-02 9.99719518e-01 1.38236212e-04 9.70561920e+00] [ 2.47702272e-03 -1.96953360e-04 9.99996913e-01 -2.73845089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.745898227 meters 0.08721271582446169 Centerline is valid? [True, True] Translation: X:253.22, Y:9.71, Z:-2.74 [[ 9.99715881e-01 -2.35432518e-02 -3.72471612e-03 2.53221881e+02] [ 2.35441870e-02 9.99722776e-01 2.07438481e-04 9.70978317e+00] [ 3.71879976e-03 -2.95074957e-04 9.99993042e-01 -2.74050473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.77589822699997 meters 0.09006431503052138 Centerline is valid? [True, True] Translation: X:253.25, Y:9.71, Z:-2.74 [[ 9.99711460e-01 -2.35615229e-02 -4.67464213e-03 2.53250751e+02] [ 2.35629957e-02 9.99722320e-01 2.60237553e-04 9.70673499e+00] [ 4.66721249e-03 -3.70311036e-04 9.99989040e-01 -2.74190262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.80589822699994 meters 0.09499947327632649 Centerline is valid? [True, True] Translation: X:253.28, Y:9.70, Z:-2.74 [[ 9.99705860e-01 -2.38851376e-02 -4.20629533e-03 2.53278700e+02] [ 2.38863323e-02 9.99714653e-01 2.34024473e-04 9.70279397e+00] [ 4.19950537e-03 -3.34428606e-04 9.99991126e-01 -2.74130839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.835898227 meters 0.08318383266462742 Centerline is valid? [True, True] Translation: X:253.31, Y:9.72, Z:-2.74 [[ 9.99705334e-01 -2.40791660e-02 -3.07228195e-03 2.53309426e+02] [ 2.40798041e-02 9.99710025e-01 1.70861161e-04 9.71734337e+00] [ 3.06727687e-03 -2.44790761e-04 9.99995266e-01 -2.73929593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.86589822699995 meters 0.08645473851973241 Centerline is valid? [True, True] Translation: X:253.34, Y:9.71, Z:-2.74 [[ 9.99697611e-01 -2.44910399e-02 -2.20820877e-03 2.53338921e+02] [ 2.44913705e-02 9.99700034e-01 1.22779636e-04 9.71208626e+00] [ 2.20453938e-03 -1.76824568e-04 9.99997554e-01 -2.73853466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.895898227 meters 0.08724221516137377 Centerline is valid? [True, True] Translation: X:253.37, Y:9.71, Z:-2.74 [[ 9.99677296e-01 -2.53597142e-02 -1.47940942e-03 2.53368315e+02] [ 2.53598635e-02 9.99678384e-01 8.22327784e-05 9.71050398e+00] [ 1.47684821e-03 -1.19723862e-04 9.99998902e-01 -2.73719608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.92589822699995 meters 0.08900656814632604 Centerline is valid? [True, True] Translation: X:253.40, Y:9.71, Z:-2.74 [[ 9.99655167e-01 -2.62574991e-02 -3.02876043e-04 2.53397778e+02] [ 2.62575054e-02 9.99655212e-01 1.68355018e-05 9.70745170e+00] [ 3.02329557e-04 -2.47824656e-05 9.99999954e-01 -2.73591073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.955898227 meters 0.09370799391793039 Centerline is valid? [True, True] Translation: X:253.43, Y:9.70, Z:-2.74 [[ 9.99581935e-01 -2.89111002e-02 3.23254581e-04 2.53426857e+02] [ 2.89111075e-02 9.99581986e-01 -1.79530971e-05 9.69907832e+00] [-3.22600412e-04 2.72912395e-05 9.99999948e-01 -2.73562558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.98589822699995 meters 0.09600254766368092 Centerline is valid? [True, True] Translation: X:253.46, Y:9.69, Z:-2.74 [[ 9.99526787e-01 -3.07407849e-02 -1.09787727e-03 2.53456656e+02] [ 3.07408703e-02 9.99527386e-01 6.09912198e-05 9.69254951e+00] [ 1.09548348e-03 -9.47120609e-05 9.99999395e-01 -2.73831741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.015898227 meters 0.09870597635560092 Centerline is valid? [True, True] Translation: X:253.49, Y:9.69, Z:-2.74 [[ 9.99456568e-01 -3.28388019e-02 -2.86051264e-03 2.53486877e+02] [ 3.28393902e-02 9.99460629e-01 1.58906468e-04 9.68600660e+00] [ 2.85375147e-03 -2.52757604e-04 9.99995896e-01 -2.74195549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.04589822699995 meters 0.10143361354328137 Centerline is valid? [True, False] Translation: X:253.49, Y:9.69, Z:-2.74 [[ 9.99669422e-01 -2.53868381e-02 -4.06887394e-03 2.53488887e+02] [ 2.53379872e-02 9.99611188e-01 -1.16386922e-02 9.68509763e+00] [ 4.36276150e-03 1.15317476e-02 9.99923990e-01 -2.74261001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.075898227 meters 0.09955927912573266 Centerline is valid? [False, True] Translation: X:253.47, Y:9.68, Z:-2.75 [[ 9.99859336e-01 -1.66665871e-02 1.87983444e-03 2.53471217e+02] [ 1.66836891e-02 9.99815858e-01 -9.48178203e-03 9.68172853e+00] [-1.72145934e-03 9.51181086e-03 9.99953280e-01 -2.75037373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.10589822699995 meters 0.11367742837647508 Centerline is valid? [True, False] Translation: X:253.47, Y:9.68, Z:-2.75 [[ 9.99925950e-01 -1.20040921e-02 1.99922843e-03 2.53470757e+02] [ 1.20125240e-02 9.99918771e-01 -4.26034808e-03 9.67781092e+00] [-1.94792443e-03 4.28404838e-03 9.99988926e-01 -2.75056641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.135898227 meters 0.09651982936203658 Centerline is valid? [False, True] Translation: X:253.45, Y:9.68, Z:-2.75 [[ 9.99982300e-01 -5.89507059e-03 8.04589074e-04 2.53451750e+02] [ 5.90233019e-03 9.99938960e-01 -9.34013345e-03 9.67849195e+00] [-7.49479217e-04 9.34471708e-03 9.99956056e-01 -2.75222307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.16589822699996 meters 0.09566010999902227 Centerline is valid? [True, True] Translation: X:253.48, Y:9.67, Z:-2.75 [[ 9.99991308e-01 -4.11005468e-03 7.00999297e-04 2.53482207e+02] [ 4.11009449e-03 9.99991552e-01 -5.53666584e-05 9.67253685e+00] [-7.00765815e-04 5.82473505e-05 9.99999753e-01 -2.75402994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.195898227 meters 0.0967026502310259 Centerline is valid? [True, True] Translation: X:253.51, Y:9.67, Z:-2.76 [[ 9.99996752e-01 -2.54519877e-03 -1.31305514e-04 2.53511640e+02] [ 2.54520015e-03 9.99996761e-01 1.03711626e-05 9.66868887e+00] [ 1.31278692e-04 -1.07053277e-05 9.99999991e-01 -2.75581486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.22589822699996 meters 0.09728849256684995 Centerline is valid? [True, True] Translation: X:253.54, Y:9.67, Z:-2.76 [[ 9.99998612e-01 -1.57327064e-03 -5.47967133e-04 2.53541298e+02] [ 1.57329459e-03 9.99998761e-01 4.32811697e-05 9.66524189e+00] [ 5.47898361e-04 -4.41432234e-05 9.99999849e-01 -2.75649827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.255898227 meters 0.09369063774087771 Centerline is valid? [True, True] Translation: X:253.57, Y:9.67, Z:-2.76 [[ 9.99999333e-01 -6.56296660e-04 -9.50794415e-04 2.53571466e+02] [ 6.56368315e-04 9.99999782e-01 7.50533584e-05 9.66675504e+00] [ 9.50744950e-04 -7.56773796e-05 9.99999545e-01 -2.75601320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.28589822699996 meters 0.09649258988050483 Centerline is valid? [True, True] Translation: X:253.60, Y:9.66, Z:-2.76 [[ 9.99999611e-01 4.14664810e-04 -7.78219169e-04 2.53601439e+02] [-4.14617106e-04 9.99999912e-01 6.14593680e-05 9.66243739e+00] [ 7.78244585e-04 -6.11366811e-05 9.99999695e-01 -2.75540398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.315898227 meters 0.08346941116099814 Centerline is valid? [True, True] Translation: X:253.63, Y:9.67, Z:-2.76 [[ 9.99999058e-01 9.24840347e-04 -1.01380021e-03 2.53632834e+02] [-9.24759651e-04 9.99999569e-01 8.00642321e-05 9.67383544e+00] [ 1.01387382e-03 -7.91266352e-05 9.99999483e-01 -2.75575378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.34589822699996 meters 0.08371101438811253 Centerline is valid? [True, True] Translation: X:253.66, Y:9.67, Z:-2.76 [[ 9.99995880e-01 9.84133913e-04 -2.69640155e-03 2.53662882e+02] [-9.83563277e-04 9.99999494e-01 2.12946612e-04 9.66991869e+00] [ 2.69660975e-03 -2.10293653e-04 9.99996342e-01 -2.75869488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.375898227 meters 0.07827668437086396 Centerline is valid? [True, True] Translation: X:253.69, Y:9.68, Z:-2.76 [[ 9.99994390e-01 5.34942164e-04 -3.30666572e-03 2.53693063e+02] [-5.34082064e-04 9.99999823e-01 2.60988445e-04 9.67530517e+00] [ 3.30680475e-03 -2.59220950e-04 9.99994499e-01 -2.75889190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.40589822699997 meters 0.08019207898910229 Centerline is valid? [True, True] Translation: X:253.72, Y:9.67, Z:-2.76 [[ 9.99995101e-01 -1.16908068e-05 -3.13028194e-03 2.53721227e+02] [ 1.24637858e-05 9.99999969e-01 2.46916493e-04 9.66713588e+00] [ 3.13027896e-03 -2.46954298e-04 9.99995070e-01 -2.75980164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.435898227 meters 0.08092442516399953 Centerline is valid? [True, True] Translation: X:253.75, Y:9.66, Z:-2.76 [[ 9.99996483e-01 -7.58865015e-04 -2.54128041e-03 2.53750097e+02] [ 7.59376597e-04 9.99999692e-01 2.00349761e-04 9.66301029e+00] [ 2.54112758e-03 -2.02278845e-04 9.99996751e-01 -2.75884764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.46589822699997 meters 0.07370259794909222 Centerline is valid? [True, True] Translation: X:253.78, Y:9.67, Z:-2.76 [[ 9.99996878e-01 -2.47257799e-03 -3.60491479e-04 2.53780699e+02] [ 2.47258839e-03 9.99996943e-01 2.83927221e-05 9.66796282e+00] [ 3.60420173e-04 -2.92839805e-05 9.99999935e-01 -2.75554226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.495898227 meters 0.08190412212202057 Centerline is valid? [True, True] Translation: X:253.81, Y:9.65, Z:-2.76 [[ 9.99992526e-01 -3.86518111e-03 -9.61452019e-05 2.53809353e+02] [ 3.86518187e-03 9.99992530e-01 7.76598218e-06 9.65359852e+00] [ 9.61144668e-05 -8.13754282e-06 9.99999995e-01 -2.75587832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.52589822699997 meters 0.08833348536170658 Centerline is valid? [True, True] Translation: X:253.84, Y:9.64, Z:-2.76 [[ 9.99985058e-01 -5.40355284e-03 -8.27511458e-04 2.53838359e+02] [ 5.40360872e-03 9.99985398e-01 6.53107743e-05 9.64196134e+00] [ 8.27146465e-04 -6.97813466e-05 9.99999655e-01 -2.75724278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55589822699994 meters 0.09742726569073519 Centerline is valid? [True, True] Translation: X:253.87, Y:9.63, Z:-2.76 [[ 9.99976429e-01 -6.73394385e-03 -1.33982426e-03 2.53866329e+02] [ 6.73409139e-03 9.99977320e-01 1.05641768e-04 9.62616126e+00] [ 1.33908249e-03 -1.14661777e-04 9.99999097e-01 -2.75925879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.585898227 meters 0.09138181452158356 Centerline is valid? [True, True] Translation: X:253.90, Y:9.63, Z:-2.76 [[ 9.99948623e-01 -9.67359847e-03 -3.02866642e-03 2.53896672e+02] [ 9.67436609e-03 9.99953174e-01 2.38902686e-04 9.62853148e+00] [ 3.02621355e-03 -2.68190839e-04 9.99995385e-01 -2.76162570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61589822699995 meters 0.08780189234691546 Centerline is valid? [True, True] Translation: X:253.93, Y:9.63, Z:-2.76 [[ 9.99931831e-01 -1.08301233e-02 -4.36366676e-03 2.53927123e+02] [ 1.08317275e-02 9.99941276e-01 3.44168969e-04 9.63009797e+00] [ 4.35968311e-03 -3.91411557e-04 9.99990420e-01 -2.76272220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.645898227 meters 0.09297213726333728 Centerline is valid? [True, True] Translation: X:253.95, Y:9.62, Z:-2.77 [[ 9.99923077e-01 -1.11582372e-02 -5.41599184e-03 2.53954440e+02] [ 1.11607116e-02 9.99937626e-01 4.26861638e-04 9.61790557e+00] [ 5.41089100e-03 -4.87275126e-04 9.99985242e-01 -2.76514204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67589822699995 meters 0.09225852281242757 Centerline is valid? [True, True] Translation: X:253.98, Y:9.61, Z:-2.77 [[ 9.99921110e-01 -1.10747604e-02 -5.92645993e-03 2.53982939e+02] [ 1.10777141e-02 9.99938532e-01 4.65789811e-04 9.61161926e+00] [ 5.92093713e-03 -5.31404693e-04 9.99982330e-01 -2.76673096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.705898227 meters 0.09057153945723656 Centerline is valid? [True, True] Translation: X:254.01, Y:9.61, Z:-2.77 [[ 9.99929244e-01 -1.05736937e-02 -5.45009371e-03 2.54012190e+02] [ 1.05761798e-02 9.99943979e-01 4.27537705e-04 9.60877044e+00] [ 5.44526774e-03 -4.85148626e-04 9.99985057e-01 -2.76555711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73589822699995 meters 0.0914265066460935 Centerline is valid? [True, True] Translation: X:254.04, Y:9.60, Z:-2.76 [[ 9.99937936e-01 -1.01290645e-02 -4.63966735e-03 2.54041145e+02] [ 1.01308579e-02 9.99948616e-01 3.63203109e-04 9.60434957e+00] [ 4.63575004e-03 -4.10184378e-04 9.99989171e-01 -2.76430634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.765898227 meters 0.08788360220078255 Centerline is valid? [True, True] Translation: X:254.07, Y:9.60, Z:-2.76 [[ 9.99963180e-01 -7.79525370e-03 -3.58785705e-03 2.54071483e+02] [ 7.79631260e-03 9.99969569e-01 2.81243059e-04 9.59817917e+00] [ 3.58555551e-03 -3.09204759e-04 9.99993524e-01 -2.76186755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79589822699995 meters 0.08891270810137857 Centerline is valid? [True, True] Translation: X:254.10, Y:9.59, Z:-2.76 [[ 9.99972090e-01 -6.57739707e-03 -3.54351672e-03 2.54100228e+02] [ 6.57842182e-03 9.99978323e-01 2.77613600e-04 9.59155490e+00] [ 3.54161394e-03 -3.00916599e-04 9.99993683e-01 -2.76243582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.825898227 meters 0.0901377041698807 Centerline is valid? [True, True] Translation: X:254.13, Y:9.58, Z:-2.76 [[ 9.99976877e-01 -5.26829716e-03 -4.30002243e-03 2.54128362e+02] [ 5.26979345e-03 9.99986058e-01 3.36716362e-04 9.58452081e+00] [ 4.29818856e-03 -3.59368806e-04 9.99990698e-01 -2.76348151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85589822699995 meters 0.08781763893378601 Centerline is valid? [True, True] Translation: X:254.16, Y:9.58, Z:-2.76 [[ 9.99977824e-01 -4.91671612e-03 -4.49203239e-03 2.54157531e+02] [ 4.91834043e-03 9.99987843e-01 3.50624647e-04 9.58483643e+00] [ 4.49025386e-03 -3.72710216e-04 9.99989849e-01 -2.76427512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.885898227 meters 0.09357373320834658 Centerline is valid? [True, True] Translation: X:254.19, Y:9.56, Z:-2.76 [[ 9.99992910e-01 -3.24648410e-03 -1.90788422e-03 2.54185284e+02] [ 3.24677438e-03 9.99994718e-01 1.49068887e-04 9.56378620e+00] [ 1.90739019e-03 -1.55262300e-04 9.99998169e-01 -2.76054006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91589822699996 meters 0.08726634295795342 Centerline is valid? [True, True] Translation: X:254.22, Y:9.57, Z:-2.76 [[ 9.99998270e-01 -1.85713887e-03 1.08877960e-04 2.54215590e+02] [ 1.85713981e-03 9.99998275e-01 -8.54504395e-06 9.56663259e+00] [-1.08861903e-04 8.74723075e-06 9.99999994e-01 -2.75656156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.945898227 meters 0.08357773423643804 Centerline is valid? [True, True] Translation: X:254.25, Y:9.57, Z:-2.75 [[ 9.99999233e-01 1.99242548e-04 1.22249791e-03 2.54245688e+02] [-1.99125901e-04 9.99999976e-01 -9.55384249e-05 9.56708152e+00] [-1.22251691e-03 9.52949206e-05 9.99999248e-01 -2.75421529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97589822699996 meters 0.08376726539916302 Centerline is valid? [True, True] Translation: X:254.28, Y:9.56, Z:-2.75 [[ 9.99994469e-01 2.69781244e-03 1.94532981e-03 2.54275291e+02] [-2.69752176e-03 9.99996350e-01 -1.52031998e-04 9.56308961e+00] [-1.94573286e-03 1.46783588e-04 9.99998096e-01 -2.75352410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.005898227 meters 0.0814734748765327 Centerline is valid? [True, True] Translation: X:254.31, Y:9.56, Z:-2.75 [[ 9.99973421e-01 6.61799428e-03 3.05929987e-03 2.54305253e+02] [-6.61729380e-03 9.99978077e-01 -2.39032788e-04 9.56166146e+00] [-3.06081472e-03 2.18782149e-04 9.99995292e-01 -2.75228990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03589822699996 meters 0.08193319043999485 Centerline is valid? [True, True] Translation: X:254.34, Y:9.56, Z:-2.75 [[ 9.99972591e-01 6.66673862e-03 3.22048029e-03 2.54337064e+02] [-6.66596260e-03 9.99977751e-01 -2.51638299e-04 9.55691744e+00] [-3.22208625e-03 2.30163800e-04 9.99994783e-01 -2.75257776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.065898227 meters 0.07960335913607303 Centerline is valid? [True, True] Translation: X:254.37, Y:9.56, Z:-2.75 [[ 9.99981323e-01 5.31160411e-03 3.02319656e-03 2.54368054e+02] [-5.31091268e-03 9.99985869e-01 -2.36687863e-04 9.55522236e+00] [-3.02441103e-03 2.20627510e-04 9.99995402e-01 -2.75362825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09589822699996 meters 0.08925539742256944 Centerline is valid? [True, True] Translation: X:254.40, Y:9.54, Z:-2.76 [[ 9.99998784e-01 6.95926769e-04 1.39542976e-03 2.54396714e+02] [-6.95774904e-04 9.99999752e-01 -1.09312788e-04 9.53662190e+00] [-1.39550549e-03 1.08341750e-04 9.99999020e-01 -2.75714155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.125898227 meters 0.08251765138070599 Centerline is valid? [True, True] Translation: X:254.43, Y:9.54, Z:-2.76 [[ 9.99999138e-01 -1.31273964e-03 1.18322433e-05 2.54427529e+02] [ 1.31273965e-03 9.99999138e-01 -9.18563799e-07 9.54093526e+00] [-1.18310273e-05 9.34095663e-07 1.00000000e+00 -2.75851484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15589822699997 meters 0.09138823758304396 Centerline is valid? [True, True] Translation: X:254.46, Y:9.53, Z:-2.76 [[ 9.99995221e-01 -2.93819175e-03 -9.62139669e-04 2.54456051e+02] [ 2.93826556e-03 9.99995680e-01 7.53039105e-05 9.52574906e+00] [ 9.61914255e-04 -7.81305724e-05 9.99999534e-01 -2.76090584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.185898227 meters 0.09421848961634695 Centerline is valid? [True, True] Translation: X:254.48, Y:9.52, Z:-2.77 [[ 9.99981032e-01 -4.83777839e-03 -3.81205433e-03 2.54484680e+02] [ 4.83895147e-03 9.99988248e-01 2.98563679e-04 9.51578922e+00] [ 3.81056514e-03 -3.17004362e-04 9.99992690e-01 -2.76613705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21589822699997 meters 0.09591519776164845 Centerline is valid? [True, True] Translation: X:254.51, Y:9.51, Z:-2.77 [[ 9.99978005e-01 -5.09165135e-03 -4.25035962e-03 2.54512477e+02] [ 5.09311046e-03 9.99986975e-01 3.32536427e-04 9.50933567e+00] [ 4.24861110e-03 -3.54176663e-04 9.99990912e-01 -2.76711081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.245898227 meters 0.09620400886102537 Centerline is valid? [True, True] Translation: X:254.54, Y:9.51, Z:-2.77 [[ 9.99978901e-01 -5.02314092e-03 -4.11888160e-03 2.54541444e+02] [ 5.02450654e-03 9.99987325e-01 3.21271868e-04 9.50529235e+00] [ 4.11721560e-03 -3.41960437e-04 9.99991466e-01 -2.76687701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.27589822699997 meters 0.0963020522962991 Centerline is valid? [True, True] Translation: X:254.57, Y:9.50, Z:-2.77 [[ 9.99988600e-01 -3.37476967e-03 -3.37808089e-03 2.54571240e+02] [ 3.37568043e-03 9.99994268e-01 2.63943973e-04 9.49985400e+00] [ 3.37717077e-03 -2.75344286e-04 9.99994259e-01 -2.76563767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.30589822699994 meters 0.08882853512698968 Centerline is valid? [True, True] Translation: X:254.60, Y:9.50, Z:-2.77 [[ 9.99992006e-01 -2.21174501e-03 -3.33111837e-03 2.54601882e+02] [ 2.21262389e-03 9.99997518e-01 2.60177920e-04 9.50471339e+00] [ 3.33053466e-03 -2.67546352e-04 9.99994418e-01 -2.76562261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.335898227 meters 0.08491691940648265 Centerline is valid? [True, True] Translation: X:254.63, Y:9.51, Z:-2.77 [[ 9.99991178e-01 -1.83237824e-03 -3.77981486e-03 2.54631446e+02] [ 1.83350334e-03 9.99998276e-01 2.94217971e-04 9.50658077e+00] [ 3.77926922e-03 -3.01145678e-04 9.99992813e-01 -2.76532438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.36589822699995 meters 0.08472858863973466 Centerline is valid? [True, True] Translation: X:254.66, Y:9.50, Z:-2.77 [[ 9.99990477e-01 -2.35338763e-03 -3.67534031e-03 2.54659698e+02] [ 2.35445259e-03 9.99997188e-01 2.85459598e-04 9.49842248e+00] [ 3.67465818e-03 -2.94110294e-04 9.99993205e-01 -2.76591595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.395898227 meters 0.09183954656159711 Centerline is valid? [True, True] Translation: X:254.69, Y:9.48, Z:-2.77 [[ 9.99987615e-01 -2.95236187e-03 -4.00654679e-03 2.54687031e+02] [ 2.95363349e-03 9.99995589e-01 3.11507058e-04 9.48431162e+00] [ 4.00560944e-03 -3.23337071e-04 9.99991925e-01 -2.76735774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.42589822699995 meters 0.08494462679692293 Centerline is valid? [True, True] Translation: X:254.72, Y:9.49, Z:-2.77 [[ 9.99984300e-01 -3.70273788e-03 -4.20592316e-03 2.54717237e+02] [ 3.70414558e-03 9.99993086e-01 3.26952818e-04 9.48748142e+00] [ 4.20468346e-03 -3.42527036e-04 9.99991102e-01 -2.76644856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.455898227 meters 0.08832522914766179 Centerline is valid? [True, True] Translation: X:254.74, Y:9.47, Z:-2.77 [[ 9.99981834e-01 -4.57984375e-03 -3.91871121e-03 2.54744899e+02] [ 4.58107174e-03 9.99989460e-01 3.04448928e-04 9.47332078e+00] [ 3.91727558e-03 -3.22395295e-04 9.99992275e-01 -2.76586244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.48589822699995 meters 0.08484834771409454 Centerline is valid? [True, True] Translation: X:254.77, Y:9.47, Z:-2.77 [[ 9.99980079e-01 -5.09583787e-03 -3.72472762e-03 2.54773336e+02] [ 5.09694974e-03 9.99986969e-01 2.89078424e-04 9.47236509e+00] [ 3.72320598e-03 -3.08057415e-04 9.99993021e-01 -2.76510604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.515898227 meters 0.08723237159327654 Centerline is valid? [True, True] Translation: X:254.80, Y:9.46, Z:-2.76 [[ 9.99981921e-01 -4.99514192e-03 -3.34745616e-03 2.54801133e+02] [ 4.99603638e-03 9.99987486e-01 2.58896593e-04 9.46497070e+00] [ 3.34612104e-03 -2.75615925e-04 9.99994364e-01 -2.76423401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.54589822699995 meters 0.08723237159327654 Centerline is valid? [True, True] Translation: X:254.83, Y:9.46, Z:-2.76 [[ 9.99981120e-01 -5.15312965e-03 -3.34749643e-03 2.54829487e+02] [ 5.15402325e-03 9.99986685e-01 2.58375880e-04 9.46289822e+00] [ 3.34612041e-03 -2.75624076e-04 9.99994364e-01 -2.76432817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.575898227 meters 0.08482778091105458 Centerline is valid? [True, True] Translation: X:254.86, Y:9.46, Z:-2.76 [[ 9.99993085e-01 -3.11977099e-03 -2.02411851e-03 2.54860146e+02] [ 3.12009420e-03 9.99995120e-01 1.56537550e-04 9.46161731e+00] [ 2.02362027e-03 -1.62851908e-04 9.99997939e-01 -2.76155437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.60589822699995 meters 0.08575734585780079 Centerline is valid? [True, True] Translation: X:254.89, Y:9.46, Z:-2.76 [[ 9.99998152e-01 -1.40713873e-03 -1.30979223e-03 2.54888982e+02] [ 1.40727246e-03 9.99999005e-01 1.01185356e-04 9.45800192e+00] [ 1.30964854e-03 -1.03028403e-04 9.99999137e-01 -2.76089730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.635898227 meters 0.080953040284595 Centerline is valid? [True, True] Translation: X:254.92, Y:9.46, Z:-2.76 [[ 9.99999359e-01 4.62702870e-04 -1.03316625e-03 2.54919187e+02] [-4.62620635e-04 9.99999890e-01 7.98320036e-05 9.46199865e+00] [ 1.03320308e-03 -7.93539884e-05 9.99999463e-01 -2.76014916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.66589822699996 meters 0.08078407653649215 Centerline is valid? [True, True] Translation: X:254.95, Y:9.46, Z:-2.76 [[ 9.99996892e-01 2.09619433e-03 -1.34954141e-03 2.54948888e+02] [-2.09605543e-03 9.99997798e-01 1.04325083e-04 9.46032500e+00] [ 1.34975712e-03 -1.01496045e-04 9.99999084e-01 -2.76050485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.695898227 meters 0.07112761418275466 Centerline is valid? [True, True] Translation: X:254.98, Y:9.47, Z:-2.76 [[ 9.99992089e-01 3.40912856e-03 -2.04934575e-03 2.54980409e+02] [-3.40881102e-03 9.99994177e-01 1.58422827e-04 9.47099166e+00] [ 2.04987390e-03 -1.51435742e-04 9.99997888e-01 -2.76142740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.72589822699996 meters 0.07814629142954081 Centerline is valid? [True, True] Translation: X:255.01, Y:9.46, Z:-2.76 [[ 9.99986041e-01 4.45353400e-03 -2.84312821e-03 2.55008872e+02] [-4.45292744e-03 9.99990062e-01 2.19638810e-04 9.46123812e+00] [ 2.84407812e-03 -2.06975500e-04 9.99995934e-01 -2.76479205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.755898227 meters 0.08040824900886245 Centerline is valid? [True, True] Translation: X:255.04, Y:9.46, Z:-2.77 [[ 9.99989979e-01 3.48497418e-03 -2.81025173e-03 2.55038589e+02] [-3.48437773e-03 9.99993906e-01 2.17107769e-04 9.45702815e+00] [ 2.81099122e-03 -2.07313615e-04 9.99996028e-01 -2.76527112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.78589822699996 meters 0.07416748562918248 Centerline is valid? [True, True] Translation: X:255.07, Y:9.46, Z:-2.77 [[ 9.99993235e-01 1.97554156e-03 -3.10270098e-03 2.55069709e+02] [-1.97480716e-03 9.99998021e-01 2.39742381e-04 9.46317552e+00] [ 3.10316846e-03 -2.33613523e-04 9.99995158e-01 -2.76523231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.815898227 meters 0.08655234513191215 Centerline is valid? [True, True] Translation: X:255.10, Y:9.45, Z:-2.77 [[ 9.99986872e-01 -2.77163071e-03 -4.30985911e-03 2.55097527e+02] [ 2.77309279e-03 9.99996099e-01 3.33302353e-04 9.44590406e+00] [ 4.30891851e-03 -3.45249617e-04 9.99990657e-01 -2.76842689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.84589822699996 meters 0.0905973257756512 Centerline is valid? [True, True] Translation: X:255.13, Y:9.44, Z:-2.77 [[ 9.99977960e-01 -4.86413039e-03 -4.51883186e-03 2.55126612e+02] [ 4.86575786e-03 9.99988101e-01 3.49228282e-04 9.43761795e+00] [ 4.51707940e-03 -3.71208126e-04 9.99989729e-01 -2.76930599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.875898227 meters 0.08897346256793424 Centerline is valid? [True, True] Translation: X:255.16, Y:9.44, Z:-2.77 [[ 9.99964163e-01 -7.05066962e-03 -4.68619803e-03 2.55156677e+02] [ 7.05244389e-03 9.99975066e-01 3.62201131e-04 9.43589308e+00] [ 4.68352742e-03 -3.95237300e-04 9.99988954e-01 -2.76922013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.90589822699997 meters 0.09695904932096908 Centerline is valid? [True, True] Translation: X:255.18, Y:9.42, Z:-2.77 [[ 9.99943198e-01 -9.95383260e-03 -3.81078771e-03 2.55184486e+02] [ 9.95502715e-03 9.99950404e-01 2.94623854e-04 9.41953576e+00] [ 3.80766608e-03 -3.32543614e-04 9.99992696e-01 -2.76865351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.935898227 meters 0.08956137882023295 Centerline is valid? [True, True] Translation: X:255.21, Y:9.42, Z:-2.77 [[ 9.99937810e-01 -1.05222604e-02 -3.69561174e-03 2.55214158e+02] [ 1.05233834e-02 9.99944587e-01 2.84555259e-04 9.42483745e+00] [ 3.69241279e-03 -3.23427902e-04 9.99993131e-01 -2.76813637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.96589822699997 meters 0.09212274383339028 Centerline is valid? [True, True] Translation: X:255.24, Y:9.42, Z:-2.77 [[ 9.99936770e-01 -1.03286674e-02 -4.44693697e-03 2.55241159e+02] [ 1.03302924e-02 9.99946582e-01 3.42604016e-04 9.41769022e+00] [ 4.44316078e-03 -3.88520512e-04 9.99990054e-01 -2.76939653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.995898227 meters 0.09170449910141738 Centerline is valid? [True, True] Translation: X:255.27, Y:9.41, Z:-2.77 [[ 9.99940956e-01 -9.43153151e-03 -5.39733696e-03 2.55269675e+02] [ 9.43391150e-03 9.99955413e-01 4.15666510e-04 9.41442115e+00] [ 5.39317594e-03 -4.66559967e-04 9.99985348e-01 -2.77162722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.02589822699997 meters 0.09012528859589262 Centerline is valid? [True, True] Translation: X:255.30, Y:9.41, Z:-2.77 [[ 9.99959674e-01 -6.80017107e-03 -5.86580779e-03 2.55298148e+02] [ 6.80293664e-03 9.99976758e-01 4.51650475e-04 9.41104617e+00] [ 5.86260015e-03 -4.91536980e-04 9.99982694e-01 -2.77296596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05589822699994 meters 0.09090771766041414 Centerline is valid? [True, True] Translation: X:255.33, Y:9.41, Z:-2.77 [[ 9.99976286e-01 -4.91551176e-03 -4.82334153e-03 2.55326788e+02] [ 4.91735929e-03 9.99987841e-01 3.71256727e-04 9.40643512e+00] [ 4.82145797e-03 -3.94966027e-04 9.99988299e-01 -2.77144721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.085898227 meters 0.08681666680545629 Centerline is valid? [True, True] Translation: X:255.36, Y:9.41, Z:-2.77 [[ 9.99987859e-01 -2.60474618e-03 -4.18307697e-03 2.55357550e+02] [ 2.60611592e-03 9.99996552e-01 3.22031927e-04 9.40820175e+00] [ 4.18222373e-03 -3.32929601e-04 9.99991199e-01 -2.76939507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11589822699995 meters 0.08498284211629127 Centerline is valid? [True, True] Translation: X:255.39, Y:9.41, Z:-2.77 [[ 9.99986131e-01 1.64512526e-03 -5.00314387e-03 2.55386748e+02] [-1.64321918e-03 9.99998576e-01 3.85063197e-04 9.40592316e+00] [ 5.00377022e-03 -3.76836594e-04 9.99987410e-01 -2.77197891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.145898227 meters 0.07281935849613572 Centerline is valid? [True, True] Translation: X:255.42, Y:9.42, Z:-2.77 [[ 9.99979120e-01 2.47138028e-03 -5.97089237e-03 2.55416832e+02] [-2.46868247e-03 9.99996847e-01 4.59154288e-04 9.41811096e+00] [ 5.97200829e-03 -4.44404463e-04 9.99982069e-01 -2.77153514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17589822699995 meters 0.08247466535399617 Centerline is valid? [True, True] Translation: X:255.44, Y:9.40, Z:-2.77 [[ 9.99975161e-01 2.73182238e-03 -6.49733988e-03 2.55444068e+02] [-2.72863524e-03 9.99996153e-01 4.99342889e-04 9.40242571e+00] [ 6.49867900e-03 -4.81601615e-04 9.99978767e-01 -2.77422988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.205898227 meters 0.08398105923503915 Centerline is valid? [True, True] Translation: X:255.47, Y:9.40, Z:-2.77 [[ 9.99974114e-01 2.50593080e-03 -6.74477104e-03 2.55473046e+02] [-2.50249316e-03 9.99996735e-01 5.18065755e-04 9.40186330e+00] [ 6.74604725e-03 -5.01173601e-04 9.99977120e-01 -2.77363121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23589822699995 meters 0.0762534513460403 Centerline is valid? [True, True] Translation: X:255.50, Y:9.40, Z:-2.77 [[ 9.99981915e-01 2.50558088e-03 -5.46733770e-03 2.55501963e+02] [-2.50332366e-03 9.99996779e-01 4.19659782e-04 9.40141357e+00] [ 5.46837158e-03 -4.05965677e-04 9.99984966e-01 -2.77141334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.265898227 meters 0.08251355067954994 Centerline is valid? [True, True] Translation: X:255.53, Y:9.39, Z:-2.77 [[ 9.99985306e-01 2.97875049e-03 -4.52939597e-03 2.55529803e+02] [-2.97720680e-03 9.99995508e-01 3.47521148e-04 9.39385890e+00] [ 4.53041080e-03 -3.34031093e-04 9.99989682e-01 -2.77013487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29589822699995 meters 0.07716909665738123 Centerline is valid? [True, True] Translation: X:255.56, Y:9.39, Z:-2.77 [[ 9.99983948e-01 4.20918638e-03 -3.79290491e-03 2.55560002e+02] [-4.20811264e-03 9.99991104e-01 2.91027554e-04 9.39255087e+00] [ 3.79409615e-03 -2.75061911e-04 9.99992765e-01 -2.76905474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.325898227 meters 0.08292542428287755 Centerline is valid? [True, True] Translation: X:255.59, Y:9.38, Z:-2.77 [[ 9.99975769e-01 5.92767836e-03 -3.65029071e-03 2.55588069e+02] [-5.92669569e-03 9.99982398e-01 2.79962439e-04 9.38233510e+00] [ 3.65188598e-03 -2.58321493e-04 9.99993298e-01 -2.76966685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35589822699995 meters 0.07867689365388135 Centerline is valid? [True, True] Translation: X:255.62, Y:9.39, Z:-2.77 [[ 9.99930260e-01 1.10904783e-02 -4.05916599e-03 2.55619016e+02] [-1.10893053e-02 9.99938463e-01 3.11349802e-04 9.38645562e+00] [ 4.06236922e-03 -2.66314757e-04 9.99991713e-01 -2.76975459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.385898227 meters 0.067479116763549 Centerline is valid? [True, True] Translation: X:255.65, Y:9.40, Z:-2.77 [[ 9.99891331e-01 1.42200953e-02 -3.88789770e-03 2.55650202e+02] [-1.42190428e-02 9.99898860e-01 2.98231205e-04 9.39960651e+00] [ 3.89174535e-03 -2.42916613e-04 9.99992398e-01 -2.76800380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41589822699996 meters 0.06440745731254621 Centerline is valid? [True, True] Translation: X:255.68, Y:9.40, Z:-2.77 [[ 9.99848393e-01 1.71611328e-02 -2.94715317e-03 2.55681421e+02] [-1.71605405e-02 9.99852722e-01 2.26129985e-04 9.40195048e+00] [ 2.95059977e-03 -1.75520961e-04 9.99995632e-01 -2.76690593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.445898227 meters 0.06296689773575898 Centerline is valid? [True, True] Translation: X:255.71, Y:9.41, Z:-2.76 [[ 9.99786453e-01 2.06174047e-02 -1.40361340e-03 2.55712291e+02] [-2.06172738e-02 9.99787436e-01 1.07681645e-04 9.40726984e+00] [ 1.40553516e-03 -7.87199686e-05 9.99999009e-01 -2.76415879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47589822699996 meters 0.06205997324207937 Centerline is valid? [True, True] Translation: X:255.74, Y:9.40, Z:-2.76 [[ 9.99777847e-01 2.10625846e-02 -7.90093299e-04 2.55742188e+02] [-2.10625431e-02 9.99778158e-01 6.08676981e-05 9.40475681e+00] [ 7.91200055e-04 -4.42128020e-05 9.99999686e-01 -2.76457538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.505898227 meters 0.06236522538297446 Centerline is valid? [True, True] Translation: X:255.77, Y:9.40, Z:-2.76 [[ 9.99779568e-01 2.09815453e-02 -7.68422240e-04 2.55773835e+02] [-2.09815060e-02 9.99779862e-01 5.90914123e-05 9.40371312e+00] [ 7.69492910e-04 -4.29557308e-05 9.99999703e-01 -2.76471578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53589822699996 meters 0.0639378622122258 Centerline is valid? [True, True] Translation: X:255.80, Y:9.40, Z:-2.77 [[ 9.99818437e-01 1.89918010e-02 -1.55066387e-03 2.55804679e+02] [-1.89916389e-02 9.99819635e-01 1.19149842e-04 9.40228768e+00] [ 1.55264706e-03 -8.96785605e-05 9.99998791e-01 -2.76583655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.565898227 meters 0.06681468967843533 Centerline is valid? [True, True] Translation: X:255.83, Y:9.40, Z:-2.77 [[ 9.99845109e-01 1.75199169e-02 -1.67619200e-03 2.55834686e+02] [-1.75197255e-02 9.99846510e-01 1.28810933e-04 9.39813281e+00] [ 1.67819148e-03 -9.94245577e-05 9.99998587e-01 -2.76624517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59589822699996 meters 0.06987883764400694 Centerline is valid? [True, True] Translation: X:255.87, Y:9.40, Z:-2.76 [[ 9.99870728e-01 1.59722920e-02 -1.84750521e-03 2.55865573e+02] [-1.59720568e-02 9.99872428e-01 1.41992966e-04 9.39748497e+00] [ 1.84953747e-03 -1.12466152e-04 9.99998283e-01 -2.76497986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.625898227 meters 0.07157189087568226 Centerline is valid? [True, True] Translation: X:255.90, Y:9.39, Z:-2.76 [[ 9.99881778e-01 1.53337994e-02 -1.14244236e-03 2.55895183e+02] [-1.53337091e-02 9.99882428e-01 8.77810759e-05 9.39314608e+00] [ 1.14365406e-03 -7.02528193e-05 9.99999344e-01 -2.76491586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65589822699997 meters 0.06449486542407835 Centerline is valid? [True, True] Translation: X:255.93, Y:9.41, Z:-2.76 [[ 9.99876096e-01 1.56692930e-02 -1.50500380e-03 2.55926559e+02] [-1.56691366e-02 9.99877225e-01 1.15638965e-04 9.40647837e+00] [ 1.50663100e-03 -9.20425270e-05 9.99998861e-01 -2.76490953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.685898227 meters 0.06707478010928095 Centerline is valid? [True, True] Translation: X:255.96, Y:9.40, Z:-2.77 [[ 9.99869649e-01 1.59547393e-02 -2.47621069e-03 2.55956382e+02] [-1.59543167e-02 9.99872704e-01 1.90329662e-04 9.40426808e+00] [ 2.47893214e-03 -1.50798603e-04 9.99996916e-01 -2.76734149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71589822699997 meters 0.05995780194894793 Centerline is valid? [True, True] Translation: X:255.99, Y:9.41, Z:-2.77 [[ 9.99868411e-01 1.58797680e-02 -3.31564456e-03 2.55987943e+02] [-1.58790100e-02 9.99873888e-01 2.54800228e-04 9.41465769e+00] [ 3.31927258e-03 -2.02117546e-04 9.99994471e-01 -2.76798105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.745898227 meters 0.07282834429487699 Centerline is valid? [True, True] Translation: X:256.02, Y:9.40, Z:-2.77 [[ 9.99870900e-01 1.56316878e-02 -3.71933041e-03 2.56016539e+02] [-1.56307327e-02 9.99877792e-01 2.85738518e-04 9.39935562e+00] [ 3.72334245e-03 -2.27565770e-04 9.99993042e-01 -2.77101365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.77589822699997 meters 0.06327435317902151 Centerline is valid? [True, True] Translation: X:256.05, Y:9.41, Z:-2.77 [[ 9.99883562e-01 1.48970777e-02 -3.30764254e-03 2.56048225e+02] [-1.48963182e-02 9.99889011e-01 2.54145678e-04 9.41486897e+00] [ 3.31106146e-03 -2.04844390e-04 9.99994497e-01 -2.76922393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.80589822699994 meters 0.06798817497646939 Centerline is valid? [True, True] Translation: X:256.08, Y:9.41, Z:-2.77 [[ 9.99900436e-01 1.36134250e-02 -3.71384486e-03 2.56077438e+02] [-1.36124590e-02 9.99907305e-01 2.85274931e-04 9.41236840e+00] [ 3.71738417e-03 -2.34691967e-04 9.99993063e-01 -2.76954083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.835898227 meters 0.06979678592751891 Centerline is valid? [True, True] Translation: X:256.11, Y:9.41, Z:-2.77 [[ 9.99924835e-01 1.16167756e-02 -3.92106202e-03 2.56105957e+02] [-1.16156833e-02 9.99932490e-01 3.01222617e-04 9.40720210e+00] [ 3.92429655e-03 -2.55654161e-04 9.99992267e-01 -2.77074236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.86589822699995 meters 0.07289779336464695 Centerline is valid? [True, True] Translation: X:256.14, Y:9.41, Z:-2.77 [[ 9.99967273e-01 6.93496364e-03 -4.16650235e-03 2.56136334e+02] [-6.93368997e-03 9.99975910e-01 3.20061893e-04 9.40513529e+00] [ 4.16862160e-03 -2.91162183e-04 9.99991269e-01 -2.77049570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.895898227 meters 0.07563488234494387 Centerline is valid? [True, True] Translation: X:256.17, Y:9.40, Z:-2.77 [[ 9.99980466e-01 4.94628851e-03 -3.82116423e-03 2.56165035e+02] [-4.94520337e-03 9.99987729e-01 2.93378179e-04 9.40036582e+00] [ 3.82256847e-03 -2.74476014e-04 9.99992656e-01 -2.77046793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.92589822699995 meters 0.0782352430526191 Centerline is valid? [True, True] Translation: X:256.19, Y:9.39, Z:-2.77 [[ 9.99990082e-01 3.05270285e-03 -3.24305878e-03 2.56194907e+02] [-3.05191134e-03 9.99995312e-01 2.48983176e-04 9.39464822e+00] [ 3.24380365e-03 -2.39083179e-04 9.99994710e-01 -2.76946985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.955898227 meters 0.08952108296384513 Centerline is valid? [True, True] Translation: X:256.22, Y:9.38, Z:-2.77 [[ 9.99996320e-01 9.72730277e-04 -2.53242477e-03 2.56222836e+02] [-9.72241229e-04 9.99999508e-01 1.94338279e-04 9.37735903e+00] [ 2.53261256e-03 -1.91875436e-04 9.99996775e-01 -2.76972903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.98589822699995 meters 0.09256447388048422 Centerline is valid? [True, True] Translation: X:256.25, Y:9.37, Z:-2.77 [[ 9.99991406e-01 -2.54778512e-03 -3.27073076e-03 2.56252807e+02] [ 2.54861991e-03 9.99996721e-01 2.51088508e-04 9.36947061e+00] [ 3.27008032e-03 -2.59422199e-04 9.99994620e-01 -2.77066211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.015898227 meters 0.08543953133385833 Centerline is valid? [True, True] Translation: X:256.28, Y:9.38, Z:-2.77 [[ 9.99983243e-01 -3.88388110e-03 -4.29296992e-03 2.56283372e+02] [ 3.88533109e-03 9.99992398e-01 3.29472299e-04 9.37660895e+00] [ 4.29165766e-03 -3.46146388e-04 9.99990731e-01 -2.77157616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.04589822699995 meters 0.08549973890405066 Centerline is valid? [True, True] Translation: X:256.31, Y:9.37, Z:-2.77 [[ 9.99974052e-01 -5.13724188e-03 -5.05008702e-03 2.56313569e+02] [ 5.13926453e-03 9.99986719e-01 3.87622995e-04 9.37064072e+00] [ 5.04802864e-03 -4.13566670e-04 9.99987173e-01 -2.77293713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.075898227 meters 0.08760596739338294 Centerline is valid? [True, True] Translation: X:256.34, Y:9.36, Z:-2.77 [[ 9.99970136e-01 -5.89648507e-03 -4.99583333e-03 2.56341434e+02] [ 5.89847203e-03 9.99982530e-01 3.83083866e-04 9.36332000e+00] [ 4.99348721e-03 -4.12540209e-04 9.99987447e-01 -2.77309538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.10589822699995 meters 0.08746870205134802 Centerline is valid? [True, True] Translation: X:256.37, Y:9.36, Z:-2.77 [[ 9.99973893e-01 -6.52387486e-03 -3.10678061e-03 2.56369220e+02] [ 6.52464544e-03 9.99978686e-01 2.37960074e-04 9.35553644e+00] [ 3.10516197e-03 -2.58224504e-04 9.99995146e-01 -2.76944183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.135898227 meters 0.09075517715635616 Centerline is valid? [True, True] Translation: X:256.40, Y:9.35, Z:-2.77 [[ 9.99977068e-01 -6.32258048e-03 -2.42661156e-03 2.56396355e+02] [ 6.32304816e-03 9.99979992e-01 1.85105461e-04 9.34667653e+00] [ 2.42539267e-03 -2.00444798e-04 9.99997039e-01 -2.76780158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.16589822699996 meters 0.08374696964067699 Centerline is valid? [True, True] Translation: X:256.43, Y:9.35, Z:-2.77 [[ 9.99990515e-01 -3.26175104e-03 -2.88635163e-03 2.56426195e+02] [ 3.26240146e-03 9.99994654e-01 2.20663464e-04 9.34680915e+00] [ 2.88561645e-03 -2.30077809e-04 9.99995810e-01 -2.76847169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.195898227 meters 0.08395956432914994 Centerline is valid? [True, True] Translation: X:256.46, Y:9.34, Z:-2.77 [[ 9.99994943e-01 -1.29039371e-04 -3.17751942e-03 2.56455143e+02] [ 1.29811785e-04 9.99999962e-01 2.42882258e-04 9.34210444e+00] [ 3.17748796e-03 -2.43293509e-04 9.99994922e-01 -2.76919077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.22589822699996 meters 0.07759171250147971 Centerline is valid? [True, True] Translation: X:256.49, Y:9.35, Z:-2.77 [[ 9.99989275e-01 3.78163108e-03 -2.67361545e-03 2.56485963e+02] [-3.78109820e-03 9.99992831e-01 2.04337622e-04 9.34554309e+00] [ 2.67436901e-03 -1.94226228e-04 9.99996405e-01 -2.76847015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.255898227 meters 0.07470372250538124 Centerline is valid? [True, True] Translation: X:256.52, Y:9.35, Z:-2.77 [[ 9.99967441e-01 7.75636750e-03 -2.22619329e-03 2.56516216e+02] [-7.75600779e-03 9.99969907e-01 1.70168115e-04 9.34513230e+00] [ 2.22744618e-03 -1.52896202e-04 9.99997508e-01 -2.76853982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.28589822699996 meters 0.07149811701410358 Centerline is valid? [True, True] Translation: X:256.55, Y:9.35, Z:-2.77 [[ 9.99924027e-01 1.20125684e-02 -2.76384033e-03 2.56546018e+02] [-1.20120301e-02 9.99927831e-01 2.11261865e-04 9.34621092e+00] [ 2.76617866e-03 -1.78046482e-04 9.99996158e-01 -2.76876293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.315898227 meters 0.06441863087913678 Centerline is valid? [True, True] Translation: X:256.58, Y:9.35, Z:-2.77 [[ 9.99803662e-01 1.96219466e-02 -2.75997852e-03 2.56575932e+02] [-1.96214387e-02 9.99807459e-01 2.10953481e-04 9.35346459e+00] [ 2.76358643e-03 -1.56757313e-04 9.99996169e-01 -2.76942852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.34589822699996 meters 0.06051500189165945 Centerline is valid? [True, True] Translation: X:256.61, Y:9.36, Z:-2.77 [[ 9.99746463e-01 2.23958874e-02 -2.33111757e-03 2.56606515e+02] [-2.23955326e-02 9.99749173e-01 1.78195201e-04 9.35613172e+00] [ 2.33452370e-03 -1.25943402e-04 9.99997267e-01 -2.76884470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.375898227 meters 0.059007945662449934 Centerline is valid? [True, True] Translation: X:256.64, Y:9.36, Z:-2.77 [[ 9.99716392e-01 2.37607330e-02 -1.60117034e-03 2.56637030e+02] [-2.37605674e-02 9.99717670e-01 1.22391759e-04 9.35552583e+00] [ 1.60362640e-03 -8.43123318e-05 9.99998711e-01 -2.76817503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.40589822699997 meters 0.0580132327461508 Centerline is valid? [True, True] Translation: X:256.67, Y:9.35, Z:-2.77 [[ 9.99728813e-01 2.32829213e-02 -4.53736410e-04 2.56667709e+02] [-2.32829079e-02 9.99728916e-01 3.46831289e-05 9.35290452e+00] [ 4.54420934e-04 -2.41094202e-05 9.99999896e-01 -2.76670894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.435898227 meters 0.06415747167892233 Centerline is valid? [True, True] Translation: X:256.70, Y:9.34, Z:-2.77 [[ 9.99753584e-01 2.21916207e-02 -5.50633843e-04 2.56697792e+02] [-2.21916007e-02 9.99753735e-01 4.23988050e-05 9.34188178e+00] [ 5.51439140e-04 -3.01689109e-05 9.99999848e-01 -2.76765064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.46589822699997 meters 0.06415747167892233 Centerline is valid? [True, True] Translation: X:256.73, Y:9.34, Z:-2.77 [[ 9.99753098e-01 2.22135217e-02 -5.50647526e-04 2.56728578e+02] [-2.22135018e-02 9.99753249e-01 4.22199775e-05 9.33948217e+00] [ 5.51449508e-04 -2.99777434e-05 9.99999848e-01 -2.76775298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.495898227 meters 0.06496049127896751 Centerline is valid? [True, True] Translation: X:256.76, Y:9.34, Z:-2.77 [[ 9.99778643e-01 2.10020914e-02 -1.25599668e-03 2.56759865e+02] [-2.10019863e-02 9.99779429e-01 9.67898313e-05 9.33560622e+00] [ 1.25775243e-03 -7.03899812e-05 9.99999207e-01 -2.76885797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.52589822699997 meters 0.06800637209502239 Centerline is valid? [True, True] Translation: X:256.79, Y:9.33, Z:-2.77 [[ 9.99808038e-01 1.95542216e-02 -1.23277389e-03 2.56789218e+02] [-1.95541195e-02 9.99808795e-01 9.47804898e-05 9.32942551e+00] [ 1.23439153e-03 -7.06564876e-05 9.99999236e-01 -2.76961610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55589822699994 meters 0.0709242079396963 Centerline is valid? [True, True] Translation: X:256.82, Y:9.32, Z:-2.77 [[ 9.99857197e-01 1.68968449e-02 -2.85121605e-04 2.56819753e+02] [-1.68968394e-02 9.99857238e-01 2.18886436e-05 9.32272695e+00] [ 2.85450749e-04 -1.70678639e-05 9.99999959e-01 -2.76765935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.585898227 meters 0.07355750871030153 Centerline is valid? [True, True] Translation: X:256.85, Y:9.32, Z:-2.77 [[ 9.99870664e-01 1.60761736e-02 -4.59936192e-04 2.56850344e+02] [-1.60761588e-02 9.99870770e-01 3.58278090e-05 9.31676782e+00] [ 4.60452728e-04 -2.84291679e-05 9.99999894e-01 -2.76793125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61589822699995 meters 0.060807547459143546 Centerline is valid? [True, True] Translation: X:256.88, Y:9.33, Z:-2.77 [[ 9.99879342e-01 1.54528504e-02 -1.58425852e-03 2.56882812e+02] [-1.54526765e-02 9.99880593e-01 1.21918924e-04 9.33131930e+00] [ 1.58595334e-03 -9.74231793e-05 9.99998738e-01 -2.76846576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.645898227 meters 0.07411548090738623 Centerline is valid? [True, True] Translation: X:256.91, Y:9.31, Z:-2.77 [[ 9.99873808e-01 1.53009890e-02 -4.27167406e-03 2.56911331e+02] [-1.52997227e-02 9.99882898e-01 3.28969762e-04 9.31367948e+00] [ 4.27620740e-03 -2.63572821e-04 9.99990822e-01 -2.77487384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67589822699995 meters 0.07521143216668119 Centerline is valid? [True, True] Translation: X:256.94, Y:9.31, Z:-2.77 [[ 9.99880753e-01 1.48521730e-02 -4.22992997e-03 2.56941189e+02] [-1.48509285e-02 9.99889666e-01 3.25478860e-04 9.31022665e+00] [ 4.23429733e-03 -2.62621660e-04 9.99991001e-01 -2.77462184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.705898227 meters 0.0673016150831658 Centerline is valid? [True, True] Translation: X:256.97, Y:9.32, Z:-2.77 [[ 9.99893559e-01 1.43202825e-02 -2.79291810e-03 2.56971959e+02] [-1.43197380e-02 9.99897444e-01 2.14858899e-04 9.31843486e+00] [ 2.79570851e-03 -1.74842173e-04 9.99996077e-01 -2.77112043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73589822699995 meters 0.0825376220799856 Centerline is valid? [True, True] Translation: X:257.00, Y:9.30, Z:-2.77 [[ 9.99917259e-01 1.28248925e-02 -9.98853660e-04 2.57000991e+02] [-1.28248218e-02 9.99917756e-01 7.70981001e-05 9.30410735e+00] [ 9.99760285e-04 -6.42816007e-05 9.99999498e-01 -2.76970511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.765898227 meters 0.0704476473093208 Centerline is valid? [True, True] Translation: X:257.03, Y:9.31, Z:-2.77 [[ 9.99923731e-01 1.21522533e-02 -2.20331556e-03 2.57032763e+02] [-1.21519087e-02 9.99926148e-01 1.69717855e-04 9.31362475e+00] [ 2.20521529e-03 -1.42930421e-04 9.99997558e-01 -2.77096014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79589822699995 meters 0.07413522401680843 Centerline is valid? [True, True] Translation: X:257.06, Y:9.31, Z:-2.77 [[ 9.99931183e-01 1.13235507e-02 -3.06686620e-03 2.57063483e+02] [-1.13228793e-02 9.99935866e-01 2.36183476e-04 9.31194830e+00] [ 3.06934394e-03 -2.01441467e-04 9.99995269e-01 -2.77265468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.825898227 meters 0.0689085036681863 Centerline is valid? [True, True] Translation: X:257.09, Y:9.31, Z:-2.77 [[ 9.99936652e-01 1.07652296e-02 -3.28654925e-03 2.57093606e+02] [-1.07644561e-02 9.99942030e-01 2.52948004e-04 9.31352398e+00] [ 3.28908177e-03 -2.17554065e-04 9.99994567e-01 -2.77302762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85589822699995 meters 0.07295028943213189 Centerline is valid? [True, True] Translation: X:257.12, Y:9.31, Z:-2.77 [[ 9.99932459e-01 1.07978883e-02 -4.29917731e-03 2.57122983e+02] [-1.07965650e-02 9.99941661e-01 3.30897477e-04 9.31073835e+00] [ 4.30249949e-03 -2.84458780e-04 9.99990704e-01 -2.77309217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.885898227 meters 0.07176064058268077 Centerline is valid? [True, True] Translation: X:257.15, Y:9.31, Z:-2.77 [[ 9.99923111e-01 1.14370688e-02 -4.79227072e-03 2.57152592e+02] [-1.14354325e-02 9.99934545e-01 3.68708121e-04 9.31275087e+00] [ 4.79617398e-03 -3.13878083e-04 9.99988449e-01 -2.77375623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91589822699996 meters 0.07699178625592727 Centerline is valid? [True, True] Translation: X:257.18, Y:9.31, Z:-2.78 [[ 9.99911037e-01 1.22342430e-02 -5.31416964e-03 2.57180993e+02] [-1.22322432e-02 9.99925100e-01 4.08651471e-04 9.30647730e+00] [ 5.31877115e-03 -3.43610900e-04 9.99985796e-01 -2.77549336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.945898227 meters 0.08279227497305021 Centerline is valid? [True, True] Translation: X:257.21, Y:9.30, Z:-2.77 [[ 9.99899989e-01 1.33765365e-02 -4.59130250e-03 2.57209883e+02] [-1.33750561e-02 9.99910488e-01 3.52989523e-04 9.30149851e+00] [ 4.59561330e-03 -2.91545292e-04 9.99989398e-01 -2.77486356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97589822699996 meters 0.06996937328491731 Centerline is valid? [True, True] Translation: X:257.24, Y:9.32, Z:-2.77 [[ 9.99895553e-01 1.38312907e-02 -4.19278988e-03 2.57240528e+02] [-1.38300608e-02 9.99904308e-01 3.22179772e-04 9.31839827e+00] [ 4.19684482e-03 -2.64159582e-04 9.99991158e-01 -2.77187194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.005898227 meters 0.07165879347214188 Centerline is valid? [True, True] Translation: X:257.27, Y:9.32, Z:-2.77 [[ 9.99893676e-01 1.42837714e-02 -2.93421483e-03 2.57268980e+02] [-1.42831711e-02 9.99897965e-01 2.25445878e-04 9.31747483e+00] [ 2.93713566e-03 -1.83512015e-04 9.99995670e-01 -2.76990581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03589822699996 meters 0.07507940216992141 Centerline is valid? [True, True] Translation: X:257.30, Y:9.32, Z:-2.77 [[ 9.99910904e-01 1.32501434e-02 -1.61791768e-03 2.57298359e+02] [-1.32499595e-02 9.99912208e-01 1.24284100e-04 9.31626934e+00] [ 1.61942242e-03 -1.02835683e-04 9.99998683e-01 -2.76820529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.065898227 meters 0.07710293058051144 Centerline is valid? [True, True] Translation: X:257.33, Y:9.31, Z:-2.77 [[ 9.99930794e-01 1.16400271e-02 -1.70818133e-03 2.57328766e+02] [-1.16398198e-02 9.99932246e-01 1.31256353e-04 9.31353750e+00] [ 1.70959342e-03 -1.11364346e-04 9.99998532e-01 -2.76840510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09589822699996 meters 0.06644752898857016 Centerline is valid? [True, True] Translation: X:257.36, Y:9.33, Z:-2.77 [[ 9.99946318e-01 1.01050938e-02 -2.29082104e-03 2.57360278e+02] [-1.01047169e-02 9.99948931e-01 1.76026286e-04 9.32642591e+00] [ 2.29248281e-03 -1.52868739e-04 9.99997361e-01 -2.76790645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.125898227 meters 0.08301509811541914 Centerline is valid? [True, True] Translation: X:257.39, Y:9.31, Z:-2.77 [[ 9.99977451e-01 6.45455387e-03 -1.85358026e-03 2.57388169e+02] [-6.45430099e-03 9.99979161e-01 1.42378247e-04 9.30622638e+00] [ 1.85446062e-03 -1.30411471e-04 9.99998272e-01 -2.76863060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15589822699997 meters 0.07298696586734076 Centerline is valid? [True, True] Translation: X:257.42, Y:9.32, Z:-2.77 [[ 9.99986749e-01 4.82489883e-03 -1.79515547e-03 2.57419613e+02] [-4.82465897e-03 9.99988352e-01 1.37921841e-04 9.31816235e+00] [ 1.79580002e-03 -1.29259001e-04 9.99998379e-01 -2.76748357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.185898227 meters 0.08310109109918559 Centerline is valid? [True, True] Translation: X:257.45, Y:9.30, Z:-2.77 [[ 9.99993821e-01 3.20517631e-03 -1.44392589e-03 2.57448006e+02] [-3.20501953e-03 9.99994858e-01 1.10882178e-04 9.30404785e+00] [ 1.44427387e-03 -1.06253682e-04 9.99998951e-01 -2.76817758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21589822699997 meters 0.08821985640523425 Centerline is valid? [True, True] Translation: X:257.48, Y:9.30, Z:-2.77 [[ 9.99998252e-01 1.34399506e-03 -1.29981859e-03 2.57477360e+02] [-1.34386645e-03 9.99999092e-01 9.98165054e-05 9.29579642e+00] [ 1.29995156e-03 -9.80695484e-05 9.99999150e-01 -2.76887175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.245898227 meters 0.07913185931048614 Centerline is valid? [True, True] Translation: X:257.51, Y:9.31, Z:-2.77 [[ 9.99998327e-01 1.21558599e-03 -1.36683300e-03 2.57508176e+02] [-1.21544369e-03 9.99999256e-01 1.04935062e-04 9.30538402e+00] [ 1.36695954e-03 -1.03273578e-04 9.99999060e-01 -2.76784312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.27589822699997 meters 0.07949747656022553 Centerline is valid? [True, True] Translation: X:257.54, Y:9.30, Z:-2.77 [[ 9.99998043e-01 1.37242686e-03 -1.42498222e-03 2.57537520e+02] [-1.37227245e-03 9.99999052e-01 1.09331113e-04 9.30312504e+00] [ 1.42513092e-03 -1.07375435e-04 9.99998979e-01 -2.76743198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.30589822699994 meters 0.08489393515787913 Centerline is valid? [True, True] Translation: X:257.57, Y:9.30, Z:-2.77 [[ 9.99995947e-01 2.78523061e-03 -5.89793417e-04 2.57566734e+02] [-2.78520442e-03 9.99996120e-01 4.52252740e-05 9.29592710e+00] [ 5.89917092e-04 -4.35823955e-05 9.99999825e-01 -2.76626424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.335898227 meters 0.0824205477692349 Centerline is valid? [True, True] Translation: X:257.60, Y:9.30, Z:-2.76 [[ 9.99995509e-01 2.98012706e-03 3.16223989e-04 2.57597139e+02] [-2.98011950e-03 9.99995559e-01 -2.43729244e-05 9.29812871e+00] [-3.16295219e-04 2.34304297e-05 9.99999950e-01 -2.76499618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.36589822699995 meters 0.08564471668096098 Centerline is valid? [True, True] Translation: X:257.63, Y:9.29, Z:-2.76 [[ 9.99995397e-01 2.90467175e-03 8.76588188e-04 2.57626809e+02] [-2.90461392e-03 9.99995779e-01 -6.72334719e-05 9.29271023e+00] [-8.76779779e-04 6.46870122e-05 9.99999614e-01 -2.76420755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.395898227 meters 0.08144227458064075 Centerline is valid? [True, True] Translation: X:257.66, Y:9.30, Z:-2.76 [[ 9.99996030e-01 2.68240385e-03 8.62507139e-04 2.57658151e+02] [-2.68234776e-03 9.99996400e-01 -6.61890525e-05 9.30075310e+00] [-8.62681580e-04 6.38752456e-05 9.99999626e-01 -2.76430047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.42589822699995 meters 0.0799335262781414 Centerline is valid? [True, True] Translation: X:257.69, Y:9.30, Z:-2.77 [[ 9.99998876e-01 1.40627039e-03 -5.19213140e-04 2.57688457e+02] [-1.40624989e-03 9.99999010e-01 3.98445696e-05 9.29510542e+00] [ 5.19268658e-04 -3.91143814e-05 9.99999864e-01 -2.76813636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.455898227 meters 0.08222207148192885 Centerline is valid? [True, True] Translation: X:257.72, Y:9.29, Z:-2.77 [[ 9.99999016e-01 1.49892274e-05 -1.40310858e-03 2.57718365e+02] [-1.48382366e-05 9.99999994e-01 1.07622002e-04 9.28895862e+00] [ 1.40311019e-03 -1.07601077e-04 9.99999010e-01 -2.76916180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.48589822699995 meters 0.08492707121144769 Centerline is valid? [True, True] Translation: X:257.75, Y:9.29, Z:-2.77 [[ 9.99997903e-01 -1.38138033e-03 -1.51174286e-03 2.57748564e+02] [ 1.38155726e-03 9.99999039e-01 1.15994583e-04 9.28549836e+00] [ 1.51158118e-03 -1.18082899e-04 9.99998851e-01 -2.77012994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.515898227 meters 0.08475409039386586 Centerline is valid? [True, True] Translation: X:257.78, Y:9.28, Z:-2.77 [[ 9.99995714e-01 -2.29722601e-03 -1.81516521e-03 2.57777934e+02] [ 2.29748257e-03 9.99997351e-01 1.39271281e-04 9.28004610e+00] [ 1.81484047e-03 -1.43440995e-04 9.99998343e-01 -2.77028825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.54589822699995 meters 0.08224952462897793 Centerline is valid? [True, True] Translation: X:257.81, Y:9.28, Z:-2.77 [[ 9.99994938e-01 -2.09457619e-03 -2.39524256e-03 2.57807628e+02] [ 2.09502206e-03 9.99997789e-01 1.83653083e-04 9.28109650e+00] [ 2.39485259e-03 -1.88670239e-04 9.99997115e-01 -2.77055169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.575898227 meters 0.08479598207433545 Centerline is valid? [True, True] Translation: X:257.84, Y:9.28, Z:-2.77 [[ 9.99993454e-01 -1.74110605e-03 -3.17179578e-03 2.57835889e+02] [ 1.74188574e-03 9.99998453e-01 2.43074925e-04 9.27730141e+00] [ 3.17136766e-03 -2.48598239e-04 9.99994940e-01 -2.77269127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.60589822699995 meters 0.07537991064530061 Centerline is valid? [True, True] Translation: X:257.87, Y:9.29, Z:-2.77 [[ 9.99990146e-01 -1.27671136e-03 -4.25185559e-03 2.57866416e+02] [ 1.27810818e-03 9.99999130e-01 3.25818447e-04 9.28674471e+00] [ 4.25143591e-03 -3.31249568e-04 9.99990908e-01 -2.77302542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.635898227 meters 0.08724276448423057 Centerline is valid? [True, True] Translation: X:257.89, Y:9.27, Z:-2.77 [[ 9.99994011e-01 -1.39685728e-03 -3.16665294e-03 2.57893726e+02] [ 1.39762947e-03 9.99998994e-01 2.41652546e-04 9.27285337e+00] [ 3.16631221e-03 -2.46076906e-04 9.99994957e-01 -2.77336630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.66589822699996 meters 0.08438657890474548 Centerline is valid? [True, True] Translation: X:257.92, Y:9.28, Z:-2.77 [[ 9.99995394e-01 -1.44802306e-03 -2.66760891e-03 2.57924096e+02] [ 1.44857209e-03 9.99998930e-01 2.03894064e-04 9.27606610e+00] [ 2.66731081e-03 -2.07757348e-04 9.99996421e-01 -2.77219609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.695898227 meters 0.08800302121530926 Centerline is valid? [True, True] Translation: X:257.95, Y:9.27, Z:-2.77 [[ 9.99994546e-01 -1.49388943e-03 -2.94559906e-03 2.57952670e+02] [ 1.49455868e-03 9.99998858e-01 2.25014670e-04 9.27121333e+00] [ 2.94525955e-03 -2.29415813e-04 9.99995636e-01 -2.77306198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.72589822699996 meters 0.08103366132815262 Centerline is valid? [True, True] Translation: X:257.98, Y:9.28, Z:-2.78 [[ 9.99986286e-01 -1.76946568e-03 -4.92913755e-03 2.57982627e+02] [ 1.77134260e-03 9.99998360e-01 3.76440613e-04 9.28133432e+00] [ 4.92846337e-03 -3.85166642e-04 9.99987781e-01 -2.77692183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.755898227 meters 0.08158792335831223 Centerline is valid? [True, True] Translation: X:258.01, Y:9.28, Z:-2.78 [[ 9.99986135e-01 -2.36523796e-03 -4.70486166e-03 2.58010809e+02] [ 2.36695288e-03 9.99997134e-01 3.58965129e-04 9.27947569e+00] [ 4.70399914e-03 -3.70096338e-04 9.99988868e-01 -2.77723166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.78589822699996 meters 0.08009172546948223 Centerline is valid? [True, True] Translation: X:258.04, Y:9.28, Z:-2.78 [[ 9.99986863e-01 -3.14880968e-03 -4.04466433e-03 2.58039818e+02] [ 3.15007934e-03 9.99994991e-01 3.07575616e-04 9.27982558e+00] [ 4.04367558e-03 -3.20312589e-04 9.99991773e-01 -2.77592212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.815898227 meters 0.07905742161201589 Centerline is valid? [True, True] Translation: X:258.07, Y:9.28, Z:-2.77 [[ 9.99986491e-01 -4.49050230e-03 -2.61771871e-03 2.58069081e+02] [ 4.49103904e-03 9.99989895e-01 1.99200840e-04 9.27842466e+00] [ 2.61679775e-03 -2.10954426e-04 9.99996554e-01 -2.77327044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.84589822699996 meters 0.08867598111234609 Centerline is valid? [True, True] Translation: X:258.10, Y:9.26, Z:-2.77 [[ 9.99983193e-01 -5.08676989e-03 -2.78188470e-03 2.58096577e+02] [ 5.08737812e-03 9.99987037e-01 2.11604831e-04 9.26338811e+00] [ 2.78077225e-03 -2.25753774e-04 9.99996108e-01 -2.77455476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.875898227 meters 0.085170514978853 Centerline is valid? [True, True] Translation: X:258.13, Y:9.27, Z:-2.77 [[ 9.99976870e-01 -5.68560627e-03 -3.73273602e-03 2.58126472e+02] [ 5.68670546e-03 9.99983790e-01 2.83926928e-04 9.26542277e+00] [ 3.73106121e-03 -3.05147331e-04 9.99992993e-01 -2.77493428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.90589822699997 meters 0.09405281429088017 Centerline is valid? [True, True] Translation: X:258.15, Y:9.25, Z:-2.78 [[ 9.99969020e-01 -6.32135166e-03 -4.69035384e-03 2.58153800e+02] [ 6.32308869e-03 9.99979946e-01 3.55605624e-04 9.25308874e+00] [ 4.68801188e-03 -3.85252130e-04 9.99988937e-01 -2.77693779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.935898227 meters 0.08481228717162613 Centerline is valid? [True, True] Translation: X:258.18, Y:9.26, Z:-2.78 [[ 9.99970386e-01 -6.32160633e-03 -4.38906341e-03 2.58183743e+02] [ 6.32312410e-03 9.99979954e-01 3.32016430e-04 9.26309167e+00] [ 4.38687655e-03 -3.59759190e-04 9.99990313e-01 -2.77536198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.96589822699997 meters 0.08553961743475778 Centerline is valid? [True, True] Translation: X:258.21, Y:9.26, Z:-2.77 [[ 9.99972555e-01 -6.57667074e-03 -3.41138180e-03 2.58211197e+02] [ 6.57758921e-03 9.99978334e-01 2.58088138e-04 9.25971029e+00] [ 3.40961053e-03 -2.80519723e-04 9.99994148e-01 -2.77487589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.995898227 meters 0.08905197850610302 Centerline is valid? [True, True] Translation: X:258.24, Y:9.25, Z:-2.77 [[ 9.99965953e-01 -8.18527932e-03 -1.04591631e-03 2.58240231e+02] [ 8.18536654e-03 9.99966496e-01 7.91376686e-05 9.25232753e+00] [ 1.04523350e-03 -8.76961826e-05 9.99999450e-01 -2.77197450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.02589822699997 meters 0.08837281679379312 Centerline is valid? [True, True] Translation: X:258.27, Y:9.25, Z:-2.77 [[ 9.99960697e-01 -8.86200252e-03 -2.61559215e-04 2.58270091e+02] [ 8.86200798e-03 9.99960731e-01 1.97198430e-05 9.25167827e+00] [ 2.61374186e-04 -2.20370078e-05 9.99999966e-01 -2.77057475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05589822699994 meters 0.08758125865502517 Centerline is valid? [True, True] Translation: X:258.30, Y:9.25, Z:-2.77 [[ 9.99956219e-01 -9.35081518e-03 -3.48474069e-04 2.58300071e+02] [ 9.35082492e-03 9.99956280e-01 2.63301091e-05 9.25108661e+00] [ 3.48212626e-04 -2.95874764e-05 9.99999939e-01 -2.77146605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.085898227 meters 0.0865406987312825 Centerline is valid? [True, True] Translation: X:258.33, Y:9.25, Z:-2.77 [[ 9.99948427e-01 -1.00104896e-02 -1.71290628e-03 2.58329750e+02] [ 1.00107261e-02 9.99949883e-01 1.29549957e-04 9.24980335e+00] [ 1.71152357e-03 -1.46690711e-04 9.99998525e-01 -2.77364868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11589822699995 meters 0.09432551982350512 Centerline is valid? [True, True] Translation: X:258.36, Y:9.23, Z:-2.78 [[ 9.99912672e-01 -1.27514118e-02 -3.47123105e-03 2.58358036e+02] [ 1.27523994e-02 9.99918650e-01 2.62540171e-04 9.23381213e+00] [ 3.46760091e-03 -3.06783769e-04 9.99993941e-01 -2.77756956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.145898227 meters 0.095762654943546 Centerline is valid? [True, True] Translation: X:258.39, Y:9.23, Z:-2.78 [[ 9.99884442e-01 -1.48216676e-02 -3.37956528e-03 2.58388167e+02] [ 1.48226156e-02 9.99890106e-01 2.55636398e-04 9.22671720e+00] [ 3.37540493e-03 -3.05700854e-04 9.99994257e-01 -2.77722881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17589822699995 meters 0.09927257388730949 Centerline is valid? [True, True] Translation: X:258.42, Y:9.22, Z:-2.78 [[ 9.99845609e-01 -1.73916726e-02 -2.50737803e-03 2.58416656e+02] [ 1.73922021e-02 9.99848726e-01 1.89538983e-04 9.21654440e+00] [ 2.50370233e-03 -2.33118545e-04 9.99996839e-01 -2.77648443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.205898227 meters 0.0967909896689588 Centerline is valid? [True, True] Translation: X:258.45, Y:9.21, Z:-2.77 [[ 9.99762632e-01 -2.17388365e-02 -1.45013397e-03 2.58446339e+02] [ 2.17390182e-02 9.99763674e-01 1.09642911e-04 9.20866424e+00] [ 1.44740776e-03 -1.41141374e-04 9.99998943e-01 -2.77479209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23589822699995 meters 0.10954628200347738 Centerline is valid? [True, False] Translation: X:258.45, Y:9.21, Z:-2.78 [[ 9.99867449e-01 -1.57769668e-02 4.02147658e-03 2.58445222e+02] [ 1.58255631e-02 9.99798454e-01 -1.23532794e-02 9.20721096e+00] [-3.82576879e-03 1.24152841e-02 9.99915609e-01 -2.77818026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.265898227 meters 0.11154017071867656 Centerline is valid? [False, False] Translation: X:258.44, Y:9.20, Z:-2.78 [[ 9.99969291e-01 -6.59674961e-03 4.23092803e-03 2.58444510e+02] [ 6.60412851e-03 9.99976692e-01 -1.73244550e-03 9.19890769e+00] [-4.21940090e-03 1.76033389e-03 9.99989549e-01 -2.77869579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29589822699995 meters 0.1031413879128184 Centerline is valid? [False, False] Translation: X:258.44, Y:9.20, Z:-2.77 [[ 9.99976745e-01 -4.35321828e-03 5.24973990e-03 2.58438064e+02] [ 4.34982254e-03 9.99990323e-01 6.58083127e-04 9.19644028e+00] [-5.25255387e-03 -6.35232387e-04 9.99986003e-01 -2.77411268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.325898227 meters 0.09911846049292432 Centerline is valid? [False, True] Translation: X:258.44, Y:9.20, Z:-2.77 [[ 9.99977824e-01 -4.38165810e-03 5.01518178e-03 2.58438845e+02] [ 4.37886174e-03 9.99990251e-01 5.68422959e-04 9.19685643e+00] [-5.01762352e-03 -5.46449566e-04 9.99987262e-01 -2.77431748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35589822699995 meters 0.09911846049292432 Centerline is valid? [True, True] Translation: X:258.47, Y:9.19, Z:-2.77 [[ 9.99978502e-01 -4.32562925e-03 4.92791816e-03 2.58470555e+02] [ 4.32780190e-03 9.99990542e-01 -4.30309134e-04 9.19445704e+00] [-4.92601020e-03 4.51626936e-04 9.99987765e-01 -2.77476636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.385898227 meters 0.09634693118140285 Centerline is valid? [True, True] Translation: X:258.50, Y:9.19, Z:-2.78 [[ 9.99988308e-01 -1.42004532e-03 4.62254106e-03 2.58501412e+02] [ 1.42192816e-03 9.99998907e-01 -4.04056035e-04 9.19449352e+00] [-4.62196223e-03 4.10624232e-04 9.99989234e-01 -2.77599040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41589822699996 meters 0.08863497708601559 Centerline is valid? [True, True] Translation: X:258.53, Y:9.20, Z:-2.78 [[ 9.99989824e-01 1.40168512e-03 4.28807096e-03 2.58532662e+02] [-1.40009014e-03 9.99998950e-01 -3.74934721e-04 9.20126141e+00] [-4.28859200e-03 3.68927219e-04 9.99990736e-01 -2.77576227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.445898227 meters 0.08508228457591435 Centerline is valid? [True, True] Translation: X:258.56, Y:9.21, Z:-2.77 [[ 9.99959290e-01 6.40659198e-03 6.35400538e-03 2.58563229e+02] [-6.40319025e-03 9.99979345e-01 -5.55565979e-04 9.20588764e+00] [-6.35743343e-03 5.14857457e-04 9.99979659e-01 -2.77207354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47589822699996 meters 0.08910798194420025 Centerline is valid? [True, True] Translation: X:258.59, Y:9.20, Z:-2.77 [[ 9.99937599e-01 8.77846798e-03 6.90921769e-03 2.58591928e+02] [-8.77450218e-03 9.99961321e-01 -6.04091485e-04 9.20015148e+00] [-6.91425344e-03 5.43428843e-04 9.99975949e-01 -2.77164095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.505898227 meters 0.08309724380363448 Centerline is valid? [True, True] Translation: X:258.62, Y:9.21, Z:-2.77 [[ 9.99920813e-01 1.07391565e-02 6.56031782e-03 2.58623158e+02] [-1.07356236e-02 9.99942207e-01 -5.73511164e-04 9.20721045e+00] [-6.56609771e-03 5.03036647e-04 9.99978316e-01 -2.77333401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53589822699996 meters 0.08791688608628602 Centerline is valid? [True, True] Translation: X:258.65, Y:9.20, Z:-2.77 [[ 9.99932590e-01 9.73181731e-03 6.33299132e-03 2.58652750e+02] [-9.72850413e-03 9.99952524e-01 -5.53756913e-04 9.19888801e+00] [-6.33807971e-03 4.92109052e-04 9.99979793e-01 -2.77496690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.565898227 meters 0.08440638252083756 Centerline is valid? [True, True] Translation: X:258.68, Y:9.20, Z:-2.78 [[ 9.99949790e-01 7.62881082e-03 6.49758344e-03 2.58683614e+02] [-7.62527828e-03 9.99970766e-01 -5.68269405e-04 9.20081349e+00] [-6.50172870e-03 5.18694990e-04 9.99978729e-01 -2.77503326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59589822699996 meters 0.09578528422074764 Centerline is valid? [True, True] Translation: X:258.71, Y:9.18, Z:-2.78 [[ 9.99983797e-01 2.18553220e-03 5.25642696e-03 2.58711249e+02] [-2.18314606e-03 9.99997511e-01 -4.59642289e-04 9.18110534e+00] [-5.25741844e-03 4.48159294e-04 9.99986079e-01 -2.77864131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.625898227 meters 0.0996434468173896 Centerline is valid? [True, True] Translation: X:258.74, Y:9.17, Z:-2.78 [[ 9.99990555e-01 -7.41664882e-06 4.34615211e-03 2.58740323e+02] [ 9.06940247e-06 9.99999928e-01 -3.80260166e-04 9.17120665e+00] [-4.34614898e-03 3.80295992e-04 9.99990483e-01 -2.78063667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65589822699997 meters 0.10538328001563824 Centerline is valid? [True, False] Translation: X:258.74, Y:9.17, Z:-2.78 [[ 9.99990482e-01 1.93934089e-04 4.35881780e-03 2.58740314e+02] [-1.94480137e-04 9.99999973e-01 1.24850785e-04 9.16894421e+00] [-4.35879347e-03 -1.25697300e-04 9.99990493e-01 -2.78075718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.685898227 meters 0.09857532919129694 Centerline is valid? [False, True] Translation: X:258.74, Y:9.17, Z:-2.78 [[ 9.99990534e-01 4.45944823e-04 4.32815396e-03 2.58740338e+02] [-4.49078335e-04 9.99999638e-01 7.23038631e-04 9.16622819e+00] [-4.32782995e-03 -7.24975467e-04 9.99990372e-01 -2.78065181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71589822699997 meters 0.09134157669887141 Centerline is valid? [True, True] Translation: X:258.77, Y:9.17, Z:-2.78 [[ 9.99984644e-01 2.13752722e-03 5.11290359e-03 2.58772199e+02] [-2.13522092e-03 9.99997616e-01 -4.56490109e-04 9.17173584e+00] [-5.11386716e-03 4.45565920e-04 9.99986825e-01 -2.77900521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.745898227 meters 0.0958135502817783 Centerline is valid? [True, True] Translation: X:258.80, Y:9.16, Z:-2.78 [[ 9.99975173e-01 4.61543047e-03 5.32455322e-03 2.58801188e+02] [-4.61296315e-03 9.99989247e-01 -4.75574006e-04 9.16168054e+00] [-5.32669095e-03 4.51000232e-04 9.99985711e-01 -2.77919851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.77589822699997 meters 0.09204893704882032 Centerline is valid? [True, True] Translation: X:258.83, Y:9.16, Z:-2.78 [[ 9.99959447e-01 7.26708107e-03 5.31920946e-03 2.58831939e+02] [-7.26465666e-03 9.99973499e-01 -4.74963436e-04 9.16235536e+00] [-5.32252010e-03 4.36301945e-04 9.99985740e-01 -2.77949362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.80589822699994 meters 0.08372979767627262 Centerline is valid? [True, True] Translation: X:258.86, Y:9.17, Z:-2.78 [[ 9.99937814e-01 1.00235138e-02 4.88857273e-03 2.58863221e+02] [-1.00214988e-02 9.99949688e-01 -4.36507595e-04 9.16949137e+00] [-4.89270212e-03 3.87489625e-04 9.99987956e-01 -2.77969200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.835898227 meters 0.08226878809235616 Centerline is valid? [True, True] Translation: X:258.89, Y:9.17, Z:-2.78 [[ 9.99877391e-01 1.50575048e-02 4.29824804e-03 2.58893375e+02] [-1.50559937e-02 9.99886578e-01 -3.83710234e-04 9.16905038e+00] [-4.30353824e-03 3.18948793e-04 9.99990689e-01 -2.78079904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.86589822699995 meters 0.07875996170760581 Centerline is valid? [True, True] Translation: X:258.92, Y:9.17, Z:-2.78 [[ 9.99847370e-01 1.69674936e-02 4.16434266e-03 2.58924040e+02] [-1.69660912e-02 9.99855996e-01 -3.71881773e-04 9.17044728e+00] [-4.17005288e-03 3.01172395e-04 9.99991260e-01 -2.78154668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.895898227 meters 0.07475075396773359 Centerline is valid? [True, True] Translation: X:258.96, Y:9.17, Z:-2.78 [[ 9.99830976e-01 1.80093624e-02 3.69888547e-03 2.58955677e+02] [-1.80082637e-02 9.99837784e-01 -3.30133431e-04 9.17261213e+00] [-3.70423095e-03 2.63467125e-04 9.99993105e-01 -2.78236259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.92589822699995 meters 0.08079536853565497 Centerline is valid? [True, True] Translation: X:258.99, Y:9.16, Z:-2.79 [[ 9.99823191e-01 1.85588603e-02 3.02585923e-03 2.58985764e+02] [-1.85581310e-02 9.99827747e-01 -2.68911742e-04 9.16134615e+00] [-3.03032871e-03 2.12709904e-04 9.99995386e-01 -2.78509640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.955898227 meters 0.0793253960650041 Centerline is valid? [True, True] Translation: X:259.02, Y:9.16, Z:-2.78 [[ 9.99830408e-01 1.80820150e-02 3.49232683e-03 2.59017939e+02] [-1.80810377e-02 9.99836476e-01 -3.11228406e-04 9.16003694e+00] [-3.49738339e-03 2.48030731e-04 9.99993853e-01 -2.78465208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.98589822699995 meters 0.08471005389646032 Centerline is valid? [True, True] Translation: X:259.05, Y:9.15, Z:-2.78 [[ 9.99873127e-01 1.52819060e-02 4.49375687e-03 2.59047030e+02] [-1.52802487e-02 9.99883169e-01 -4.02896023e-04 9.14938416e+00] [-4.49938888e-03 3.34179183e-04 9.99989822e-01 -2.78341089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.015898227 meters 0.08691977032171935 Centerline is valid? [True, True] Translation: X:259.08, Y:9.14, Z:-2.78 [[ 9.99896947e-01 1.33967183e-02 5.15984631e-03 2.59077514e+02] [-1.33945094e-02 9.99910183e-01 -4.62421225e-04 9.14260317e+00] [-5.16557780e-03 3.93259961e-04 9.99986581e-01 -2.78291159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.04589822699995 meters 0.07875849609194664 Centerline is valid? [True, True] Translation: X:259.11, Y:9.15, Z:-2.78 [[ 9.99923349e-01 1.11862602e-02 5.30694384e-03 2.59108753e+02] [-1.11838920e-02 9.99937345e-01 -4.75716536e-04 9.14861264e+00] [-5.31193283e-03 4.16327785e-04 9.99985805e-01 -2.78226516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.075898227 meters 0.09550620534057312 Centerline is valid? [True, True] Translation: X:259.14, Y:9.12, Z:-2.78 [[ 9.99964549e-01 6.23161496e-03 5.66287306e-03 2.59135755e+02] [-6.22883944e-03 9.99980472e-01 -5.07631195e-04 9.12154087e+00] [-5.66592584e-03 4.72340072e-04 9.99983837e-01 -2.78339807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.10589822699995 meters 0.09735475345985413 Centerline is valid? [True, True] Translation: X:259.17, Y:9.11, Z:-2.78 [[ 9.99972567e-01 4.18038330e-03 6.11472733e-03 2.59165629e+02] [-4.17710889e-03 9.99991126e-01 -5.48167879e-04 9.11448701e+00] [-6.11696462e-03 5.22610959e-04 9.99981155e-01 -2.78335435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.135898227 meters 0.09999831149463491 Centerline is valid? [True, True] Translation: X:259.20, Y:9.11, Z:-2.78 [[ 9.99977316e-01 2.92143769e-03 6.06899088e-03 2.59195017e+02] [-2.91818893e-03 9.99995594e-01 -5.44091068e-04 9.10618653e+00] [-6.07055367e-03 5.26368264e-04 9.99981435e-01 -2.78348809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.16589822699996 meters 0.10328791071852476 Centerline is valid? [True, False] Translation: X:259.19, Y:9.11, Z:-2.78 [[ 9.99974866e-01 1.02837118e-03 7.01501193e-03 2.59188663e+02] [-1.01176550e-03 9.99996679e-01 -2.37030193e-03 9.10500818e+00] [-7.01742618e-03 2.36314480e-03 9.99972585e-01 -2.77878595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.195898227 meters 0.09045695232490931 Centerline is valid? [False, True] Translation: X:259.19, Y:9.10, Z:-2.78 [[ 9.99974816e-01 1.16303370e-03 7.00100524e-03 2.59188705e+02] [-1.14876405e-03 9.99997255e-01 -2.04190593e-03 9.10352482e+00] [-7.00336083e-03 2.03381200e-03 9.99973408e-01 -2.77881367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.22589822699996 meters 0.09223103765101003 Centerline is valid? [True, True] Translation: X:259.22, Y:9.10, Z:-2.78 [[ 9.99969511e-01 1.67291136e-03 7.62748821e-03 2.59219548e+02] [-1.66779054e-03 9.99998380e-01 -6.77676021e-04 9.09579258e+00] [-7.62860955e-03 6.64934306e-04 9.99970681e-01 -2.77828818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.255898227 meters 0.09123838369110723 Centerline is valid? [True, True] Translation: X:259.25, Y:9.09, Z:-2.78 [[ 9.99963251e-01 2.71371036e-03 8.13224254e-03 2.59250706e+02] [-2.70792050e-03 9.99996072e-01 -7.22889689e-04 9.09223936e+00] [-8.13417231e-03 7.00841657e-04 9.99966671e-01 -2.77772592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.28589822699996 meters 0.08716831654291764 Centerline is valid? [True, True] Translation: X:259.28, Y:9.09, Z:-2.78 [[ 9.99936303e-01 6.95373020e-03 8.89020348e-03 2.59281156e+02] [-6.94697419e-03 9.99975557e-01 -7.90594350e-04 9.09050927e+00] [-8.89548376e-03 7.28783978e-04 9.99960169e-01 -2.77677615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.315898227 meters 0.08714325514345783 Centerline is valid? [True, True] Translation: X:259.31, Y:9.08, Z:-2.78 [[ 9.99917597e-01 9.46026544e-03 8.67769043e-03 2.59310592e+02] [-9.45392182e-03 9.99955013e-01 -7.71756527e-04 9.08476129e+00] [-8.68460106e-03 6.89654725e-04 9.99962050e-01 -2.77828175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.34589822699996 meters 0.09663902998652739 Centerline is valid? [True, True] Translation: X:259.34, Y:9.07, Z:-2.78 [[ 9.99902317e-01 1.15940340e-02 7.80609164e-03 2.59338389e+02] [-1.15889661e-02 9.99932605e-01 -6.94147116e-04 9.06710640e+00] [-7.81361351e-03 6.03614778e-04 9.99969291e-01 -2.78194947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.375898227 meters 0.08271360201869621 Centerline is valid? [True, True] Translation: X:259.37, Y:9.08, Z:-2.79 [[ 9.99866881e-01 1.52612887e-02 5.77177416e-03 2.59370422e+02] [-1.52585792e-02 9.99883449e-01 -5.13196916e-04 9.07694375e+00] [-5.77893350e-03 4.25059527e-04 9.99983211e-01 -2.78536483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.40589822699997 meters 0.08103551838904112 Centerline is valid? [True, True] Translation: X:259.40, Y:9.07, Z:-2.79 [[ 9.99842001e-01 1.69535775e-02 5.34318259e-03 2.59401101e+02] [-1.69512802e-02 9.99856204e-01 -4.74952911e-04 9.07353376e+00] [-5.35046642e-03 3.84304084e-04 9.99985612e-01 -2.78624085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.435898227 meters 0.0766939231073367 Centerline is valid? [True, True] Translation: X:259.43, Y:9.07, Z:-2.79 [[ 9.99813473e-01 1.84410348e-02 5.74002987e-03 2.59432239e+02] [-1.84384075e-02 9.99829868e-01 -5.10302624e-04 9.07338549e+00] [-5.74846381e-03 4.04370429e-04 9.99983396e-01 -2.78577282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.46589822699997 meters 0.07200725584878685 Centerline is valid? [True, True] Translation: X:259.46, Y:9.07, Z:-2.78 [[ 9.99754041e-01 2.11737346e-02 6.59779906e-03 2.59462855e+02] [-2.11703216e-02 9.99775711e-01 -5.86715581e-04 9.07086876e+00] [-6.60874221e-03 4.46893745e-04 9.99978062e-01 -2.78370681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.495898227 meters 0.07113629358870034 Centerline is valid? [True, True] Translation: X:259.49, Y:9.07, Z:-2.78 [[ 9.99721532e-01 2.26678130e-02 6.55966891e-03 2.59492759e+02] [-2.26644716e-02 9.99742958e-01 -5.83285918e-04 9.06724098e+00] [-6.57120462e-03 4.34452061e-04 9.99978315e-01 -2.78389305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.52589822699997 meters 0.06499175571779137 Centerline is valid? [True, True] Translation: X:259.52, Y:9.07, Z:-2.78 [[ 9.99579531e-01 2.82196669e-02 6.66416713e-03 2.59524225e+02] [-2.82163401e-02 9.99601664e-01 -5.92710335e-04 9.07130020e+00] [-6.67823865e-03 4.04422712e-04 9.99977619e-01 -2.78319985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55589822699994 meters 0.06287020455501334 Centerline is valid? [True, True] Translation: X:259.55, Y:9.07, Z:-2.78 [[ 9.99462033e-01 3.20918288e-02 6.76461601e-03 2.59554135e+02] [-3.20884885e-02 9.99484851e-01 -6.01775122e-04 9.07211232e+00] [-6.78044329e-03 3.84385083e-04 9.99976939e-01 -2.78298494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.585898227 meters 0.05975889421171198 Centerline is valid? [True, True] Translation: X:259.58, Y:9.07, Z:-2.78 [[ 9.99333923e-01 3.57804786e-02 7.17411634e-03 2.59583726e+02] [-3.57768171e-02 9.99359601e-01 -6.38102870e-04 9.07469149e+00] [-7.19235367e-03 3.81010796e-04 9.99974062e-01 -2.78274759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61589822699995 meters 0.053401738552030245 Centerline is valid? [True, True] Translation: X:259.61, Y:9.08, Z:-2.78 [[ 9.99145478e-01 4.04750774e-02 8.37144400e-03 2.59614901e+02] [-4.04702576e-02 9.99180466e-01 -7.44424032e-04 9.08357682e+00] [-8.39471394e-03 4.04993411e-04 9.99964682e-01 -2.78095056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.645898227 meters 0.056188972101541876 Centerline is valid? [True, True] Translation: X:259.65, Y:9.08, Z:-2.78 [[ 9.99103270e-01 4.13051014e-02 9.30296192e-03 2.59646000e+02] [-4.12991908e-02 9.99146483e-01 -8.26637534e-04 9.07957044e+00] [-9.32916603e-03 4.41691463e-04 9.99956385e-01 -2.78067607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67589822699995 meters 0.05294864677717104 Centerline is valid? [True, True] Translation: X:259.68, Y:9.08, Z:-2.78 [[ 9.99077701e-01 4.17928836e-02 9.85408468e-03 2.59678543e+02] [-4.17862603e-02 9.99126188e-01 -8.77165187e-04 9.08377902e+00] [-9.88213332e-03 4.64590831e-04 9.99951063e-01 -2.78027132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.705898227 meters 0.05394620427778735 Centerline is valid? [True, True] Translation: X:259.71, Y:9.08, Z:-2.78 [[ 9.99079989e-01 4.16754342e-02 1.01159856e-02 2.59711180e+02] [-4.16684310e-02 9.99131086e-01 -9.02159861e-04 9.08307341e+00] [-1.01447935e-02 4.79812618e-04 9.99948425e-01 -2.78026273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73589822699995 meters 0.06191147844239189 Centerline is valid? [True, True] Translation: X:259.74, Y:9.08, Z:-2.78 [[ 9.99147033e-01 3.97460877e-02 1.12006601e-02 2.59740392e+02] [-3.97373559e-02 9.99209658e-01 -1.00114416e-03 9.07530285e+00] [-1.12315993e-02 5.55205599e-04 9.99936769e-01 -2.77979613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.765898227 meters 0.05799615662111793 Centerline is valid? [True, True] Translation: X:259.77, Y:9.08, Z:-2.78 [[ 9.99194508e-01 3.84716490e-02 1.14134797e-02 2.59772688e+02] [-3.84624940e-02 9.99259523e-01 -1.02062203e-03 9.08042413e+00] [-1.14442933e-02 5.80809030e-04 9.99934343e-01 -2.77941018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79589822699995 meters 0.06372686832045496 Centerline is valid? [True, True] Translation: X:259.80, Y:9.07, Z:-2.78 [[ 9.99263484e-01 3.67529331e-02 1.10322799e-02 2.59802094e+02] [-3.67442539e-02 9.99324213e-01 -9.88438683e-04 9.07370480e+00] [-1.10611525e-02 5.82337786e-04 9.99938654e-01 -2.78158219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.825898227 meters 0.06585960474581944 Centerline is valid? [True, True] Translation: X:259.83, Y:9.08, Z:-2.78 [[ 9.99470901e-01 3.10903437e-02 9.55551486e-03 2.59833412e+02] [-3.10835749e-02 9.99516422e-01 -8.56101815e-04 9.07540720e+00] [-9.57751053e-03 5.58629291e-04 9.99953979e-01 -2.78452018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85589822699995 meters 0.07244265332802217 Centerline is valid? [True, True] Translation: X:259.86, Y:9.07, Z:-2.79 [[ 9.99595243e-01 2.69959793e-02 8.97596562e-03 2.59862936e+02] [-2.69898417e-02 9.99635384e-01 -8.04232129e-04 9.06714209e+00] [-8.99440388e-03 5.61646719e-04 9.99959392e-01 -2.78586954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.885898227 meters 0.07768378100588018 Centerline is valid? [True, True] Translation: X:259.89, Y:9.06, Z:-2.79 [[ 9.99709534e-01 2.24649841e-02 8.72767753e-03 2.59891520e+02] [-2.24590093e-02 9.99747459e-01 -7.82000632e-04 9.05964282e+00] [-8.74304106e-03 5.85758497e-04 9.99961607e-01 -2.78701021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91589822699996 meters 0.08819121845381045 Centerline is valid? [True, True] Translation: X:259.92, Y:9.04, Z:-2.79 [[ 9.99878034e-01 1.33068236e-02 8.17595838e-03 2.59920422e+02] [-1.33012741e-02 9.99911266e-01 -7.32759673e-04 9.04455844e+00] [-8.18498359e-03 6.23919637e-04 9.99966308e-01 -2.78893305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.945898227 meters 0.09373169929374878 Centerline is valid? [True, True] Translation: X:259.95, Y:9.03, Z:-2.79 [[ 9.99921301e-01 9.36187822e-03 8.35147241e-03 2.59950656e+02] [-9.35595120e-03 9.99955952e-01 -7.48485554e-04 9.03391200e+00] [-8.35811177e-03 6.70290681e-04 9.99964846e-01 -2.78944904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97589822699996 meters 0.09722182142968146 Centerline is valid? [True, True] Translation: X:259.98, Y:9.03, Z:-2.79 [[ 9.99942979e-01 6.03020844e-03 8.81332529e-03 2.59979661e+02] [-6.02347847e-03 9.99981547e-01 -7.89957496e-04 9.02545629e+00] [-8.81792626e-03 7.36825577e-04 9.99960850e-01 -2.78939015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.005898227 meters 0.10525111168397322 Centerline is valid? [True, False] Translation: X:259.98, Y:9.02, Z:-2.79 [[ 9.99959693e-01 1.96177052e-03 8.76150122e-03 2.59979911e+02] [-1.92198543e-03 9.99987815e-01 -4.54701279e-03 9.02286344e+00] [-8.77031466e-03 4.52999004e-03 9.99951279e-01 -2.78978536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03589822699996 meters 0.0896310667596898 Centerline is valid? [False, True] Translation: X:259.96, Y:9.02, Z:-2.79 [[ 9.99989967e-01 -1.66749686e-03 4.15761372e-03 2.59960563e+02] [ 1.65760570e-03 9.99995791e-01 2.38136004e-03 9.01874787e+00] [-4.16156713e-03 -2.37444446e-03 9.99988522e-01 -2.78702871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.065898227 meters 0.11395551179298191 Centerline is valid? [True, False] Translation: X:259.96, Y:9.01, Z:-2.79 [[ 9.99990994e-01 -9.21918016e-04 4.14259730e-03 2.59960695e+02] [ 9.03256785e-04 9.99989448e-01 4.50433282e-03 9.00961290e+00] [-4.14670621e-03 -4.50055043e-03 9.99981275e-01 -2.78774737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09589822699996 meters 0.10069569935113068 Centerline is valid? [False, False] Translation: X:259.96, Y:9.01, Z:-2.79 [[ 9.99991198e-01 -5.75081554e-04 4.15614433e-03 2.59960640e+02] [ 5.52863665e-04 9.99985563e-01 5.34496647e-03 9.00581886e+00] [-4.15915812e-03 -5.34262164e-03 9.99977079e-01 -2.78777720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.125898227 meters 0.11580661828071967 Centerline is valid? [False, False] Translation: X:259.94, Y:9.01, Z:-2.79 [[ 9.99998449e-01 1.69030400e-03 4.94119463e-04 2.59939837e+02] [-1.68899609e-03 9.99995101e-01 -2.63548984e-03 9.00620400e+00] [-4.98571822e-04 2.63465119e-03 9.99996405e-01 -2.78518368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15589822699997 meters 0.09269316677012064 Centerline is valid? [False, True] Translation: X:259.94, Y:9.00, Z:-2.78 [[ 9.99978403e-01 6.55529702e-03 4.70031840e-04 2.59939641e+02] [-6.55665296e-03 9.99974172e-01 2.94374097e-03 9.00060720e+00] [-4.50722603e-04 -2.94675923e-03 9.99995557e-01 -2.78466580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.185898227 meters 0.08789312410358288 Centerline is valid? [True, True] Translation: X:259.97, Y:9.00, Z:-2.79 [[ 9.99940773e-01 1.08809488e-02 2.36958998e-04 2.59970203e+02] [-1.08809438e-02 9.99940801e-01 -2.23668550e-05 9.00361578e+00] [-2.37188343e-04 1.97871927e-05 9.99999972e-01 -2.78505105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21589822699997 meters 0.0973793500456956 Centerline is valid? [True, True] Translation: X:260.00, Y:8.99, Z:-2.79 [[ 9.99812158e-01 1.93374641e-02 1.30779132e-03 2.59998034e+02] [-1.93373191e-02 9.99813009e-01 -1.23426365e-04 8.98602486e+00] [-1.30993353e-03 9.81140024e-05 9.99999137e-01 -2.78743493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.24589822699994 meters 0.09349825934777997 Centerline is valid? [True, True] Translation: X:260.03, Y:8.99, Z:-2.78 [[ 9.99754339e-01 2.19305891e-02 3.21120861e-03 2.60029234e+02] [-2.19297279e-02 9.99759469e-01 -3.03161480e-04 8.98659957e+00] [-3.21708473e-03 2.32666074e-04 9.99994798e-01 -2.78499264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.27589822699997 meters 0.09349825934777997 Centerline is valid? [True, True] Translation: X:260.06, Y:8.98, Z:-2.79 [[ 9.99750676e-01 2.20969048e-02 3.21133545e-03 2.60061651e+02] [-2.20960487e-02 9.99755807e-01 -3.01819295e-04 8.98334168e+00] [-3.21722054e-03 2.30786220e-04 9.99994798e-01 -2.78536804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.30589822699994 meters 0.07373215278194865 Centerline is valid? [True, True] Translation: X:260.09, Y:9.00, Z:-2.78 [[ 9.99710945e-01 2.36531687e-02 4.30748837e-03 2.60094664e+02] [-2.36516321e-02 9.99720178e-01 -4.07328255e-04 9.00349650e+00] [-4.31591764e-03 3.05331385e-04 9.99990640e-01 -2.78173278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.335898227 meters 0.07630912109967998 Centerline is valid? [True, True] Translation: X:260.13, Y:8.99, Z:-2.78 [[ 9.99705464e-01 2.39220585e-02 4.08905466e-03 2.60125449e+02] [-2.39206782e-02 9.99713785e-01 -3.86138119e-04 8.99475709e+00] [-4.09712153e-03 2.88211426e-04 9.99991565e-01 -2.78313695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.36589822699995 meters 0.0725012270495072 Centerline is valid? [True, True] Translation: X:260.16, Y:8.99, Z:-2.78 [[ 9.99742755e-01 2.25133742e-02 2.75169929e-03 2.60156577e+02] [-2.25127424e-02 9.99746522e-01 -2.60353797e-04 8.98985320e+00] [-2.75686324e-03 1.98338525e-04 9.99996180e-01 -2.78415602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.395898227 meters 0.07874017375767182 Centerline is valid? [True, True] Translation: X:260.19, Y:8.98, Z:-2.78 [[ 9.99748581e-01 2.21750070e-02 3.32319399e-03 2.60186144e+02] [-2.21740868e-02 9.99754076e-01 -3.13501934e-04 8.97511573e+00] [-3.32932864e-03 2.39734322e-04 9.99994429e-01 -2.78389664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.42589822699995 meters 0.07620280812794038 Centerline is valid? [True, True] Translation: X:260.22, Y:8.97, Z:-2.78 [[ 9.99746372e-01 2.20916048e-02 4.37636250e-03 2.60217803e+02] [-2.20900030e-02 9.99755900e-01 -4.14021436e-04 8.97210458e+00] [-4.38444063e-03 3.17242568e-04 9.99990338e-01 -2.78139829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.455898227 meters 0.09056185098733473 Centerline is valid? [True, True] Translation: X:260.25, Y:8.95, Z:-2.78 [[ 9.99690583e-01 2.37014328e-02 7.54851820e-03 2.60245114e+02] [-2.36966885e-02 9.99718937e-01 -7.17347665e-04 8.94619497e+00] [-7.56339876e-03 5.38250821e-04 9.99971252e-01 -2.77682922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.48589822699995 meters 0.07272008585121682 Centerline is valid? [True, True] Translation: X:260.28, Y:8.96, Z:-2.78 [[ 9.99654159e-01 2.50156494e-02 8.11051089e-03 2.60278369e+02] [-2.50102160e-02 9.99686899e-01 -7.70676035e-04 8.96408855e+00] [-8.12725044e-03 5.67563875e-04 9.99966812e-01 -2.77508263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.515898227 meters 0.07408286728898224 Centerline is valid? [True, True] Translation: X:260.31, Y:8.96, Z:-2.78 [[ 9.99616680e-01 2.66639201e-02 7.45179532e-03 2.60307788e+02] [-2.66593771e-02 9.99644325e-01 -7.08330468e-04 8.95716662e+00] [-7.46803177e-03 5.09398729e-04 9.99971984e-01 -2.77593185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.54589822699995 meters 0.06944718193022077 Centerline is valid? [True, True] Translation: X:260.34, Y:8.96, Z:-2.78 [[ 9.99618797e-01 2.68203852e-02 6.55194223e-03 2.60341749e+02] [-2.68168828e-02 9.99640169e-01 -6.21844867e-04 8.96256058e+00] [-6.56626276e-03 4.45905151e-04 9.99978342e-01 -2.77655200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.575898227 meters 0.07986102876405818 Centerline is valid? [True, True] Translation: X:260.37, Y:8.94, Z:-2.78 [[ 9.99622628e-01 2.66631039e-02 6.60911309e-03 2.60370999e+02] [-2.66595269e-02 9.99644374e-01 -6.28749796e-04 8.94135978e+00] [-6.62352714e-03 4.52316695e-04 9.99977962e-01 -2.77845275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.60589822699995 meters 0.07736428669635054 Centerline is valid? [True, True] Translation: X:260.40, Y:8.94, Z:-2.78 [[ 9.99657818e-01 2.52556083e-02 6.81190855e-03 2.60402040e+02] [-2.52517643e-02 9.99680912e-01 -6.49742327e-04 8.93982757e+00] [-6.82614459e-03 4.77507287e-04 9.99976588e-01 -2.77804696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.635898227 meters 0.08116385744227865 Centerline is valid? [True, True] Translation: X:260.43, Y:8.93, Z:-2.78 [[ 9.99748677e-01 2.07518422e-02 8.48193230e-03 2.60431454e+02] [-2.07457174e-02 9.99784457e-01 -8.09448143e-04 8.92942878e+00] [-8.49690161e-03 6.33280940e-04 9.99963700e-01 -2.77582636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.66589822699996 meters 0.0905296874631054 Centerline is valid? [True, True] Translation: X:260.46, Y:8.91, Z:-2.78 [[ 9.99796173e-01 1.81395974e-02 8.86378257e-03 2.60459499e+02] [-1.81328060e-02 9.99835229e-01 -8.45969652e-04 8.91377930e+00] [-8.87766762e-03 6.85071972e-04 9.99960358e-01 -2.77569456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.695898227 meters 0.09026351629102762 Centerline is valid? [True, True] Translation: X:260.49, Y:8.91, Z:-2.78 [[ 9.99867229e-01 1.39708174e-02 8.38689999e-03 2.60490129e+02] [-1.39645923e-02 9.99902170e-01 -8.00346712e-04 8.90892157e+00] [-8.39726100e-03 6.83120810e-04 9.99964509e-01 -2.77659219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.72589822699996 meters 0.08722190736557373 Centerline is valid? [True, True] Translation: X:260.52, Y:8.91, Z:-2.78 [[ 9.99892974e-01 1.24285655e-02 7.71829863e-03 2.60521447e+02] [-1.24232479e-02 9.99922557e-01 -7.36521603e-04 8.90829420e+00] [-7.72685481e-03 6.40556439e-04 9.99969942e-01 -2.77748322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.755898227 meters 0.09626579068288926 Centerline is valid? [True, True] Translation: X:260.55, Y:8.89, Z:-2.78 [[ 9.99916003e-01 1.13292835e-02 6.29563079e-03 2.60549877e+02] [-1.13257233e-02 9.99935681e-01 -6.00870203e-04 8.89147998e+00] [-6.30203329e-03 5.29517159e-04 9.99980002e-01 -2.78043837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.78589822699996 meters 0.08891555255137248 Centerline is valid? [True, True] Translation: X:260.58, Y:8.90, Z:-2.78 [[ 9.99909955e-01 1.21820052e-02 5.62859815e-03 2.60582123e+02] [-1.21791736e-02 9.99925687e-01 -5.37072378e-04 8.89751997e+00] [-5.63472249e-03 4.68472343e-04 9.99984015e-01 -2.78091962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.815898227 meters 0.08983164889029804 Centerline is valid? [True, True] Translation: X:260.61, Y:8.89, Z:-2.78 [[ 9.99883305e-01 1.39544243e-02 6.21697252e-03 2.60611920e+02] [-1.39510020e-02 9.99902504e-01 -5.93506753e-04 8.89287356e+00] [-6.22464844e-03 5.06704498e-04 9.99980498e-01 -2.78052488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.84589822699996 meters 0.09391017467767161 Centerline is valid? [True, True] Translation: X:260.64, Y:8.89, Z:-2.78 [[ 9.99852087e-01 1.60626865e-02 6.14762658e-03 2.60640739e+02] [-1.60593795e-02 9.99870868e-01 -5.86933341e-04 8.88511692e+00] [-6.15626044e-03 4.88119459e-04 9.99980931e-01 -2.78097463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.875898227 meters 0.08239293234058374 Centerline is valid? [True, True] Translation: X:260.67, Y:8.90, Z:-2.78 [[ 9.99789866e-01 2.00518619e-02 4.25982228e-03 2.60672996e+02] [-2.00503107e-02 9.99798890e-01 -4.06552526e-04 8.89702169e+00] [-4.26711772e-03 3.21056335e-04 9.99990844e-01 -2.78247432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.90589822699997 meters 0.08157902114561552 Centerline is valid? [True, True] Translation: X:260.70, Y:8.90, Z:-2.78 [[ 9.99757298e-01 2.18298420e-02 2.96709634e-03 2.60704168e+02] [-2.18290973e-02 9.99761677e-01 -2.83162325e-04 8.89564997e+00] [-2.97257060e-03 2.18324567e-04 9.99995558e-01 -2.78480419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.935898227 meters 0.08012128728135368 Centerline is valid? [True, True] Translation: X:260.73, Y:8.90, Z:-2.79 [[ 9.99715074e-01 2.37532917e-02 2.35629959e-03 2.60734796e+02] [-2.37528274e-02 9.99717837e-01 -2.24871101e-04 8.89572735e+00] [-2.36097616e-03 1.68838252e-04 9.99997199e-01 -2.78626687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.96589822699997 meters 0.06895707966110104 Centerline is valid? [True, True] Translation: X:260.77, Y:8.91, Z:-2.79 [[ 9.99626804e-01 2.72231134e-02 2.27023211e-03 2.60766545e+02] [-2.72226909e-02 9.99629370e-01 -2.16789279e-04 8.90955982e+00] [-2.27529238e-03 1.54906547e-04 9.99997400e-01 -2.78595205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99589822699994 meters 0.08464620829315053 Centerline is valid? [True, True] Translation: X:260.79, Y:8.89, Z:-2.79 [[ 9.99578742e-01 2.89032472e-02 2.63457569e-03 2.60794046e+02] [-2.89026839e-02 9.99582198e-01 -2.51677198e-04 8.88811638e+00] [-2.64074925e-03 1.75424868e-04 9.99996498e-01 -2.78882033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.02589822699997 meters 0.07030562120643469 Centerline is valid? [True, True] Translation: X:260.83, Y:8.90, Z:-2.79 [[ 9.99533276e-01 3.04560421e-02 2.37921381e-03 2.60827735e+02] [-3.04555881e-02 9.99536095e-01 -2.26841429e-04 8.90482210e+00] [-2.38501878e-03 1.54275201e-04 9.99997144e-01 -2.78679823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05589822699994 meters 0.06789540356798156 Centerline is valid? [True, True] Translation: X:260.86, Y:8.91, Z:-2.79 [[ 9.99422112e-01 3.39643178e-02 1.36669762e-03 2.60857269e+02] [-3.39641708e-02 9.99423043e-01 -1.30655234e-04 8.90832106e+00] [-1.37034671e-03 8.41609788e-05 9.99999058e-01 -2.78898849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.085898227 meters 0.06320539560193221 Centerline is valid? [True, True] Translation: X:260.89, Y:8.91, Z:-2.79 [[ 9.99381920e-01 3.51534477e-02 1.12940190e-04 2.60889890e+02] [-3.51534469e-02 9.99381927e-01 -8.89738834e-06 8.91223123e+00] [-1.13183158e-04 4.92165208e-06 9.99999994e-01 -2.79003732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11589822699995 meters 0.06685576102328862 Centerline is valid? [True, True] Translation: X:260.92, Y:8.90, Z:-2.79 [[ 9.99353040e-01 3.59555349e-02 -8.36824886e-04 2.60920630e+02] [-3.59554788e-02 9.99353389e-01 8.19516633e-05 8.90496328e+00] [ 8.39230402e-04 -5.18102044e-05 9.99999647e-01 -2.79392691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.145898227 meters 0.07630147919968626 Centerline is valid? [True, True] Translation: X:260.95, Y:8.89, Z:-2.80 [[ 9.99380856e-01 3.51821752e-02 -3.44024245e-04 2.60950380e+02] [-3.51821656e-02 9.99380915e-01 3.39454686e-05 8.88954453e+00] [ 3.45005540e-04 -2.18209335e-05 9.99999940e-01 -2.79633932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17589822699995 meters 0.06912812751470138 Centerline is valid? [True, True] Translation: X:260.98, Y:8.90, Z:-2.79 [[ 9.99404247e-01 3.45128529e-02 1.21972164e-04 2.60983614e+02] [-3.45128519e-02 9.99404254e-01 -9.86974333e-06 8.89505336e+00] [-1.22240133e-04 5.65425616e-06 9.99999993e-01 -2.79369750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.205898227 meters 0.06976160293883521 Centerline is valid? [True, True] Translation: X:261.02, Y:8.89, Z:-2.79 [[ 9.99416225e-01 3.41612142e-02 4.69786741e-04 2.61015647e+02] [-3.41611975e-02 9.99416335e-01 -4.33760839e-05 8.89020931e+00] [-4.70994323e-04 2.73022844e-05 9.99999889e-01 -2.79361337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23589822699995 meters 0.07121049227461243 Centerline is valid? [True, True] Translation: X:261.05, Y:8.88, Z:-2.80 [[ 9.99433245e-01 3.36628194e-02 5.88438378e-05 2.61047131e+02] [-3.36628192e-02 9.99433247e-01 -3.85098088e-06 8.88327134e+00] [-5.89401227e-05 1.86794884e-06 9.99999998e-01 -2.79583841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.265898227 meters 0.07067878594630825 Centerline is valid? [True, True] Translation: X:261.08, Y:8.88, Z:-2.80 [[ 9.99450272e-01 3.31469885e-02 6.57100313e-04 2.61078792e+02] [-3.31469551e-02 9.99450487e-01 -6.15941720e-05 8.87947179e+00] [-6.58780889e-04 3.97794374e-05 9.99999782e-01 -2.79562481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29589822699995 meters 0.06967572249462939 Centerline is valid? [True, True] Translation: X:261.11, Y:8.88, Z:-2.79 [[ 9.99461754e-01 3.27460413e-02 1.97446081e-03 2.61110577e+02] [-3.27457314e-02 9.99463697e-01 -1.89080694e-04 8.87606503e+00] [-1.97959355e-03 1.24323759e-04 9.99998033e-01 -2.79407966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.325898227 meters 0.06605949292202677 Centerline is valid? [True, True] Translation: X:261.14, Y:8.88, Z:-2.79 [[ 9.99464973e-01 3.23443312e-02 4.85925753e-03 2.61143000e+02] [-3.23424326e-02 9.99476737e-01 -4.68818774e-04 8.87589342e+00] [-4.87187849e-03 3.11407734e-04 9.99988084e-01 -2.78933450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35589822699995 meters 0.06817334408346253 Centerline is valid? [True, True] Translation: X:261.17, Y:8.87, Z:-2.79 [[ 9.99441737e-01 3.28603236e-02 6.03438409e-03 2.61173933e+02] [-3.28573957e-02 9.99459880e-01 -5.83730736e-04 8.86932110e+00] [-6.05030637e-03 3.85130715e-04 9.99981623e-01 -2.78846317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.385898227 meters 0.07364840694480335 Centerline is valid? [True, True] Translation: X:261.20, Y:8.86, Z:-2.79 [[ 9.99415450e-01 3.35903952e-02 6.35956777e-03 2.61204551e+02] [-3.35871510e-02 9.99435602e-01 -6.16266272e-04 8.85884569e+00] [-6.37667907e-03 4.02306270e-04 9.99979588e-01 -2.78898622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41589822699996 meters 0.06569784369081892 Centerline is valid? [True, True] Translation: X:261.24, Y:8.87, Z:-2.79 [[ 9.99381770e-01 3.45228850e-02 6.65189323e-03 2.61237604e+02] [-3.45193495e-02 9.99403821e-01 -6.45617198e-04 8.86552602e+00] [-6.67021608e-03 4.15599031e-04 9.99977667e-01 -2.78825321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.445898227 meters 0.06740142913899241 Centerline is valid? [True, True] Translation: X:261.27, Y:8.86, Z:-2.79 [[ 9.99326058e-01 3.61047729e-02 6.62382182e-03 2.61267481e+02] [-3.61012896e-02 9.99347928e-01 -6.44718226e-04 8.85969559e+00] [-6.64278002e-03 4.05155214e-04 9.99977854e-01 -2.78942980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47589822699996 meters 0.06670600747658433 Centerline is valid? [True, True] Translation: X:261.30, Y:8.86, Z:-2.79 [[ 9.99311641e-01 3.64682361e-02 6.80532660e-03 2.61299566e+02] [-3.64645719e-02 9.99334727e-01 -6.61770531e-04 8.85770441e+00] [-6.82493281e-03 4.13161674e-04 9.99976625e-01 -2.78964110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.505898227 meters 0.06867760109247169 Centerline is valid? [True, True] Translation: X:261.33, Y:8.85, Z:-2.79 [[ 9.99331559e-01 3.59344348e-02 6.71951461e-03 2.61330727e+02] [-3.59308408e-02 9.99354064e-01 -6.54853087e-04 8.85249743e+00] [-6.73870601e-03 4.12977546e-04 9.99977209e-01 -2.78979814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53589822699996 meters 0.07271067363491544 Centerline is valid? [True, True] Translation: X:261.36, Y:8.84, Z:-2.79 [[ 9.99464740e-01 3.21575619e-02 6.01044061e-03 2.61361176e+02] [-3.21546138e-02 9.99482735e-01 -5.86517708e-04 8.84464024e+00] [-6.02619260e-03 3.92940372e-04 9.99981765e-01 -2.79179858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.565898227 meters 0.0737473036877721 Centerline is valid? [True, True] Translation: X:261.39, Y:8.84, Z:-2.79 [[ 9.99550193e-01 2.93727220e-02 6.05430291e-03 2.61390979e+02] [-2.93696786e-02 9.99568443e-01 -5.90995475e-04 8.83967989e+00] [-6.06904929e-03 4.12916710e-04 9.99981498e-01 -2.79251991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59589822699996 meters 0.07942714047924773 Centerline is valid? [True, True] Translation: X:261.42, Y:8.83, Z:-2.79 [[ 9.99631772e-01 2.65542593e-02 5.58499281e-03 2.61419001e+02] [-2.65516268e-02 9.99647295e-01 -5.44993519e-04 8.82825769e+00] [-5.59749485e-03 3.96502192e-04 9.99984255e-01 -2.79442323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.625898227 meters 0.08208761048357871 Centerline is valid? [True, True] Translation: X:261.45, Y:8.82, Z:-2.80 [[ 9.99768245e-01 2.09901885e-02 4.78208674e-03 2.61448093e+02] [-2.09881932e-02 9.99779615e-01 -4.67060046e-04 8.81761982e+00] [-4.79083652e-03 3.66584442e-04 9.99988457e-01 -2.79583322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65589822699997 meters 0.08486249085950746 Centerline is valid? [True, True] Translation: X:261.48, Y:8.81, Z:-2.79 [[ 9.99807958e-01 1.87574475e-02 5.67497640e-03 2.61476594e+02] [-1.87546028e-02 9.99823963e-01 -5.54073476e-04 8.80923860e+00] [-5.68437040e-03 4.47535142e-04 9.99983744e-01 -2.79444158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.685898227 meters 0.08282277299201506 Centerline is valid? [True, True] Translation: X:261.51, Y:8.81, Z:-2.79 [[ 9.99829074e-01 1.74652082e-02 6.06544344e-03 2.61507413e+02] [-1.74619344e-02 9.99847353e-01 -5.92296142e-04 8.80758588e+00] [-6.07486215e-03 4.86280528e-04 9.99981430e-01 -2.79314097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71589822699997 meters 0.08445664760311593 Centerline is valid? [True, True] Translation: X:261.54, Y:8.80, Z:-2.79 [[ 9.99833479e-01 1.74490432e-02 5.34282772e-03 2.61538559e+02] [-1.74465070e-02 9.99847662e-01 -5.20924172e-04 8.80210904e+00] [-5.35110343e-03 4.27623746e-04 9.99985591e-01 -2.79371064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.74589822699994 meters 0.0785459788110639 Centerline is valid? [True, True] Translation: X:261.57, Y:8.81, Z:-2.79 [[ 9.99822289e-01 1.81046339e-02 5.25484041e-03 2.61571407e+02] [-1.81021826e-02 9.99836010e-01 -5.13678384e-04 8.80722665e+00] [-5.26327863e-03 4.18463017e-04 9.99986061e-01 -2.79307488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.77589822699997 meters 0.07870053272613192 Centerline is valid? [True, True] Translation: X:261.60, Y:8.81, Z:-2.79 [[ 9.99778611e-01 2.02131126e-02 5.84453893e-03 2.61601244e+02] [-2.02101114e-02 9.99795591e-01 -5.72127028e-04 8.80574642e+00] [-5.85490872e-03 4.53881583e-04 9.99982757e-01 -2.79280015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.80589822699994 meters 0.07987594357322328 Centerline is valid? [True, True] Translation: X:261.63, Y:8.80, Z:-2.79 [[ 9.99772912e-01 2.05122819e-02 5.77672169e-03 2.61633844e+02] [-2.05093608e-02 9.99789502e-01 -5.64466407e-04 8.80427314e+00] [-5.78708419e-03 4.45861354e-04 9.99983155e-01 -2.79335221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.835898227 meters 0.09262273362411765 Centerline is valid? [True, True] Translation: X:261.66, Y:8.78, Z:-2.80 [[ 9.99774481e-01 2.06012314e-02 5.15519223e-03 2.61663437e+02] [-2.05989025e-02 9.99787693e-01 -5.04458401e-04 8.78307007e+00] [-5.16449021e-03 3.98153334e-04 9.99986585e-01 -2.79650958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.86589822699995 meters 0.08469304088125724 Centerline is valid? [True, True] Translation: X:261.70, Y:8.79, Z:-2.80 [[ 9.99802995e-01 1.92867873e-02 4.68945577e-03 2.61695438e+02] [-1.92848392e-02 9.99813924e-01 -4.60286702e-04 8.79043384e+00] [-4.69746063e-03 3.69760622e-04 9.99988899e-01 -2.79665477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.895898227 meters 0.08728374688913815 Centerline is valid? [True, True] Translation: X:261.73, Y:8.79, Z:-2.80 [[ 9.99851962e-01 1.66540353e-02 4.32406310e-03 2.61725856e+02] [-1.66523532e-02 9.99861250e-01 -4.24731745e-04 8.78551806e+00] [-4.33053663e-03 3.52663042e-04 9.99990561e-01 -2.79802631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.92589822699995 meters 0.0931484148516036 Centerline is valid? [True, True] Translation: X:261.75, Y:8.77, Z:-2.80 [[ 9.99922069e-01 1.18267889e-02 3.99779676e-03 2.61754079e+02] [-1.18253125e-02 9.99930001e-01 -3.92744007e-04 8.77163755e+00] [-4.00216182e-03 3.45438204e-04 9.99991932e-01 -2.79905479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.955898227 meters 0.0940271443631925 Centerline is valid? [True, True] Translation: X:261.78, Y:8.77, Z:-2.80 [[ 9.99947539e-01 9.45541473e-03 3.93893982e-03 2.61784444e+02] [-9.45396365e-03 9.99955235e-01 -3.86851458e-04 8.76612548e+00] [-3.94242134e-03 3.49592569e-04 9.99992168e-01 -2.79880873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.98589822699995 meters 0.09620631617978864 Centerline is valid? [True, True] Translation: X:261.81, Y:8.76, Z:-2.80 [[ 9.99963825e-01 7.60618184e-03 3.80730020e-03 2.61814425e+02] [-7.60481290e-03 9.99971013e-01 -3.73906909e-04 8.75832317e+00] [-3.81003384e-03 3.44939577e-04 9.99992682e-01 -2.79972188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.015898227 meters 0.09943658497071979 Centerline is valid? [True, True] Translation: X:261.84, Y:8.75, Z:-2.80 [[ 9.99972208e-01 6.74569304e-03 3.17481108e-03 2.61843505e+02] [-6.74473670e-03 9.99977205e-01 -3.11836077e-04 8.74739080e+00] [-3.17684227e-03 2.90414146e-04 9.99994912e-01 -2.79980954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.04589822699995 meters 0.08710800018920321 Centerline is valid? [True, True] Translation: X:261.88, Y:8.76, Z:-2.80 [[ 9.99964162e-01 8.08527833e-03 2.51067501e-03 2.61876066e+02] [-8.08468475e-03 9.99967288e-01 -2.46484313e-04 8.76046597e+00] [-2.51258578e-03 2.26177464e-04 9.99996818e-01 -2.79861060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.075898227 meters 0.09337007115207578 Centerline is valid? [True, True] Translation: X:261.90, Y:8.75, Z:-2.80 [[ 9.99937129e-01 1.09500939e-02 2.41521191e-03 2.61904384e+02] [-1.09495522e-02 9.99940024e-01 -2.37374657e-04 8.74699217e+00] [-2.41766633e-03 2.10914244e-04 9.99997055e-01 -2.80052017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.10589822699995 meters 0.08488995200725064 Centerline is valid? [True, True] Translation: X:261.94, Y:8.76, Z:-2.80 [[ 9.99830370e-01 1.80202822e-02 3.80788579e-03 2.61935647e+02] [-1.80189877e-02 9.99837575e-01 -3.73981271e-04 8.75505352e+00] [-3.81400654e-03 3.05303585e-04 9.99992680e-01 -2.79849243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.135898227 meters 0.08276200918225902 Centerline is valid? [True, True] Translation: X:261.97, Y:8.75, Z:-2.80 [[ 9.99758479e-01 2.13778550e-02 5.09611459e-03 2.61965729e+02] [-2.13755795e-02 9.99771391e-01 -5.00585744e-04 8.75478361e+00] [-5.10565102e-03 3.91532440e-04 9.99986889e-01 -2.79790944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.16589822699996 meters 0.08276200918225902 Centerline is valid? [True, True] Translation: X:262.00, Y:8.75, Z:-2.80 [[ 9.99754594e-01 2.15587666e-02 5.09622922e-03 2.61998135e+02] [-2.15564992e-02 9.99767507e-01 -4.99419794e-04 8.75142679e+00] [-5.10581126e-03 3.89440372e-04 9.99986889e-01 -2.79828484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.195898227 meters 0.0779544773328349 Centerline is valid? [True, True] Translation: X:262.03, Y:8.75, Z:-2.80 [[ 9.99662502e-01 2.50355917e-02 6.93546112e-03 2.62029383e+02] [-2.50314562e-02 9.99686431e-01 -6.82464649e-04 8.75383904e+00] [-6.95037228e-03 5.08629628e-04 9.99975717e-01 -2.79726469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.22589822699996 meters 0.08549613906075879 Centerline is valid? [True, True] Translation: X:262.06, Y:8.74, Z:-2.80 [[ 9.99669412e-01 2.47982547e-02 6.79067511e-03 2.62059327e+02] [-2.47942865e-02 9.99692351e-01 -6.67931865e-04 8.74097689e+00] [-6.80514951e-03 4.99341110e-04 9.99976720e-01 -2.79868781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.255898227 meters 0.08179075986945919 Centerline is valid? [True, True] Translation: X:262.09, Y:8.74, Z:-2.80 [[ 9.99697705e-01 2.37831166e-02 6.23398236e-03 2.62090843e+02] [-2.37797479e-02 9.99717033e-01 -6.13963503e-04 8.74191169e+00] [-6.24682032e-03 4.65535376e-04 9.99980380e-01 -2.80033431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.28589822699996 meters 0.08730231157309738 Centerline is valid? [True, True] Translation: X:262.12, Y:8.74, Z:-2.80 [[ 9.99751386e-01 2.15671660e-02 5.65887594e-03 2.62120568e+02] [-2.15643536e-02 9.99767307e-01 -5.57547377e-04 8.73548046e+00] [-5.66958388e-03 4.35378761e-04 9.99983833e-01 -2.80230227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.315898227 meters 0.09080486275244108 Centerline is valid? [True, True] Translation: X:262.15, Y:8.72, Z:-2.81 [[ 9.99855718e-01 1.65779163e-02 3.70356555e-03 2.62147995e+02] [-1.65766770e-02 9.99862531e-01 -3.65069798e-04 8.71741100e+00] [-3.70910852e-03 3.03624315e-04 9.99993075e-01 -2.80705313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.34589822699996 meters 0.09003748328087652 Centerline is valid? [True, True] Translation: X:262.18, Y:8.71, Z:-2.81 [[ 9.99898041e-01 1.38849334e-02 3.33424330e-03 2.62178138e+02] [-1.38839155e-02 9.99903560e-01 -3.28252014e-04 8.71173838e+00] [-3.33847950e-03 2.81926193e-04 9.99994388e-01 -2.80772686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.375898227 meters 0.09125757010378752 Centerline is valid? [True, True] Translation: X:262.21, Y:8.70, Z:-2.81 [[ 9.99928009e-01 1.16400445e-02 2.91320524e-03 2.62207646e+02] [-1.16392574e-02 9.99932220e-01 -2.86999317e-04 8.70396289e+00] [-2.91634847e-03 2.53071110e-04 9.99995715e-01 -2.80781181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.40589822699997 meters 0.09546947029961089 Centerline is valid? [True, True] Translation: X:262.24, Y:8.69, Z:-2.81 [[ 9.99939686e-01 1.01259679e-02 4.25301633e-03 2.62236437e+02] [-1.01242776e-02 9.99948660e-01 -4.18777672e-04 8.69039799e+00] [-4.25703851e-03 3.75693696e-04 9.99990868e-01 -2.80650699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.435898227 meters 0.09316769785360607 Centerline is valid? [True, True] Translation: X:262.27, Y:8.69, Z:-2.80 [[ 9.99919227e-01 1.13333074e-02 5.75288728e-03 2.62267073e+02] [-1.13302308e-02 9.99935650e-01 -5.67101796e-04 8.68818140e+00] [-5.75894422e-03 5.01874449e-04 9.99983291e-01 -2.80397285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.46589822699997 meters 0.0919494444800634 Centerline is valid? [True, True] Translation: X:262.30, Y:8.68, Z:-2.80 [[ 9.99889282e-01 1.30754018e-02 7.10336129e-03 2.62296321e+02] [-1.30707535e-02 9.99914329e-01 -7.00411451e-04 8.68449683e+00] [-7.11191090e-03 6.07487618e-04 9.99974526e-01 -2.80169388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49589822699994 meters 0.0899719020714022 Centerline is valid? [True, True] Translation: X:262.33, Y:8.68, Z:-2.80 [[ 9.99823922e-01 1.72383729e-02 7.41369299e-03 2.62325228e+02] [-1.72334233e-02 9.99851226e-01 -7.30993153e-04 8.67864688e+00] [-7.42519116e-03 6.03101132e-04 9.99972251e-01 -2.80133683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.52589822699997 meters 0.08815726071307928 Centerline is valid? [True, True] Translation: X:262.36, Y:8.68, Z:-2.80 [[ 9.99791020e-01 1.93821676e-02 6.49988924e-03 2.62356119e+02] [-1.93784088e-02 9.99812016e-01 -6.40777022e-04 8.67570011e+00] [-6.51108701e-03 5.14685602e-04 9.99978670e-01 -2.80313996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55589822699994 meters 0.08260380682172608 Centerline is valid? [True, True] Translation: X:262.39, Y:8.68, Z:-2.81 [[ 9.99753119e-01 2.15375619e-02 5.46208985e-03 2.62387034e+02] [-2.15349396e-02 9.99767951e-01 -5.38460029e-04 8.67829870e+00] [-5.47241950e-03 4.20701318e-04 9.99984938e-01 -2.80515416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.585898227 meters 0.08239866024157869 Centerline is valid? [True, True] Translation: X:262.42, Y:8.67, Z:-2.81 [[ 9.99676059e-01 2.50529373e-02 4.48632952e-03 2.62416792e+02] [-2.50512034e-02 9.99686072e-01 -4.42276689e-04 8.67315318e+00] [-4.49600146e-03 3.29745464e-04 9.99989839e-01 -2.80731576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61589822699995 meters 0.08121583222922783 Centerline is valid? [True, True] Translation: X:262.45, Y:8.67, Z:-2.81 [[ 9.99638806e-01 2.64474095e-02 4.77415387e-03 2.62447028e+02] [-2.64454614e-02 9.99650147e-01 -4.70726180e-04 8.67019278e+00] [-4.78493310e-03 3.44301454e-04 9.99988493e-01 -2.80737159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.645898227 meters 0.07299698343429269 Centerline is valid? [True, True] Translation: X:262.48, Y:8.68, Z:-2.81 [[ 9.99610601e-01 2.74495017e-02 5.01704603e-03 2.62479650e+02] [-2.74473641e-02 9.99623128e-01 -4.94443323e-04 8.67557826e+00] [-5.02872747e-03 3.56546098e-04 9.99987292e-01 -2.80616389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67589822699995 meters 0.07997220561410089 Centerline is valid? [True, True] Translation: X:262.51, Y:8.66, Z:-2.81 [[ 9.99584488e-01 2.83466687e-02 5.22667590e-03 2.62508671e+02] [-2.83443610e-02 9.99598085e-01 -5.15093084e-04 8.66034302e+00] [-5.23917639e-03 3.66732268e-04 9.99986208e-01 -2.80695028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.705898227 meters 0.08423790214007432 Centerline is valid? [True, True] Translation: X:262.54, Y:8.65, Z:-2.81 [[ 9.99586409e-01 2.83921713e-02 4.57122402e-03 2.62539492e+02] [-2.83904061e-02 9.99596810e-01 -4.50600335e-04 8.65223200e+00] [-4.58217447e-03 3.20635065e-04 9.99989450e-01 -2.80814743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73589822699995 meters 0.07788680688068204 Centerline is valid? [True, True] Translation: X:262.57, Y:8.65, Z:-2.81 [[ 9.99570797e-01 2.90391473e-02 3.86660273e-03 2.62572382e+02] [-2.90378906e-02 9.99578239e-01 -3.80767875e-04 8.65469892e+00] [-3.87602912e-03 2.68326462e-04 9.99992452e-01 -2.80932479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.765898227 meters 0.08487865521711657 Centerline is valid? [True, True] Translation: X:262.60, Y:8.64, Z:-2.82 [[ 9.99571218e-01 2.92132116e-02 1.99219427e-03 2.62602165e+02] [-2.92128793e-02 9.99573194e-01 -1.95721477e-04 8.64127803e+00] [-1.99706164e-03 1.37439825e-04 9.99997996e-01 -2.81565547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79589822699995 meters 0.0869018915199091 Centerline is valid? [True, True] Translation: X:262.63, Y:8.63, Z:-2.82 [[ 9.99578033e-01 2.90165923e-02 1.33900757e-03 2.62632522e+02] [-2.90164423e-02 9.99578926e-01 -1.31260629e-04 8.63440958e+00] [-1.34225248e-03 9.23520060e-05 9.99999095e-01 -2.81673187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.825898227 meters 0.07860070780277635 Centerline is valid? [True, True] Translation: X:262.67, Y:8.64, Z:-2.81 [[ 9.99576274e-01 2.90584851e-02 1.69592425e-03 2.62665837e+02] [-2.90582440e-02 9.99577706e-01 -1.66631128e-04 8.64075812e+00] [-1.70005012e-03 1.17279942e-04 9.99998548e-01 -2.81480376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85589822699995 meters 0.0786060378258116 Centerline is valid? [True, True] Translation: X:262.70, Y:8.64, Z:-2.81 [[ 9.99567074e-01 2.93306561e-02 2.31906220e-03 2.62698076e+02] [-2.93302032e-02 9.99569751e-01 -2.29088785e-04 8.63685901e+00] [-2.32478375e-03 1.60971041e-04 9.99997285e-01 -2.81388592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.885898227 meters 0.07390199922843321 Centerline is valid? [True, True] Translation: X:262.73, Y:8.64, Z:-2.81 [[ 9.99523673e-01 3.07564340e-02 2.54357651e-03 2.62729869e+02] [-3.07558891e-02 9.99526894e-01 -2.53072970e-04 8.64204418e+00] [-2.55015675e-03 1.74722468e-04 9.99996733e-01 -2.81197247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91589822699996 meters 0.07465467437444384 Centerline is valid? [True, True] Translation: X:262.76, Y:8.64, Z:-2.81 [[ 9.99474011e-01 3.22765356e-02 3.15058628e-03 2.62759986e+02] [-3.22757061e-02 9.99478954e-01 -3.13801352e-04 8.63963430e+00] [-3.15907310e-03 2.11948899e-04 9.99994988e-01 -2.81211564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.945898227 meters 0.07312054297984315 Centerline is valid? [True, True] Translation: X:262.79, Y:8.64, Z:-2.81 [[ 9.99413009e-01 3.39915325e-02 4.26776644e-03 2.62791001e+02] [-3.39900263e-02 9.99422082e-01 -4.24968102e-04 8.63997503e+00] [-4.27974534e-03 2.79657156e-04 9.99990803e-01 -2.81113402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97589822699996 meters 0.06742535898748939 Centerline is valid? [True, True] Translation: X:262.82, Y:8.65, Z:-2.81 [[ 9.99373305e-01 3.49748735e-02 5.45477130e-03 2.62823404e+02] [-3.49724276e-02 9.99388130e-01 -5.43165287e-04 8.64519452e+00] [-5.47043083e-03 3.52058294e-04 9.99984975e-01 -2.80883204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.005898227 meters 0.08130017703862631 Centerline is valid? [True, True] Translation: X:262.85, Y:8.63, Z:-2.81 [[ 9.99418239e-01 3.32469895e-02 7.60399043e-03 2.62851920e+02] [-3.32421832e-02 9.99447039e-01 -7.57629655e-04 8.62579068e+00] [-7.62497462e-03 5.04415653e-04 9.99970802e-01 -2.80724313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03589822699996 meters 0.07328955061592947 Centerline is valid? [True, True] Translation: X:262.88, Y:8.63, Z:-2.81 [[ 9.99505947e-01 3.04617308e-02 7.74240376e-03 2.62883027e+02] [-3.04566620e-02 9.99535790e-01 -7.71770875e-04 8.63324332e+00] [-7.76231914e-03 5.35581805e-04 9.99969729e-01 -2.80658905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.065898227 meters 0.07908117296172205 Centerline is valid? [True, True] Translation: X:262.91, Y:8.62, Z:-2.81 [[ 9.99688265e-01 2.41643104e-02 6.28171329e-03 2.62912583e+02] [-2.41608501e-02 9.99707888e-01 -6.26163086e-04 8.62133285e+00] [-6.29500913e-03 4.74196355e-04 9.99980074e-01 -2.80916948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09589822699996 meters 0.08549491404353782 Centerline is valid? [True, True] Translation: X:262.94, Y:8.61, Z:-2.81 [[ 9.99751880e-01 2.16150324e-02 5.38229106e-03 2.62940887e+02] [-2.16124548e-02 9.99766280e-01 -5.36611484e-04 8.60835911e+00] [-5.39263199e-03 4.20153818e-04 9.99985371e-01 -2.81131044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.125898227 meters 0.09244884936921575 Centerline is valid? [True, True] Translation: X:262.97, Y:8.59, Z:-2.81 [[ 9.99788003e-01 1.98103325e-02 5.61249942e-03 2.62970029e+02] [-1.98075028e-02 9.99803656e-01 -5.59318881e-04 8.59442236e+00] [-5.62247773e-03 4.48030709e-04 9.99984093e-01 -2.81218345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15589822699997 meters 0.08747337537638658 Centerline is valid? [True, True] Translation: X:263.00, Y:8.60, Z:-2.81 [[ 9.99798328e-01 1.89926372e-02 6.52553171e-03 2.63001804e+02] [-1.89887976e-02 9.99819485e-01 -6.49863490e-04 8.59543020e+00] [-6.53669638e-03 5.25820430e-04 9.99978497e-01 -2.81055478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.185898227 meters 0.08816366763300096 Centerline is valid? [True, True] Translation: X:263.03, Y:8.59, Z:-2.81 [[ 9.99776366e-01 1.91109977e-02 9.05469127e-03 2.63033089e+02] [-1.91035918e-02 9.99817101e-01 -9.03694995e-04 8.58741925e+00] [-9.07030570e-03 7.30515772e-04 9.99958597e-01 -2.80635892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21589822699997 meters 0.08869488789781697 Centerline is valid? [True, True] Translation: X:263.06, Y:8.58, Z:-2.81 [[ 9.99749156e-01 2.00735014e-02 9.93380395e-03 2.63062957e+02] [-2.00646135e-02 9.99798192e-01 -9.93578055e-04 8.58239675e+00] [-9.95174382e-03 7.94010885e-04 9.99950165e-01 -2.80507978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.24589822699994 meters 0.08825933909573158 Centerline is valid? [True, True] Translation: X:263.09, Y:8.58, Z:-2.81 [[ 9.99719033e-01 2.14872214e-02 1.00077565e-02 2.63092310e+02] [-2.14782696e-02 9.99768814e-01 -1.00112295e-03 8.57901669e+00] [-1.00269542e-02 7.85892373e-04 9.99949420e-01 -2.80538566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.27589822699997 meters 0.0854402356763481 Centerline is valid? [True, True] Translation: X:263.12, Y:8.58, Z:-2.81 [[ 9.99695522e-01 2.29090810e-02 9.16720255e-03 2.63123475e+02] [-2.29016305e-02 9.99737303e-01 -9.16894042e-04 8.57796882e+00] [-9.18579955e-03 7.06670982e-04 9.99957560e-01 -2.80719964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.30589822699994 meters 0.08320787991283712 Centerline is valid? [True, True] Translation: X:263.15, Y:8.57, Z:-2.81 [[ 9.99647989e-01 2.53316064e-02 7.88721796e-03 2.63153555e+02] [-2.53261654e-02 9.99678930e-01 -7.88979053e-04 8.57338360e+00] [-7.90467172e-03 5.88948336e-04 9.99968584e-01 -2.81033819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.335898227 meters 0.08571866492626351 Centerline is valid? [True, True] Translation: X:263.18, Y:8.56, Z:-2.81 [[ 9.99613115e-01 2.65105464e-02 8.41494406e-03 2.63182923e+02] [-2.65043946e-02 9.99648342e-01 -8.41748570e-04 8.56492445e+00] [-8.43430010e-03 6.18389912e-04 9.99964239e-01 -2.80968561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.36589822699995 meters 0.07958450380170334 Centerline is valid? [True, True] Translation: X:263.21, Y:8.57, Z:-2.81 [[ 9.99566603e-01 2.79585949e-02 9.21542250e-03 2.63213814e+02] [-2.79512769e-02 9.99608862e-01 -9.21964153e-04 8.56720925e+00] [-9.23759482e-03 6.63981749e-04 9.99957112e-01 -2.80889225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.395898227 meters 0.0832906090594512 Centerline is valid? [True, True] Translation: X:263.24, Y:8.55, Z:-2.81 [[ 9.99481450e-01 3.10932287e-02 8.36911075e-03 2.63242600e+02] [-3.10873025e-02 9.99516322e-01 -8.37295898e-04 8.55470031e+00] [-8.39109703e-03 5.76688640e-04 9.99964628e-01 -2.81186125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.42589822699995 meters 0.06994693268590592 Centerline is valid? [True, True] Translation: X:263.28, Y:8.57, Z:-2.81 [[ 9.99451518e-01 3.23328557e-02 7.15890089e-03 2.63275295e+02] [-3.23285519e-02 9.99477039e-01 -7.16110784e-04 8.56587840e+00] [-7.17831098e-03 4.84281111e-04 9.99974118e-01 -2.81359907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.455898227 meters 0.07751868715607566 Centerline is valid? [True, True] Translation: X:263.31, Y:8.55, Z:-2.82 [[ 9.99434882e-01 3.30243137e-02 6.26993086e-03 2.63305298e+02] [-3.30210276e-02 9.99454461e-01 -6.26933326e-04 8.55011125e+00] [-6.28721441e-03 4.19539475e-04 9.99980147e-01 -2.81663703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.48589822699995 meters 0.07041275651008835 Centerline is valid? [True, True] Translation: X:263.34, Y:8.55, Z:-2.82 [[ 9.99429096e-01 3.33161699e-02 5.61381359e-03 2.63338566e+02] [-3.33135409e-02 9.99444792e-01 -5.61189311e-04 8.55278784e+00] [-5.62939344e-03 3.73852917e-04 9.99984085e-01 -2.81791754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.515898227 meters 0.0796858051826265 Centerline is valid? [True, True] Translation: X:263.37, Y:8.53, Z:-2.82 [[ 9.99434227e-01 3.32315227e-02 5.18563495e-03 2.63367464e+02] [-3.32292732e-02 9.99447620e-01 -5.19367122e-04 8.53090761e+00] [-5.20002987e-03 3.46758398e-04 9.99986420e-01 -2.82118259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.54589822699995 meters 0.07296262802081512 Centerline is valid? [True, True] Translation: X:263.40, Y:8.53, Z:-2.82 [[ 9.99451179e-01 3.27510355e-02 4.97102903e-03 2.63400068e+02] [-3.27489588e-02 9.99463485e-01 -4.98608003e-04 8.53177439e+00] [-4.98469193e-03 3.35538332e-04 9.99987520e-01 -2.82153522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.575898227 meters 0.07475804834671997 Centerline is valid? [True, True] Translation: X:263.43, Y:8.52, Z:-2.82 [[ 9.99468609e-01 3.22334118e-02 4.84847175e-03 2.63429817e+02] [-3.22314238e-02 9.99480314e-01 -4.87624129e-04 8.52118520e+00] [-4.86166986e-03 3.31091862e-04 9.99988127e-01 -2.82252446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.60589822699995 meters 0.07650946548285135 Centerline is valid? [True, True] Translation: X:263.46, Y:8.51, Z:-2.82 [[ 9.99475691e-01 3.19932663e-02 4.97744485e-03 2.63460430e+02] [-3.19911683e-02 9.99488026e-01 -5.00578875e-04 8.51087652e+00] [-4.99091168e-03 3.41082141e-04 9.99987487e-01 -2.82331712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.635898227 meters 0.07356285454629367 Centerline is valid? [True, True] Translation: X:263.49, Y:8.50, Z:-2.82 [[ 9.99467767e-01 3.23188668e-02 4.43546780e-03 2.63492142e+02] [-3.23172022e-02 9.99477563e-01 -4.46469135e-04 8.50289596e+00] [-4.44757993e-03 3.02889600e-04 9.99990064e-01 -2.82411569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.66589822699996 meters 0.07736108185980477 Centerline is valid? [True, True] Translation: X:263.52, Y:8.49, Z:-2.83 [[ 9.99434582e-01 3.33760291e-02 4.06892427e-03 2.63521810e+02] [-3.33746306e-02 9.99442827e-01 -4.11139922e-04 8.49143959e+00] [-4.08037939e-03 2.75108612e-04 9.99991637e-01 -2.82558487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.695898227 meters 0.07616106569142637 Centerline is valid? [True, True] Translation: X:263.55, Y:8.49, Z:-2.83 [[ 9.99377074e-01 3.50862249e-02 3.79759219e-03 2.63551571e+02] [-3.50850180e-02 9.99384257e-01 -3.83976749e-04 8.48667590e+00] [-3.80872614e-03 2.50498970e-04 9.99992715e-01 -2.82641055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.72589822699996 meters 0.0698126331029423 Centerline is valid? [True, True] Translation: X:263.58, Y:8.49, Z:-2.82 [[ 9.99157669e-01 4.07096145e-02 5.16518581e-03 2.63582330e+02] [-4.07074566e-02 9.99170971e-01 -5.22250836e-04 8.48837931e+00] [-5.18216435e-03 3.11549350e-04 9.99986524e-01 -2.82365436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.755898227 meters 0.06062883845466803 Centerline is valid? [True, True] Translation: X:263.61, Y:8.50, Z:-2.82 [[ 9.99013303e-01 4.39616727e-02 6.30803443e-03 2.63613925e+02] [-4.39585189e-02 9.99033154e-01 -6.37808224e-04 8.49665904e+00] [-6.32997465e-03 3.59887050e-04 9.99979901e-01 -2.82127705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.78589822699996 meters 0.06249253318061321 Centerline is valid? [True, True] Translation: X:263.64, Y:8.49, Z:-2.82 [[ 9.98856965e-01 4.72724985e-02 7.07628533e-03 2.63643050e+02] [-4.72686121e-02 9.98881958e-01 -7.15544391e-04 8.49180387e+00] [-7.10219932e-03 3.80240312e-04 9.99974707e-01 -2.82068885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.815898227 meters 0.058351248030823595 Centerline is valid? [True, True] Translation: X:263.67, Y:8.50, Z:-2.82 [[ 9.98589236e-01 5.27010762e-02 6.49108966e-03 2.63673125e+02] [-5.26979207e-02 9.98610284e-01 -6.56323754e-04 8.49662591e+00] [-6.51665785e-03 3.13330908e-04 9.99978717e-01 -2.82214181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.84589822699996 meters 0.05560299536124223 Centerline is valid? [True, True] Translation: X:263.71, Y:8.50, Z:-2.82 [[ 9.98486196e-01 5.46454866e-02 6.26000975e-03 2.63705240e+02] [-5.46425923e-02 9.98505777e-01 -6.32578418e-04 8.49783848e+00] [-6.28522346e-03 2.89557658e-04 9.99980206e-01 -2.82357882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.875898227 meters 0.05279301379893705 Centerline is valid? [True, True] Translation: X:263.74, Y:8.50, Z:-2.82 [[ 9.98407654e-01 5.60816415e-02 6.08332560e-03 2.63737454e+02] [-5.60789333e-02 9.98426149e-01 -6.14983150e-04 8.49911903e+00] [-6.10824062e-03 2.72857473e-04 9.99981307e-01 -2.82358579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.90589822699997 meters 0.049627008474984094 Centerline is valid? [True, True] Translation: X:263.77, Y:8.50, Z:-2.82 [[ 9.98347790e-01 5.71447221e-02 6.01415543e-03 2.63770215e+02] [-5.71420967e-02 9.98365871e-01 -6.07617281e-04 8.50069320e+00] [-6.03904964e-03 2.62951919e-04 9.99981730e-01 -2.82375592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.935898227 meters 0.05123834091081845 Centerline is valid? [True, True] Translation: X:263.80, Y:8.50, Z:-2.83 [[ 9.98398678e-01 5.63936268e-02 4.45402934e-03 2.63800964e+02] [-5.63921778e-02 9.98408593e-01 -4.50334955e-04 8.49778029e+00] [-4.47233719e-03 1.98441409e-04 9.99989979e-01 -2.82709912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.96589822699997 meters 0.05526003045217184 Centerline is valid? [True, True] Translation: X:263.83, Y:8.50, Z:-2.83 [[ 9.98463625e-01 5.53339090e-02 2.92370252e-03 2.63833192e+02] [-5.53332780e-02 9.98467897e-01 -2.96352491e-04 8.49688971e+00] [-2.93562145e-03 1.34119138e-04 9.99995682e-01 -2.82893290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99589822699994 meters 0.055417966878145576 Centerline is valid? [True, True] Translation: X:263.86, Y:8.49, Z:-2.83 [[ 9.98517944e-01 5.43831114e-02 2.09580301e-03 2.63863717e+02] [-5.43827859e-02 9.98520139e-01 -2.12068237e-04 8.48739198e+00] [-2.10423445e-03 9.77783336e-05 9.99997781e-01 -2.83225354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.02589822699997 meters 0.05587678294604007 Centerline is valid? [True, True] Translation: X:263.90, Y:8.48, Z:-2.83 [[ 9.98577031e-01 5.32735929e-02 2.41602683e-03 2.63895193e+02] [-5.32731578e-02 9.98579947e-01 -2.44167743e-04 8.48387344e+00] [-2.42560363e-03 1.15110922e-04 9.99997052e-01 -2.83168211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05589822699994 meters 0.054948510511867776 Centerline is valid? [True, True] Translation: X:263.93, Y:8.48, Z:-2.83 [[ 9.98550202e-01 5.37029042e-02 3.67323825e-03 2.63927839e+02] [-5.37018930e-02 9.98556942e-01 -3.73427416e-04 8.48229353e+00] [-3.68799169e-03 1.75626174e-04 9.99993184e-01 -2.82988486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.085898227 meters 0.054948510511867776 Centerline is valid? [True, True] Translation: X:263.96, Y:8.48, Z:-2.83 [[ 9.98540178e-01 5.38889511e-02 3.67331812e-03 2.63960160e+02] [-5.38879440e-02 9.98546920e-01 -3.72644520e-04 8.47880957e+00] [-3.68806191e-03 1.74152964e-04 9.99993184e-01 -2.83025960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11589822699995 meters 0.0545794075830312 Centerline is valid? [True, True] Translation: X:263.99, Y:8.48, Z:-2.83 [[ 9.98471776e-01 5.51237843e-02 3.93465187e-03 2.63991029e+02] [-5.51226300e-02 9.98479511e-01 -4.01290619e-04 8.47746610e+00] [-3.95078994e-03 1.83788998e-04 9.99992179e-01 -2.82999634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.145898227 meters 0.05098865762228381 Centerline is valid? [True, True] Translation: X:264.02, Y:8.48, Z:-2.83 [[ 9.98256618e-01 5.89290633e-02 3.33028834e-03 2.64022783e+02] [-5.89282568e-02 9.98262162e-01 -3.39842234e-04 8.48388105e+00] [-3.34452742e-03 1.43001672e-04 9.99994397e-01 -2.83084064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17589822699995 meters 0.04968063450604907 Centerline is valid? [True, True] Translation: X:264.05, Y:8.49, Z:-2.83 [[ 9.98125754e-01 6.10549080e-02 4.15663914e-03 2.64053298e+02] [-6.10536702e-02 9.98134394e-01 -4.24148973e-04 8.48623606e+00] [-4.17478087e-03 1.69575938e-04 9.99991271e-01 -2.83017394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.205898227 meters 0.04708314393755303 Centerline is valid? [True, True] Translation: X:264.09, Y:8.49, Z:-2.83 [[ 9.97982055e-01 6.32254235e-02 5.86199766e-03 2.64085710e+02] [-6.32229991e-02 9.97999246e-01 -5.98161528e-04 8.49009959e+00] [-5.88808826e-03 2.26341399e-04 9.99982639e-01 -2.82759141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23589822699995 meters 0.041753783525854786 Centerline is valid? [True, True] Translation: X:264.12, Y:8.50, Z:-2.82 [[ 9.97810377e-01 6.56479196e-02 8.04999252e-03 2.64118416e+02] [-6.56434225e-02 9.97842806e-01 -8.21889145e-04 8.50300426e+00] [-8.08658243e-03 2.91660458e-04 9.99967261e-01 -2.82361676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.265898227 meters 0.04154757097144594 Centerline is valid? [True, True] Translation: X:264.15, Y:8.51, Z:-2.82 [[ 9.97768282e-01 6.62897868e-02 8.00750925e-03 2.64150189e+02] [-6.62853598e-02 9.97800372e-01 -8.17293073e-04 8.50512691e+00] [-8.04407389e-03 2.84688474e-04 9.99967605e-01 -2.82408069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29589822699995 meters 0.039942503966289455 Centerline is valid? [True, True] Translation: X:264.18, Y:8.51, Z:-2.83 [[ 9.97777464e-01 6.62838252e-02 6.82539028e-03 2.64183307e+02] [-6.62806037e-02 9.97800779e-01 -6.97357923e-04 8.50870683e+00] [-6.85660329e-03 2.43417033e-04 9.99976464e-01 -2.82554788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.325898227 meters 0.04249525749907108 Centerline is valid? [True, True] Translation: X:264.21, Y:8.51, Z:-2.83 [[ 9.97949950e-01 6.37207710e-02 5.96330756e-03 2.64214583e+02] [-6.37182564e-02 9.97967740e-01 -6.10899659e-04 8.51128634e+00] [-5.99011556e-03 2.29675724e-04 9.99982033e-01 -2.82734550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35589822699995 meters 0.0436554578117393 Centerline is valid? [True, True] Translation: X:264.25, Y:8.51, Z:-2.83 [[ 9.98099276e-01 6.11939869e-02 7.28906971e-03 2.64246096e+02] [-6.11901622e-02 9.98125847e-01 -7.46781630e-04 8.51155669e+00] [-7.32110742e-03 2.99342846e-04 9.99973156e-01 -2.82523967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.385898227 meters 0.05214348499495337 Centerline is valid? [True, True] Translation: X:264.27, Y:8.50, Z:-2.82 [[ 9.98237063e-01 5.86522811e-02 9.09261253e-03 2.64274999e+02] [-5.86462211e-02 9.98278394e-01 -9.31908324e-04 8.50228816e+00] [-9.13161718e-03 3.97018064e-04 9.99958227e-01 -2.82318767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41589822699996 meters 0.05340326176400853 Centerline is valid? [True, True] Translation: X:264.31, Y:8.50, Z:-2.82 [[ 9.98362201e-01 5.63831975e-02 9.68769659e-03 2.64306432e+02] [-5.63762121e-02 9.98409103e-01 -9.92857973e-04 8.50152598e+00] [-9.72826497e-03 4.45076234e-04 9.99952580e-01 -2.82208065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.445898227 meters 0.05751360272421417 Centerline is valid? [True, True] Translation: X:264.34, Y:8.50, Z:-2.82 [[ 9.98608538e-01 5.19900176e-02 8.83319924e-03 2.64337357e+02] [-5.19840365e-02 9.98647505e-01 -9.05519828e-04 8.49995186e+00] [-8.86833037e-03 4.45074481e-04 9.99960577e-01 -2.82424594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47589822699996 meters 0.05492431807810844 Centerline is valid? [True, True] Translation: X:264.37, Y:8.50, Z:-2.83 [[ 9.98735893e-01 4.96257432e-02 7.99383254e-03 2.64368481e+02] [-4.96207695e-02 9.98767795e-01 -8.19451073e-04 8.50366997e+00] [-8.02464836e-03 4.21755077e-04 9.99967713e-01 -2.82539259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.505898227 meters 0.059574938395195884 Centerline is valid? [True, True] Translation: X:264.40, Y:8.50, Z:-2.83 [[ 9.98832375e-01 4.76911353e-02 7.70992117e-03 2.64398561e+02] [-4.76864505e-02 9.98862041e-01 -7.90435561e-04 8.49840161e+00] [-7.73884437e-03 4.21853854e-04 9.99969966e-01 -2.82706863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53589822699996 meters 0.07026567648220988 Centerline is valid? [True, True] Translation: X:264.43, Y:8.49, Z:-2.83 [[ 9.98974500e-01 4.45716424e-02 7.95714475e-03 2.64427522e+02] [-4.45665529e-02 9.99006084e-01 -8.15880936e-04 8.48831663e+00] [-7.98560118e-03 4.60421738e-04 9.99968009e-01 -2.82796760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.565898227 meters 0.06661200655380209 Centerline is valid? [True, True] Translation: X:264.46, Y:8.49, Z:-2.83 [[ 9.99019558e-01 4.35648374e-02 7.87570319e-03 2.64459533e+02] [-4.35598235e-02 9.99050494e-01 -8.07133319e-04 8.49168596e+00] [-7.90338780e-03 4.63277731e-04 9.99968660e-01 -2.82778540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59589822699996 meters 0.06766385977849863 Centerline is valid? [True, True] Translation: X:264.49, Y:8.49, Z:-2.83 [[ 9.99075497e-01 4.23279985e-02 7.51610369e-03 2.64490242e+02] [-4.23233858e-02 9.99103666e-01 -7.71772472e-04 8.48911018e+00] [-7.54203434e-03 4.52952009e-04 9.99971456e-01 -2.82828525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.625898227 meters 0.06777306882550797 Centerline is valid? [True, True] Translation: X:264.52, Y:8.49, Z:-2.83 [[ 9.99164758e-01 4.03293329e-02 6.58261511e-03 2.64521525e+02] [-4.03257502e-02 9.99186357e-01 -6.76141072e-04 8.48996429e+00] [-6.60452753e-03 4.10127438e-04 9.99978106e-01 -2.83055697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65589822699997 meters 0.06962090982477714 Centerline is valid? [True, True] Translation: X:264.55, Y:8.49, Z:-2.83 [[ 9.99161094e-01 4.04852676e-02 6.16864225e-03 2.64553563e+02] [-4.04821283e-02 9.99180062e-01 -6.32966420e-04 8.48575901e+00] [-6.18921016e-03 3.82715653e-04 9.99980773e-01 -2.83196031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.685898227 meters 0.06979840441747005 Centerline is valid? [True, True] Translation: X:264.59, Y:8.48, Z:-2.83 [[ 9.99146062e-01 4.09344823e-02 5.61380015e-03 2.64585168e+02] [-4.09318846e-02 9.99161773e-01 -5.76905855e-04 8.48321529e+00] [-5.63270985e-03 3.46629793e-04 9.99984076e-01 -2.83447243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71589822699997 meters 0.06913966738976467 Centerline is valid? [True, True] Translation: X:264.62, Y:8.48, Z:-2.84 [[ 9.99124498e-01 4.15072476e-02 5.23314812e-03 2.64617776e+02] [-4.15049910e-02 9.99138151e-01 -5.39140086e-04 8.48084790e+00] [-5.25101616e-03 3.21466302e-04 9.99986162e-01 -2.83639578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.74589822699994 meters 0.07373404364077696 Centerline is valid? [True, True] Translation: X:264.65, Y:8.47, Z:-2.84 [[ 9.99094230e-01 4.23154462e-02 4.48575929e-03 2.64648177e+02] [-4.23137984e-02 9.99104263e-01 -4.61669506e-04 8.47225562e+00] [-4.50127698e-03 2.71441825e-04 9.99989832e-01 -2.83861293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.77589822699997 meters 0.0688674355725635 Centerline is valid? [True, True] Translation: X:264.68, Y:8.47, Z:-2.84 [[ 9.99071556e-01 4.28882805e-02 4.07702162e-03 2.64680559e+02] [-4.28869225e-02 9.99079844e-01 -4.19969135e-04 8.47486548e+00] [-4.09128188e-03 2.44728307e-04 9.99991601e-01 -2.83870579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.80589822699994 meters 0.07010823346589828 Centerline is valid? [True, True] Translation: X:264.71, Y:8.47, Z:-2.84 [[ 9.99047319e-01 4.34473260e-02 4.09684132e-03 2.64711779e+02] [-4.34459564e-02 9.99055689e-01 -4.22765680e-04 8.46982394e+00] [-4.11134066e-03 2.44371730e-04 9.99991519e-01 -2.83875389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.835898227 meters 0.06523854991005419 Centerline is valid? [True, True] Translation: X:264.74, Y:8.47, Z:-2.84 [[ 9.98970136e-01 4.51221692e-02 4.75988724e-03 2.64742843e+02] [-4.51203299e-02 9.98981438e-01 -4.93146065e-04 8.47333398e+00] [-4.77729082e-03 2.77870509e-04 9.99988550e-01 -2.83676738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.86589822699995 meters 0.06397566077372742 Centerline is valid? [True, True] Translation: X:264.77, Y:8.47, Z:-2.84 [[ 9.98909217e-01 4.64635765e-02 4.63815694e-03 2.64774201e+02] [-4.64618452e-02 9.98919950e-01 -4.80376901e-04 8.47309963e+00] [-4.65546753e-03 2.64355584e-04 9.99989128e-01 -2.83649093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.895898227 meters 0.06138330632726969 Centerline is valid? [True, True] Translation: X:264.81, Y:8.47, Z:-2.84 [[ 9.98834397e-01 4.80081619e-02 5.00633350e-03 2.64806282e+02] [-4.80061639e-02 9.98846905e-01 -5.18569468e-04 8.47499491e+00] [-5.02545629e-03 2.77630155e-04 9.99987334e-01 -2.83593969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.92589822699995 meters 0.06083664648681557 Centerline is valid? [True, True] Translation: X:264.84, Y:8.47, Z:-2.83 [[ 9.98762441e-01 4.93913149e-02 5.83823137e-03 2.64837909e+02] [-4.93886193e-02 9.98779454e-01 -6.05075030e-04 8.47422012e+00] [-5.86099099e-03 3.15984027e-04 9.99982774e-01 -2.83465903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.955898227 meters 0.05858067535860714 Centerline is valid? [True, True] Translation: X:264.87, Y:8.48, Z:-2.83 [[ 9.98635691e-01 5.15799661e-02 8.14028853e-03 2.64869348e+02] [-5.15747954e-02 9.98668778e-01 -8.43983032e-04 8.47588972e+00] [-8.17298461e-03 4.22997863e-04 9.99966511e-01 -2.83205336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.98589822699995 meters 0.0594287745388384 Centerline is valid? [True, True] Translation: X:264.90, Y:8.47, Z:-2.83 [[ 9.98643854e-01 5.12619430e-02 9.09203864e-03 2.64900233e+02] [-5.12554795e-02 9.98685129e-01 -9.42640912e-04 8.47234719e+00] [-9.12840539e-03 4.75345753e-04 9.99958222e-01 -2.83165560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.015898227 meters 0.05633139954907468 Centerline is valid? [True, True] Translation: X:264.93, Y:8.47, Z:-2.83 [[ 9.98719296e-01 4.96961535e-02 9.49002814e-03 2.64932113e+02] [-4.96890318e-02 9.98764252e-01 -9.84903630e-04 8.47365624e+00] [-9.52724677e-03 5.12091950e-04 9.99954484e-01 -2.83182994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.04589822699995 meters 0.06281718545125695 Centerline is valid? [True, True] Translation: X:264.96, Y:8.46, Z:-2.83 [[ 9.98920682e-01 4.57317854e-02 8.12858432e-03 2.64961025e+02] [-4.57264275e-02 9.98953643e-01 -8.43873195e-04 8.46202882e+00] [-8.15867075e-03 4.71271266e-04 9.99966606e-01 -2.83423509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.075898227 meters 0.0656440011081411 Centerline is valid? [True, True] Translation: X:264.99, Y:8.45, Z:-2.84 [[ 9.99009067e-01 4.38782234e-02 7.45550754e-03 2.64990972e+02] [-4.38736657e-02 9.99036787e-01 -7.73855763e-04 8.45495042e+00] [-7.48228172e-03 4.45988479e-04 9.99971908e-01 -2.83604922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.10589822699995 meters 0.06933117497266955 Centerline is valid? [True, True] Translation: X:265.02, Y:8.45, Z:-2.84 [[ 9.99091417e-01 4.18631958e-02 7.98837839e-03 2.65019794e+02] [-4.18578979e-02 9.99123230e-01 -8.29309154e-04 8.44558076e+00] [-8.01609195e-03 4.94178931e-04 9.99967749e-01 -2.83572162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.135898227 meters 0.06779716567936818 Centerline is valid? [True, True] Translation: X:265.05, Y:8.44, Z:-2.83 [[ 9.99090466e-01 4.16995509e-02 8.91004346e-03 2.65052167e+02] [-4.16929572e-02 9.99130043e-01 -9.24579025e-04 8.44294616e+00] [-8.94084664e-03 5.52252028e-04 9.99959877e-01 -2.83467051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.16589822699996 meters 0.061479801964811516 Centerline is valid? [True, True] Translation: X:265.09, Y:8.45, Z:-2.83 [[ 9.99080887e-01 4.17382754e-02 9.76209282e-03 2.65085658e+02] [-4.17303455e-02 9.99128394e-01 -1.01469554e-03 8.44708451e+00] [-9.79593577e-03 6.06387416e-04 9.99951835e-01 -2.83394592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.195898227 meters 0.06944285812877685 Centerline is valid? [True, True] Translation: X:265.12, Y:8.43, Z:-2.83 [[ 9.99067857e-01 4.19897919e-02 1.00137610e-02 2.65116269e+02] [-4.19814401e-02 9.99117846e-01 -1.04287108e-03 8.43297133e+00] [-1.00487172e-02 6.21506870e-04 9.99949317e-01 -2.83491396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.22589822699996 meters 0.0695654864587531 Centerline is valid? [True, True] Translation: X:265.15, Y:8.43, Z:-2.84 [[ 9.99046650e-01 4.27689583e-02 8.75258635e-03 2.65147104e+02] [-4.27625952e-02 9.99084845e-01 -9.12939530e-04 8.42872292e+00] [-8.78362184e-03 5.37785872e-04 9.99961279e-01 -2.83771383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.255898227 meters 0.0628922215410297 Centerline is valid? [True, True] Translation: X:265.18, Y:8.43, Z:-2.84 [[ 9.99014017e-01 4.36131886e-02 8.29964282e-03 2.65180247e+02] [-4.36074871e-02 9.99048365e-01 -8.66774048e-04 8.43332920e+00] [-8.32954737e-03 5.03992855e-04 9.99965182e-01 -2.83876172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.28589822699996 meters 0.0695605497741891 Centerline is valid? [True, True] Translation: X:265.21, Y:8.42, Z:-2.84 [[ 9.98970351e-01 4.47067544e-02 7.71644099e-03 2.65209907e+02] [-4.47018455e-02 9.99000046e-01 -8.07548506e-04 8.42309195e+00] [-7.74482778e-03 4.61777862e-04 9.99969902e-01 -2.84030503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.315898227 meters 0.0594331839710021 Centerline is valid? [True, True] Translation: X:265.24, Y:8.43, Z:-2.84 [[ 9.98827196e-01 4.78897876e-02 7.12744736e-03 2.65241507e+02] [-4.78856785e-02 9.98852544e-01 -7.46152176e-04 8.43083680e+00] [-7.15500200e-03 4.03974433e-04 9.99974321e-01 -2.84113791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.34589822699996 meters 0.05852654879765094 Centerline is valid? [True, True] Translation: X:265.27, Y:8.43, Z:-2.84 [[ 9.98763202e-01 4.92137050e-02 7.07654581e-03 2.65273008e+02] [-4.92096882e-02 9.98788195e-01 -7.40739277e-04 8.42825538e+00] [-7.10442494e-03 3.91588520e-04 9.99974687e-01 -2.84128005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.375898227 meters 0.06467611719142324 Centerline is valid? [True, True] Translation: X:265.30, Y:8.42, Z:-2.84 [[ 9.98688939e-01 5.07258659e-02 6.87668762e-03 2.65302298e+02] [-5.07221071e-02 9.98712546e-01 -7.20029888e-04 8.41624635e+00] [-6.90435834e-03 3.70285799e-04 9.99976096e-01 -2.84278171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.40589822699997 meters 0.06302331249036983 Centerline is valid? [True, True] Translation: X:265.33, Y:8.42, Z:-2.84 [[ 9.98585728e-01 5.27260784e-02 6.81936464e-03 2.65331622e+02] [-5.27224288e-02 9.98608950e-01 -7.13966844e-04 8.41527414e+00] [-6.84752324e-03 3.53423634e-04 9.99976493e-01 -2.84326738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.435898227 meters 0.056531732059917794 Centerline is valid? [True, True] Translation: X:265.36, Y:8.42, Z:-2.84 [[ 9.98528954e-01 5.37764732e-02 6.92960924e-03 2.65364130e+02] [-5.37727317e-02 9.98552937e-01 -7.25263468e-04 8.41999013e+00] [-6.95858377e-03 3.51572554e-04 9.99975727e-01 -2.84272519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.46589822699997 meters 0.05561855210817299 Centerline is valid? [True, True] Translation: X:265.40, Y:8.42, Z:-2.84 [[ 9.98498713e-01 5.43590183e-02 6.73928745e-03 2.65396276e+02] [-5.43554856e-02 9.98521398e-01 -7.06388711e-04 8.41894939e+00] [-6.76772133e-03 3.39010977e-04 9.99977041e-01 -2.84390602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49589822699994 meters 0.05404847851867644 Centerline is valid? [True, True] Translation: X:265.43, Y:8.42, Z:-2.84 [[ 9.98462912e-01 5.50526708e-02 6.40447624e-03 2.65429048e+02] [-5.50494885e-02 9.98483401e-01 -6.72244680e-04 8.41921545e+00] [-6.43177208e-03 3.18648240e-04 9.99979265e-01 -2.84490819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.52589822699997 meters 0.05489067232985622 Centerline is valid? [True, True] Translation: X:265.46, Y:8.41, Z:-2.85 [[ 9.98473118e-01 5.48611412e-02 6.45657358e-03 2.65461279e+02] [-5.48578959e-02 9.98493941e-01 -6.78796798e-04 8.41480159e+00] [-6.48408917e-03 3.23566314e-04 9.99978926e-01 -2.84529426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55589822699994 meters 0.05864456998463462 Centerline is valid? [True, True] Translation: X:265.49, Y:8.41, Z:-2.85 [[ 9.98522856e-01 5.39834350e-02 6.15592192e-03 2.65491517e+02] [-5.39804598e-02 9.98541781e-01 -6.48552969e-04 8.40869602e+00] [-6.18195636e-03 3.15295467e-04 9.99980842e-01 -2.84667445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.585898227 meters 0.06714103170220376 Centerline is valid? [True, True] Translation: X:265.52, Y:8.40, Z:-2.85 [[ 9.98540077e-01 5.36042940e-02 6.65539692e-03 2.65521053e+02] [-5.36008038e-02 9.98562197e-01 -7.01805830e-04 8.39661348e+00] [-6.68344758e-03 3.44046623e-04 9.99977606e-01 -2.84782664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61589822699995 meters 0.06764472155444226 Centerline is valid? [True, True] Translation: X:265.55, Y:8.39, Z:-2.85 [[ 9.98542777e-01 5.35098185e-02 7.00149296e-03 2.65553297e+02] [-5.35059515e-02 9.98567257e-01 -7.38599449e-04 8.39499999e+00] [-7.03098394e-03 3.62901603e-04 9.99975216e-01 -2.84767958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.645898227 meters 0.05783817566051078 Centerline is valid? [True, True] Translation: X:265.59, Y:8.41, Z:-2.85 [[ 9.98527384e-01 5.37178298e-02 7.58009862e-03 2.65587337e+02] [-5.37132945e-02 9.98556078e-01 -8.00776406e-04 8.40654653e+00] [-7.61216952e-03 3.92445100e-04 9.99970950e-01 -2.84614795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67589822699995 meters 0.05843885957819159 Centerline is valid? [True, True] Translation: X:265.62, Y:8.41, Z:-2.84 [[ 9.98483770e-01 5.43709067e-02 8.60028120e-03 2.65618710e+02] [-5.43650741e-02 9.98520711e-01 -9.10695379e-04 8.40872408e+00] [-8.63707423e-03 4.41759631e-04 9.99962602e-01 -2.84451106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.705898227 meters 0.05842793843124854 Centerline is valid? [True, True] Translation: X:265.65, Y:8.41, Z:-2.85 [[ 9.98471633e-01 5.45943114e-02 8.59408313e-03 2.65652268e+02] [-5.45884909e-02 9.98508522e-01 -9.10568652e-04 8.40839871e+00] [-8.63097711e-03 4.40038941e-04 9.99962656e-01 -2.84528865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73589822699995 meters 0.06245163678173002 Centerline is valid? [True, True] Translation: X:265.68, Y:8.40, Z:-2.85 [[ 9.98473806e-01 5.45267163e-02 8.76901574e-03 2.65683190e+02] [-5.45206369e-02 9.98512210e-01 -9.31019525e-04 8.40366870e+00] [-8.80673472e-03 4.51506285e-04 9.99961118e-01 -2.84614785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.765898227 meters 0.05953700522482465 Centerline is valid? [True, True] Translation: X:265.72, Y:8.41, Z:-2.85 [[ 9.98494596e-01 5.40910625e-02 9.09387594e-03 2.65716157e+02] [-5.40845002e-02 9.98535895e-01 -9.66184956e-04 8.40713640e+00] [-9.13282352e-03 4.72892722e-04 9.99958183e-01 -2.84582410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79589822699995 meters 0.06231461533104207 Centerline is valid? [True, True] Translation: X:265.75, Y:8.41, Z:-2.84 [[ 9.98572242e-01 5.25221186e-02 9.74190238e-03 2.65746818e+02] [-5.25144943e-02 9.98619624e-01 -1.03697289e-03 8.40569962e+00] [-9.78291890e-03 5.23901269e-04 9.99952009e-01 -2.84493423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.825898227 meters 0.06530721910529515 Centerline is valid? [True, True] Translation: X:265.78, Y:8.40, Z:-2.85 [[ 9.98621212e-01 5.16806342e-02 9.20794539e-03 2.65777057e+02] [-5.16737876e-02 9.98663536e-01 -9.80081770e-04 8.40073612e+00] [-9.24629056e-03 5.02921031e-04 9.99957126e-01 -2.84614881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85589822699995 meters 0.07848576855866876 Centerline is valid? [True, True] Translation: X:265.81, Y:8.38, Z:-2.85 [[ 9.98736538e-01 4.95416307e-02 8.42348268e-03 2.65805847e+02] [-4.95358188e-02 9.98771945e-01 -8.97339476e-04 8.38437450e+00] [-8.45759384e-03 4.78941610e-04 9.99964119e-01 -2.84753113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.885898227 meters 0.06886167776460235 Centerline is valid? [True, True] Translation: X:265.84, Y:8.39, Z:-2.85 [[ 9.98776365e-01 4.86911756e-02 8.65688343e-03 2.65838578e+02] [-4.86850064e-02 9.98813756e-01 -9.22075842e-04 8.39393308e+00] [-8.69151122e-03 4.99487133e-04 9.99962103e-01 -2.84722782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91589822699996 meters 0.07017488438446162 Centerline is valid? [True, True] Translation: X:265.87, Y:8.39, Z:-2.85 [[ 9.98802713e-01 4.81603878e-02 8.58586770e-03 2.65870454e+02] [-4.81542895e-02 9.98839490e-01 -9.15705205e-04 8.38891672e+00] [-8.62000443e-03 5.01162485e-04 9.99962721e-01 -2.84782074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.945898227 meters 0.07210624917631105 Centerline is valid? [True, True] Translation: X:265.90, Y:8.38, Z:-2.85 [[ 9.98849163e-01 4.73259759e-02 7.78470110e-03 2.65900673e+02] [-4.73209270e-02 9.98879391e-01 -8.31579872e-04 8.38348885e+00] [-7.81533283e-03 4.62243586e-04 9.99969353e-01 -2.85008761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97589822699996 meters 0.07210624917631105 Centerline is valid? [True, True] Translation: X:265.93, Y:8.38, Z:-2.85 [[ 9.98840940e-01 4.74992236e-02 7.78467587e-03 2.65933017e+02] [-4.74941782e-02 9.98871168e-01 -8.31816402e-04 8.37983992e+00] [-7.81539891e-03 4.61125494e-04 9.99969353e-01 -2.85046278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.005898227 meters 0.07183849396985732 Centerline is valid? [True, True] Translation: X:265.97, Y:8.38, Z:-2.85 [[ 9.98827943e-01 4.78772462e-02 7.10701449e-03 2.65965537e+02] [-4.78730391e-02 9.98853139e-01 -7.61003104e-04 8.37660947e+00] [-7.13529846e-03 4.19876783e-04 9.99974455e-01 -2.85180240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03589822699996 meters 0.07148408353934221 Centerline is valid? [True, True] Translation: X:266.00, Y:8.37, Z:-2.85 [[ 9.98782073e-01 4.88581646e-02 6.87386629e-03 2.65997592e+02] [-4.88542528e-02 9.98805647e-01 -7.35945860e-04 8.37370572e+00] [-6.90161343e-03 3.99231931e-04 9.99976104e-01 -2.85246614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.065898227 meters 0.07114125374676006 Centerline is valid? [True, True] Translation: X:266.03, Y:8.37, Z:-2.85 [[ 9.98664735e-01 5.11211644e-02 7.44130226e-03 2.66027891e+02] [-5.11166286e-02 9.98692371e-01 -7.98589406e-04 8.37411025e+00] [-7.47239662e-03 4.17148794e-04 9.99971994e-01 -2.85237395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09589822699996 meters 0.06857750240620039 Centerline is valid? [True, True] Translation: X:266.06, Y:8.37, Z:-2.85 [[ 9.98563137e-01 5.30351889e-02 7.67659995e-03 2.66058274e+02] [-5.30304180e-02 9.98592558e-01 -8.23841202e-04 8.37202174e+00] [-7.70948815e-03 4.15564150e-04 9.99970195e-01 -2.85190452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.125898227 meters 0.054554354898882496 Centerline is valid? [True, True] Translation: X:266.09, Y:8.39, Z:-2.85 [[ 9.98502945e-01 5.41912270e-02 7.42830902e-03 2.66092020e+02] [-5.41867928e-02 9.98530498e-01 -7.97049386e-04 8.38742376e+00] [-7.46058619e-03 3.93339918e-04 9.99972092e-01 -2.85157641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15589822699997 meters 0.06722780734055249 Centerline is valid? [True, True] Translation: X:266.12, Y:8.37, Z:-2.85 [[ 9.98486792e-01 5.45236976e-02 7.16189620e-03 2.66121471e+02] [-5.45195843e-02 9.98512406e-01 -7.68454354e-04 8.36889020e+00] [-7.19314118e-03 3.76827918e-04 9.99974058e-01 -2.85452747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.185898227 meters 0.06356006611297083 Centerline is valid? [True, True] Translation: X:266.15, Y:8.37, Z:-2.85 [[ 9.98528439e-01 5.35613156e-02 8.49365743e-03 2.66154155e+02] [-5.35554857e-02 9.98564458e-01 -9.12505903e-04 8.37467914e+00] [-8.53033945e-03 4.56281145e-04 9.99963512e-01 -2.85266389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21589822699997 meters 0.06946109178907964 Centerline is valid? [True, True] Translation: X:266.18, Y:8.36, Z:-2.85 [[ 9.98505822e-01 5.37631860e-02 9.77977047e-03 2.66184884e+02] [-5.37554634e-02 9.98553577e-01 -1.05099590e-03 8.35791054e+00] [-9.82212967e-03 5.23709433e-04 9.99951625e-01 -2.85092413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.24589822699994 meters 0.05639179904222115 Centerline is valid? [True, True] Translation: X:266.22, Y:8.37, Z:-2.85 [[ 9.98493158e-01 5.39105040e-02 1.02504283e-02 2.66219609e+02] [-5.39020091e-02 9.98545620e-01 -1.10340129e-03 8.36993910e+00] [-1.02950052e-02 5.49219955e-04 9.99946854e-01 -2.85008972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.27589822699997 meters 0.0590043911107191 Centerline is valid? [True, True] Translation: X:266.25, Y:8.36, Z:-2.85 [[ 9.98493451e-01 5.39655111e-02 9.92734512e-03 2.66250772e+02] [-5.39575277e-02 9.98542658e-01 -1.07045775e-03 8.36215231e+00] [-9.97064538e-03 5.33190056e-04 9.99950150e-01 -2.85135127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.30589822699994 meters 0.055236436101986225 Centerline is valid? [True, True] Translation: X:266.28, Y:8.36, Z:-2.85 [[ 9.98496920e-01 5.39018629e-02 9.92420313e-03 2.66283233e+02] [-5.38938639e-02 9.98546094e-01 -1.07188826e-03 8.36350975e+00] [-9.96755105e-03 5.35423478e-04 9.99950179e-01 -2.85139082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.335898227 meters 0.05895488926259762 Centerline is valid? [True, True] Translation: X:266.31, Y:8.36, Z:-2.85 [[ 9.98509909e-01 5.36597642e-02 9.92931712e-03 2.66313891e+02] [-5.36517281e-02 9.98559131e-01 -1.07413623e-03 8.35516517e+00] [-9.97264818e-03 5.39810647e-04 9.99950126e-01 -2.85159483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.36589822699995 meters 0.06360603669196958 Centerline is valid? [True, True] Translation: X:266.34, Y:8.34, Z:-2.85 [[ 9.98524040e-01 5.34557882e-02 9.60313638e-03 2.66344454e+02] [-5.34482481e-02 9.98570079e-01 -1.04028905e-03 8.34476087e+00] [-9.64501412e-03 5.25482806e-04 9.99953348e-01 -2.85221797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.395898227 meters 0.06267506015624882 Centerline is valid? [True, True] Translation: X:266.38, Y:8.34, Z:-2.85 [[ 9.98542231e-01 5.32346931e-02 8.91519613e-03 2.66377090e+02] [-5.32281750e-02 9.98581908e-01 -9.66968849e-04 8.34452970e+00] [-8.95402985e-03 4.91019612e-04 9.99959791e-01 -2.85402310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.42589822699995 meters 0.06488533467235179 Centerline is valid? [True, True] Translation: X:266.41, Y:8.33, Z:-2.86 [[ 9.98487521e-01 5.43452376e-02 8.32256211e-03 2.66407514e+02] [-5.43395853e-02 9.98522104e-01 -9.03952463e-04 8.33472345e+00] [-8.35938774e-03 4.50340681e-04 9.99964958e-01 -2.85556631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.455898227 meters 0.06062467274061748 Centerline is valid? [True, True] Translation: X:266.44, Y:8.34, Z:-2.86 [[ 9.98435213e-01 5.54145277e-02 7.50705231e-03 2.66439998e+02] [-5.54099521e-02 9.98463355e-01 -8.16287962e-04 8.33615716e+00] [-7.54075085e-03 3.99045236e-04 9.99971489e-01 -2.85705276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.48589822699995 meters 0.05561921067441867 Centerline is valid? [True, True] Translation: X:266.47, Y:8.34, Z:-2.86 [[ 9.98352363e-01 5.69891017e-02 6.69332800e-03 2.66471808e+02] [-5.69854893e-02 9.98374740e-01 -7.29329469e-04 8.33858005e+00] [-6.72401344e-03 3.46705227e-04 9.99977333e-01 -2.85848812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.515898227 meters 0.05833221843995836 Centerline is valid? [True, True] Translation: X:266.50, Y:8.33, Z:-2.86 [[ 9.98208145e-01 5.95595258e-02 5.75870395e-03 2.66501029e+02] [-5.95568931e-02 9.98224715e-01 -6.27722674e-04 8.33200747e+00] [-5.78586748e-03 2.83627370e-04 9.99983222e-01 -2.86143695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.54589822699995 meters 0.055123152024109674 Centerline is valid? [True, True] Translation: X:266.53, Y:8.33, Z:-2.86 [[ 9.98183784e-01 5.99271566e-02 6.15377744e-03 2.66533876e+02] [-5.99241626e-02 9.98202708e-01 -6.69929283e-04 8.33274595e+00] [-6.18286426e-03 2.99952586e-04 9.99980841e-01 -2.86133520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.575898227 meters 0.05589963903289133 Centerline is valid? [True, True] Translation: X:266.56, Y:8.33, Z:-2.86 [[ 9.98289537e-01 5.79783697e-02 7.51719672e-03 2.66564185e+02] [-5.79738307e-02 9.98317766e-01 -8.20496839e-04 8.32778305e+00] [-7.55212210e-03 3.83292720e-04 9.99971409e-01 -2.86008404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.60589822699995 meters 0.05987178412379317 Centerline is valid? [True, True] Translation: X:266.59, Y:8.32, Z:-2.86 [[ 9.98381037e-01 5.64078014e-02 7.31201034e-03 2.66593121e+02] [-5.64034622e-02 9.98407738e-01 -7.98457044e-04 8.31843174e+00] [-7.34540691e-03 3.84741672e-04 9.99972948e-01 -2.86086528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.635898227 meters 0.06352763915166325 Centerline is valid? [True, True] Translation: X:266.62, Y:8.31, Z:-2.86 [[ 9.98471952e-01 5.48301503e-02 6.88588830e-03 2.66621941e+02] [-5.48262665e-02 9.98495626e-01 -7.51671993e-04 8.30941872e+00] [-6.91674364e-03 3.72995855e-04 9.99976009e-01 -2.86192750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.66589822699996 meters 0.06293857103486639 Centerline is valid? [True, True] Translation: X:266.65, Y:8.31, Z:-2.86 [[ 9.98585802e-01 5.27920992e-02 6.27619552e-03 2.66653324e+02] [-5.27888296e-02 9.98605462e-01 -6.85577231e-04 8.30619847e+00] [-6.30363619e-03 3.53294673e-04 9.99980069e-01 -2.86181607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.695898227 meters 0.06458269312762178 Centerline is valid? [True, True] Translation: X:266.68, Y:8.30, Z:-2.86 [[ 9.98589685e-01 5.26779757e-02 6.60844680e-03 2.66684419e+02] [-5.26743513e-02 9.98611482e-01 -7.21426277e-04 8.30012149e+00] [-6.63727413e-03 3.72313191e-04 9.99977904e-01 -2.86175735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.72589822699996 meters 0.06372366975369677 Centerline is valid? [True, True] Translation: X:266.72, Y:8.30, Z:-2.86 [[ 9.98537984e-01 5.36125814e-02 6.89828118e-03 2.66716406e+02] [-5.36086470e-02 9.98561738e-01 -7.54119556e-04 8.29625676e+00] [-6.92878994e-03 3.83209500e-04 9.99975922e-01 -2.86073060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.755898227 meters 0.06723324335026153 Centerline is valid? [True, True] Translation: X:266.75, Y:8.29, Z:-2.86 [[ 9.98504109e-01 5.42414001e-02 6.88580575e-03 2.66746491e+02] [-5.42374851e-02 9.98527780e-01 -7.54166259e-04 8.28829668e+00] [-6.91657536e-03 3.79569322e-04 9.99976008e-01 -2.86141567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.78589822699996 meters 0.0641947949160948 Centerline is valid? [True, True] Translation: X:266.78, Y:8.29, Z:-2.86 [[ 9.98490090e-01 5.44949512e-02 6.91674478e-03 2.66779726e+02] [-5.44910054e-02 9.98513974e-01 -7.57781597e-04 8.28893161e+00] [-6.94776159e-03 3.79737038e-04 9.99975792e-01 -2.86118704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.815898227 meters 0.06498228070445064 Centerline is valid? [True, True] Translation: X:266.81, Y:8.28, Z:-2.86 [[ 9.98485794e-01 5.45723476e-02 6.92654806e-03 2.66812903e+02] [-5.45683837e-02 9.98509746e-01 -7.60115192e-04 8.28431778e+00] [-6.95770702e-03 3.80993689e-04 9.99975722e-01 -2.86162378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.84589822699996 meters 0.06907076092787064 Centerline is valid? [True, True] Translation: X:266.84, Y:8.28, Z:-2.86 [[ 9.98536782e-01 5.36135512e-02 7.06269529e-03 2.66844982e+02] [-5.36093926e-02 9.98561680e-01 -7.76958208e-04 8.27974862e+00] [-7.09419237e-03 3.97194545e-04 9.99974757e-01 -2.86021690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.875898227 meters 0.06463614847156175 Centerline is valid? [True, True] Translation: X:266.88, Y:8.28, Z:-2.86 [[ 9.98448855e-01 5.50704117e-02 8.19353454e-03 2.66877024e+02] [-5.50648597e-02 9.98482372e-01 -9.01846168e-04 8.27795299e+00] [-8.23076484e-03 4.49271444e-04 9.99966026e-01 -2.85777142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.90589822699997 meters 0.06485060907977794 Centerline is valid? [True, True] Translation: X:266.91, Y:8.28, Z:-2.86 [[ 9.98371855e-01 5.62921588e-02 9.21045646e-03 2.66907105e+02] [-5.62851910e-02 9.98414217e-01 -1.01418541e-03 8.27528394e+00] [-9.25294136e-03 4.94121863e-04 9.99957069e-01 -2.85692305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.935898227 meters 0.06354015984713969 Centerline is valid? [True, True] Translation: X:266.94, Y:8.28, Z:-2.86 [[ 9.98294043e-01 5.75341488e-02 9.94107767e-03 2.66938406e+02] [-5.75260921e-02 9.98343403e-01 -1.09474113e-03 8.27502484e+00] [-9.98759431e-03 5.21002199e-04 9.99949987e-01 -2.85610350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.96589822699997 meters 0.06168386646421922 Centerline is valid? [True, True] Translation: X:266.97, Y:8.28, Z:-2.86 [[ 9.98186243e-01 5.92650618e-02 1.05771472e-02 2.66970455e+02] [-5.92560354e-02 9.98242137e-01 -1.16501499e-03 8.27776590e+00] [-1.06275987e-02 5.36142132e-04 9.99943382e-01 -2.85600106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99589822699994 meters 0.06157962523624534 Centerline is valid? [True, True] Translation: X:267.00, Y:8.28, Z:-2.86 [[ 9.98145481e-01 5.98532582e-02 1.10989180e-02 2.67002745e+02] [-5.98433497e-02 9.98207032e-01 -1.22301179e-03 8.27554099e+00] [-1.11522192e-02 5.56547257e-04 9.99937657e-01 -2.85634720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.02589822699997 meters 0.061036729196625145 Centerline is valid? [True, True] Translation: X:267.04, Y:8.28, Z:-2.85 [[ 9.98143568e-01 5.95053021e-02 1.29821512e-02 2.67035351e+02] [-5.94916863e-02 9.98227773e-01 -1.43282493e-03 8.27597157e+00] [-1.30444046e-02 6.57834925e-04 9.99914702e-01 -2.85348452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05589822699994 meters 0.06490006308184222 Centerline is valid? [True, True] Translation: X:267.07, Y:8.27, Z:-2.85 [[ 9.98185228e-01 5.86619220e-02 1.36025904e-02 2.67066140e+02] [-5.86468658e-02 9.98277659e-01 -1.50347369e-03 8.26956178e+00] [-1.36673587e-02 7.02995941e-04 9.99906350e-01 -2.85297715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.085898227 meters 0.06407156016962019 Centerline is valid? [True, True] Translation: X:267.10, Y:8.27, Z:-2.85 [[ 9.98248282e-01 5.77475933e-02 1.28679194e-02 2.67098067e+02] [-5.77340212e-02 9.98330985e-01 -1.42402959e-03 8.26923844e+00] [-1.29286769e-02 6.78618367e-04 9.99916191e-01 -2.85458287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11589822699995 meters 0.07086119293916415 Centerline is valid? [True, True] Translation: X:267.13, Y:8.26, Z:-2.86 [[ 9.98390980e-01 5.59237814e-02 9.37980525e-03 2.67127202e+02] [-5.59164797e-02 9.98434909e-01 -1.03911098e-03 8.26285697e+00] [-9.42323602e-03 5.12953342e-04 9.99955469e-01 -2.86236450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.145898227 meters 0.07172087612128547 Centerline is valid? [True, True] Translation: X:267.16, Y:8.26, Z:-2.86 [[ 9.98415183e-01 5.57113112e-02 7.96063267e-03 2.67157585e+02] [-5.57060433e-02 9.98446823e-01 -8.82120621e-04 8.25899462e+00] [-7.99741250e-03 4.37267273e-04 9.99967925e-01 -2.86467688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17589822699995 meters 0.06096340891202309 Centerline is valid? [True, True] Translation: X:267.19, Y:8.27, Z:-2.86 [[ 9.98400893e-01 5.60030932e-02 7.70126676e-03 2.67191896e+02] [-5.59981706e-02 9.98430507e-01 -8.53512817e-04 8.27096625e+00] [-7.73697903e-03 4.20891110e-04 9.99969981e-01 -2.86377523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.205898227 meters 0.0678620021955923 Centerline is valid? [True, True] Translation: X:267.22, Y:8.26, Z:-2.86 [[ 9.98145566e-01 5.97296493e-02 1.17387675e-02 2.67221013e+02] [-5.97184307e-02 9.98214410e-01 -1.30420636e-03 8.26298715e+00] [-1.17957066e-02 6.00767028e-04 9.99930248e-01 -2.85680361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23589822699995 meters 0.055041932587481426 Centerline is valid? [True, True] Translation: X:267.25, Y:8.28, Z:-2.85 [[ 9.97940643e-01 6.27902208e-02 1.31095582e-02 2.67254109e+02] [-6.27764941e-02 9.98026548e-01 -1.45637595e-03 8.27914096e+00] [-1.31751333e-02 6.30404648e-04 9.99913005e-01 -2.85444516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.265898227 meters 0.050157596226841204 Centerline is valid? [True, True] Translation: X:267.29, Y:8.29, Z:-2.85 [[ 9.97725301e-01 6.60653608e-02 1.34011823e-02 2.67286264e+02] [-6.60513091e-02 9.97815117e-01 -1.48893652e-03 8.28613772e+00] [-1.34702694e-02 6.00383997e-04 9.99909092e-01 -2.85422513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29589822699995 meters 0.043449718490199324 Centerline is valid? [True, True] Translation: X:267.32, Y:8.30, Z:-2.86 [[ 9.97289131e-01 7.27292151e-02 1.11736193e-02 2.67318539e+02] [-7.27198623e-02 9.97351633e-01 -1.24159968e-03 8.30059457e+00] [-1.12343280e-02 4.25689812e-04 9.99936802e-01 -2.85864113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.325898227 meters 0.04411405437342189 Centerline is valid? [True, True] Translation: X:267.35, Y:8.31, Z:-2.86 [[ 9.97159687e-01 7.46020632e-02 1.03484735e-02 2.67350573e+02] [-7.45941419e-02 9.97213313e-01 -1.14987391e-03 8.30532081e+00] [-1.04054185e-02 3.74672408e-04 9.99945792e-01 -2.86103773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35589822699995 meters 0.03857295721191827 Centerline is valid? [True, True] Translation: X:267.38, Y:8.31, Z:-2.86 [[ 9.96953584e-01 7.72951807e-02 1.04406560e-02 2.67382761e+02] [-7.72872628e-02 9.97008191e-01 -1.16033157e-03 8.30865738e+00] [-1.04991076e-02 3.49866995e-04 9.99944822e-01 -2.86068188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.385898227 meters 0.03796483260618086 Centerline is valid? [True, True] Translation: X:267.41, Y:8.31, Z:-2.86 [[ 9.96735562e-01 8.00158923e-02 1.07553251e-02 2.67414143e+02] [-8.00076415e-02 9.96793533e-01 -1.19591880e-03 8.31335096e+00] [-1.08165310e-02 3.31506604e-04 9.99941445e-01 -2.86069873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41589822699996 meters 0.04342931329226145 Centerline is valid? [True, True] Translation: X:267.45, Y:8.31, Z:-2.86 [[ 9.96741009e-01 8.00078770e-02 1.03004711e-02 2.67446169e+02] [-8.00003083e-02 9.96794181e-01 -1.14540386e-03 8.31291433e+00] [-1.03590910e-02 3.17630138e-04 9.99946293e-01 -2.86242199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.445898227 meters 0.03320273343138132 Centerline is valid? [True, True] Translation: X:267.48, Y:8.32, Z:-2.86 [[ 9.96670356e-01 8.09024837e-02 1.01483682e-02 2.67479133e+02] [-8.08951661e-02 9.96721975e-01 -1.13016367e-03 8.31842021e+00] [-1.02065346e-02 3.05446699e-04 9.99947865e-01 -2.86201663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47589822699996 meters 0.037502740549946095 Centerline is valid? [True, True] Translation: X:267.51, Y:8.31, Z:-2.86 [[ 9.96689631e-01 8.07241115e-02 9.66421852e-03 2.67510304e+02] [-8.07174520e-02 9.96736440e-01 -1.07779818e-03 8.31344071e+00] [-9.71968307e-03 2.94159176e-04 9.99952719e-01 -2.86459424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.505898227 meters 0.03789442721081112 Centerline is valid? [True, True] Translation: X:267.54, Y:8.31, Z:-2.87 [[ 9.96680783e-01 8.08655971e-02 9.38994407e-03 2.67542945e+02] [-8.08593037e-02 9.96724974e-01 -1.04856978e-03 8.31088000e+00] [-9.44398498e-03 2.85825012e-04 9.99955364e-01 -2.86510334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53589822699996 meters 0.037787584563793844 Centerline is valid? [True, True] Translation: X:267.57, Y:8.31, Z:-2.86 [[ 9.96613730e-01 8.16377573e-02 9.81583821e-03 2.67574678e+02] [-8.16308988e-02 9.96662024e-01 -1.09802087e-03 8.30943217e+00] [-9.87271314e-03 2.93026975e-04 9.99951221e-01 -2.86388089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.565898227 meters 0.03261158001796917 Centerline is valid? [True, True] Translation: X:267.61, Y:8.32, Z:-2.86 [[ 9.96172124e-01 8.66699622e-02 1.13761430e-02 2.67605620e+02] [-8.66610538e-02 9.96237039e-01 -1.27463628e-03 8.31771379e+00] [-1.14438077e-02 2.83888589e-04 9.99934477e-01 -2.86056638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59589822699996 meters 0.02500971563950048 Centerline is valid? [True, True] Translation: X:267.64, Y:8.33, Z:-2.86 [[ 9.95788387e-01 9.10597988e-02 1.06583625e-02 2.67638117e+02] [-9.10522305e-02 9.95845402e-01 -1.19419423e-03 8.32737800e+00] [-1.07228244e-02 2.18697065e-04 9.99942485e-01 -2.86141982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.625898227 meters 0.02081670976678765 Centerline is valid? [True, True] Translation: X:267.67, Y:8.33, Z:-2.86 [[ 9.95293620e-01 9.64069217e-02 9.81399593e-03 2.67668593e+02] [-9.64007622e-02 9.95341993e-01 -1.09985513e-03 8.33389237e+00] [-9.87431591e-03 1.48602105e-04 9.99951237e-01 -2.86303835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65589822699997 meters 0.014757898120065706 Centerline is valid? [True, True] Translation: X:267.70, Y:8.34, Z:-2.86 [[ 9.94734382e-01 1.02068365e-01 9.24971815e-03 2.67699378e+02] [-1.02063139e-01 9.94777383e-01 -1.03651700e-03 8.34444821e+00] [-9.30720601e-03 8.70038224e-05 9.99956683e-01 -2.86335071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.685898227 meters 0.01053203315908506 Centerline is valid? [True, True] Translation: X:267.73, Y:8.37, Z:-2.86 [[ 9.93483919e-01 1.13610577e-01 9.07411111e-03 2.67729632e+02] [-1.13606028e-01 9.93525358e-01 -1.01684628e-03 8.36724657e+00] [-9.13088398e-03 -2.06532968e-05 9.99958312e-01 -2.86495221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71589822699997 meters 0.01358717483373705 Centerline is valid? [True, True] Translation: X:267.76, Y:8.38, Z:-2.87 [[ 9.92992102e-01 1.17877803e-01 8.45628423e-03 2.67758169e+02] [-1.17874012e-01 9.93028106e-01 -9.47158372e-04 8.37526892e+00] [-8.50897686e-03 -5.62553615e-05 9.99963796e-01 -2.86761127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.74589822699994 meters 0.015522733104127572 Centerline is valid? [True, True] Translation: X:267.79, Y:8.38, Z:-2.87 [[ 9.92649852e-01 1.20824728e-01 6.90336461e-03 2.67787221e+02] [-1.20822274e-01 9.92673854e-01 -7.72943733e-04 8.38101197e+00] [-6.94618027e-03 -6.68177285e-05 9.99975873e-01 -2.87116911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.77589822699997 meters 0.014733945025514209 Centerline is valid? [True, True] Translation: X:267.82, Y:8.38, Z:-2.87 [[ 9.92765666e-01 1.19905922e-01 6.23725338e-03 2.67815873e+02] [-1.19903903e-01 9.92785257e-01 -6.98005414e-04 8.37861268e+00] [-6.27594818e-03 -5.49152133e-05 9.99980305e-01 -2.87195969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.80589822699994 meters 0.013540316365743064 Centerline is valid? [True, True] Translation: X:267.84, Y:8.38, Z:-2.87 [[ 9.92977799e-01 1.18104939e-01 6.80546955e-03 2.67843114e+02] [-1.18102496e-01 9.93001118e-01 -7.61279358e-04 8.37571689e+00] [-6.84774972e-03 -4.78094362e-05 9.99976553e-01 -2.87168530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.835898227 meters 0.011218423814678165 Centerline is valid? [True, True] Translation: X:267.87, Y:8.37, Z:-2.87 [[ 9.93346559e-01 1.14786505e-01 9.30976855e-03 2.67870451e+02] [-1.14781793e-01 9.93390184e-01 -1.04063418e-03 8.37096923e+00] [-9.36768345e-03 -3.48815389e-05 9.99956122e-01 -2.86791477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.86589822699995 meters 0.010687290078472675 Centerline is valid? [True, True] Translation: X:267.90, Y:8.37, Z:-2.87 [[ 9.93485756e-01 1.13508167e-01 1.00969474e-02 2.67899096e+02] [-1.13502565e-01 9.93537063e-01 -1.12797896e-03 8.36743519e+00] [-1.01597263e-02 -2.53984012e-05 9.99948388e-01 -2.86709016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.895898227 meters 0.010687290078472675 Centerline is valid? [True, True] Translation: X:267.93, Y:8.36, Z:-2.87 [[ 9.93490807e-01 1.13463944e-01 1.00969977e-02 2.67927256e+02] [-1.13458345e-01 9.93542114e-01 -1.12752898e-03 8.36438300e+00] [-1.01597263e-02 -2.53989725e-05 9.99948388e-01 -2.86741657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.92589822699995 meters 0.010481377469273544 Centerline is valid? [True, True] Translation: X:267.96, Y:8.36, Z:-2.87 [[ 9.93533669e-01 1.13046444e-01 1.05522923e-02 2.67955967e+02] [-1.13040310e-01 9.93589705e-01 -1.17787274e-03 8.36226060e+00] [-1.06178033e-02 -2.25781652e-05 9.99943629e-01 -2.86676341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.955898227 meters 0.010595714543444375 Centerline is valid? [True, True] Translation: X:267.99, Y:8.36, Z:-2.87 [[ 9.93469068e-01 1.13499930e-01 1.17037051e-02 2.67985465e+02] [-1.13492422e-01 9.93538004e-01 -1.30581344e-03 8.36330818e+00] [-1.17762856e-02 -3.09965861e-05 9.99930657e-01 -2.86501731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.98589822699995 meters 0.010841946552873976 Centerline is valid? [True, True] Translation: X:268.01, Y:8.36, Z:-2.86 [[ 9.93413744e-01 1.13978637e-01 1.17474574e-02 2.68014336e+02] [-1.13971113e-01 9.93483200e-01 -1.31016505e-03 8.36222549e+00] [-1.18202324e-02 -3.73348202e-05 9.99930138e-01 -2.86431140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.015898227 meters 0.011133806677227439 Centerline is valid? [True, True] Translation: X:268.04, Y:8.36, Z:-2.86 [[ 9.93346444e-01 1.14563214e-01 1.17521297e-02 2.68043408e+02] [-1.14555731e-01 9.93415959e-01 -1.31015867e-03 8.36077674e+00] [-1.18248492e-02 -4.48323514e-05 9.99930083e-01 -2.86456104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.04589822699995 meters 0.01097334649507159 Centerline is valid? [True, True] Translation: X:268.07, Y:8.36, Z:-2.86 [[ 9.93263644e-01 1.15266694e-01 1.18711057e-02 2.68071798e+02] [-1.15259115e-01 9.93334579e-01 -1.32288449e-03 8.35832570e+00] [-1.19444643e-02 -5.42800663e-05 9.99928661e-01 -2.86427942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.075898227 meters 0.013004863273584605 Centerline is valid? [True, True] Translation: X:268.10, Y:8.36, Z:-2.86 [[ 9.92948300e-01 1.17768981e-01 1.35698359e-02 2.68100570e+02] [-1.17759323e-01 9.93041015e-01 -1.51141320e-03 8.36146515e+00] [-1.36534012e-02 -9.72195145e-05 9.99906783e-01 -2.86255124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.10589822699995 meters 0.013073547010329926 Centerline is valid? [True, True] Translation: X:268.13, Y:8.36, Z:-2.86 [[ 9.92852845e-01 1.18564490e-01 1.36268337e-02 2.68129594e+02] [-1.18554836e-01 9.92946348e-01 -1.51695326e-03 8.36033366e+00] [-1.37105715e-02 -1.09415674e-04 9.99906000e-01 -2.86333362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.135898227 meters 0.01235339199908526 Centerline is valid? [True, True] Translation: X:268.16, Y:8.36, Z:-2.86 [[ 9.92974948e-01 1.17560373e-01 1.34279929e-02 2.68159037e+02] [-1.17550915e-01 9.93065733e-01 -1.49419173e-03 8.36000311e+00] [-1.35105374e-02 -9.47779048e-05 9.99908724e-01 -2.86466679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.16589822699996 meters 0.012116497486101004 Centerline is valid? [True, True] Translation: X:268.19, Y:8.36, Z:-2.86 [[ 9.93170666e-01 1.15866871e-01 1.36709895e-02 2.68186785e+02] [-1.15856916e-01 9.93264750e-01 -1.52066959e-03 8.35821406e+00] [-1.37551072e-02 -7.35942502e-05 9.99905391e-01 -2.86480029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.195898227 meters 0.010126023333189604 Centerline is valid? [True, True] Translation: X:268.22, Y:8.35, Z:-2.87 [[ 9.93774051e-01 1.10687897e-01 1.27013637e-02 2.68215098e+02] [-1.10678889e-01 9.93855215e-01 -1.41211396e-03 8.34854494e+00] [-1.27796205e-02 -2.45062118e-06 9.99918337e-01 -2.86780647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.22589822699996 meters 0.010574323141613171 Centerline is valid? [True, True] Translation: X:268.24, Y:8.34, Z:-2.87 [[ 9.94119308e-01 1.07602340e-01 1.21876252e-02 2.68243770e+02] [-1.07593821e-01 9.94194013e-01 -1.35446549e-03 8.34194089e+00] [-1.22626076e-02 3.51871387e-05 9.99924811e-01 -2.86974622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.255898227 meters 0.011693002810254307 Centerline is valid? [True, True] Translation: X:268.27, Y:8.34, Z:-2.87 [[ 9.94427286e-01 1.04755358e-01 1.18611996e-02 2.68271794e+02] [-1.04747093e-01 9.94498019e-01 -1.31764270e-03 8.33612963e+00] [-1.19339696e-02 6.78736696e-05 9.99928785e-01 -2.86993528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.28589822699996 meters 0.01611034615269358 Centerline is valid? [True, True] Translation: X:268.30, Y:8.33, Z:-2.87 [[ 9.95007132e-01 9.91792815e-02 1.11479721e-02 2.68299057e+02] [-9.91716361e-02 9.95069573e-01 -1.23789444e-03 8.32633741e+00] [-1.12157813e-02 1.26151170e-04 9.99937093e-01 -2.87048579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.315898227 meters 0.018727765860083605 Centerline is valid? [True, True] Translation: X:268.33, Y:8.32, Z:-2.87 [[ 9.95328654e-01 9.60355714e-02 9.90144475e-03 2.68328368e+02] [-9.60293853e-02 9.95377892e-01 -1.09941487e-03 8.31902973e+00] [-9.96126214e-03 1.43449466e-04 9.99950375e-01 -2.87306428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.34589822699996 meters 0.021810488954385802 Centerline is valid? [True, True] Translation: X:268.36, Y:8.31, Z:-2.88 [[ 9.95601284e-01 9.32531617e-02 9.05157889e-03 2.68355910e+02] [-9.32478782e-02 9.95642417e-01 -1.00491562e-03 8.31252857e+00] [-9.10584745e-03 1.56454752e-04 9.99958529e-01 -2.87522497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.375898227 meters 0.024218658971717242 Centerline is valid? [True, True] Translation: X:268.39, Y:8.31, Z:-2.88 [[ 9.95934782e-01 8.97225128e-02 7.98626146e-03 2.68385653e+02] [-8.97182894e-02 9.95966788e-01 -8.86255577e-04 8.30888236e+00] [-8.03356825e-03 1.66139038e-04 9.99967717e-01 -2.87612412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.40589822699997 meters 0.025689929147632132 Centerline is valid? [True, True] Translation: X:268.41, Y:8.31, Z:-2.88 [[ 9.95999057e-01 8.90127724e-02 7.91226972e-03 2.68413048e+02] [-8.90086049e-02 9.96030470e-01 -8.78000466e-04 8.30576868e+00] [-7.95901498e-03 1.70227548e-04 9.99968312e-01 -2.87590725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.435898227 meters 0.02483330888354452 Centerline is valid? [True, True] Translation: X:268.44, Y:8.31, Z:-2.88 [[ 9.96029054e-01 8.87507048e-02 7.03111701e-03 2.68442924e+02] [-8.87474104e-02 9.96053859e-01 -7.79781315e-04 8.30984572e+00] [-7.07257736e-03 1.52691419e-04 9.99974977e-01 -2.87647211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.46589822699997 meters 0.026391379560847236 Centerline is valid? [True, True] Translation: X:268.47, Y:8.31, Z:-2.88 [[ 9.96004631e-01 8.90566413e-02 6.60978449e-03 2.68470371e+02] [-8.90537382e-02 9.96026553e-01 -7.32826858e-04 8.30863378e+00] [-6.64878396e-03 1.41272928e-04 9.99977887e-01 -2.87791142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49589822699994 meters 0.02379066839252527 Centerline is valid? [True, True] Translation: X:268.50, Y:8.31, Z:-2.88 [[ 9.95968812e-01 8.94788028e-02 6.29838016e-03 2.68499729e+02] [-8.94761778e-02 9.95988718e-01 -6.97902102e-04 8.31301354e+00] [-6.33556303e-03 1.31533745e-04 9.99979921e-01 -2.87804939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.52589822699997 meters 0.023757034490136945 Centerline is valid? [True, True] Translation: X:268.53, Y:8.31, Z:-2.88 [[ 9.95936382e-01 8.98342684e-02 6.36615034e-03 2.68527510e+02] [-8.98315953e-02 9.95956720e-01 -7.05177375e-04 8.31357844e+00] [-6.40375930e-03 1.30430363e-04 9.99979487e-01 -2.87898952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55589822699994 meters 0.02597822706047653 Centerline is valid? [True, True] Translation: X:268.56, Y:8.31, Z:-2.88 [[ 9.96046457e-01 8.85328803e-02 7.30642121e-03 2.68555790e+02] [-8.85293285e-02 9.96073242e-01 -8.08749594e-04 8.31340252e+00] [-7.34933159e-03 1.58719604e-04 9.99972981e-01 -2.87816346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.585898227 meters 0.027823238747276432 Centerline is valid? [True, True] Translation: X:268.58, Y:8.31, Z:-2.88 [[ 9.96206605e-01 8.66355712e-02 8.16568223e-03 2.68584728e+02] [-8.66310761e-02 9.96240052e-01 -9.03254490e-04 8.31040884e+00] [-8.21323366e-03 1.92426250e-04 9.99966252e-01 -2.87712215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61589822699995 meters 0.03129029783788639 Centerline is valid? [True, True] Translation: X:268.61, Y:8.31, Z:-2.88 [[ 9.96425993e-01 8.40204477e-02 8.70658622e-03 2.68612995e+02] [-8.40152417e-02 9.96464005e-01 -9.62617920e-04 8.30504604e+00] [-8.75667936e-03 2.27691572e-04 9.99961634e-01 -2.87656313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.645898227 meters 0.03517952625954372 Centerline is valid? [True, True] Translation: X:268.64, Y:8.30, Z:-2.88 [[ 9.96812518e-01 7.93489557e-02 8.27931457e-03 2.68643181e+02] [-7.93440902e-02 9.96846868e-01 -9.15002921e-04 8.29979914e+00] [-8.32581333e-03 2.55171683e-04 9.99965307e-01 -2.87823007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67589822699995 meters 0.03624145248765424 Centerline is valid? [True, True] Translation: X:268.67, Y:8.30, Z:-2.88 [[ 9.96946125e-01 7.76977117e-02 7.84152936e-03 2.68672848e+02] [-7.76932955e-02 9.96976931e-01 -8.66703927e-04 8.29634497e+00] [-7.88516478e-03 2.54822864e-04 9.99968879e-01 -2.87946308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.705898227 meters 0.03828605307119836 Centerline is valid? [True, True] Translation: X:268.70, Y:8.29, Z:-2.88 [[ 9.97097014e-01 7.58336867e-02 6.84086622e-03 2.68701862e+02] [-7.58302824e-02 9.97120452e-01 -7.56031902e-04 8.29359694e+00] [-6.87850031e-03 2.35092334e-04 9.99976315e-01 -2.88057017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73589822699995 meters 0.03965364764704015 Centerline is valid? [True, True] Translation: X:268.73, Y:8.29, Z:-2.88 [[ 9.97132068e-01 7.53745948e-02 6.80514962e-03 2.68729549e+02] [-7.53712161e-02 9.97155261e-01 -7.51956710e-04 8.29111201e+00] [-6.84246918e-03 2.36887747e-04 9.99976562e-01 -2.88058504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.765898227 meters 0.04001365883231246 Centerline is valid? [True, True] Translation: X:268.76, Y:8.29, Z:-2.88 [[ 9.97144664e-01 7.51566656e-02 7.34805598e-03 2.68758289e+02] [-7.51527243e-02 9.97171705e-01 -8.11421509e-04 8.29002632e+00] [-7.38825725e-03 2.56878204e-04 9.99972673e-01 -2.87996082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79589822699995 meters 0.03862701628013225 Centerline is valid? [True, True] Translation: X:268.79, Y:8.29, Z:-2.88 [[ 9.97040321e-01 7.63200057e-02 9.26579044e-03 2.68787451e+02] [-7.63137939e-02 9.97083326e-01 -1.02263421e-03 8.29133535e+00] [-9.31681260e-03 3.12499918e-04 9.99956549e-01 -2.87708748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.825898227 meters 0.041186616297353394 Centerline is valid? [True, True] Translation: X:268.82, Y:8.29, Z:-2.88 [[ 9.96985536e-01 7.70206503e-02 9.36271477e-03 2.68816586e+02] [-7.70143428e-02 9.97029450e-01 -1.03290157e-03 8.29055267e+00] [-9.41445711e-03 3.08724599e-04 9.99955635e-01 -2.87800512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85589822699995 meters 0.037724059686050276 Centerline is valid? [True, True] Translation: X:268.84, Y:8.29, Z:-2.88 [[ 9.96936019e-01 7.76881323e-02 9.11748148e-03 2.68843841e+02] [-7.76821823e-02 9.96977667e-01 -1.00547188e-03 8.28751169e+00] [-9.16803864e-03 2.94125271e-04 9.99957929e-01 -2.87823865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.885898227 meters 0.038075164513139206 Centerline is valid? [True, True] Translation: X:268.87, Y:8.28, Z:-2.88 [[ 9.96932256e-01 7.77824458e-02 8.71593985e-03 2.68871170e+02] [-7.77770160e-02 9.96970317e-01 -9.60722004e-04 8.28472317e+00] [-8.76426062e-03 2.79874962e-04 9.99961554e-01 -2.87953583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91589822699996 meters 0.03822955200674263 Centerline is valid? [True, True] Translation: X:268.90, Y:8.28, Z:-2.88 [[ 9.97030085e-01 7.67163476e-02 6.75360597e-03 2.68899423e+02] [-7.67130651e-02 9.97052933e-01 -7.44138119e-04 8.28111025e+00] [-6.79079020e-03 2.23838278e-04 9.99976917e-01 -2.88381534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.945898227 meters 0.0410890757803013 Centerline is valid? [True, True] Translation: X:268.93, Y:8.27, Z:-2.89 [[ 9.97106663e-01 7.57515743e-02 6.32462574e-03 2.68926877e+02] [-7.57486778e-02 9.97126698e-01 -6.96616649e-04 8.27382613e+00] [-6.35922299e-03 2.15519065e-04 9.99979757e-01 -2.88501240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97589822699996 meters 0.04211415281377181 Centerline is valid? [True, True] Translation: X:268.96, Y:8.27, Z:-2.89 [[ 9.97175440e-01 7.48435446e-02 6.29176688e-03 2.68955613e+02] [-7.48406619e-02 9.97195264e-01 -6.92712807e-04 8.26880844e+00] [-6.32596522e-03 2.19876201e-04 9.99979967e-01 -2.88579978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.005898227 meters 0.04067547315519584 Centerline is valid? [True, True] Translation: X:268.98, Y:8.27, Z:-2.89 [[ 9.97223677e-01 7.42284724e-02 5.92215281e-03 2.68984088e+02] [-7.42259086e-02 9.97241239e-01 -6.51854887e-04 8.26805392e+00] [-5.95420120e-03 2.10467954e-04 9.99982251e-01 -2.88621001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03589822699996 meters 0.03962119341535485 Centerline is valid? [True, True] Translation: X:269.01, Y:8.27, Z:-2.89 [[ 9.97256276e-01 7.37672199e-02 6.19003790e-03 2.69012550e+02] [-7.37644127e-02 9.97275462e-01 -6.80903982e-04 8.26703416e+00] [-6.22340130e-03 2.22431260e-04 9.99980610e-01 -2.88619843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.065898227 meters 0.046762574488074915 Centerline is valid? [True, True] Translation: X:269.04, Y:8.26, Z:-2.89 [[ 9.97354697e-01 7.23571313e-02 6.93214662e-03 2.69039873e+02] [-7.23535797e-02 9.97378754e-01 -7.62097759e-04 8.25608502e+00] [-6.96911897e-03 2.58516156e-04 9.99975682e-01 -2.88650595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09589822699996 meters 0.04084468113891521 Centerline is valid? [True, True] Translation: X:269.07, Y:8.26, Z:-2.89 [[ 9.97397149e-01 7.17913391e-02 6.70303980e-03 2.69069541e+02] [-7.17880066e-02 9.97419641e-01 -7.36748644e-04 8.26085512e+00] [-6.73863572e-03 2.53633131e-04 9.99977263e-01 -2.88608666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.125898227 meters 0.04113074567035973 Centerline is valid? [True, True] Translation: X:269.10, Y:8.26, Z:-2.89 [[ 9.97413346e-01 7.16030881e-02 6.29410448e-03 2.69098408e+02] [-7.16001478e-02 9.97433176e-01 -6.91541371e-04 8.25778711e+00] [-6.32746512e-03 2.39093781e-04 9.99979953e-01 -2.88744780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15589822699997 meters 0.04071251520654554 Centerline is valid? [True, True] Translation: X:269.13, Y:8.26, Z:-2.89 [[ 9.97361016e-01 7.22266294e-02 7.37011433e-03 2.69126797e+02] [-7.22226180e-02 9.97388208e-01 -8.09330841e-04 8.25645306e+00] [-7.40932037e-03 2.74906077e-04 9.99972513e-01 -2.88584044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.185898227 meters 0.042700697150572765 Centerline is valid? [True, True] Translation: X:269.15, Y:8.25, Z:-2.89 [[ 9.97357634e-01 7.22062186e-02 8.00075750e-03 2.69154780e+02] [-7.22014937e-02 9.97389680e-01 -8.78206931e-04 8.25214492e+00] [-8.04328496e-03 2.98219744e-04 9.99967608e-01 -2.88521039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21589822699997 meters 0.04068643491501193 Centerline is valid? [True, True] Translation: X:269.18, Y:8.25, Z:-2.88 [[ 9.97407974e-01 7.14221263e-02 8.73003551e-03 2.69183520e+02] [-7.14164759e-02 9.97446124e-01 -9.57667854e-04 8.25312287e+00] [-8.77613876e-03 3.31717183e-04 9.99961434e-01 -2.88410202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.24589822699994 meters 0.04618413336116503 Centerline is valid? [True, True] Translation: X:269.21, Y:8.25, Z:-2.88 [[ 9.97619711e-01 6.81762347e-02 1.03399233e-02 2.69211888e+02] [-6.81681406e-02 9.97673203e-01 -1.13363883e-03 8.24629153e+00] [-1.03931516e-02 4.26087098e-04 9.99945899e-01 -2.88275000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.27589822699997 meters 0.045423756603438996 Centerline is valid? [True, True] Translation: X:269.24, Y:8.25, Z:-2.88 [[ 9.97760936e-01 6.60867912e-02 1.02786501e-02 2.69242218e+02] [-6.60786824e-02 9.97813779e-01 -1.12689426e-03 8.24569273e+00] [-1.03306515e-02 4.45171418e-04 9.99946538e-01 -2.88398350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.30589822699994 meters 0.05035886234267314 Centerline is valid? [True, True] Translation: X:269.27, Y:8.24, Z:-2.89 [[ 9.98054236e-01 6.17425263e-02 8.69494106e-03 2.69270742e+02] [-6.17365597e-02 9.98092024e-01 -9.53207182e-04 8.23831869e+00] [-8.73720474e-03 4.14556717e-04 9.99961744e-01 -2.88712344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.335898227 meters 0.06451459355710551 Centerline is valid? [True, True] Translation: X:269.30, Y:8.22, Z:-2.89 [[ 9.98199025e-01 5.94427931e-02 8.07844913e-03 2.69297590e+02] [-5.94375663e-02 9.98231632e-01 -8.85767735e-04 8.21722157e+00] [-8.11681597e-03 4.04009133e-04 9.99966976e-01 -2.89034901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.36589822699995 meters 0.0613013702618544 Centerline is valid? [True, True] Translation: X:269.33, Y:8.22, Z:-2.89 [[ 9.98360912e-01 5.67247692e-02 7.60202838e-03 2.69328058e+02] [-5.67200639e-02 9.98389774e-01 -8.33311211e-04 8.21750525e+00] [-7.63705678e-03 4.00757805e-04 9.99970757e-01 -2.89170750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.395898227 meters 0.06780467730806378 Centerline is valid? [True, True] Translation: X:269.36, Y:8.20, Z:-2.89 [[ 9.98693009e-01 5.06688416e-02 6.70384972e-03 2.69357307e+02] [-5.06650470e-02 9.98715432e-01 -7.34770644e-04 8.20458323e+00] [-6.73246814e-03 3.94159444e-04 9.99977259e-01 -2.89351439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.42589822699995 meters 0.07067513374397213 Centerline is valid? [True, True] Translation: X:269.39, Y:8.20, Z:-2.89 [[ 9.98837118e-01 4.77999517e-02 6.29104711e-03 2.69386844e+02] [-4.77965532e-02 9.98856854e-01 -6.89540122e-04 8.19661915e+00] [-6.31681550e-03 3.88047900e-04 9.99979973e-01 -2.89412757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.455898227 meters 0.07142013745157512 Centerline is valid? [True, True] Translation: X:269.42, Y:8.19, Z:-2.89 [[ 9.98950338e-01 4.54420839e-02 5.76542021e-03 2.69417452e+02] [-4.54391904e-02 9.98966907e-01 -6.31935331e-04 8.19133280e+00] [-5.78818046e-03 3.69295985e-04 9.99983180e-01 -2.89493776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.48589822699995 meters 0.07329789756956746 Centerline is valid? [True, True] Translation: X:269.45, Y:8.18, Z:-2.90 [[ 9.98985279e-01 4.47092551e-02 5.43100183e-03 2.69446583e+02] [-4.47066762e-02 9.98999979e-01 -5.95374739e-04 8.18336684e+00] [-5.45218947e-03 3.51968559e-04 9.99985075e-01 -2.89545006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.515898227 meters 0.0696621183530841 Centerline is valid? [True, True] Translation: X:269.48, Y:8.18, Z:-2.89 [[ 9.98904742e-01 4.63161628e-02 6.64303016e-03 2.69477817e+02] [-4.63123414e-02 9.98926743e-01 -7.28017564e-04 8.18404485e+00] [-6.66961946e-03 4.19565916e-04 9.99977670e-01 -2.89263465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.54589822699995 meters 0.06423238607818502 Centerline is valid? [True, True] Translation: X:269.51, Y:8.19, Z:-2.89 [[ 9.98643490e-01 5.12675125e-02 9.10062237e-03 2.69509112e+02] [-5.12605427e-02 9.98684816e-01 -9.97619001e-04 8.18873931e+00] [-9.13979882e-03 5.29762879e-04 9.99958091e-01 -2.88755149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.575898227 meters 0.059894114625378664 Centerline is valid? [True, True] Translation: X:269.54, Y:8.19, Z:-2.89 [[ 9.98491514e-01 5.41167811e-02 9.27745505e-03 2.69540458e+02] [-5.41096621e-02 9.98534481e-01 -1.01681708e-03 8.19207473e+00] [-9.31888563e-03 5.13283267e-04 9.99956447e-01 -2.88732768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.60589822699995 meters 0.059191607266887984 Centerline is valid? [True, True] Translation: X:269.57, Y:8.19, Z:-2.89 [[ 9.98331004e-01 5.70456827e-02 8.99982066e-03 2.69569698e+02] [-5.70391018e-02 9.98371458e-01 -9.86419200e-04 8.19110396e+00] [-9.04143503e-03 4.71431183e-04 9.99959014e-01 -2.88871693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.635898227 meters 0.05416380337582184 Centerline is valid? [True, True] Translation: X:269.60, Y:8.20, Z:-2.89 [[ 9.98164379e-01 6.00333400e-02 7.99190646e-03 2.69600951e+02] [-6.00282468e-02 9.98196295e-01 -8.75863975e-04 8.19506846e+00] [-8.03007245e-03 3.94516087e-04 9.99967681e-01 -2.89026870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.66589822699996 meters 0.05443834090658058 Centerline is valid? [True, True] Translation: X:269.63, Y:8.20, Z:-2.90 [[ 9.97952398e-01 6.36818907e-02 5.96892378e-03 2.69630303e+02] [-6.36791145e-02 9.97970211e-01 -6.54199712e-04 8.19661276e+00] [-5.99846880e-03 2.72764391e-04 9.99981972e-01 -2.89597866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.695898227 meters 0.05122286100632067 Centerline is valid? [True, True] Translation: X:269.66, Y:8.20, Z:-2.90 [[ 9.98000686e-01 6.30804450e-02 3.93544536e-03 2.69660107e+02] [-6.30792333e-02 9.98008429e-01 -4.31396983e-04 8.19605477e+00] [-3.95482035e-03 1.82289609e-04 9.99992163e-01 -2.89823695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.72589822699996 meters 0.05511815390409403 Centerline is valid? [True, True] Translation: X:269.69, Y:8.19, Z:-2.90 [[ 9.98087047e-01 6.17561043e-02 2.90363351e-03 2.69687562e+02] [-6.17554391e-02 9.98091261e-01 -3.18279615e-04 8.18780651e+00] [-2.91774694e-03 1.38355598e-04 9.99995734e-01 -2.90119627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.755898227 meters 0.04967357711364673 Centerline is valid? [True, True] Translation: X:269.72, Y:8.19, Z:-2.90 [[ 9.98187834e-01 6.01339372e-02 2.22641273e-03 2.69717558e+02] [-6.01335421e-02 9.98190311e-01 -2.44080249e-04 8.19072185e+00] [-2.23706112e-03 1.09755852e-04 9.99997492e-01 -2.90067685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.78589822699996 meters 0.04967357711364673 Centerline is valid? [True, True] Translation: X:269.75, Y:8.19, Z:-2.90 [[ 9.98190633e-01 6.00874563e-02 2.22639496e-03 2.69745757e+02] [-6.00870607e-02 9.98193110e-01 -2.44242550e-04 8.18771519e+00] [-2.23704803e-03 1.10023097e-04 9.99997492e-01 -2.90100364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.815898227 meters 0.05959869818251176 Centerline is valid? [True, True] Translation: X:269.77, Y:8.17, Z:-2.90 [[ 9.98305062e-01 5.81498764e-02 2.36530729e-03 2.69772458e+02] [-5.81494248e-02 9.98307857e-01 -2.59334508e-04 8.17060753e+00] [-2.37638512e-03 1.21353694e-04 9.99997169e-01 -2.90326446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.84589822699996 meters 0.06349011347854092 Centerline is valid? [True, True] Translation: X:269.80, Y:8.16, Z:-2.90 [[ 9.98541550e-01 5.38969601e-02 3.14483681e-03 2.69802504e+02] [-5.38961430e-02 9.98546487e-01 -3.44084613e-04 8.16371917e+00] [-3.15881087e-03 1.74088209e-04 9.99994996e-01 -2.90192541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.875898227 meters 0.06375771783842472 Centerline is valid? [True, True] Translation: X:269.83, Y:8.15, Z:-2.90 [[ 9.98658063e-01 5.16533024e-02 3.74281670e-03 2.69831881e+02] [-5.16521288e-02 9.98665054e-01 -4.09604278e-04 8.15497885e+00] [-3.75897765e-03 2.15730165e-04 9.99992912e-01 -2.90109169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.90589822699997 meters 0.0705002818202317 Centerline is valid? [True, True] Translation: X:269.86, Y:8.14, Z:-2.90 [[ 9.98846463e-01 4.77811146e-02 4.76536633e-03 2.69859563e+02] [-4.77791701e-02 9.98857787e-01 -5.21133041e-04 8.14040672e+00] [-4.78482358e-03 2.92846647e-04 9.99988510e-01 -2.90018181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.935898227 meters 0.06474928033687966 Centerline is valid? [True, True] Translation: X:269.89, Y:8.14, Z:-2.90 [[ 9.98915476e-01 4.63008212e-02 4.90980288e-03 2.69889901e+02] [-4.62987370e-02 9.98927494e-01 -5.37379371e-04 8.14345697e+00] [-4.92941820e-03 3.09478898e-04 9.99987802e-01 -2.89921780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.96589822699997 meters 0.07589507457134481 Centerline is valid? [True, True] Translation: X:269.92, Y:8.13, Z:-2.90 [[ 9.98982633e-01 4.48342230e-02 4.85716093e-03 2.69917998e+02] [-4.48321666e-02 9.98994392e-01 -5.31486692e-04 8.12502727e+00] [-4.87610532e-03 3.13188927e-04 9.99988063e-01 -2.90128236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99589822699994 meters 0.08046199998816174 Centerline is valid? [True, True] Translation: X:269.95, Y:8.11, Z:-2.90 [[ 9.99089360e-01 4.25203219e-02 3.53171980e-03 2.69946425e+02] [-4.25192200e-02 9.99095574e-01 -3.86522429e-04 8.11386469e+00] [-3.54496068e-03 2.36004475e-04 9.99993689e-01 -2.90467872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.02589822699997 meters 0.07825893416994714 Centerline is valid? [True, True] Translation: X:269.98, Y:8.11, Z:-2.91 [[ 9.99115755e-01 4.19282290e-02 3.11956561e-03 2.69977281e+02] [-4.19273667e-02 9.99120603e-01 -3.41325705e-04 8.11226830e+00] [-3.13113346e-03 2.10228719e-04 9.99995076e-01 -2.90522362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05589822699994 meters 0.08137111718372418 Centerline is valid? [True, True] Translation: X:270.01, Y:8.10, Z:-2.91 [[ 9.99121730e-01 4.17734374e-02 3.27840711e-03 2.70006020e+02] [-4.17724840e-02 9.99127084e-01 -3.58793256e-04 8.10418741e+00] [-3.29053337e-03 2.21530930e-04 9.99994562e-01 -2.90579296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.085898227 meters 0.0705700661161736 Centerline is valid? [True, True] Translation: X:270.04, Y:8.11, Z:-2.90 [[ 9.99105484e-01 4.19418587e-02 5.39561307e-03 2.70037336e+02] [-4.19392789e-02 9.99119987e-01 -5.90438314e-04 8.11345745e+00] [-5.41562894e-03 3.63622036e-04 9.99985269e-01 -2.90028919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11589822699995 meters 0.07362278619807368 Centerline is valid? [True, True] Translation: X:270.07, Y:8.11, Z:-2.90 [[ 9.99103653e-01 4.19148006e-02 5.91951342e-03 2.70066761e+02] [-4.19116971e-02 9.99121109e-01 -6.47418968e-04 8.10552365e+00] [-5.94144725e-03 3.98741803e-04 9.99982270e-01 -2.90064730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.145898227 meters 0.07344184158741777 Centerline is valid? [True, True] Translation: X:270.10, Y:8.10, Z:-2.90 [[ 9.99207652e-01 3.95636055e-02 4.33474762e-03 2.70096730e+02] [-3.95619190e-02 9.99217008e-01 -4.74172571e-04 8.09965012e+00] [-4.35011352e-03 3.02305927e-04 9.99990493e-01 -2.90446739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17589822699995 meters 0.08774401432008078 Centerline is valid? [True, True] Translation: X:270.12, Y:8.08, Z:-2.91 [[ 9.99259590e-01 3.83262143e-02 3.37235102e-03 2.70123998e+02] [-3.83251878e-02 9.99265252e-01 -3.68487979e-04 8.07535244e+00] [-3.38399594e-03 2.38969160e-04 9.99994246e-01 -2.90922093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.205898227 meters 0.0759191853822255 Centerline is valid? [True, True] Translation: X:270.16, Y:8.08, Z:-2.91 [[ 9.99313107e-01 3.69300082e-02 3.08050395e-03 2.70156055e+02] [-3.69291442e-02 9.99317830e-01 -3.36903084e-04 8.08379488e+00] [-3.09084435e-03 2.22911293e-04 9.99995198e-01 -2.90840928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23589822699995 meters 0.08144382727256037 Centerline is valid? [True, True] Translation: X:270.18, Y:8.07, Z:-2.91 [[ 9.99361700e-01 3.54714019e-02 4.23945180e-03 2.70183947e+02] [-3.54697504e-02 9.99370643e-01 -4.64124420e-04 8.06583310e+00] [-4.25324682e-03 3.13455872e-04 9.99990906e-01 -2.90690640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.265898227 meters 0.08288459177158221 Centerline is valid? [True, True] Translation: X:270.21, Y:8.06, Z:-2.91 [[ 9.99332002e-01 3.62291251e-02 4.79577111e-03 2.70213213e+02] [-3.62270208e-02 9.99343448e-01 -5.24955571e-04 8.05733854e+00] [-4.81164112e-03 3.50868402e-04 9.99988362e-01 -2.90611696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29589822699995 meters 0.07083492803630939 Centerline is valid? [True, True] Translation: X:270.24, Y:8.06, Z:-2.90 [[ 9.99152472e-01 4.08805404e-02 4.80822064e-03 2.70244464e+02] [-4.08784782e-02 9.99163987e-01 -5.26444700e-04 8.06387751e+00] [-4.82572225e-03 3.29445781e-04 9.99988302e-01 -2.90461885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.325898227 meters 0.07066416646749736 Centerline is valid? [True, True] Translation: X:270.27, Y:8.06, Z:-2.91 [[ 9.99010966e-01 4.42485399e-02 4.37681735e-03 2.70273516e+02] [-4.42468629e-02 9.99020513e-01 -4.79296078e-04 8.05858432e+00] [-4.39373847e-03 2.85161600e-04 9.99990307e-01 -2.90570068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35589822699995 meters 0.06951288235230207 Centerline is valid? [True, True] Translation: X:270.30, Y:8.05, Z:-2.91 [[ 9.98843587e-01 4.78994938e-02 4.13845580e-03 2.70302709e+02] [-4.78980258e-02 9.98852128e-01 -4.53151576e-04 8.05490187e+00] [-4.15541112e-03 2.54403683e-04 9.99991334e-01 -2.90609870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.385898227 meters 0.05816133887094218 Centerline is valid? [True, True] Translation: X:270.34, Y:8.07, Z:-2.90 [[ 9.98450584e-01 5.54391568e-02 4.78856183e-03 2.70335135e+02] [-5.54372786e-02 9.98462034e-01 -5.24155959e-04 8.06540886e+00] [-4.81025595e-03 2.57878987e-04 9.99988397e-01 -2.90404921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41589822699996 meters 0.055047481072886435 Centerline is valid? [True, True] Translation: X:270.37, Y:8.07, Z:-2.90 [[ 9.98264127e-01 5.86451462e-02 5.42951654e-03 2.70365578e+02] [-5.86427786e-02 9.98278854e-01 -5.94368857e-04 8.06671547e+00] [-5.45502840e-03 2.74935172e-04 9.99985083e-01 -2.90376600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.445898227 meters 0.051858548887496046 Centerline is valid? [True, True] Translation: X:270.40, Y:8.07, Z:-2.90 [[ 9.98119008e-01 6.10497891e-02 5.60077523e-03 2.70395895e+02] [-6.10473074e-02 9.98134685e-01 -6.13158538e-04 8.06788416e+00] [-5.62776123e-03 2.70092944e-04 9.99984128e-01 -2.90419186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47589822699996 meters 0.0523772620445201 Centerline is valid? [True, True] Translation: X:270.43, Y:8.06, Z:-2.91 [[ 9.98035691e-01 6.25359821e-02 3.74293739e-03 2.70425105e+02] [-6.25348842e-02 9.98042695e-01 -4.09767388e-04 8.06293933e+00] [-3.76123653e-03 1.74898322e-04 9.99992911e-01 -2.90803409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.505898227 meters 0.05455817331157084 Centerline is valid? [True, True] Translation: X:270.45, Y:8.06, Z:-2.91 [[ 9.98094544e-01 6.16455223e-02 2.66659777e-03 2.70454013e+02] [-6.16449619e-02 9.98098098e-01 -2.91937889e-04 8.05623068e+00] [-2.67952283e-03 1.26999296e-04 9.99996402e-01 -2.91081994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53589822699996 meters 0.05310702327868043 Centerline is valid? [True, True] Translation: X:270.48, Y:8.05, Z:-2.91 [[ 9.98267151e-01 5.87550827e-02 3.24593886e-03 2.70484644e+02] [-5.87542375e-02 9.98272414e-01 -3.55207249e-04 8.05407881e+00] [-3.26120145e-03 1.63879065e-04 9.99994669e-01 -2.90891873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.565898227 meters 0.05630606102555871 Centerline is valid? [True, True] Translation: X:270.51, Y:8.05, Z:-2.91 [[ 9.98362971e-01 5.70067506e-02 4.64844542e-03 2.70513556e+02] [-5.70049980e-02 9.98373763e-01 -5.08763989e-04 8.04524182e+00] [-4.66988893e-03 2.42946505e-04 9.99989066e-01 -2.90746612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59589822699996 meters 0.059728314763021526 Centerline is valid? [True, True] Translation: X:270.54, Y:8.04, Z:-2.91 [[ 9.98474518e-01 5.49716540e-02 5.17238202e-03 2.70542451e+02] [-5.49694576e-02 9.98487876e-01 -5.65960609e-04 8.03548255e+00] [-5.19567253e-03 2.80774212e-04 9.99986463e-01 -2.90642355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.625898227 meters 0.06320966170215216 Centerline is valid? [True, True] Translation: X:270.57, Y:8.02, Z:-2.91 [[ 9.98721364e-01 5.04079786e-02 3.83038074e-03 2.70571849e+02] [-5.04067409e-02 9.98728684e-01 -4.19057318e-04 8.02347779e+00] [-3.84663495e-03 2.25444487e-04 9.99992576e-01 -2.90944033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65589822699997 meters 0.06468997942975907 Centerline is valid? [True, True] Translation: X:270.60, Y:8.02, Z:-2.91 [[ 9.98817590e-01 4.85584873e-02 2.34408481e-03 2.70602565e+02] [-4.85580190e-02 9.98820331e-01 -2.56298790e-04 8.01585057e+00] [-2.35376505e-03 1.42171625e-04 9.99997220e-01 -2.91199389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.685898227 meters 0.06941798672729844 Centerline is valid? [True, True] Translation: X:270.63, Y:8.01, Z:-2.91 [[ 9.98914286e-01 4.65253864e-02 2.37440966e-03 2.70632402e+02] [-4.65248999e-02 9.98917097e-01 -2.59776750e-04 8.00652121e+00] [-2.38392462e-03 1.49025535e-04 9.99997147e-01 -2.91178792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71589822699997 meters 0.06928244354808435 Centerline is valid? [True, True] Translation: X:270.66, Y:8.00, Z:-2.91 [[ 9.98904163e-01 4.66383626e-02 3.91611709e-03 2.70662233e+02] [-4.66370393e-02 9.98911809e-01 -4.28581048e-04 7.99784110e+00] [-3.93184393e-03 2.45475286e-04 9.99992240e-01 -2.90993820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.74589822699994 meters 0.07491731262839174 Centerline is valid? [True, True] Translation: X:270.69, Y:7.99, Z:-2.91 [[ 9.98850501e-01 4.75497361e-02 6.05796301e-03 2.70691561e+02] [-4.75465854e-02 9.98868801e-01 -6.63127047e-04 7.98688326e+00] [-6.08264177e-03 3.74329327e-04 9.99981431e-01 -2.90695404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.77589822699997 meters 0.06352705166178996 Centerline is valid? [True, True] Translation: X:270.72, Y:8.00, Z:-2.90 [[ 9.98660154e-01 5.08796149e-02 9.44256232e-03 2.70724084e+02] [-5.08721066e-02 9.98704641e-01 -1.03379737e-03 7.99882282e+00] [-9.48293002e-03 5.52049198e-04 9.99954884e-01 -2.90024658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.80589822699994 meters 0.059388752641019525 Centerline is valid? [True, True] Translation: X:270.76, Y:8.00, Z:-2.90 [[ 9.98569242e-01 5.26657662e-02 9.26203973e-03 2.70755829e+02] [-5.26586182e-02 9.98612058e-01 -1.01410559e-03 8.00176535e+00] [-9.30259320e-03 5.24928439e-04 9.99956592e-01 -2.90075608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.835898227 meters 0.06583422807116447 Centerline is valid? [True, True] Translation: X:270.79, Y:7.99, Z:-2.90 [[ 9.98506718e-01 5.38959753e-02 8.91950782e-03 2.70785664e+02] [-5.38893934e-02 9.98546433e-01 -9.76798096e-04 7.99136284e+00] [-8.95918820e-03 4.94672595e-04 9.99959743e-01 -2.90238948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.86589822699995 meters 0.06968046542082056 Centerline is valid? [True, True] Translation: X:270.82, Y:7.98, Z:-2.90 [[ 9.98474298e-01 5.45627725e-02 8.48408501e-03 2.70816427e+02] [-5.45568430e-02 9.98510234e-01 -9.28946518e-04 7.98439330e+00] [-8.52213161e-03 4.64664329e-04 9.99963578e-01 -2.90371301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.895898227 meters 0.07139396862482474 Centerline is valid? [True, True] Translation: X:270.85, Y:7.98, Z:-2.91 [[ 9.98536082e-01 5.35138539e-02 7.87148646e-03 2.70846827e+02] [-5.35087060e-02 9.98567010e-01 -8.63293689e-04 7.98144651e+00] [-7.90640487e-03 4.40836843e-04 9.99968647e-01 -2.90579160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.92589822699995 meters 0.06440290646204999 Centerline is valid? [True, True] Translation: X:270.88, Y:7.99, Z:-2.91 [[ 9.98632003e-01 5.17855685e-02 7.23726534e-03 2.70879050e+02] [-5.17811706e-02 9.98658140e-01 -7.93864239e-04 7.98724990e+00] [-7.26866465e-03 4.18024163e-04 9.99973496e-01 -2.90687715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.955898227 meters 0.0698430014929626 Centerline is valid? [True, True] Translation: X:270.91, Y:7.98, Z:-2.91 [[ 9.98941039e-01 4.55043648e-02 6.79363119e-03 2.70908062e+02] [-4.55003433e-02 9.98964045e-01 -7.45423934e-04 7.97514291e+00] [-6.82051333e-03 4.35522008e-04 9.99976645e-01 -2.90928441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.98589822699995 meters 0.07741925260970708 Centerline is valid? [True, True] Translation: X:270.94, Y:7.96, Z:-2.91 [[ 9.99123581e-01 4.13666318e-02 6.39307160e-03 2.70936176e+02] [-4.13629866e-02 9.99143939e-01 -7.01405928e-04 7.96095637e+00] [-6.41661354e-03 4.36354668e-04 9.99979318e-01 -2.91062352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.015898227 meters 0.07968105794915216 Centerline is valid? [True, True] Translation: X:270.97, Y:7.95, Z:-2.91 [[ 9.99286541e-01 3.73450835e-02 5.63496406e-03 2.70965956e+02] [-3.73421868e-02 9.99302346e-01 -6.18435835e-04 7.95311377e+00] [-5.65412835e-03 4.07572726e-04 9.99983932e-01 -2.91158785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.04589822699995 meters 0.09540739614111224 Centerline is valid? [True, True] Translation: X:270.99, Y:7.92, Z:-2.91 [[ 9.99467116e-01 3.23111903e-02 4.63377348e-03 2.70992876e+02] [-3.23091773e-02 9.99477793e-01 -5.08634223e-04 7.92412047e+00] [-4.64778826e-03 3.58649771e-04 9.99989135e-01 -2.91453807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.075898227 meters 0.08681288710595891 Centerline is valid? [True, True] Translation: X:271.03, Y:7.93, Z:-2.91 [[ 9.99463038e-01 3.24263876e-02 4.70805525e-03 2.71025673e+02] [-3.24243162e-02 9.99474061e-01 -5.15649477e-04 7.92799769e+00] [-4.72229975e-03 3.62717120e-04 9.99988784e-01 -2.91343555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.10589822699995 meters 0.08545506488300808 Centerline is valid? [True, True] Translation: X:271.06, Y:7.92, Z:-2.91 [[ 9.99394731e-01 3.44230478e-02 5.02254931e-03 2.71055902e+02] [-3.44207062e-02 9.99407280e-01 -5.51929875e-04 7.92395901e+00] [-5.03857145e-03 3.78716115e-04 9.99987235e-01 -2.91282961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.135898227 meters 0.07592889733059036 Centerline is valid? [True, True] Translation: X:271.09, Y:7.93, Z:-2.91 [[ 9.99035614e-01 4.35728176e-02 5.40854757e-03 2.71087834e+02] [-4.35702353e-02 9.99050190e-01 -5.94414337e-04 7.93152976e+00] [-5.42931078e-03 3.58189402e-04 9.99985197e-01 -2.91105459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.16589822699996 meters 0.07179195312129737 Centerline is valid? [True, True] Translation: X:271.12, Y:7.93, Z:-2.91 [[ 9.98784732e-01 4.90160146e-02 5.14686106e-03 2.71117858e+02] [-4.90137475e-02 9.98797944e-01 -5.65771192e-04 7.93340074e+00] [-5.16840610e-03 3.12816680e-04 9.99986595e-01 -2.91143289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.195898227 meters 0.06634012666246299 Centerline is valid? [True, True] Translation: X:271.15, Y:7.94, Z:-2.91 [[ 9.98543254e-01 5.37335379e-02 4.90682337e-03 2.71149360e+02] [-5.37315349e-02 9.98555272e-01 -5.39209777e-04 7.93662673e+00] [-4.92870800e-03 2.74773134e-04 9.99987816e-01 -2.91258771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.22589822699996 meters 0.05592876808896157 Centerline is valid? [True, True] Translation: X:271.18, Y:7.95, Z:-2.91 [[ 9.98236983e-01 5.90835320e-02 5.66240233e-03 2.71181694e+02] [-5.90809501e-02 9.98253001e-01 -6.22311685e-04 7.94621846e+00] [-5.68927850e-03 2.86674429e-04 9.99983775e-01 -2.91162969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.255898227 meters 0.061643748815882325 Centerline is valid? [True, True] Translation: X:271.21, Y:7.93, Z:-2.91 [[ 9.98161834e-01 6.02249084e-02 6.77589404e-03 2.71210991e+02] [-6.02212412e-02 9.98184777e-01 -7.44133471e-04 7.93049718e+00] [-6.80840965e-03 3.34712881e-04 9.99976766e-01 -2.91175526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.28589822699996 meters 0.05352828157741551 Centerline is valid? [True, True] Translation: X:271.24, Y:7.93, Z:-2.91 [[ 9.98092262e-01 6.13266214e-02 7.13323374e-03 2.71243502e+02] [-6.13225773e-02 9.98117692e-01 -7.84479755e-04 7.93010309e+00] [-7.16791629e-03 3.45554895e-04 9.99974250e-01 -2.91038927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.315898227 meters 0.06084701686696849 Centerline is valid? [True, True] Translation: X:271.27, Y:7.91, Z:-2.91 [[ 9.98066111e-01 6.17463661e-02 7.17107879e-03 2.71273250e+02] [-6.17422811e-02 9.98091813e-01 -7.89851763e-04 7.91349665e+00] [-7.20616551e-03 3.45565515e-04 9.99973976e-01 -2.91177719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.34589822699996 meters 0.05202115048452693 Centerline is valid? [True, True] Translation: X:271.31, Y:7.92, Z:-2.91 [[ 9.97994274e-01 6.29638180e-02 6.55638943e-03 2.71305782e+02] [-6.29604245e-02 9.98015763e-01 -7.22912582e-04 7.91816064e+00] [-6.58889734e-03 3.08669556e-04 9.99978245e-01 -2.91086432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.375898227 meters 0.04607646638846936 Centerline is valid? [True, True] Translation: X:271.34, Y:7.92, Z:-2.91 [[ 9.97546553e-01 6.97743195e-02 5.69383733e-03 2.71336075e+02] [-6.97718616e-02 9.97562776e-01 -6.29419897e-04 7.91869128e+00] [-5.72387752e-03 2.30606018e-04 9.99983592e-01 -2.91202712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.40589822699997 meters 0.04019636059059939 Centerline is valid? [True, True] Translation: X:271.37, Y:7.92, Z:-2.91 [[ 9.97117683e-01 7.56463614e-02 5.82708747e-03 2.71367412e+02] [-7.56438876e-02 9.97134689e-01 -6.44076014e-04 7.92171338e+00] [-5.85911306e-03 2.01436033e-04 9.99982815e-01 -2.91171534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.435898227 meters 0.03399877669788745 Centerline is valid? [True, True] Translation: X:271.40, Y:7.93, Z:-2.91 [[ 9.96587969e-01 8.23003367e-02 6.25093696e-03 2.71397279e+02] [-8.22976195e-02 9.96607558e-01 -6.91118286e-04 7.92562794e+00] [-6.28661029e-03 1.74322937e-04 9.99980224e-01 -2.91138674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.46589822699997 meters 0.020280800258682726 Centerline is valid? [True, True] Translation: X:271.43, Y:7.94, Z:-2.91 [[ 9.95434905e-01 9.51732259e-02 7.16991391e-03 2.71428361e+02] [-9.51699849e-02 9.95460720e-01 -7.92640476e-04 7.94030321e+00] [-7.21280582e-03 1.06661398e-04 9.99973982e-01 -2.91038009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49589822699994 meters 0.014866146764419306 Centerline is valid? [True, True] Translation: X:271.46, Y:7.95, Z:-2.91 [[ 9.94870954e-01 1.00828344e-01 8.08888966e-03 2.71457877e+02] [-1.00824407e-01 9.94903834e-01 -8.94067308e-04 7.94543868e+00] [-8.13781467e-03 7.39240955e-05 9.99966885e-01 -2.91000161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.52589822699997 meters 0.010010756766340681 Centerline is valid? [True, True] Translation: X:271.49, Y:7.95, Z:-2.91 [[ 9.94106275e-01 1.07967907e-01 9.77980560e-03 2.71487957e+02] [-1.07962499e-01 9.94154380e-01 -1.08075671e-03 7.95258232e+00] [-9.83932361e-03 1.85347723e-05 9.99951593e-01 -2.90828740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55589822699994 meters 0.009810785710091583 Centerline is valid? [True, True] Translation: X:271.52, Y:7.95, Z:-2.91 [[ 9.93972743e-01 1.09161918e-01 1.00926838e-02 2.71515657e+02] [-1.09156225e-01 9.94023981e-01 -1.11484396e-03 7.95007232e+00] [-1.01540682e-02 6.44523953e-06 9.99948446e-01 -2.90954162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.585898227 meters 0.009966776894559501 Centerline is valid? [True, True] Translation: X:271.54, Y:7.95, Z:-2.91 [[ 9.93989492e-01 1.09025551e-01 9.91554473e-03 2.71543923e+02] [-1.09020056e-01 9.94038947e-01 -1.09467091e-03 7.94562779e+00] [-9.97578475e-03 7.09814285e-06 9.99950241e-01 -2.91064952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61589822699995 meters 0.010491414632990461 Centerline is valid? [True, True] Translation: X:271.57, Y:7.94, Z:-2.91 [[ 9.94236602e-01 1.06860080e-01 8.63147986e-03 2.71571746e+02] [-1.06855837e-01 9.94274068e-01 -9.52590394e-04 7.93710250e+00] [-8.68385048e-03 2.47762295e-05 9.99962294e-01 -2.91305158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.645898227 meters 0.01064556343949995 Centerline is valid? [True, True] Translation: X:271.60, Y:7.93, Z:-2.91 [[ 9.94278556e-01 1.06433170e-01 9.06272255e-03 2.71600067e+02] [-1.06428479e-01 9.94319858e-01 -9.99736049e-04 7.93189349e+00] [-9.11765008e-03 2.94843387e-05 9.99958433e-01 -2.91258966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67589822699995 meters 0.010403154448262893 Centerline is valid? [True, True] Translation: X:271.63, Y:7.93, Z:-2.91 [[ 9.94270975e-01 1.06410150e-01 1.01048734e-02 2.71628936e+02] [-1.06404322e-01 9.94322321e-01 -1.11416567e-03 7.92724082e+00] [-1.01660597e-02 3.25803905e-05 9.99948324e-01 -2.91097875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.705898227 meters 0.010403154448262893 Centerline is valid? [True, True] Translation: X:271.66, Y:7.92, Z:-2.91 [[ 9.94275932e-01 1.06363821e-01 1.01049251e-02 2.71657101e+02] [-1.06357995e-01 9.94327278e-01 -1.11369627e-03 7.92422649e+00] [-1.01660597e-02 3.25818197e-05 9.99948324e-01 -2.91130515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73589822699995 meters 0.009953337098951194 Centerline is valid? [True, True] Translation: X:271.69, Y:7.92, Z:-2.91 [[ 9.94131167e-01 1.07465719e-01 1.24234583e-02 2.71685752e+02] [-1.07457008e-01 9.94208790e-01 -1.36851930e-03 7.92113943e+00] [-1.24985804e-02 2.55000299e-05 9.99921889e-01 -2.90730155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.765898227 meters 0.021887902828949105 Centerline is valid? [True, True] Translation: X:271.71, Y:7.92, Z:-2.91 [[ 9.94047433e-01 1.08170889e-01 1.29907397e-02 2.71714245e+02] [-1.08161432e-01 9.94132314e-01 -1.43040325e-03 7.91911545e+00] [-1.30692421e-02 1.67916695e-05 9.99914594e-01 -2.90682457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79589822699995 meters 0.009769524346561932 Centerline is valid? [True, True] Translation: X:271.74, Y:7.92, Z:-2.91 [[ 9.93871742e-01 1.09773908e-01 1.29864871e-02 2.71743273e+02] [-1.09764599e-01 9.93956583e-01 -1.42957419e-03 7.91734988e+00] [-1.30649343e-02 -4.64316037e-06 9.99914650e-01 -2.90678083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.825898227 meters 0.010963148092887027 Centerline is valid? [True, True] Translation: X:271.77, Y:7.92, Z:-2.91 [[ 9.93474468e-01 1.13330785e-01 1.28302282e-02 2.71772047e+02] [-1.13322003e-01 9.93557311e-01 -1.41175950e-03 7.92068937e+00] [-1.29075628e-02 -5.14001368e-05 9.99916693e-01 -2.90695001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85589822699995 meters 0.021829847263671598 Centerline is valid? [True, True] Translation: X:271.80, Y:7.92, Z:-2.91 [[ 9.93281188e-01 1.15022619e-01 1.27388588e-02 2.71801390e+02] [-1.15014110e-01 9.93362870e-01 -1.40098095e-03 7.92168641e+00] [-1.28154539e-02 -7.35804871e-05 9.99917876e-01 -2.90739368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.885898227 meters 0.013235982992426582 Centerline is valid? [True, True] Translation: X:271.83, Y:7.92, Z:-2.91 [[ 9.93049327e-01 1.17067460e-01 1.21755715e-02 2.71830914e+02] [-1.17059847e-01 9.93123960e-01 -1.33848572e-03 7.92284001e+00] [-1.22485449e-02 -9.60881956e-05 9.99924979e-01 -2.90855812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91589822699996 meters 0.01649364943990358 Centerline is valid? [True, True] Translation: X:271.86, Y:7.93, Z:-2.91 [[ 9.92681068e-01 1.20285830e-01 1.07525393e-02 2.71859369e+02] [-1.20280086e-01 9.92739293e-01 -1.18161500e-03 7.92813871e+00] [-1.08165998e-02 -1.20349516e-04 9.99941492e-01 -2.91246434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.945898227 meters 0.017973858406800873 Centerline is valid? [True, True] Translation: X:271.89, Y:7.93, Z:-2.91 [[ 9.92509211e-01 1.21751850e-01 1.00972139e-02 2.71888337e+02] [-1.21746866e-01 9.92560563e-01 -1.10908081e-03 7.92869660e+00] [-1.01571290e-02 -1.28531233e-04 9.99948407e-01 -2.91378959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97589822699996 meters 0.021178637588160847 Centerline is valid? [True, True] Translation: X:271.92, Y:7.93, Z:-2.92 [[ 9.92199176e-01 1.24339587e-01 8.97011246e-03 2.71917023e+02] [-1.24335765e-01 9.92239713e-01 -9.84678857e-04 7.93411161e+00] [-9.02293637e-03 -1.38308240e-04 9.99959283e-01 -2.91551272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.005898227 meters 0.021442464378009334 Centerline is valid? [True, True] Translation: X:271.95, Y:7.93, Z:-2.92 [[ 9.92085703e-01 1.25279789e-01 8.42210787e-03 2.71946202e+02] [-1.25276460e-01 9.92121442e-01 -9.23819213e-04 7.93333383e+00] [-8.47148968e-03 -1.38584022e-04 9.99964107e-01 -2.91665228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03589822699996 meters 0.022232099074412093 Centerline is valid? [True, True] Translation: X:271.98, Y:7.93, Z:-2.92 [[ 9.92013595e-01 1.25885191e-01 7.87056230e-03 2.71975575e+02] [-1.25882305e-01 9.92044808e-01 -8.62984065e-04 7.93308960e+00] [-7.91658738e-03 -1.34672599e-04 9.99968654e-01 -2.91790951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.065898227 meters 0.022027578921646036 Centerline is valid? [True, True] Translation: X:272.00, Y:7.93, Z:-2.92 [[ 9.92098543e-01 1.25242350e-01 7.40510264e-03 2.72003673e+02] [-1.25239779e-01 9.92126171e-01 -8.11677396e-04 7.93250275e+00] [-7.44845251e-03 -1.22149457e-04 9.99972252e-01 -2.91939182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09589822699996 meters 0.02109995659158906 Centerline is valid? [True, True] Translation: X:272.03, Y:7.93, Z:-2.92 [[ 9.92180357e-01 1.24618068e-01 6.96253627e-03 2.72032705e+02] [-1.24615783e-01 9.92204780e-01 -7.62745387e-04 7.92954431e+00] [-7.00331362e-03 -1.10860916e-04 9.99975470e-01 -2.92018482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.125898227 meters 0.028082415494203723 Centerline is valid? [True, True] Translation: X:272.06, Y:7.93, Z:-2.92 [[ 9.92304159e-01 1.23644267e-01 6.67461539e-03 2.72061284e+02] [-1.23642147e-01 9.92326602e-01 -7.30913077e-04 7.92654569e+00] [-6.71377162e-03 -9.99756903e-05 9.99977457e-01 -2.92138736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15589822699997 meters 0.020420771765211548 Centerline is valid? [True, True] Translation: X:272.09, Y:7.92, Z:-2.92 [[ 9.92379457e-01 1.23039385e-01 6.65752887e-03 2.72089173e+02] [-1.23037264e-01 9.92401784e-01 -7.28783146e-04 7.92354032e+00] [-6.69661255e-03 -9.58947123e-05 9.99977573e-01 -2.92319894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.185898227 meters 0.019562588432886205 Centerline is valid? [True, True] Translation: X:272.12, Y:7.92, Z:-2.92 [[ 9.92346673e-01 1.23207343e-01 8.24806253e-03 2.72117830e+02] [-1.23204099e-01 9.92380943e-01 -9.02209334e-04 7.91796995e+00] [-8.29637889e-03 -1.20890680e-04 9.99965577e-01 -2.92070868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21589822699997 meters 0.02068025899625556 Centerline is valid? [True, True] Translation: X:272.15, Y:7.92, Z:-2.92 [[ 9.92225028e-01 1.24132323e-01 8.98112148e-03 2.72145316e+02] [-1.24128519e-01 9.92265663e-01 -9.81949897e-04 7.91641149e+00] [-9.03355019e-03 -1.40498044e-04 9.99959187e-01 -2.91900739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.24589822699994 meters 0.02417635228164465 Centerline is valid? [True, True] Translation: X:272.17, Y:7.92, Z:-2.92 [[ 9.91911777e-01 1.26664001e-01 8.20105995e-03 2.72173649e+02] [-1.26660918e-01 9.91945668e-01 -8.96304604e-04 7.91712571e+00] [-8.24853542e-03 -1.49698694e-04 9.99965969e-01 -2.91937951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.27589822699997 meters 0.026971479420905504 Centerline is valid? [True, True] Translation: X:272.20, Y:7.92, Z:-2.92 [[ 9.91713688e-01 1.28257502e-01 7.34670160e-03 2.72201361e+02] [-1.28255076e-01 9.91740889e-01 -8.02448528e-04 7.91696580e+00] [-7.38894442e-03 -1.46452579e-04 9.99972691e-01 -2.92193527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.30589822699994 meters 0.0349382702502995 Centerline is valid? [True, True] Translation: X:272.23, Y:7.92, Z:-2.92 [[ 9.91253098e-01 1.31826111e-01 6.25875337e-03 2.72230973e+02] [-1.31824424e-01 9.91272846e-01 -6.82995057e-04 7.91832196e+00] [-6.29416885e-03 -1.48035594e-04 9.99980181e-01 -2.92440274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.335898227 meters 0.03353495918586935 Centerline is valid? [True, True] Translation: X:272.26, Y:7.92, Z:-2.92 [[ 9.90963778e-01 1.33934433e-01 7.23595110e-03 2.72259374e+02] [-1.33932236e-01 9.90990178e-01 -7.89533944e-04 7.91917628e+00] [-7.27650225e-03 -1.86727567e-04 9.99973508e-01 -2.92333450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.36589822699995 meters 0.0347564507266287 Centerline is valid? [True, True] Translation: X:272.29, Y:7.92, Z:-2.92 [[ 9.90689348e-01 1.35860215e-01 8.75317403e-03 2.72288244e+02] [-1.35857084e-01 9.90727986e-01 -9.54044384e-04 7.91797490e+00] [-8.80163116e-03 -2.44019095e-04 9.99961235e-01 -2.92098231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.395898227 meters 0.0389595208466627 Centerline is valid? [True, True] Translation: X:272.32, Y:7.92, Z:-2.92 [[ 9.90151304e-01 1.39560622e-01 1.11007894e-02 2.72319337e+02] [-1.39555827e-01 9.90213466e-01 -1.20925379e-03 7.92046969e+00] [-1.11609153e-02 -3.51835615e-04 9.99937653e-01 -2.91668038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.42589822699995 meters 0.04358362219938576 Centerline is valid? [True, True] Translation: X:272.35, Y:7.92, Z:-2.92 [[ 9.89971050e-01 1.40855815e-01 1.08147651e-02 2.72347335e+02] [-1.40851340e-01 9.90030056e-01 -1.17813245e-03 7.92207092e+00] [-1.08728893e-02 -3.56957135e-04 9.99940825e-01 -2.91696149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.455898227 meters 0.04247666053830835 Centerline is valid? [True, True] Translation: X:272.38, Y:7.92, Z:-2.92 [[ 9.89834262e-01 1.41900473e-01 9.61196776e-03 2.72375572e+02] [-1.41896992e-01 9.89880876e-01 -1.04662681e-03 7.91962615e+00] [-9.66321990e-03 -3.27922241e-04 9.99953256e-01 -2.91913610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.48589822699995 meters 0.04443441683005969 Centerline is valid? [True, True] Translation: X:272.40, Y:7.92, Z:-2.92 [[ 9.89711758e-01 1.42887149e-01 7.34162010e-03 2.72403486e+02] [-1.42885147e-01 9.89738953e-01 -7.99150095e-04 7.91992928e+00] [-7.38047568e-03 -2.58080225e-04 9.99972731e-01 -2.92341370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.515898227 meters 0.0409714376878652 Centerline is valid? [True, True] Translation: X:272.43, Y:7.91, Z:-2.92 [[ 9.89623339e-01 1.43509081e-01 7.12671255e-03 2.72431593e+02] [-1.43507214e-01 9.89648967e-01 -7.75336594e-04 7.91310834e+00] [-7.16421156e-03 -2.55443476e-04 9.99974304e-01 -2.92356006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.54589822699995 meters 0.047012339318830684 Centerline is valid? [True, True] Translation: X:272.46, Y:7.92, Z:-2.92 [[ 9.89458745e-01 1.44624917e-01 7.41793870e-03 2.72459785e+02] [-1.44622928e-01 9.89486512e-01 -8.06740808e-04 7.91850575e+00] [-7.45662511e-03 -2.74567266e-04 9.99972161e-01 -2.92445040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.575898227 meters 0.04566184554516596 Centerline is valid? [True, True] Translation: X:272.49, Y:7.92, Z:-2.92 [[ 9.88991093e-01 1.47770096e-01 7.78565757e-03 2.72489704e+02] [-1.47768008e-01 9.89021688e-01 -8.45923585e-04 7.91685617e+00] [-7.82518641e-03 -3.13860223e-04 9.99969334e-01 -2.92358089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.60589822699995 meters 0.05129830366005616 Centerline is valid? [True, True] Translation: X:272.52, Y:7.92, Z:-2.92 [[ 9.88721932e-01 1.49546926e-01 8.04107645e-03 2.72518652e+02] [-1.49544757e-01 9.88754571e-01 -8.73696593e-04 7.92354577e+00] [-8.08130974e-03 -3.38657842e-04 9.99967288e-01 -2.92402903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.635898227 meters 0.050532090962051614 Centerline is valid? [True, True] Translation: X:272.55, Y:7.92, Z:-2.92 [[ 9.88480922e-01 1.51117102e-01 8.31199568e-03 2.72548319e+02] [-1.51114844e-01 9.88515801e-01 -9.02644625e-04 7.92131757e+00] [-8.35294410e-03 -3.63818938e-04 9.99965047e-01 -2.92397694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.66589822699996 meters 0.06037107346936273 Centerline is valid? [True, True] Translation: X:272.58, Y:7.93, Z:-2.92 [[ 9.88263917e-01 1.52508825e-01 8.68846389e-03 2.72578607e+02] [-1.52506413e-01 9.88302031e-01 -9.43344559e-04 7.93379869e+00] [-8.73069487e-03 -3.92773071e-04 9.99961810e-01 -2.92336752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.695898227 meters 0.0589652824543267 Centerline is valid? [True, True] Translation: X:272.61, Y:7.93, Z:-2.92 [[ 9.88300315e-01 1.52273772e-01 8.67102029e-03 2.72606456e+02] [-1.52271360e-01 9.88338275e-01 -9.41537668e-04 7.92963367e+00] [-8.71327273e-03 -3.89826083e-04 9.99961963e-01 -2.92376465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.72589822699996 meters 0.0497932281639799 Centerline is valid? [True, True] Translation: X:272.63, Y:7.92, Z:-2.92 [[ 9.88498103e-01 1.51003078e-01 8.34087587e-03 2.72634230e+02] [-1.51000816e-01 9.88533225e-01 -9.03926709e-04 7.91568506e+00] [-8.38172863e-03 -3.65949227e-04 9.99964806e-01 -2.92426544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.755898227 meters 0.05113029045345445 Centerline is valid? [True, True] Translation: X:272.66, Y:7.91, Z:-2.93 [[ 9.88979706e-01 1.47857470e-01 7.57025121e-03 2.72663855e+02] [-1.47855518e-01 9.89008632e-01 -8.19971258e-04 7.91014322e+00] [-7.60828267e-03 -3.08368484e-04 9.99971009e-01 -2.92668015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.78589822699996 meters 0.04140301513845771 Centerline is valid? [True, True] Translation: X:272.69, Y:7.90, Z:-2.93 [[ 9.89226028e-01 1.46192539e-01 7.72058840e-03 2.72691629e+02] [-1.46190458e-01 9.89256110e-01 -8.36301829e-04 7.90008981e+00] [-7.75990033e-03 -3.01384815e-04 9.99969846e-01 -2.92673114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.815898227 meters 0.04618981904611989 Centerline is valid? [True, True] Translation: X:272.72, Y:7.90, Z:-2.93 [[ 9.89424884e-01 1.44848915e-01 7.56248756e-03 2.72719711e+02] [-1.44846880e-01 9.89453744e-01 -8.18973723e-04 7.90004711e+00] [-7.60135908e-03 -2.85089749e-04 9.99971069e-01 -2.92761996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.84589822699996 meters 0.04054402544381015 Centerline is valid? [True, True] Translation: X:272.75, Y:7.89, Z:-2.93 [[ 9.89753079e-01 1.42599347e-01 7.36668276e-03 2.72747930e+02] [-1.42597357e-01 9.89780459e-01 -7.97406005e-04 7.88943168e+00] [-7.40510822e-03 -2.61234444e-04 9.99972548e-01 -2.92722187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.875898227 meters 0.04126421795543762 Centerline is valid? [True, True] Translation: X:272.78, Y:7.89, Z:-2.93 [[ 9.89788126e-01 1.42329014e-01 7.86878607e-03 2.72775904e+02] [-1.42326748e-01 9.89819364e-01 -8.50072527e-04 7.88548001e+00] [-7.90966681e-03 -2.78547036e-04 9.99968679e-01 -2.92644577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.90589822699997 meters 0.03943770182285324 Centerline is valid? [True, True] Translation: X:272.80, Y:7.88, Z:-2.93 [[ 9.89734185e-01 1.42700639e-01 7.92280053e-03 2.72804217e+02] [-1.42698357e-01 9.89765855e-01 -8.55396739e-04 7.87851878e+00] [-7.96378310e-03 -2.83955226e-04 9.99968248e-01 -2.92539943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.935898227 meters 0.045340645989981776 Centerline is valid? [True, True] Translation: X:272.83, Y:7.88, Z:-2.93 [[ 9.89196338e-01 1.46369649e-01 8.15661477e-03 2.72833717e+02] [-1.46367360e-01 9.89229913e-01 -8.80103833e-04 7.88097682e+00] [-8.19758781e-03 -3.23266682e-04 9.99966347e-01 -2.92537424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.96589822699997 meters 0.04789134233325153 Centerline is valid? [True, True] Translation: X:272.86, Y:7.88, Z:-2.93 [[ 9.88770672e-01 1.49233709e-01 7.86503217e-03 2.72863673e+02] [-1.49231672e-01 9.88801895e-01 -8.48572218e-04 7.88031270e+00] [-7.90359430e-03 -3.34668578e-04 9.99968710e-01 -2.92653814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99589822699994 meters 0.05032009312675665 Centerline is valid? [True, True] Translation: X:272.89, Y:7.88, Z:-2.93 [[ 9.88323232e-01 1.52178077e-01 7.68259904e-03 2.72894213e+02] [-1.52176223e-01 9.88353029e-01 -8.28794408e-04 7.88025358e+00] [-7.71924437e-03 -3.49992135e-04 9.99970145e-01 -2.92726678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.02589822699997 meters 0.05724146547157714 Centerline is valid? [True, True] Translation: X:272.92, Y:7.89, Z:-2.93 [[ 9.87483419e-01 1.57568713e-01 6.97126062e-03 2.72924857e+02] [-1.57567321e-01 9.87507962e-01 -7.51945287e-04 7.88929422e+00] [-7.00265841e-03 -3.55909355e-04 9.99975418e-01 -2.92817595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05589822699994 meters 0.05973069501442841 Centerline is valid? [True, True] Translation: X:272.96, Y:7.89, Z:-2.93 [[ 9.87103479e-01 1.59943250e-01 6.69910573e-03 2.72955735e+02] [-1.59942020e-01 9.87126146e-01 -7.22472419e-04 7.89153281e+00] [-6.72841701e-03 -3.58313463e-04 9.99977300e-01 -2.92924299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.085898227 meters 0.06760876457300015 Centerline is valid? [True, True] Translation: X:272.99, Y:7.90, Z:-2.93 [[ 9.86750277e-01 1.62119465e-01 6.41640900e-03 2.72985959e+02] [-1.62118382e-01 9.86771073e-01 -6.92017582e-04 7.90100555e+00] [-6.44371631e-03 -3.57369306e-04 9.99979175e-01 -2.93112744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11589822699995 meters 0.07032241900342401 Centerline is valid? [True, True] Translation: X:273.01, Y:7.90, Z:-2.93 [[ 9.86512348e-01 1.63604230e-01 5.20027023e-03 2.73014853e+02] [-1.63603538e-01 9.86526010e-01 -5.61003412e-04 7.90341223e+00] [-5.22198437e-03 -2.97345816e-04 9.99986321e-01 -2.93313426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.145898227 meters 0.06575232872332688 Centerline is valid? [True, True] Translation: X:273.04, Y:7.90, Z:-2.93 [[ 9.86635615e-01 1.62885653e-01 4.29277279e-03 2.73042938e+02] [-1.62885172e-01 9.86644924e-01 -4.63931796e-04 7.89791603e+00] [-4.31101032e-03 -2.41497401e-04 9.99990678e-01 -2.93491162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17589822699995 meters 0.05840443403020001 Centerline is valid? [True, True] Translation: X:273.07, Y:7.89, Z:-2.93 [[ 9.86941827e-01 1.60990953e-01 5.26710738e-03 2.73071546e+02] [-1.60990212e-01 9.86955840e-01 -5.67133713e-04 7.88744569e+00] [-5.28970578e-03 -2.88224750e-04 9.99985968e-01 -2.93268182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.205898227 meters 0.0550807803618113 Centerline is valid? [True, True] Translation: X:273.10, Y:7.88, Z:-2.93 [[ 9.87818657e-01 1.55438342e-01 7.29539122e-03 2.73100503e+02] [-1.55436772e-01 9.87845531e-01 -7.85221025e-04 7.88411518e+00] [-7.32877307e-03 -3.58316084e-04 9.99973080e-01 -2.92968980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23589822699995 meters 0.05044205435997799 Centerline is valid? [True, True] Translation: X:273.13, Y:7.88, Z:-2.93 [[ 9.88277296e-01 1.52502680e-01 7.13577000e-03 2.73129876e+02] [-1.52501102e-01 9.88303002e-01 -7.67954438e-04 7.87588295e+00] [-7.16941802e-03 -3.29260854e-04 9.99974245e-01 -2.93011528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.265898227 meters 0.04890605053544232 Centerline is valid? [True, True] Translation: X:273.16, Y:7.87, Z:-2.93 [[ 9.88660470e-01 1.50045097e-01 6.07814073e-03 2.73158783e+02] [-1.50043906e-01 9.88679118e-01 -6.54014892e-04 7.87185542e+00] [-6.10746254e-03 -2.65389306e-04 9.99981314e-01 -2.93188562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29589822699995 meters 0.049207880482183074 Centerline is valid? [True, True] Translation: X:273.19, Y:7.87, Z:-2.94 [[ 9.89085338e-01 1.47291228e-01 3.93542406e-03 2.73187376e+02] [-1.47290706e-01 9.89093155e-01 -4.23547391e-04 7.87208418e+00] [-3.95488581e-03 -1.60726875e-04 9.99992166e-01 -2.93548265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.325898227 meters 0.04722086338028263 Centerline is valid? [True, True] Translation: X:273.22, Y:7.87, Z:-2.93 [[ 9.89145088e-01 1.46890366e-01 3.90060253e-03 2.73215936e+02] [-1.46889848e-01 9.89152767e-01 -4.20637871e-04 7.86801962e+00] [-3.92007944e-03 -1.56887027e-04 9.99992304e-01 -2.93490464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35589822699995 meters 0.047357329290962015 Centerline is valid? [True, True] Translation: X:273.24, Y:7.87, Z:-2.93 [[ 9.89112050e-01 1.47092226e-01 4.60752738e-03 2.73244500e+02] [-1.47091510e-01 9.89122764e-01 -4.95775614e-04 7.86709674e+00] [-4.63033495e-03 -1.87350526e-04 9.99989262e-01 -2.93357941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.385898227 meters 0.049908788628597 Centerline is valid? [True, True] Translation: X:273.27, Y:7.87, Z:-2.93 [[ 9.88855210e-01 1.48736484e-01 6.54454162e-03 2.73274255e+02] [-1.48735092e-01 9.88876828e-01 -7.01689013e-04 7.87236379e+00] [-6.57611231e-03 -2.79534162e-04 9.99978338e-01 -2.92926988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41589822699996 meters 0.05281537376240614 Centerline is valid? [True, True] Translation: X:273.30, Y:7.88, Z:-2.93 [[ 9.88671363e-01 1.49923624e-01 7.20024788e-03 2.73302339e+02] [-1.49921968e-01 9.88697531e-01 -7.72235025e-04 7.87615259e+00] [-7.23464357e-03 -3.15988677e-04 9.99973780e-01 -2.92861217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.445898227 meters 0.05195996005113374 Centerline is valid? [True, True] Translation: X:273.33, Y:7.87, Z:-2.93 [[ 9.88436691e-01 1.51487339e-01 6.67036048e-03 2.73331786e+02] [-1.51485964e-01 9.88459151e-01 -7.13805106e-04 7.87494803e+00] [-6.70151129e-03 -3.04914831e-04 9.99977498e-01 -2.92889574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47589822699996 meters 0.05910446638193693 Centerline is valid? [True, True] Translation: X:273.36, Y:7.89, Z:-2.94 [[ 9.87855348e-01 1.55328829e-01 3.84270943e-03 2.73362304e+02] [-1.55328403e-01 9.87862803e-01 -4.11085252e-04 7.88561672e+00] [-3.85992310e-03 -1.90789152e-04 9.99992532e-01 -2.93537340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.505898227 meters 0.0617335523493469 Centerline is valid? [True, True] Translation: X:273.39, Y:7.88, Z:-2.94 [[ 9.87691557e-01 1.56389642e-01 2.76909147e-03 2.73391459e+02] [-1.56389424e-01 9.87695429e-01 -2.96507002e-04 7.88416155e+00] [-2.78138961e-03 -1.40199158e-04 9.99996122e-01 -2.93725636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53589822699996 meters 0.058026092158291784 Centerline is valid? [True, True] Translation: X:273.42, Y:7.88, Z:-2.94 [[ 9.87560330e-01 1.57224394e-01 2.25479034e-03 2.73420457e+02] [-1.57224248e-01 9.87562898e-01 -2.42643616e-04 7.88141845e+00] [-2.26489678e-03 -1.14882508e-04 9.99997429e-01 -2.93816491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.565898227 meters 0.0642737169164503 Centerline is valid? [True, True] Translation: X:273.45, Y:7.89, Z:-2.94 [[ 9.87504162e-01 1.57538347e-01 4.14722393e-03 2.73449008e+02] [-1.57537871e-01 9.87512847e-01 -4.43213299e-04 7.89029040e+00] [-4.16526000e-03 -2.15669850e-04 9.99991302e-01 -2.93617936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59589822699996 meters 0.0642737169164503 Centerline is valid? [True, True] Translation: X:273.48, Y:7.89, Z:-2.94 [[ 9.87532370e-01 1.57361427e-01 4.14715589e-03 2.73476360e+02] [-1.57360947e-01 9.87541055e-01 -4.43852033e-04 7.88757546e+00] [-4.16533189e-03 -2.14282130e-04 9.99991302e-01 -2.93649619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.625898227 meters 0.05573538492484571 Centerline is valid? [True, True] Translation: X:273.50, Y:7.88, Z:-2.93 [[ 9.87599502e-01 1.56905786e-01 5.27236790e-03 2.73504220e+02] [-1.56905012e-01 9.87613538e-01 -5.62688914e-04 7.87649629e+00] [-5.29535107e-03 -2.71549656e-04 9.99985943e-01 -2.93344490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65589822699997 meters 0.05537186294492222 Centerline is valid? [True, True] Translation: X:273.53, Y:7.88, Z:-2.93 [[ 9.87744412e-01 1.55928231e-01 6.88216215e-03 2.73533219e+02] [-1.55926901e-01 9.87768325e-01 -7.32703544e-04 7.87733915e+00] [-6.91223095e-03 -3.49390386e-04 9.99976049e-01 -2.93164053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.685898227 meters 0.054436253433301315 Centerline is valid? [True, True] Translation: X:273.56, Y:7.87, Z:-2.93 [[ 9.87852474e-01 1.55244319e-01 6.83315595e-03 2.73561996e+02] [-1.55242998e-01 9.87876047e-01 -7.26410803e-04 7.87474949e+00] [-6.86308223e-03 -3.43212909e-04 9.99976390e-01 -2.93221669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71589822699997 meters 0.06412225615786125 Centerline is valid? [True, True] Translation: X:273.59, Y:7.89, Z:-2.93 [[ 9.87854833e-01 1.55213719e-01 7.17842711e-03 2.73589975e+02] [-1.55212274e-01 9.87880848e-01 -7.61430408e-04 7.88600000e+00] [-7.20961511e-03 -3.61997283e-04 9.99973945e-01 -2.93393770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.74589822699994 meters 0.057175934813926806 Centerline is valid? [True, True] Translation: X:273.62, Y:7.88, Z:-2.93 [[ 9.87775170e-01 1.55705661e-01 7.48066461e-03 2.73618191e+02] [-1.55704108e-01 9.87803423e-01 -7.93141224e-04 7.87595205e+00] [-7.51292269e-03 -3.81325000e-04 9.99971705e-01 -2.93274652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.77589822699997 meters 0.06423493151285027 Centerline is valid? [True, True] Translation: X:273.65, Y:7.88, Z:-2.93 [[ 9.87420732e-01 1.57871800e-01 8.76313046e-03 2.73648458e+02] [-1.57869773e-01 9.87459506e-01 -9.26911149e-04 7.88158767e+00] [-8.79956961e-03 -4.68182131e-04 9.99961173e-01 -2.93152556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.80589822699994 meters 0.06244919088929649 Centerline is valid? [True, True] Translation: X:273.68, Y:7.88, Z:-2.93 [[ 9.87278006e-01 1.58767074e-01 8.66923735e-03 2.73676639e+02] [-1.58765125e-01 9.87315955e-01 -9.17007804e-04 7.88234324e+00] [-8.70486699e-03 -4.71030914e-04 9.99962001e-01 -2.93170981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.835898227 meters 0.06820184168080534 Centerline is valid? [True, True] Translation: X:273.70, Y:7.89, Z:-2.93 [[ 9.87145964e-01 1.59611537e-01 8.18553866e-03 2.73704752e+02] [-1.59609831e-01 9.87179798e-01 -8.65441930e-04 7.88802328e+00] [-8.21873291e-03 -4.52174937e-04 9.99966123e-01 -2.93321838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.86589822699995 meters 0.07334556314893897 Centerline is valid? [True, True] Translation: X:273.73, Y:7.89, Z:-2.94 [[ 9.86973133e-01 1.60760528e-01 6.33146527e-03 2.73733610e+02] [-1.60759533e-01 9.86993376e-01 -6.69028894e-04 7.89320311e+00] [-6.35666772e-03 -3.57529856e-04 9.99979732e-01 -2.93795391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.895898227 meters 0.06412011483283092 Centerline is valid? [True, True] Translation: X:273.76, Y:7.88, Z:-2.94 [[ 9.86921472e-01 1.61108771e-01 5.47463631e-03 2.73761309e+02] [-1.61108030e-01 9.86936608e-01 -5.79034128e-04 7.87929513e+00] [-5.49640647e-03 -3.10546658e-04 9.99984846e-01 -2.93851696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.92589822699995 meters 0.0686330358739901 Centerline is valid? [True, True] Translation: X:273.79, Y:7.88, Z:-2.94 [[ 9.86743288e-01 1.62184721e-01 5.81378700e-03 2.73790328e+02] [-1.62183914e-01 9.86760357e-01 -6.13165762e-04 7.88327107e+00] [-5.83626066e-03 -3.37865530e-04 9.99982912e-01 -2.93873060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.955898227 meters 0.06953286770586346 Centerline is valid? [True, True] Translation: X:273.82, Y:7.88, Z:-2.94 [[ 9.86658732e-01 1.62645626e-01 7.13765897e-03 2.73819272e+02] [-1.62644421e-01 9.86684461e-01 -7.52819640e-04 7.88215874e+00] [-7.16506001e-03 -4.18124338e-04 9.99974243e-01 -2.93693136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.98589822699995 meters 0.06942538354117239 Centerline is valid? [True, True] Translation: X:273.85, Y:7.88, Z:-2.94 [[ 9.86560198e-01 1.63208366e-01 7.87437995e-03 2.73847411e+02] [-1.63206932e-01 9.86591512e-01 -8.28707730e-04 7.87934627e+00] [-7.90404845e-03 -4.67583330e-04 9.99968653e-01 -2.93557173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.015898227 meters 0.07336209672352001 Centerline is valid? [True, True] Translation: X:273.88, Y:7.88, Z:-2.93 [[ 9.86336184e-01 1.64513645e-01 8.72889301e-03 2.73876678e+02] [-1.64511939e-01 9.86374665e-01 -9.18001534e-04 7.88169705e+00] [-8.76098270e-03 -5.30548987e-04 9.99961481e-01 -2.93465531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.04589822699995 meters 0.07585382686083406 Centerline is valid? [True, True] Translation: X:273.91, Y:7.88, Z:-2.94 [[ 9.86130780e-01 1.65763890e-01 8.27146647e-03 2.73905113e+02] [-1.65762404e-01 9.86165336e-01 -8.69690705e-04 7.88214247e+00] [-8.30119682e-03 -5.13469395e-04 9.99965413e-01 -2.93604181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.075898227 meters 0.07736353496391594 Centerline is valid? [True, True] Translation: X:273.93, Y:7.88, Z:-2.94 [[ 9.85940113e-01 1.66937339e-01 7.34965516e-03 2.73934936e+02] [-1.66936202e-01 9.85967397e-01 -7.72322904e-04 7.88145015e+00] [-7.37544990e-03 -4.65459384e-04 9.99972693e-01 -2.93817217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.10589822699995 meters 0.08251953463946057 Centerline is valid? [True, True] Translation: X:273.97, Y:7.89, Z:-2.94 [[ 9.85335831e-01 1.70507470e-01 6.36412050e-03 2.73965531e+02] [-1.70506692e-01 9.85356291e-01 -6.68596381e-04 7.88764512e+00] [-6.38492685e-03 -4.26333162e-04 9.99979525e-01 -2.94110155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.135898227 meters 0.08465452868931585 Centerline is valid? [True, True] Translation: X:274.00, Y:7.89, Z:-2.94 [[ 9.85092604e-01 1.71929043e-01 5.74149589e-03 2.73995129e+02] [-1.71928434e-01 9.85109258e-01 -6.03192867e-04 7.88970185e+00] [-5.75970712e-03 -3.92925565e-04 9.99983336e-01 -2.94305384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.16589822699996 meters 0.08600013551735787 Centerline is valid? [True, True] Translation: X:274.03, Y:7.89, Z:-2.94 [[ 9.84915233e-01 1.72969410e-01 4.85464230e-03 2.74025129e+02] [-1.72968988e-01 9.84927139e-01 -5.09952062e-04 7.89102807e+00] [-4.86967506e-03 -3.37443011e-04 9.99988086e-01 -2.94486592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.195898227 meters 0.0867154099366426 Centerline is valid? [True, True] Translation: X:274.05, Y:7.89, Z:-2.95 [[ 9.84887965e-01 1.73137724e-01 4.36174662e-03 2.74053778e+02] [-1.73137381e-01 9.84897577e-01 -4.59043234e-04 7.89135398e+00] [-4.37535138e-03 -3.03075229e-04 9.99990382e-01 -2.94659511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.22589822699996 meters 0.08731761897686377 Centerline is valid? [True, True] Translation: X:274.08, Y:7.89, Z:-2.95 [[ 9.85072432e-01 1.72126295e-01 2.20068044e-03 2.74082506e+02] [-1.72126204e-01 9.85074878e-01 -2.32134925e-04 7.89478837e+00] [-2.20779154e-03 -1.50125055e-04 9.99997552e-01 -2.95089345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.255898227 meters 0.07650060475757309 Centerline is valid? [True, True] Translation: X:274.11, Y:7.88, Z:-2.95 [[ 9.85194576e-01 1.71436751e-01 1.04281741e-03 2.74109878e+02] [-1.71436729e-01 9.85195126e-01 -1.10877452e-04 7.88148252e+00] [-1.04638710e-03 -6.95413423e-05 9.99999450e-01 -2.95111641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.28589822699996 meters 0.0866655701043063 Centerline is valid? [True, True] Translation: X:274.14, Y:7.89, Z:-2.95 [[ 9.85395870e-01 1.70276857e-01 8.78304260e-04 2.74139849e+02] [-1.70276842e-01 9.85396260e-01 -9.22899999e-05 7.89487619e+00] [-8.81192584e-04 -5.86126910e-05 9.99999610e-01 -2.95454282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.315898227 meters 0.08132245315103645 Centerline is valid? [True, True] Translation: X:274.17, Y:7.89, Z:-2.95 [[ 9.86291221e-01 1.64987138e-01 2.97864499e-03 2.74168323e+02] [-1.64986948e-01 9.86295701e-01 -3.11378702e-04 7.89023371e+00] [-2.98919823e-03 -1.84327465e-04 9.99995515e-01 -2.95044368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.34589822699996 meters 0.07578316255695447 Centerline is valid? [True, True] Translation: X:274.20, Y:7.88, Z:-2.95 [[ 9.86974730e-01 1.60812808e-01 4.48585968e-03 2.74197843e+02] [-1.60812333e-01 9.86984890e-01 -4.68690171e-04 7.88172245e+00] [-4.50284711e-03 -2.58796206e-04 9.99989829e-01 -2.94725077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.375898227 meters 0.06060969057783526 Centerline is valid? [True, True] Translation: X:274.23, Y:7.86, Z:-2.94 [[ 9.87731351e-01 1.56082457e-01 5.00453087e-03 2.74226083e+02] [-1.56081806e-01 9.87743993e-01 -5.22687100e-04 7.86013064e+00] [-5.02477759e-03 -2.64841783e-04 9.99987341e-01 -2.94491166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.40589822699997 meters 0.051501247791894605 Centerline is valid? [True, True] Translation: X:274.26, Y:7.84, Z:-2.95 [[ 9.88998438e-01 1.47903062e-01 2.60274617e-03 2.74255204e+02] [-1.47902858e-01 9.89001856e-01 -2.71749539e-04 7.84373790e+00] [-2.61431339e-03 -1.16193727e-04 9.99996576e-01 -2.94899642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.435898227 meters 0.05557694422108322 Centerline is valid? [True, True] Translation: X:274.28, Y:7.84, Z:-2.95 [[ 9.89480824e-01 1.44654798e-01 1.63979504e-03 2.74284603e+02] [-1.44654712e-01 9.89482180e-01 -1.71474923e-04 7.84380349e+00] [-1.64735264e-03 -6.75329322e-05 9.99998641e-01 -2.95389958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.46589822699997 meters 0.041884280128542076 Centerline is valid? [True, True] Translation: X:274.31, Y:7.82, Z:-2.95 [[ 9.90173502e-01 1.39804802e-01 3.32451310e-03 2.74312054e+02] [-1.39804423e-01 9.90179076e-01 -3.47149842e-04 7.81876568e+00] [-3.34039653e-03 -1.21043061e-04 9.99994414e-01 -2.94843662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49589822699994 meters 0.04906055901687121 Centerline is valid? [True, True] Translation: X:274.34, Y:7.82, Z:-2.95 [[ 9.90320476e-01 1.38682007e-01 5.71452657e-03 2.74341045e+02] [-1.38680869e-01 9.90336943e-01 -5.96870371e-04 7.82302275e+00] [-5.74208196e-03 -2.01402561e-04 9.99983494e-01 -2.94660271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.52589822699997 meters 0.04879691563871333 Centerline is valid? [True, True] Translation: X:274.37, Y:7.82, Z:-2.94 [[ 9.90280437e-01 1.38871207e-01 7.70995902e-03 2.74368649e+02] [-1.38869142e-01 9.90310412e-01 -8.05201228e-04 7.81738669e+00] [-7.74707196e-03 -2.73300368e-04 9.99969954e-01 -2.94177749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55589822699994 meters 0.04514876413575473 Centerline is valid? [True, True] Translation: X:274.40, Y:7.81, Z:-2.94 [[ 9.90080768e-01 1.40199643e-01 9.17235072e-03 2.74396810e+02] [-1.40196795e-01 9.90123197e-01 -9.55922388e-04 7.80758802e+00] [-9.21577719e-03 -3.39493805e-04 9.99957476e-01 -2.93895313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.585898227 meters 0.049209783868243144 Centerline is valid? [True, True] Translation: X:274.43, Y:7.81, Z:-2.94 [[ 9.89298038e-01 1.45578666e-01 9.81043167e-03 2.74427013e+02] [-1.45575691e-01 9.89346591e-01 -1.02045106e-03 7.80709013e+00] [-9.85447303e-03 -4.18630139e-04 9.99951356e-01 -2.93741209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61589822699995 meters 0.05573548378767385 Centerline is valid? [True, True] Translation: X:274.46, Y:7.81, Z:-2.94 [[ 9.88784981e-01 1.49078201e-01 8.94153064e-03 2.74456429e+02] [-1.49075874e-01 9.88825323e-01 -9.29964929e-04 7.81178241e+00] [-8.98024942e-03 -4.13431139e-04 9.99959591e-01 -2.93955934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.645898227 meters 0.06196157609094594 Centerline is valid? [True, True] Translation: X:274.49, Y:7.81, Z:-2.95 [[ 9.87828628e-01 1.55456430e-01 5.28207729e-03 2.74486556e+02] [-1.55455709e-01 9.87842711e-01 -5.49352188e-04 7.81397017e+00] [-5.30326188e-03 -2.78463251e-04 9.99985899e-01 -2.94662428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67589822699995 meters 0.06195130762180099 Centerline is valid? [True, True] Translation: X:274.52, Y:7.81, Z:-2.95 [[ 9.87461549e-01 1.57813717e-01 3.81041858e-03 2.74515972e+02] [-1.57813359e-01 9.87468879e-01 -3.96299488e-04 7.80644746e+00] [-3.82521126e-03 -2.10004451e-04 9.99992662e-01 -2.94824365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.705898227 meters 0.06776172694489653 Centerline is valid? [True, True] Translation: X:274.55, Y:7.81, Z:-2.95 [[ 9.87075446e-01 1.60209261e-01 3.88028994e-03 2.74546227e+02] [-1.60208908e-01 9.87083048e-01 -4.03543026e-04 7.81055018e+00] [-3.89481975e-03 -2.23329601e-04 9.99992390e-01 -2.94933849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73589822699995 meters 0.07098418155746203 Centerline is valid? [True, True] Translation: X:274.58, Y:7.81, Z:-2.95 [[ 9.86717338e-01 1.62387825e-01 4.36903926e-03 2.74575406e+02] [-1.62387400e-01 9.86726976e-01 -4.54252981e-04 7.80543942e+00] [-4.38481405e-03 -2.61257633e-04 9.99990353e-01 -2.94838689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.765898227 meters 0.07148041257543553 Centerline is valid? [True, True] Translation: X:274.60, Y:7.80, Z:-2.95 [[ 9.86778544e-01 1.61980221e-01 5.52390581e-03 2.74602668e+02] [-1.61979534e-01 9.86793950e-01 -5.74497164e-04 7.79971391e+00] [-5.54401402e-03 -3.27858213e-04 9.99984578e-01 -2.94738862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79589822699995 meters 0.07185911985528062 Centerline is valid? [True, True] Translation: X:274.63, Y:7.79, Z:-2.95 [[ 9.86993720e-01 1.60631014e-01 6.40894492e-03 2.74631458e+02] [-1.60630065e-01 9.87014457e-01 -6.65902265e-04 7.79425190e+00] [-6.43268585e-03 -3.72227887e-04 9.99979241e-01 -2.94648351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.825898227 meters 0.0689124930913236 Centerline is valid? [True, True] Translation: X:274.66, Y:7.78, Z:-2.95 [[ 9.87247375e-01 1.59053107e-01 6.68806321e-03 2.74660017e+02] [-1.59052038e-01 9.87269956e-01 -6.94739955e-04 7.78471283e+00] [-6.71342443e-03 -3.77869889e-04 9.99977393e-01 -2.94599633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85589822699995 meters 0.06759494122669106 Centerline is valid? [True, True] Translation: X:274.69, Y:7.77, Z:-2.95 [[ 9.87557120e-01 1.57205150e-01 4.18033385e-03 2.74688732e+02] [-1.57204716e-01 9.87565941e-01 -4.34245218e-04 7.77339910e+00] [-4.19662092e-03 -2.28326239e-04 9.99991168e-01 -2.94965297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.885898227 meters 0.06788371196516173 Centerline is valid? [True, True] Translation: X:274.72, Y:7.77, Z:-2.95 [[ 9.87636516e-01 1.56736631e-01 2.78235574e-03 2.74716487e+02] [-1.56736433e-01 9.87640424e-01 -2.90409662e-04 7.76745603e+00] [-2.79348483e-03 -1.49277327e-04 9.99996087e-01 -2.95240288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91589822699996 meters 0.06240431937937048 Centerline is valid? [True, True] Translation: X:274.74, Y:7.75, Z:-2.95 [[ 9.87482039e-01 1.57730028e-01 6.78996133e-04 2.74744565e+02] [-1.57730016e-01 9.87482272e-01 -7.11382285e-05 7.74948485e+00] [-6.81717279e-04 -3.68503482e-05 9.99999767e-01 -2.95365641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.945898227 meters 0.061187126025632366 Centerline is valid? [True, True] Translation: X:274.77, Y:7.74, Z:-2.95 [[ 9.87361815e-01 1.58481926e-01 3.54565203e-04 2.74772844e+02] [-1.58481922e-01 9.87361878e-01 -3.86002304e-05 7.74147616e+00] [-3.56201604e-04 -1.80797814e-05 9.99999936e-01 -2.95336057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97589822699996 meters 0.07226876926642992 Centerline is valid? [True, True] Translation: X:274.80, Y:7.75, Z:-2.96 [[ 9.87184239e-01 1.59580816e-01 1.11425172e-03 2.74802273e+02] [-1.59580787e-01 9.87184866e-01 -1.15579800e-04 7.74875832e+00] [-1.11841675e-03 -6.37146093e-05 9.99999373e-01 -2.95543574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.005898227 meters 0.07509831307871587 Centerline is valid? [True, True] Translation: X:274.83, Y:7.74, Z:-2.95 [[ 9.87108779e-01 1.60035956e-01 2.17954753e-03 2.74828918e+02] [-1.60035846e-01 9.87111178e-01 -2.25894101e-04 7.74121711e+00] [-2.18760691e-03 -1.25823683e-04 9.99997599e-01 -2.95416037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03589822699996 meters 0.06393886925647999 Centerline is valid? [True, True] Translation: X:274.86, Y:7.72, Z:-2.95 [[ 9.87163348e-01 1.59701125e-01 2.01881556e-03 2.74855264e+02] [-1.59701028e-01 9.87165405e-01 -2.10323606e-04 7.71955651e+00] [-2.02649379e-03 -1.14783164e-04 9.99997940e-01 -2.95238361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.065898227 meters 0.06802060260109555 Centerline is valid? [True, True] Translation: X:274.88, Y:7.72, Z:-2.95 [[ 9.87112379e-01 1.60005153e-01 2.73909043e-03 2.74882870e+02] [-1.60004982e-01 9.87116166e-01 -2.82926449e-04 7.71757297e+00] [-2.74907013e-03 -1.58987914e-04 9.99996209e-01 -2.95256913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09589822699996 meters 0.07853876621995359 Centerline is valid? [True, True] Translation: X:274.91, Y:7.72, Z:-2.95 [[ 9.86808386e-01 1.61841832e-01 4.05343161e-03 2.74912066e+02] [-1.61841476e-01 9.86816681e-01 -4.17943869e-04 7.72081386e+00] [-4.06763473e-03 -2.43582838e-04 9.99991697e-01 -2.95220743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.125898227 meters 0.06935995941726311 Centerline is valid? [True, True] Translation: X:274.94, Y:7.70, Z:-2.95 [[ 9.86573318e-01 1.63275274e-01 3.77786612e-03 2.74939430e+02] [-1.63274975e-01 9.86580524e-01 -3.89436580e-04 7.70382536e+00] [-3.79075450e-03 -2.32623259e-04 9.99992788e-01 -2.95083794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15589822699997 meters 0.07104192248276725 Centerline is valid? [True, True] Translation: X:274.97, Y:7.70, Z:-2.95 [[ 9.86270062e-01 1.65112477e-01 3.03888531e-03 2.74969272e+02] [-1.65112293e-01 9.86274725e-01 -3.13037464e-04 7.70083675e+00] [-3.04886216e-03 -1.93017844e-04 9.99995334e-01 -2.95206379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.185898227 meters 0.0794993726450603 Centerline is valid? [True, True] Translation: X:275.00, Y:7.70, Z:-2.95 [[ 9.85337042e-01 1.70598226e-01 2.67556598e-03 2.74999545e+02] [-1.70598104e-01 9.85340657e-01 -2.75542073e-04 7.70241232e+00] [-2.68335093e-03 -1.84944673e-04 9.99996383e-01 -2.95282085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21589822699997 meters 0.07988139239563798 Centerline is valid? [True, True] Translation: X:275.03, Y:7.70, Z:-2.95 [[ 9.84706194e-01 1.74201110e-01 2.77210594e-03 2.75029634e+02] [-1.74200993e-01 9.84710075e-01 -2.85488687e-04 7.70119849e+00] [-2.77945309e-03 -2.01781129e-04 9.99996117e-01 -2.95259696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.24589822699994 meters 0.08713088619374261 Centerline is valid? [True, True] Translation: X:275.06, Y:7.71, Z:-2.95 [[ 9.83982912e-01 1.78248895e-01 2.22737606e-03 2.75059090e+02] [-1.78248830e-01 9.83985418e-01 -2.29380640e-04 7.70675447e+00] [-2.23259241e-03 -1.71320547e-04 9.99997493e-01 -2.95369442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.27589822699997 meters 0.09101676798153517 Centerline is valid? [True, True] Translation: X:275.09, Y:7.71, Z:-2.95 [[ 9.83260133e-01 1.82200730e-01 1.55058741e-03 2.75089903e+02] [-1.82200703e-01 9.83261348e-01 -1.59742010e-04 7.70930800e+00] [-1.55373778e-03 -1.25450167e-04 9.99998785e-01 -2.95452690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.30589822699994 meters 0.10447093904178031 Centerline is valid? [True, False] Translation: X:275.09, Y:7.72, Z:-2.96 [[ 9.85080916e-01 1.72078510e-01 2.13902829e-03 2.75090394e+02] [-1.72089592e-01 9.85055186e-01 7.17302358e-03 7.71608058e+00] [-8.72737699e-04 -7.43411314e-03 9.99971986e-01 -2.95570661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.335898227 meters 0.11113117528423118 Centerline is valid? [False, False] Translation: X:275.09, Y:7.72, Z:-2.96 [[ 9.87365966e-01 1.58446556e-01 1.77137702e-03 2.75088876e+02] [-1.58456457e-01 9.87304167e-01 1.10468900e-02 7.72272757e+00] [ 1.45376975e-06 -1.11880094e-02 9.99937412e-01 -2.95503093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.36589822699995 meters 0.11200638744777348 Centerline is valid? [False, False] Translation: X:275.08, Y:7.73, Z:-2.95 [[ 9.89630398e-01 1.43611802e-01 2.70676182e-03 2.75084294e+02] [-1.43635570e-01 9.89535408e-01 1.37295031e-02 7.73110866e+00] [-7.06717980e-04 -1.39759209e-02 9.99902082e-01 -2.95324976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.395898227 meters 0.11612063602273737 Centerline is valid? [False, False] Translation: X:275.08, Y:7.74, Z:-2.95 [[ 9.91665116e-01 1.28821768e-01 2.29136343e-03 2.75084068e+02] [-1.28842055e-01 9.91528609e-01 1.64542638e-02 7.73841243e+00] [-1.52285033e-04 -1.66123434e-02 9.99861994e-01 -2.95395283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.42589822699995 meters 0.11719282899503065 Centerline is valid? [False, False] Translation: X:275.08, Y:7.75, Z:-2.95 [[ 9.93574538e-01 1.13167969e-01 1.62716560e-03 2.75083220e+02] [-1.13179120e-01 9.93422381e-01 1.73913827e-02 7.75125749e+00] [ 3.51684732e-04 -1.74637962e-02 9.99847434e-01 -2.95379687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.455898227 meters 0.11559438335803991 Centerline is valid? [False, False] Translation: X:275.08, Y:7.76, Z:-2.95 [[ 9.95289395e-01 9.69461677e-02 6.79467367e-04 2.75081472e+02] [-9.69418085e-02 9.95113113e-01 1.87664192e-02 7.75990671e+00] [ 1.14318554e-03 -1.87438868e-02 9.99823664e-01 -2.95280900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.48589822699995 meters 0.11489074870012331 Centerline is valid? [False, False] Translation: X:275.08, Y:7.77, Z:-2.95 [[ 9.96738222e-01 8.07026441e-02 -1.30915693e-05 2.75081054e+02] [-8.06871958e-02 9.96550572e-01 1.94044913e-02 7.77371173e+00] [ 1.57904017e-03 -1.93401419e-02 9.99811715e-01 -2.95290331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.515898227 meters 0.11489074870012331 Centerline is valid? [False, False] Translation: X:275.08, Y:7.77, Z:-2.95 [[ 9.97723862e-01 6.74246723e-02 -1.00444281e-03 2.75079478e+02] [-6.73797184e-02 9.97424735e-01 2.45738120e-02 7.77469455e+00] [ 2.65873732e-03 -2.44501995e-02 9.99697514e-01 -2.95261310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.54589822699995 meters 0.10328219913070139 Centerline is valid? [False, False] Translation: X:275.08, Y:7.78, Z:-2.95 [[ 9.98656963e-01 5.17975528e-02 -1.13330187e-03 2.75079009e+02] [-5.17491117e-02 9.98305366e-01 2.66162602e-02 7.78322561e+00] [ 2.51003848e-03 -2.65218662e-02 9.99645082e-01 -2.95348797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.575898227 meters 0.08968293059874807 Centerline is valid? [False, True] Translation: X:275.08, Y:7.79, Z:-2.95 [[ 9.99351236e-01 3.59434812e-02 -2.27437618e-03 2.75078581e+02] [-3.58643020e-02 9.98951120e-01 2.84677340e-02 7.79176197e+00] [ 3.29522010e-03 -2.83676962e-02 9.99592124e-01 -2.95379480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.60589822699995 meters 0.08659910651244926 Centerline is valid? [True, True] Translation: X:275.11, Y:7.81, Z:-2.95 [[ 9.99529088e-01 3.06798732e-02 5.89900865e-04 2.75106421e+02] [-3.06798973e-02 9.99529261e-01 3.19911558e-05 7.81398664e+00] [-5.88641691e-04 -5.00741888e-05 9.99999825e-01 -2.94573855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.635898227 meters 0.09435271430641418 Centerline is valid? [True, True] Translation: X:275.13, Y:7.83, Z:-2.95 [[ 9.99616389e-01 2.76246116e-02 1.98908124e-03 2.75134807e+02] [-2.76248805e-02 9.99618354e-01 1.07870387e-04 7.82773685e+00] [-1.98534223e-03 -1.62777138e-04 9.99998016e-01 -2.94595837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.66589822699996 meters 0.09844870397486916 Centerline is valid? [True, True] Translation: X:275.16, Y:7.84, Z:-2.95 [[ 9.99759023e-01 2.17884742e-02 2.67559512e-03 2.75163396e+02] [-2.17889407e-02 9.99762582e-01 1.45326104e-04 7.84497271e+00] [-2.67179345e-03 -2.03589467e-04 9.99996410e-01 -2.94517281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.695898227 meters 0.07567095669865269 Centerline is valid? [True, True] Translation: X:275.20, Y:7.82, Z:-2.94 [[ 9.99823498e-01 1.87132784e-02 1.66894274e-03 2.75195211e+02] [-1.87134557e-02 9.99824884e-01 9.06862861e-05 7.82096053e+00] [-1.66695344e-03 -1.21901966e-04 9.99998603e-01 -2.94491509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.72589822699996 meters 0.07702116385698883 Centerline is valid? [True, True] Translation: X:275.22, Y:7.83, Z:-2.95 [[ 9.99876266e-01 1.57109836e-02 7.85311128e-04 2.75224700e+02] [-1.57110219e-02 9.99876573e-01 4.25530776e-05 7.82727385e+00] [-7.84545649e-04 -5.48858527e-05 9.99999691e-01 -2.94724934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.755898227 meters 0.07138568122293543 Centerline is valid? [True, True] Translation: X:275.26, Y:7.82, Z:-2.95 [[ 9.99917499e-01 1.28201659e-02 7.99671873e-04 2.75255560e+02] [-1.28202047e-02 9.99917817e-01 4.34552847e-05 7.82398068e+00] [-7.99049049e-04 -5.37036567e-05 9.99999679e-01 -2.94699342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.78589822699996 meters 0.06946646915949133 Centerline is valid? [True, True] Translation: X:275.28, Y:7.82, Z:-2.95 [[ 9.99945369e-01 1.03475877e-02 1.47832683e-03 2.75284922e+02] [-1.03477176e-02 9.99946458e-01 8.02453749e-05 7.82461907e+00] [-1.47741733e-03 -9.55382997e-05 9.99998904e-01 -2.94643982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.815898227 meters 0.06614435892739684 Centerline is valid? [True, True] Translation: X:275.31, Y:7.82, Z:-2.94 [[ 9.99974969e-01 6.61462070e-03 2.51162968e-03 2.75314913e+02] [-6.61498423e-03 9.99978111e-01 1.36456027e-04 7.82177576e+00] [-2.51067210e-03 -1.53067002e-04 9.99996837e-01 -2.94497850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.84589822699996 meters 0.06767570750608719 Centerline is valid? [True, True] Translation: X:275.34, Y:7.83, Z:-2.95 [[ 9.99982526e-01 5.66495399e-03 1.68995397e-03 2.75344438e+02] [-5.66511742e-03 9.99983949e-01 9.19314530e-05 7.82839777e+00] [-1.68940605e-03 -1.01503634e-04 9.99998568e-01 -2.94651927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.875898227 meters 0.06667974420298174 Centerline is valid? [True, True] Translation: X:275.37, Y:7.83, Z:-2.95 [[ 9.99987982e-01 4.90136796e-03 1.13931737e-04 2.75373741e+02] [-4.90136867e-03 9.99987988e-01 5.96702472e-06 7.82954120e+00] [-1.13901122e-04 -6.52537446e-06 9.99999993e-01 -2.94944293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.90589822699997 meters 0.06365971742090507 Centerline is valid? [True, True] Translation: X:275.40, Y:7.83, Z:-2.95 [[ 9.99992040e-01 3.82590800e-03 -1.13205635e-03 2.75403397e+02] [-3.82598049e-03 9.99992679e-01 -6.18728388e-05 7.82717400e+00] [ 1.13181134e-03 6.62035718e-05 9.99999357e-01 -2.95248466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.935898227 meters 0.06476032600101933 Centerline is valid? [True, True] Translation: X:275.43, Y:7.83, Z:-2.95 [[ 9.99995389e-01 2.90895931e-03 -8.71348864e-04 2.75432251e+02] [-2.90900186e-03 9.99995768e-01 -4.75795219e-05 7.82880752e+00] [ 8.71206769e-04 5.01140580e-05 9.99999619e-01 -2.95288027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.96589822699997 meters 0.06553740413553008 Centerline is valid? [True, True] Translation: X:275.46, Y:7.83, Z:-2.95 [[ 9.99999124e-01 1.27716854e-03 -3.48370726e-04 2.75461813e+02] [-1.27717527e-03 9.99999184e-01 -1.90923135e-05 7.82984932e+00] [ 3.48346058e-04 1.95372272e-05 9.99999939e-01 -2.95265557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99589822699994 meters 0.05488811096273659 Centerline is valid? [True, True] Translation: X:275.49, Y:7.82, Z:-2.95 [[ 9.99997348e-01 -2.29296707e-03 -2.13920282e-04 2.75493593e+02] [ 2.29296463e-03 9.99997371e-01 -1.16640235e-05 7.81533348e+00] [ 2.13946465e-04 1.11734809e-05 9.99999977e-01 -2.95087155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.02589822699997 meters 0.05895651290008376 Centerline is valid? [True, True] Translation: X:275.52, Y:7.82, Z:-2.95 [[ 9.99992007e-01 -3.99246656e-03 2.13315324e-04 2.75523096e+02] [ 3.99246417e-03 9.99992030e-01 1.16196334e-05 7.82049365e+00] [-2.13360015e-04 -1.07678867e-05 9.99999977e-01 -2.95266330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05589822699994 meters 0.05802873584805446 Centerline is valid? [True, True] Translation: X:275.55, Y:7.82, Z:-2.95 [[ 9.99985419e-01 -5.38901716e-03 3.46872471e-04 2.75554146e+02] [ 5.38901089e-03 9.99985479e-01 1.90056915e-05 7.81855342e+00] [-3.46969856e-04 -1.71361149e-05 9.99999940e-01 -2.95279445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.085898227 meters 0.05518969972397727 Centerline is valid? [True, True] Translation: X:275.59, Y:7.81, Z:-2.95 [[ 9.99979161e-01 -6.41887094e-03 6.89421213e-04 2.75585720e+02] [ 6.41884642e-03 9.99979398e-01 3.77654990e-05 7.81375618e+00] [-6.89649421e-04 -3.33394231e-05 9.99999762e-01 -2.95197424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11589822699995 meters 0.05693306319523153 Centerline is valid? [True, True] Translation: X:275.62, Y:7.82, Z:-2.95 [[ 9.99976016e-01 -6.83975053e-03 1.08852510e-03 2.75616507e+02] [ 6.83968973e-03 9.99976607e-01 5.95690107e-05 7.81518284e+00] [-1.08890707e-03 -5.21224080e-05 9.99999406e-01 -2.95168673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.145898227 meters 0.05253406457384227 Centerline is valid? [True, True] Translation: X:275.65, Y:7.81, Z:-2.95 [[ 9.99971532e-01 -7.35291415e-03 1.69424610e-03 2.75648747e+02] [ 7.35276819e-03 9.99972964e-01 9.23653423e-05 7.80698959e+00] [-1.69487945e-03 -7.99053140e-05 9.99998560e-01 -2.94965389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17589822699995 meters 0.05500995008665068 Centerline is valid? [True, True] Translation: X:275.68, Y:7.81, Z:-2.95 [[ 9.99969133e-01 -7.49180756e-03 2.36774620e-03 2.75679408e+02] [ 7.49152301e-03 9.99971930e-01 1.29022051e-04 7.80993361e+00] [-2.36864635e-03 -1.11280043e-04 9.99997189e-01 -2.94958669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.205898227 meters 0.053735979837229574 Centerline is valid? [True, True] Translation: X:275.71, Y:7.81, Z:-2.95 [[ 9.99970368e-01 -6.95276324e-03 3.30476857e-03 2.75712042e+02] [ 6.95220657e-03 9.99975817e-01 1.79901837e-04 7.80534110e+00] [-3.30593947e-03 -1.56921072e-04 9.99994523e-01 -2.94759595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23589822699995 meters 0.05544620088461606 Centerline is valid? [True, True] Translation: X:275.74, Y:7.81, Z:-2.95 [[ 9.99973009e-01 -6.08846187e-03 4.11248999e-03 2.75743180e+02] [ 6.08759411e-03 9.99981445e-01 2.23490285e-04 7.80651589e+00] [-4.11377440e-03 -1.98449083e-04 9.99991519e-01 -2.94632046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.265898227 meters 0.0621274675601889 Centerline is valid? [True, True] Translation: X:275.77, Y:7.81, Z:-2.95 [[ 9.99978696e-01 -4.55201249e-03 4.67841110e-03 2.75773415e+02] [ 4.55087402e-03 9.99989612e-01 2.53961807e-04 7.81381294e+00] [-4.67951854e-03 -2.32665537e-04 9.99989024e-01 -2.94620507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29589822699995 meters 0.058261091051820715 Centerline is valid? [True, True] Translation: X:275.80, Y:7.81, Z:-2.95 [[ 9.99985491e-01 -2.85615827e-03 4.56730676e-03 2.75804897e+02] [ 2.85505629e-03 9.99995894e-01 2.47776883e-04 7.80786306e+00] [-4.56799570e-03 -2.34733370e-04 9.99989539e-01 -2.94561399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.325898227 meters 0.06373462638310375 Centerline is valid? [True, True] Translation: X:275.83, Y:7.81, Z:-2.95 [[ 9.99997747e-01 2.65089592e-04 2.10625390e-03 2.75834305e+02] [-2.65330581e-04 9.99999958e-01 1.14137456e-04 7.81121235e+00] [-2.10622355e-03 -1.14696053e-04 9.99997775e-01 -2.94987856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35589822699995 meters 0.06571804446610517 Centerline is valid? [True, True] Translation: X:275.86, Y:7.81, Z:-2.95 [[ 9.99998891e-01 1.41654284e-03 4.59762334e-04 2.75864729e+02] [-1.41655450e-03 9.99998996e-01 2.50435243e-05 7.81294603e+00] [-4.59726398e-04 -2.56947749e-05 9.99999894e-01 -2.95289312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.385898227 meters 0.06758836804716142 Centerline is valid? [True, True] Translation: X:275.89, Y:7.81, Z:-2.95 [[ 9.99996831e-01 2.51674446e-03 -5.56652626e-05 2.75894845e+02] [-2.51674463e-03 9.99996833e-01 -3.13257867e-06 7.81449427e+00] [ 5.56572025e-05 3.27266399e-06 9.99999998e-01 -2.95409306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41589822699996 meters 0.06930839685595683 Centerline is valid? [True, True] Translation: X:275.92, Y:7.82, Z:-2.95 [[ 9.99993111e-01 3.70667027e-03 1.98559293e-04 2.75924765e+02] [-3.70667249e-03 9.99993130e-01 1.07823351e-05 7.81539207e+00] [-1.98517962e-04 -1.15182551e-05 9.99999980e-01 -2.95411797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.445898227 meters 0.07359840384804008 Centerline is valid? [True, True] Translation: X:275.95, Y:7.82, Z:-2.95 [[ 9.99977309e-01 6.67473933e-03 9.11082486e-04 2.75953605e+02] [-6.67478699e-03 9.99977722e-01 4.92835222e-05 7.81786961e+00] [-9.10733234e-04 -5.53636855e-05 9.99999584e-01 -2.95197337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47589822699996 meters 0.07254729847444848 Centerline is valid? [True, True] Translation: X:275.98, Y:7.82, Z:-2.95 [[ 9.99962104e-01 8.66989563e-03 7.89803120e-04 2.75984143e+02] [-8.66993216e-03 9.99962415e-01 4.28441755e-05 7.81687616e+00] [-7.89401981e-04 -4.96900913e-05 9.99999687e-01 -2.95112599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.505898227 meters 0.07733603205976045 Centerline is valid? [True, True] Translation: X:276.01, Y:7.82, Z:-2.95 [[ 9.99935350e-01 1.13589578e-02 5.18948757e-04 2.76014374e+02] [-1.13589740e-02 9.99935484e-01 2.81352569e-05 7.82178322e+00] [-5.18595690e-04 -3.40281634e-05 9.99999865e-01 -2.95115944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53589822699996 meters 0.08231904497990249 Centerline is valid? [True, True] Translation: X:276.04, Y:7.83, Z:-2.95 [[ 9.99867080e-01 1.62996089e-02 3.80416237e-04 2.76043230e+02] [-1.62996180e-02 9.99867152e-01 2.06513578e-05 7.83061508e+00] [-3.80029090e-04 -2.68492521e-05 9.99999927e-01 -2.95128122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.565898227 meters 0.08423330994065531 Centerline is valid? [True, True] Translation: X:276.07, Y:7.83, Z:-2.95 [[ 9.99816205e-01 1.91649476e-02 5.11316866e-04 2.76074064e+02] [-1.91649643e-02 9.99816335e-01 2.77071948e-05 7.83197324e+00] [-5.10691948e-04 -3.75014719e-05 9.99999869e-01 -2.95047408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59589822699996 meters 0.08253953393224132 Centerline is valid? [True, True] Translation: X:276.10, Y:7.83, Z:-2.95 [[ 9.99767172e-01 2.15368372e-02 1.32876844e-03 2.76104226e+02] [-2.15369519e-02 9.99768050e-01 7.20422907e-05 7.83450794e+00] [-1.32690867e-03 -1.00643139e-04 9.99999115e-01 -2.94927850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.625898227 meters 0.07826429437148613 Centerline is valid? [True, True] Translation: X:276.13, Y:7.83, Z:-2.95 [[ 9.99729765e-01 2.31966917e-02 1.52010735e-03 2.76134692e+02] [-2.31968436e-02 9.99730914e-01 8.23727275e-05 7.83127762e+00] [-1.51778753e-03 -1.17612160e-04 9.99998841e-01 -2.94824969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65589822699997 meters 0.10016725048461715 Centerline is valid? [True, False] Translation: X:276.17, Y:7.83, Z:-2.94 [[ 9.99803998e-01 1.95644528e-02 -3.03268296e-03 2.76168426e+02] [-1.95278280e-02 9.99741212e-01 1.16692752e-02 7.83129916e+00] [ 3.26020112e-03 -1.16077663e-02 9.99927313e-01 -2.94319476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.685898227 meters 0.08728668373315576 Centerline is valid? [False, True] Translation: X:276.17, Y:7.84, Z:-2.94 [[ 9.99941474e-01 1.04368678e-02 -2.84947494e-03 2.76167295e+02] [-1.04323641e-02 9.99944316e-01 1.59085355e-03 7.83727064e+00] [ 2.86591980e-03 -1.56103368e-03 9.99994675e-01 -2.94262889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71589822699997 meters 0.09776055390320906 Centerline is valid? [True, True] Translation: X:276.19, Y:7.85, Z:-2.94 [[ 9.99929876e-01 1.16702727e-02 -2.01189363e-03 2.76194416e+02] [-1.16705819e-02 9.99931886e-01 -1.42021691e-04 7.85362070e+00] [ 2.01009916e-03 1.65491701e-04 9.99997966e-01 -2.94144860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.74589822699994 meters 0.1058961162285605 Centerline is valid? [True, False] Translation: X:276.19, Y:7.85, Z:-2.94 [[ 9.99930481e-01 1.16231395e-02 -1.98399583e-03 2.76194260e+02] [-1.16236695e-02 9.99932410e-01 -2.55817433e-04 7.85413325e+00] [ 1.98088833e-03 2.78860961e-04 9.99997999e-01 -2.94130631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.77589822699997 meters 0.09087746510365205 Centerline is valid? [False, True] Translation: X:276.19, Y:7.86, Z:-2.94 [[ 9.99973362e-01 7.05443157e-03 -1.87377749e-03 2.76193712e+02] [-7.06410180e-03 9.99961501e-01 -5.20533860e-03 7.85677960e+00] [ 1.83698465e-03 5.21843649e-03 9.99984697e-01 -2.94106982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.80589822699994 meters 0.09292843885522308 Centerline is valid? [True, True] Translation: X:276.22, Y:7.86, Z:-2.94 [[ 9.99975144e-01 6.60709850e-03 -2.46105428e-03 2.76221209e+02] [-6.60759079e-03 9.99978151e-01 -1.91955444e-04 7.85691618e+00] [ 2.45973225e-03 2.08212313e-04 9.99996953e-01 -2.94356215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.835898227 meters 0.08957071090648533 Centerline is valid? [True, True] Translation: X:276.25, Y:7.85, Z:-2.95 [[ 9.99979917e-01 5.32596805e-03 -3.43518891e-03 2.76251384e+02] [-5.32691940e-03 9.99985776e-01 -2.67852919e-04 7.85202936e+00] [ 3.43371347e-03 2.86146514e-04 9.99994064e-01 -2.94521082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.86589822699995 meters 0.08763529545363091 Centerline is valid? [True, True] Translation: X:276.28, Y:7.84, Z:-2.95 [[ 9.99978230e-01 1.86080696e-03 -6.33068971e-03 2.76280569e+02] [-1.86397006e-03 9.99998141e-01 -4.93781250e-04 7.84497080e+00] [ 6.32975911e-03 5.05570716e-04 9.99979839e-01 -2.95018420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.895898227 meters 0.08988656578265575 Centerline is valid? [True, True] Translation: X:276.31, Y:7.85, Z:-2.95 [[ 9.99978087e-01 2.89772485e-04 -6.61376496e-03 2.76309598e+02] [-2.93191466e-04 9.99999824e-01 -5.15985636e-04 7.84615748e+00] [ 6.61361428e-03 5.17913429e-04 9.99977996e-01 -2.95133462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.92589822699995 meters 0.084730462914577 Centerline is valid? [True, True] Translation: X:276.34, Y:7.84, Z:-2.95 [[ 9.99981269e-01 -8.26421949e-04 -6.06461210e-03 2.76339973e+02] [ 8.23566695e-04 9.99999549e-01 -4.73287976e-04 7.83815126e+00] [ 6.06500050e-03 4.68284498e-04 9.99981498e-01 -2.94966006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.955898227 meters 0.0816544683385236 Centerline is valid? [True, True] Translation: X:276.37, Y:7.83, Z:-2.95 [[ 9.99983632e-01 -9.77251974e-04 -5.63747565e-03 2.76368662e+02] [ 9.74778488e-04 9.99999427e-01 -4.41488828e-04 7.83068049e+00] [ 5.63790387e-03 4.35986311e-04 9.99984012e-01 -2.94898693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.98589822699995 meters 0.09352308075724045 Centerline is valid? [True, True] Translation: X:276.40, Y:7.85, Z:-2.95 [[ 9.99981064e-01 1.99515105e-04 -6.15077900e-03 2.76396142e+02] [-2.02480023e-04 9.99999864e-01 -4.81420574e-04 7.84606162e+00] [ 6.15068211e-03 4.82656868e-04 9.99980968e-01 -2.95105277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.015898227 meters 0.09000352672693841 Centerline is valid? [True, True] Translation: X:276.43, Y:7.84, Z:-2.95 [[ 9.99976458e-01 1.93742507e-03 -6.58250757e-03 2.76426212e+02] [-1.94085825e-03 9.99997984e-01 -5.15211853e-04 7.84255995e+00] [ 6.58149611e-03 5.27975438e-04 9.99978202e-01 -2.95092207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.04589822699995 meters 0.08708411902106486 Centerline is valid? [True, True] Translation: X:276.46, Y:7.84, Z:-2.95 [[ 9.99970655e-01 3.19324650e-03 -6.96358178e-03 2.76456696e+02] [-3.19711950e-03 9.99994741e-01 -5.45118102e-04 7.84108267e+00] [ 6.96180446e-03 5.67365509e-04 9.99975605e-01 -2.95117369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.075898227 meters 0.09652127314842185 Centerline is valid? [True, True] Translation: X:276.48, Y:7.85, Z:-2.95 [[ 9.99965534e-01 3.57812508e-03 -7.49178440e-03 2.76483624e+02] [-3.58262284e-03 9.99993410e-01 -5.87025030e-04 7.85313353e+00] [ 7.48963458e-03 6.13845036e-04 9.99971764e-01 -2.95255336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.10589822699995 meters 0.09456893184776356 Centerline is valid? [True, True] Translation: X:276.51, Y:7.86, Z:-2.95 [[ 9.99970502e-01 2.16610257e-03 -7.36907625e-03 2.76512799e+02] [-2.17041659e-03 9.99997478e-01 -5.77476131e-04 7.85599691e+00] [ 7.36780679e-03 5.93453062e-04 9.99972681e-01 -2.95259377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.135898227 meters 0.093462943071587 Centerline is valid? [True, True] Translation: X:276.54, Y:7.86, Z:-2.95 [[ 9.99974288e-01 -2.53542787e-04 -7.16656773e-03 2.76543479e+02] [ 2.49524670e-04 9.99999811e-01 -5.61563802e-04 7.85573272e+00] [ 7.16670876e-03 5.59761127e-04 9.99974162e-01 -2.95239399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.16589822699996 meters 0.08945212167358173 Centerline is valid? [True, True] Translation: X:276.57, Y:7.85, Z:-2.95 [[ 9.99968402e-01 -3.69515320e-03 -7.03847680e-03 2.76573715e+02] [ 3.69136089e-03 9.99993035e-01 -5.51712373e-04 7.85266106e+00] [ 7.04046644e-03 5.25713382e-04 9.99975077e-01 -2.95222170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.195898227 meters 0.07401468228334182 Centerline is valid? [True, True] Translation: X:276.61, Y:7.83, Z:-2.95 [[ 9.99897905e-01 -1.26282478e-02 -6.68638990e-03 2.76605665e+02] [ 1.26250244e-02 9.99920164e-01 -5.24080923e-04 7.83200278e+00] [ 6.69247431e-03 4.39611581e-04 9.99977509e-01 -2.95077935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.22589822699996 meters 0.06954334016210845 Centerline is valid? [True, True] Translation: X:276.64, Y:7.83, Z:-2.95 [[ 9.99813175e-01 -1.83720657e-02 -6.00682451e-03 2.76636060e+02] [ 1.83695674e-02 9.99831154e-01 -4.70832561e-04 7.82681724e+00] [ 6.01446045e-03 3.60401830e-04 9.99981848e-01 -2.95004526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.255898227 meters 0.054098875205530556 Centerline is valid? [True, True] Translation: X:276.67, Y:7.81, Z:-2.95 [[ 9.99529254e-01 -3.03885352e-02 -4.21980581e-03 2.76668236e+02] [ 3.03874089e-02 9.99538141e-01 -3.30782681e-04 7.80512682e+00] [ 4.22790886e-03 2.02398002e-04 9.99991042e-01 -2.94662122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.28589822699996 meters 0.05207324188247913 Centerline is valid? [True, True] Translation: X:276.70, Y:7.80, Z:-2.95 [[ 9.99362610e-01 -3.55312802e-02 -3.44989084e-03 2.76698160e+02] [ 3.55305577e-02 9.99368554e-01 -2.70500230e-04 7.80168520e+00] [ 3.45732364e-03 1.47751271e-04 9.99994013e-01 -2.94586130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.315898227 meters 0.04355280478424831 Centerline is valid? [True, True] Translation: X:276.73, Y:7.79, Z:-2.94 [[ 9.99192403e-01 -4.00447000e-02 -3.31105307e-03 2.76729821e+02] [ 4.00440593e-02 9.99197881e-01 -2.59585497e-04 7.78955705e+00] [ 3.31879223e-03 1.26787851e-04 9.99994485e-01 -2.94468194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.34589822699996 meters 0.046935675373957375 Centerline is valid? [True, True] Translation: X:276.76, Y:7.79, Z:-2.95 [[ 9.99039618e-01 -4.36601050e-02 -3.69292686e-03 2.76759996e+02] [ 4.36593327e-02 9.99046435e-01 -2.89521551e-04 7.79212599e+00] [ 3.70204595e-03 1.28012778e-04 9.99993139e-01 -2.94733322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.375898227 meters 0.03699658462851328 Centerline is valid? [True, True] Translation: X:276.79, Y:7.78, Z:-2.95 [[ 9.98905010e-01 -4.66300379e-02 -3.79752571e-03 2.76791813e+02] [ 4.66292427e-02 9.98912221e-01 -2.97721991e-04 7.77823493e+00] [ 3.80727763e-03 1.20320240e-04 9.99992745e-01 -2.94590908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.40589822699997 meters 0.03699658462851328 Centerline is valid? [True, True] Translation: X:276.82, Y:7.78, Z:-2.95 [[ 9.98905010e-01 -4.66300379e-02 -3.79752571e-03 2.76821737e+02] [ 4.66292427e-02 9.98912221e-01 -2.97721991e-04 7.78058091e+00] [ 3.80727763e-03 1.20320240e-04 9.99992745e-01 -2.94599446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.435898227 meters 0.03974066085809231 Centerline is valid? [True, True] Translation: X:276.85, Y:7.78, Z:-2.95 [[ 9.98746821e-01 -4.99253607e-02 -3.49938201e-03 2.76851258e+02] [ 4.99247054e-02 9.98752947e-01 -2.74421799e-04 7.77967362e+00] [ 3.50871870e-03 9.93722832e-05 9.99993839e-01 -2.94787363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.46589822699997 meters 0.034419826762497635 Centerline is valid? [True, True] Translation: X:276.88, Y:7.77, Z:-2.95 [[ 9.98696635e-01 -5.09452000e-02 -3.10114009e-03 2.76882103e+02] [ 5.09446902e-02 9.98701447e-01 -2.43229340e-04 7.77099801e+00] [ 3.10950447e-03 8.49257018e-05 9.99995162e-01 -2.94594455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49589822699994 meters 0.03005951138502656 Centerline is valid? [True, True] Translation: X:276.91, Y:7.76, Z:-2.94 [[ 9.98639073e-01 -5.20904473e-02 -2.56652220e-03 2.76912604e+02] [ 5.20901017e-02 9.98642369e-01 -2.01400479e-04 7.76304453e+00] [ 2.57352885e-03 6.74359853e-05 9.99996686e-01 -2.94437092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.52589822699997 meters 0.02829397276496185 Centerline is valid? [True, True] Translation: X:276.94, Y:7.76, Z:-2.94 [[ 9.98567634e-01 -5.34670127e-02 -1.98948223e-03 2.76943019e+02] [ 5.34668075e-02 9.98569615e-01 -1.56183089e-04 7.75885278e+00] [ 1.99498715e-03 4.95881143e-05 9.99998009e-01 -2.94347518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55589822699994 meters 0.026248879755927372 Centerline is valid? [True, True] Translation: X:276.97, Y:7.75, Z:-2.94 [[ 9.98404724e-01 -5.64531271e-02 -1.02535004e-03 2.76972350e+02] [ 5.64530740e-02 9.98405250e-01 -8.05986757e-05 7.74982259e+00] [ 1.02826491e-03 2.25859368e-05 9.99999471e-01 -2.94298665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.585898227 meters 0.02478834356754815 Centerline is valid? [True, True] Translation: X:277.00, Y:7.75, Z:-2.94 [[ 9.98296512e-01 -5.83394272e-02 -7.65334077e-04 2.77001087e+02] [ 5.83393982e-02 9.98296805e-01 -6.02101019e-05 7.74578649e+00] [ 7.67543187e-04 1.54584051e-05 9.99999705e-01 -2.94299514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61589822699995 meters 0.022727305409754935 Centerline is valid? [True, True] Translation: X:277.03, Y:7.74, Z:-2.94 [[ 9.98165467e-01 -6.05330243e-02 -1.20540860e-03 2.77029999e+02] [ 6.05329532e-02 9.98166195e-01 -9.53373151e-05 7.74066377e+00] [ 1.20896917e-03 2.21954733e-05 9.99999269e-01 -2.94420681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.645898227 meters 0.021654317480720275 Centerline is valid? [True, True] Translation: X:277.06, Y:7.74, Z:-2.95 [[ 9.98002871e-01 -6.31418816e-02 -1.83632164e-03 2.77058612e+02] [ 6.31417212e-02 9.98004560e-01 -1.45291070e-04 7.73709461e+00] [ 1.84183132e-03 2.90523962e-05 9.99998303e-01 -2.94606436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67589822699995 meters 0.018117415502375455 Centerline is valid? [True, True] Translation: X:277.09, Y:7.73, Z:-2.95 [[ 9.97853511e-01 -6.54589027e-02 -1.87140472e-03 2.77087794e+02] [ 6.54587396e-02 9.97855266e-01 -1.48371361e-04 7.73045837e+00] [ 1.87710328e-03 2.55530891e-05 9.99998238e-01 -2.94552896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.705898227 meters 0.016319808974076224 Centerline is valid? [True, True] Translation: X:277.12, Y:7.72, Z:-2.94 [[ 9.97716351e-01 -6.75321695e-02 -1.22057855e-03 2.77116397e+02] [ 6.75321017e-02 9.97717097e-01 -9.67038239e-05 7.72196038e+00] [ 1.22432271e-03 1.40547512e-05 9.99999250e-01 -2.94459328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73589822699995 meters 0.016550654364348376 Centerline is valid? [True, True] Translation: X:277.14, Y:7.72, Z:-2.94 [[ 9.97716187e-01 -6.75294605e-02 -1.47721117e-03 2.77144695e+02] [ 6.75293603e-02 9.97717280e-01 -1.17640271e-04 7.72002470e+00] [ 1.48178329e-03 1.76164773e-05 9.99998902e-01 -2.94498729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.765898227 meters 0.01724679445488184 Centerline is valid? [True, True] Translation: X:277.17, Y:7.72, Z:-2.95 [[ 9.97738074e-01 -6.71526171e-02 -3.04343689e-03 2.77173404e+02] [ 6.71521906e-02 9.97742715e-01 -2.42235715e-04 7.71939838e+00] [ 3.05283375e-03 3.73143412e-05 9.99995339e-01 -2.94741472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79589822699995 meters 0.01835496656533819 Centerline is valid? [True, True] Translation: X:277.20, Y:7.72, Z:-2.95 [[ 9.97768365e-01 -6.66157347e-02 -4.54243761e-03 2.77200791e+02] [ 6.66147797e-02 9.97778703e-01 -3.61368677e-04 7.72003457e+00] [ 4.55642034e-03 5.79687531e-05 9.99989618e-01 -2.95064013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.825898227 meters 0.02597875402857248 Centerline is valid? [True, True] Translation: X:277.23, Y:7.72, Z:-2.95 [[ 9.97828690e-01 -6.57575476e-02 -3.72160194e-03 2.77230064e+02] [ 6.57568973e-02 9.97835629e-01 -2.96961956e-04 7.71875828e+00] [ 3.73307450e-03 5.15961635e-05 9.99993031e-01 -2.95100860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85589822699995 meters 0.019149956030369012 Centerline is valid? [True, True] Translation: X:277.26, Y:7.72, Z:-2.95 [[ 9.97839780e-01 -6.56349313e-02 -2.79792370e-03 2.77257870e+02] [ 6.56345613e-02 9.97843702e-01 -2.23958796e-04 7.71745088e+00] [ 2.80659007e-03 3.98345011e-05 9.99996061e-01 -2.94903562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.885898227 meters 0.01879874538311569 Centerline is valid? [True, True] Translation: X:277.29, Y:7.72, Z:-2.95 [[ 9.97831625e-01 -6.57895943e-02 -1.94371581e-03 2.77286002e+02] [ 6.57894150e-02 9.97833517e-01 -1.56112533e-04 7.71536860e+00] [ 1.94977536e-03 2.78980965e-05 9.99998099e-01 -2.94770113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91589822699996 meters 0.01925447678532271 Centerline is valid? [True, True] Translation: X:277.31, Y:7.71, Z:-2.95 [[ 9.97798621e-01 -6.62853250e-02 -2.04162896e-03 2.77313953e+02] [ 6.62851287e-02 9.97800709e-01 -1.63702585e-04 7.71463250e+00] [ 2.04798991e-03 2.80125743e-05 9.99997902e-01 -2.94846221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.945898227 meters 0.023269223475882228 Centerline is valid? [True, True] Translation: X:277.34, Y:7.71, Z:-2.95 [[ 9.97685727e-01 -6.79070798e-02 -3.43769719e-03 2.77342065e+02] [ 6.79065328e-02 9.97691649e-01 -2.75717952e-04 7.70822428e+00] [ 3.44848498e-03 4.16377681e-05 9.99994053e-01 -2.95201882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97589822699996 meters 0.016886834629206527 Centerline is valid? [True, True] Translation: X:277.37, Y:7.71, Z:-2.95 [[ 9.97663116e-01 -6.82499493e-02 -3.20170272e-03 2.77370270e+02] [ 6.82494735e-02 9.97668253e-01 -2.57770049e-04 7.70604221e+00] [ 3.21182995e-03 3.86531458e-05 9.99994841e-01 -2.95120928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.005898227 meters 0.018012809496444165 Centerline is valid? [True, True] Translation: X:277.40, Y:7.70, Z:-2.95 [[ 9.97733024e-01 -6.72504797e-02 -2.48701306e-03 2.77397918e+02] [ 6.72501897e-02 9.97736123e-01 -2.00128924e-04 7.70471144e+00] [ 2.49484154e-03 3.24231367e-05 9.99996887e-01 -2.94895552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03589822699996 meters 0.019801085267887104 Centerline is valid? [True, True] Translation: X:277.43, Y:7.71, Z:-2.95 [[ 9.97838619e-01 -6.56546107e-02 -2.75012923e-03 2.77426321e+02] [ 6.56542480e-02 9.97842408e-01 -2.22020475e-04 7.70819741e+00] [ 2.75877224e-03 4.09829379e-05 9.99996194e-01 -2.94884217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.065898227 meters 0.02114075388318301 Centerline is valid? [True, True] Translation: X:277.45, Y:7.71, Z:-2.95 [[ 9.97993121e-01 -6.32438068e-02 -3.15445883e-03 2.77454621e+02] [ 6.32433162e-02 9.97998105e-01 -2.55141138e-04 7.71213807e+00] [ 3.16428003e-03 5.51306639e-05 9.99994992e-01 -2.94917946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09589822699996 meters 0.025744009576062855 Centerline is valid? [True, True] Translation: X:277.48, Y:7.72, Z:-2.95 [[ 9.98200860e-01 -5.98582858e-02 -3.46816065e-03 2.77482611e+02] [ 5.98576734e-02 9.98206883e-01 -2.80217070e-04 7.72106481e+00] [ 3.47871514e-03 7.21168929e-05 9.99993947e-01 -2.94967707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.125898227 meters 0.03458665312461185 Centerline is valid? [True, True] Translation: X:277.51, Y:7.74, Z:-2.95 [[ 9.98700020e-01 -5.09439369e-02 -1.72769170e-03 2.77512217e+02] [ 5.09437717e-02 9.98701513e-01 -1.39541339e-04 7.73606026e+00] [ 1.73255710e-03 5.13448070e-05 9.99998498e-01 -2.94666627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15589822699997 meters 0.039347866438350795 Centerline is valid? [True, True] Translation: X:277.54, Y:7.74, Z:-2.95 [[ 9.98878973e-01 -4.73100207e-02 -1.59968244e-03 2.77541613e+02] [ 4.73098743e-02 9.98880253e-01 -1.29254505e-04 7.74426640e+00] [ 1.60400623e-03 5.34288322e-05 9.99998712e-01 -2.94652800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.185898227 meters 0.044102492149296936 Centerline is valid? [True, True] Translation: X:277.57, Y:7.76, Z:-2.95 [[ 9.98992867e-01 -4.48359548e-02 -1.72899224e-03 2.77569548e+02] [ 4.48357799e-02 9.98994361e-01 -1.39825867e-04 7.75587304e+00] [ 1.73352272e-03 6.21643287e-05 9.99998496e-01 -2.94728721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21589822699997 meters 0.04200658432240118 Centerline is valid? [True, True] Translation: X:277.60, Y:7.76, Z:-2.95 [[ 9.99032992e-01 -4.39143830e-02 -2.14678018e-03 2.77598245e+02] [ 4.39141097e-02 9.99035295e-01 -1.74299943e-04 7.75722093e+00] [ 2.15236345e-03 7.98574527e-05 9.99997680e-01 -2.94729363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.24589822699994 meters 0.04163457062848012 Centerline is valid? [True, True] Translation: X:277.63, Y:7.76, Z:-2.95 [[ 9.99022003e-01 -4.41152351e-02 -2.98054412e-03 2.77626313e+02] [ 4.41147078e-02 9.99026443e-01 -2.42440088e-04 7.76150962e+00] [ 2.98833769e-03 1.10717150e-04 9.99995529e-01 -2.94959684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.27589822699997 meters 0.04583621582200627 Centerline is valid? [True, True] Translation: X:277.65, Y:7.77, Z:-2.95 [[ 9.98947062e-01 -4.57790745e-02 -3.00712607e-03 2.77653384e+02] [ 4.57785460e-02 9.98951583e-01 -2.44407002e-04 7.76763856e+00] [ 3.01516207e-03 1.06487797e-04 9.99995449e-01 -2.95034967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.30589822699994 meters 0.03976110281826604 Centerline is valid? [True, True] Translation: X:277.68, Y:7.76, Z:-2.95 [[ 9.98837699e-01 -4.81231816e-02 -2.72229094e-03 2.77683322e+02] [ 4.81227571e-02 9.98841404e-01 -2.21233586e-04 7.76477417e+00] [ 2.72978337e-03 8.99722999e-05 9.99996270e-01 -2.94926299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.335898227 meters 0.029688305565282885 Centerline is valid? [True, True] Translation: X:277.71, Y:7.75, Z:-2.95 [[ 9.98507784e-01 -5.45236781e-02 -3.06157350e-03 2.77714666e+02] [ 5.45231716e-02 9.98512475e-01 -2.48748066e-04 7.75413783e+00] [ 3.07058199e-03 8.14501835e-05 9.99995282e-01 -2.94834595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.36589822699995 meters 0.03385761155054751 Centerline is valid? [True, True] Translation: X:277.74, Y:7.75, Z:-2.95 [[ 9.98323296e-01 -5.77908382e-02 -3.28867690e-03 2.77743659e+02] [ 5.77902709e-02 9.98328710e-01 -2.67339492e-04 7.75428594e+00] [ 3.29863034e-03 7.68377139e-05 9.99994557e-01 -2.94986804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.395898227 meters 0.024999354652425594 Centerline is valid? [True, True] Translation: X:277.77, Y:7.75, Z:-2.95 [[ 9.98144601e-01 -6.07570996e-02 -3.99127378e-03 2.77772383e+02] [ 6.07562868e-02 9.98152578e-01 -3.24691227e-04 7.75244637e+00] [ 4.00362751e-03 8.15938200e-05 9.99991982e-01 -2.95076144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.42589822699995 meters 0.022293883557828596 Centerline is valid? [True, True] Translation: X:277.80, Y:7.75, Z:-2.95 [[ 9.97959241e-01 -6.37355856e-02 -3.88960715e-03 2.77800579e+02] [ 6.37348353e-02 9.97966818e-01 -3.16683918e-04 7.75086886e+00] [ 3.90188291e-03 6.81341715e-05 9.99992385e-01 -2.95078015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.455898227 meters 0.01878963453085875 Centerline is valid? [True, True] Translation: X:277.83, Y:7.75, Z:-2.95 [[ 9.97661983e-01 -6.82858206e-02 -2.75959410e-03 2.77829187e+02] [ 6.82854603e-02 9.97665798e-01 -2.24692045e-04 7.74926186e+00] [ 2.76849593e-03 3.57265576e-05 9.99996167e-01 -2.94907505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.48589822699995 meters 0.016362562924795928 Centerline is valid? [True, True] Translation: X:277.86, Y:7.75, Z:-2.95 [[ 9.97548686e-01 -6.99487275e-02 -1.94803319e-03 2.77857795e+02] [ 6.99485497e-02 9.97550588e-01 -1.59346089e-04 7.74856742e+00] [ 1.95440771e-03 2.26933852e-05 9.99998090e-01 -2.94682676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.515898227 meters 0.016351665959202545 Centerline is valid? [True, True] Translation: X:277.89, Y:7.75, Z:-2.95 [[ 9.97478588e-01 -7.09504244e-02 -1.58239475e-03 2.77885265e+02] [ 7.09503085e-02 9.97479843e-01 -1.29317767e-04 7.75094921e+00] [ 1.58758201e-03 1.67203080e-05 9.99998740e-01 -2.94717316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.54589822699995 meters 0.014205565176567288 Centerline is valid? [True, True] Translation: X:277.91, Y:7.75, Z:-2.95 [[ 9.97358469e-01 -7.25869681e-02 -2.68648030e-03 2.77914390e+02] [ 7.25866383e-02 9.97362086e-01 -2.20174942e-04 7.75035516e+00] [ 2.69537543e-03 2.45907689e-05 9.99996367e-01 -2.94811871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.575898227 meters 0.0235625098290698 Centerline is valid? [True, True] Translation: X:277.94, Y:7.75, Z:-2.95 [[ 9.97293814e-01 -7.34612712e-02 -2.91366279e-03 2.77941853e+02] [ 7.34608875e-02 9.97298070e-01 -2.38625064e-04 7.75300360e+00] [ 2.92331998e-03 2.39390461e-05 9.99995727e-01 -2.94871491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.60589822699995 meters 0.01943489834301697 Centerline is valid? [True, True] Translation: X:277.97, Y:7.75, Z:-2.95 [[ 9.97189783e-01 -7.48724495e-02 -2.57944197e-03 2.77970138e+02] [ 7.48721516e-02 9.97193119e-01 -2.11983379e-04 7.75449191e+00] [ 2.58807350e-03 1.82592895e-05 9.99996651e-01 -2.94865992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.635898227 meters 0.011273093180763563 Centerline is valid? [True, True] Translation: X:278.00, Y:7.75, Z:-2.95 [[ 9.97023147e-01 -7.70746103e-02 -2.08513718e-03 2.77998761e+02] [ 7.70744196e-02 9.97025328e-01 -1.71796844e-04 7.75331252e+00] [ 2.09217575e-03 1.05746923e-05 9.99997811e-01 -2.94680915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.66589822699996 meters 0.009778744776452231 Centerline is valid? [True, True] Translation: X:278.03, Y:7.75, Z:-2.94 [[ 9.96773298e-01 -8.02600051e-02 -1.15029371e-03 2.78027782e+02] [ 8.02599486e-02 9.96773962e-01 -9.51901531e-05 7.75132556e+00] [ 1.15422278e-03 2.56048860e-06 9.99999334e-01 -2.94474844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.695898227 meters 0.010676042035433826 Centerline is valid? [True, True] Translation: X:278.06, Y:7.75, Z:-2.94 [[ 9.96250201e-01 -8.65162269e-02 6.92892691e-04 2.78056351e+02] [ 8.65162082e-02 9.96250442e-01 5.69224509e-05 7.74514836e+00] [-6.95219365e-04 3.23744513e-06 9.99999758e-01 -2.94211043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.72589822699996 meters 0.013544618587028113 Centerline is valid? [True, True] Translation: X:278.08, Y:7.74, Z:-2.94 [[ 9.95954017e-01 -8.98558700e-02 1.23200043e-03 2.78084223e+02] [ 8.98558133e-02 9.95954779e-01 1.01417703e-04 7.74194599e+00] [-1.23612970e-03 9.69503212e-06 9.99999236e-01 -2.94191995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.755898227 meters 0.018458742952872968 Centerline is valid? [True, True] Translation: X:278.11, Y:7.74, Z:-2.94 [[ 9.95395852e-01 -9.58433432e-02 1.07299040e-03 2.78114145e+02] [ 9.58433035e-02 9.95396430e-01 8.84333022e-05 7.73729695e+00] [-1.07652655e-03 1.48128022e-05 9.99999420e-01 -2.94264119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.78589822699996 meters 0.027618527500020106 Centerline is valid? [True, True] Translation: X:278.14, Y:7.74, Z:-2.94 [[ 9.95136926e-01 -9.84968985e-02 9.26607192e-04 2.78142918e+02] [ 9.84968703e-02 9.95137358e-01 7.61139919e-05 7.73683391e+00] [-9.29598425e-04 1.55240645e-05 9.99999568e-01 -2.94286917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.815898227 meters 0.020924649411156442 Centerline is valid? [True, True] Translation: X:278.17, Y:7.74, Z:-2.94 [[ 9.94948068e-01 -1.00387535e-01 8.27871062e-04 2.78171784e+02] [ 1.00387513e-01 9.94948412e-01 6.80740843e-05 7.73889717e+00] [-8.30522788e-04 1.53777386e-05 9.99999655e-01 -2.94233660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.84589822699996 meters 0.024915365683439328 Centerline is valid? [True, True] Translation: X:278.20, Y:7.74, Z:-2.94 [[ 9.94800638e-01 -1.01841029e-01 3.10322663e-04 2.78200059e+02] [ 1.01841026e-01 9.94800686e-01 2.55459608e-05 7.73593044e+00] [-3.11310825e-04 6.19044045e-06 9.99999952e-01 -2.94378530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.875898227 meters 0.02731496532870788 Centerline is valid? [True, True] Translation: X:278.23, Y:7.74, Z:-2.95 [[ 9.94696628e-01 -1.02850560e-01 -6.16953154e-04 2.78228424e+02] [ 1.02850548e-01 9.94696819e-01 -5.13253396e-05 7.73511917e+00] [ 6.18960180e-04 -1.24008279e-05 9.99999808e-01 -2.94548419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.90589822699997 meters 0.02662293376762224 Centerline is valid? [True, True] Translation: X:278.26, Y:7.74, Z:-2.95 [[ 9.94597468e-01 -1.03792446e-01 -1.73367078e-03 2.78257474e+02] [ 1.03792352e-01 9.94598978e-01 -1.44506457e-04 7.73822188e+00] [ 1.73930586e-03 -3.62160104e-05 9.99998487e-01 -2.94685743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.935898227 meters 0.02796032753275579 Centerline is valid? [True, True] Translation: X:278.29, Y:7.74, Z:-2.95 [[ 9.94537002e-01 -1.04369020e-01 -1.80506966e-03 2.78285466e+02] [ 1.04368920e-01 9.94538640e-01 -1.50249213e-04 7.73840268e+00] [ 1.81089289e-03 -3.89647684e-05 9.99998360e-01 -2.94777036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.96589822699997 meters 0.027517704184032148 Centerline is valid? [True, True] Translation: X:278.31, Y:7.74, Z:-2.95 [[ 9.94474668e-01 -1.04964119e-01 -1.63336938e-03 2.78313912e+02] [ 1.04964036e-01 9.94476009e-01 -1.36529840e-04 7.74097140e+00] [ 1.63867740e-03 -3.56695757e-05 9.99998657e-01 -2.94773144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99589822699994 meters 0.03354325655797283 Centerline is valid? [True, True] Translation: X:278.34, Y:7.74, Z:-2.95 [[ 9.94446200e-01 -1.05236073e-01 -1.45774933e-03 2.78341982e+02] [ 1.05236008e-01 9.94447268e-01 -1.21687552e-04 7.74123089e+00] [ 1.46246076e-03 -3.23959963e-05 9.99998930e-01 -2.94820355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.02589822699997 meters 0.027279427752054237 Centerline is valid? [True, True] Translation: X:278.37, Y:7.74, Z:-2.95 [[ 9.94636172e-01 -1.03407012e-01 -2.42402698e-03 2.78370327e+02] [ 1.03406825e-01 9.94639124e-01 -2.02895092e-04 7.74499790e+00] [ 2.43201285e-03 -4.88541352e-05 9.99997041e-01 -2.94947356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05589822699994 meters 0.023374354890106218 Centerline is valid? [True, True] Translation: X:278.40, Y:7.75, Z:-2.95 [[ 9.94794142e-01 -1.01856080e-01 -3.15493501e-03 2.78399122e+02] [ 1.01855754e-01 9.94799143e-01 -2.64411078e-04 7.75190303e+00] [ 3.16545852e-03 -5.83136919e-05 9.99994988e-01 -2.95025678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.085898227 meters 0.021633798990967065 Centerline is valid? [True, True] Translation: X:278.43, Y:7.76, Z:-2.95 [[ 9.94990624e-01 -9.99132310e-02 -3.31743376e-03 2.78426481e+02] [ 9.99128596e-02 9.94996152e-01 -2.77934219e-04 7.75568413e+00] [ 3.32860313e-03 -5.49123510e-05 9.99994459e-01 -2.95103562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11589822699995 meters 0.01895370084650359 Centerline is valid? [True, True] Translation: X:278.46, Y:7.76, Z:-2.95 [[ 9.95220275e-01 -9.76014176e-02 -3.25068836e-03 2.78455495e+02] [ 9.76010461e-02 9.95225583e-01 -2.73112399e-04 7.76119850e+00] [ 3.26182438e-03 -4.54635875e-05 9.99994679e-01 -2.95060647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.145898227 meters 0.013299318679568297 Centerline is valid? [True, True] Translation: X:278.48, Y:7.77, Z:-2.95 [[ 9.95820158e-01 -9.12896419e-02 -2.90073061e-03 2.78482866e+02] [ 9.12893196e-02 9.95824383e-01 -2.43592344e-04 7.77256954e+00] [ 2.91085572e-03 -2.22315573e-05 9.99995763e-01 -2.94982490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17589822699995 meters 0.010782007376082165 Centerline is valid? [True, True] Translation: X:278.51, Y:7.78, Z:-2.95 [[ 9.96153989e-01 -8.75593701e-02 -3.25385541e-03 2.78511602e+02] [ 8.75589421e-02 9.96159303e-01 -2.74033559e-04 7.78090293e+00] [ 3.26535254e-03 -1.19245142e-05 9.99994669e-01 -2.94990644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.205898227 meters 0.009840114634066128 Centerline is valid? [True, True] Translation: X:278.54, Y:7.79, Z:-2.95 [[ 9.96466307e-01 -8.39207208e-02 -3.49463207e-03 2.78538938e+02] [ 8.39202020e-02 9.96472434e-01 -2.95084893e-04 7.78928120e+00] [ 3.50706826e-03 7.71924393e-07 9.99993850e-01 -2.94937058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23589822699995 meters 0.010373671251683654 Centerline is valid? [True, True] Translation: X:278.57, Y:7.80, Z:-2.95 [[ 9.96720259e-01 -8.08623837e-02 -3.16231779e-03 2.78566734e+02] [ 8.08619414e-02 9.96725275e-01 -2.67696339e-04 7.79636341e+00] [ 3.17360864e-03 1.11072090e-05 9.99994964e-01 -2.94934496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.265898227 meters 0.013109155647640975 Centerline is valid? [True, True] Translation: X:278.59, Y:7.81, Z:-2.95 [[ 9.97087148e-01 -7.62171159e-02 -2.85857208e-03 2.78594518e+02] [ 7.62167358e-02 9.97091245e-01 -2.41826025e-04 7.80500338e+00] [ 2.86868847e-03 2.32505885e-05 9.99995885e-01 -2.94830661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29589822699995 meters 0.013780490720439968 Centerline is valid? [True, True] Translation: X:278.62, Y:7.81, Z:-2.95 [[ 9.97144178e-01 -7.54882173e-02 -2.23986297e-03 2.78622311e+02] [ 7.54879817e-02 9.97146694e-01 -1.89656569e-04 7.80861453e+00] [ 2.24778879e-03 2.00322081e-05 9.99997474e-01 -2.94719506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.325898227 meters 0.013780490720439968 Centerline is valid? [True, True] Translation: X:278.65, Y:7.81, Z:-2.95 [[ 9.97129724e-01 -7.56789041e-02 -2.23979513e-03 2.78649688e+02] [ 7.56786671e-02 9.97132240e-01 -1.90457385e-04 7.81112094e+00] [ 2.24778554e-03 2.04060092e-05 9.99997474e-01 -2.94727326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35589822699995 meters 0.014033687467941381 Centerline is valid? [True, True] Translation: X:278.68, Y:7.81, Z:-2.95 [[ 9.97149683e-01 -7.54290598e-02 -1.72266466e-03 2.78676791e+02] [ 7.54289194e-02 9.97151170e-01 -1.46445632e-04 7.81470130e+00] [ 1.72880334e-03 1.60894817e-05 9.99998505e-01 -2.94637056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.385898227 meters 0.018286719058671005 Centerline is valid? [True, True] Translation: X:278.70, Y:7.82, Z:-2.95 [[ 9.97168126e-01 -7.51992533e-02 -8.95375034e-04 2.78703763e+02] [ 7.51992151e-02 9.97168527e-01 -7.63022012e-05 7.82050552e+00] [ 8.98577673e-04 8.75462309e-06 9.99999596e-01 -2.94553810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41589822699996 meters 0.015076889894036402 Centerline is valid? [True, True] Translation: X:278.73, Y:7.83, Z:-2.94 [[ 9.97219873e-01 -7.45130071e-02 -5.80097732e-04 2.78732184e+02] [ 7.45129907e-02 9.97220042e-01 -4.98498398e-05 7.82637349e+00] [ 5.82199546e-04 6.48643396e-06 9.99999831e-01 -2.94415747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.445898227 meters 0.01580495798206179 Centerline is valid? [True, True] Translation: X:278.76, Y:7.83, Z:-2.95 [[ 9.97261685e-01 -7.39473772e-02 -9.57206257e-04 2.78761076e+02] [ 7.39473324e-02 9.97262145e-01 -8.21077803e-05 7.83083405e+00] [ 9.60657220e-04 1.11000941e-05 9.99999539e-01 -2.94503072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47589822699996 meters 0.016887564617009892 Centerline is valid? [True, True] Translation: X:278.79, Y:7.84, Z:-2.95 [[ 9.97328802e-01 -7.30322075e-02 -1.24774730e-03 2.78789011e+02] [ 7.30321312e-02 9.97329583e-01 -1.06657495e-04 7.83526236e+00] [ 1.25220472e-03 1.52469479e-05 9.99999216e-01 -2.94547470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.505898227 meters 0.019707138114919198 Centerline is valid? [True, True] Translation: X:278.82, Y:7.84, Z:-2.95 [[ 9.97529245e-01 -7.02452234e-02 -1.00685814e-03 2.78817121e+02] [ 7.02451719e-02 9.97529753e-01 -8.65630036e-05 7.84266130e+00] [ 1.01045158e-03 1.56222049e-05 9.99999489e-01 -2.94518332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53589822699996 meters 0.021581396642216893 Centerline is valid? [True, True] Translation: X:278.84, Y:7.85, Z:-2.95 [[ 9.97627786e-01 -6.88319768e-02 -9.79913734e-04 2.78844371e+02] [ 6.88319275e-02 9.97628267e-01 -8.40146664e-05 7.84798858e+00] [ 9.83372536e-04 1.63660145e-05 9.99999516e-01 -2.94542844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.565898227 meters 0.022742708742114107 Centerline is valid? [True, True] Translation: X:278.87, Y:7.85, Z:-2.95 [[ 9.97699067e-01 -6.77935973e-02 -7.74360514e-04 2.78873326e+02] [ 6.77935658e-02 9.97699368e-01 -6.68458494e-05 7.85206284e+00] [ 7.77110715e-04 1.41953811e-05 9.99999698e-01 -2.94525396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59589822699996 meters 0.023969114186671966 Centerline is valid? [True, True] Translation: X:278.90, Y:7.86, Z:-2.94 [[ 9.97767620e-01 -6.67779445e-02 -6.94325798e-04 2.78901808e+02] [ 6.67779188e-02 9.97767862e-01 -6.00962272e-05 7.85623925e+00] [ 6.96789069e-04 1.35964379e-05 9.99999757e-01 -2.94469762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.625898227 meters 0.02700355415546351 Centerline is valid? [True, True] Translation: X:278.93, Y:7.86, Z:-2.95 [[ 9.97942282e-01 -6.40998047e-02 -1.55465714e-03 2.78929624e+02] [ 6.40996741e-02 9.97943492e-01 -1.33736167e-04 7.86310445e+00] [ 1.56003244e-03 3.38079591e-05 9.99998783e-01 -2.94628142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65589822699997 meters 0.03589012572610191 Centerline is valid? [True, True] Translation: X:278.96, Y:7.87, Z:-2.95 [[ 9.98057128e-01 -6.22582304e-02 -2.42525305e-03 2.78957783e+02] [ 6.22579069e-02 9.98060073e-01 -2.08728253e-04 7.86766616e+00] [ 2.43354329e-03 5.73315424e-05 9.99997037e-01 -2.94807136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.685898227 meters 0.03107164641670643 Centerline is valid? [True, True] Translation: X:278.99, Y:7.87, Z:-2.95 [[ 9.98168593e-01 -6.04200314e-02 -2.97987042e-03 2.78985963e+02] [ 6.04195326e-02 9.98173038e-01 -2.57199604e-04 7.87257822e+00] [ 2.98996631e-03 7.66861892e-05 9.99995527e-01 -2.94878421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71589822699997 meters 0.03529765763882912 Centerline is valid? [True, True] Translation: X:279.02, Y:7.88, Z:-2.95 [[ 9.98406544e-01 -5.63451990e-02 -3.09700587e-03 2.79015372e+02] [ 5.63446419e-02 9.98411343e-01 -2.66902007e-04 7.87924840e+00] [ 3.10712444e-03 9.19770234e-05 9.99995169e-01 -2.94873365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.74589822699994 meters 0.038098672641260295 Centerline is valid? [True, True] Translation: X:279.04, Y:7.89, Z:-2.95 [[ 9.98486113e-01 -5.49275816e-02 -2.90579071e-03 2.79042319e+02] [ 5.49270836e-02 9.98490337e-01 -2.50971819e-04 7.88513492e+00] [ 2.91518922e-03 9.09852665e-05 9.99995747e-01 -2.94895051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.77589822699997 meters 0.0407784674426738 Centerline is valid? [True, True] Translation: X:279.07, Y:7.89, Z:-2.95 [[ 9.98575940e-01 -5.32787106e-02 -2.73346273e-03 2.79070900e+02] [ 5.32782640e-02 9.98579677e-01 -2.36008275e-04 7.89090961e+00] [ 2.74215455e-03 9.00380362e-05 9.99996236e-01 -2.94882637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.80589822699994 meters 0.04547541135911762 Centerline is valid? [True, True] Translation: X:279.10, Y:7.90, Z:-2.95 [[ 9.98759872e-01 -4.96302208e-02 -3.94463742e-03 2.79099197e+02] [ 4.96292622e-02 9.98767651e-01 -3.40593679e-04 7.89978187e+00] [ 3.95667999e-03 1.44401854e-04 9.99992162e-01 -2.95075325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.835898227 meters 0.043142560098136364 Centerline is valid? [True, True] Translation: X:279.13, Y:7.90, Z:-2.95 [[ 9.98850135e-01 -4.76445324e-02 -5.32984567e-03 2.79129197e+02] [ 4.76427535e-02 9.98864333e-01 -4.60303817e-04 7.89953893e+00] [ 5.34572370e-03 2.05846006e-04 9.99985690e-01 -2.95201481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.86589822699995 meters 0.049545152150434105 Centerline is valid? [True, True] Translation: X:279.16, Y:7.91, Z:-2.95 [[ 9.98928691e-01 -4.58783102e-02 -6.05404096e-03 2.79156760e+02] [ 4.58759804e-02 9.98947006e-01 -5.23219451e-04 7.91130726e+00] [ 6.07167052e-03 2.44923857e-04 9.99981537e-01 -2.95470489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.895898227 meters 0.049006380451841663 Centerline is valid? [True, True] Translation: X:279.19, Y:7.91, Z:-2.95 [[ 9.98998563e-01 -4.42913140e-02 -6.33651733e-03 2.79185815e+02] [ 4.42887288e-02 9.99018623e-01 -5.47799321e-04 7.91495214e+00] [ 6.35456157e-03 2.66614437e-04 9.99979774e-01 -2.95445309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.92589822699995 meters 0.0540015036492415 Centerline is valid? [True, True] Translation: X:279.21, Y:7.93, Z:-2.95 [[ 9.99119372e-01 -4.16290788e-02 -5.24411696e-03 2.79213953e+02] [ 4.16272710e-02 9.99133107e-01 -4.53464364e-04 7.92894620e+00] [ 5.25844818e-03 2.34766753e-04 9.99986147e-01 -2.95371821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.955898227 meters 0.059742978410105126 Centerline is valid? [True, True] Translation: X:279.24, Y:7.94, Z:-2.95 [[ 9.99151489e-01 -4.09069821e-02 -4.78750420e-03 2.79240680e+02] [ 4.09054649e-02 9.99162935e-01 -4.14430721e-04 7.93751151e+00] [ 4.80044986e-03 2.18243987e-04 9.99988454e-01 -2.95369627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.98589822699995 meters 0.05630453409446507 Centerline is valid? [True, True] Translation: X:279.27, Y:7.94, Z:-2.95 [[ 9.99178083e-01 -4.02489397e-02 -4.81467935e-03 2.79268818e+02] [ 4.02473965e-02 9.99189658e-01 -4.17019266e-04 7.94009659e+00] [ 4.82756240e-03 2.22898202e-04 9.99988322e-01 -2.95302025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.015898227 meters 0.050738034064587274 Centerline is valid? [True, True] Translation: X:279.30, Y:7.94, Z:-2.95 [[ 9.99157060e-01 -4.06917512e-02 -5.41763332e-03 2.79297371e+02] [ 4.06897963e-02 9.99171716e-01 -4.70613172e-04 7.93859871e+00] [ 5.43229605e-03 2.49774077e-04 9.99985214e-01 -2.95159729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.04589822699995 meters 0.05278466809574713 Centerline is valid? [True, True] Translation: X:279.32, Y:7.95, Z:-2.95 [[ 9.99130405e-01 -4.13717781e-02 -5.17782260e-03 2.79324291e+02] [ 4.13700018e-02 9.99143794e-01 -4.49739604e-04 7.94562195e+00] [ 5.19199584e-03 2.35141982e-04 9.99986494e-01 -2.95178604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.075898227 meters 0.05753792659824557 Centerline is valid? [True, True] Translation: X:279.35, Y:7.96, Z:-2.95 [[ 9.99096810e-01 -4.23078050e-02 -3.95156646e-03 2.79351400e+02] [ 4.23067767e-02 9.99104608e-01 -3.43488561e-04 7.95589367e+00] [ 3.96256051e-03 1.76000285e-04 9.99992134e-01 -2.95111787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.10589822699995 meters 0.057628716935010406 Centerline is valid? [True, True] Translation: X:279.38, Y:7.96, Z:-2.95 [[ 9.99033046e-01 -4.38880499e-02 -2.60987799e-03 2.79380215e+02] [ 4.38876067e-02 9.99036449e-01 -2.26872865e-04 7.95969381e+00] [ 2.61732024e-03 1.12112191e-04 9.99996569e-01 -2.94952690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.135898227 meters 0.04971831005562098 Centerline is valid? [True, True] Translation: X:279.41, Y:7.95, Z:-2.95 [[ 9.98952520e-01 -4.57157845e-02 -1.98238902e-03 2.79410895e+02] [ 4.57155323e-02 9.98954484e-01 -1.72334044e-04 7.95254807e+00] [ 1.98819479e-03 8.15275585e-05 9.99998020e-01 -2.94780408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.16589822699996 meters 0.05174084660937946 Centerline is valid? [True, True] Translation: X:279.44, Y:7.96, Z:-2.95 [[ 9.98797041e-01 -4.90228260e-02 -1.11030742e-03 2.79439392e+02] [ 4.90227489e-02 9.98797658e-01 -9.65920741e-05 7.95749160e+00] [ 1.11370766e-03 4.20455561e-05 9.99999379e-01 -2.94732493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.195898227 meters 0.04547052362169633 Centerline is valid? [True, True] Translation: X:279.47, Y:7.95, Z:-2.95 [[ 9.98726819e-01 -5.04319044e-02 -1.16775173e-03 2.79469056e+02] [ 5.04318199e-02 9.98727501e-01 -1.01699692e-04 7.95205066e+00] [ 1.17139468e-03 4.26783647e-05 9.99999313e-01 -2.94616481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.22589822699996 meters 0.04471810405822889 Centerline is valid? [True, True] Translation: X:279.50, Y:7.95, Z:-2.95 [[ 9.98675763e-01 -5.14334192e-02 -1.15079899e-03 2.79498364e+02] [ 5.14333373e-02 9.98676425e-01 -1.00673148e-04 7.95375484e+00] [ 1.15445378e-03 4.13504003e-05 9.99999333e-01 -2.94629114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.255898227 meters 0.03958835540855569 Centerline is valid? [True, True] Translation: X:279.53, Y:7.95, Z:-2.94 [[ 9.98682950e-01 -5.13063769e-02 1.46591815e-04 2.79527945e+02] [ 5.13063756e-02 9.98682961e-01 1.23253564e-05 7.95006429e+00] [-1.47031117e-04 -4.78802856e-06 9.99999989e-01 -2.94353849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.28589822699996 meters 0.04187358944640031 Centerline is valid? [True, True] Translation: X:279.56, Y:7.96, Z:-2.94 [[ 9.98747866e-01 -5.00051331e-02 1.47866848e-03 2.79556098e+02] [ 5.00049968e-02 9.98748959e-01 1.29029691e-04 7.95655391e+00] [-1.48327076e-03 -5.49273158e-05 9.99998898e-01 -2.94167622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.315898227 meters 0.049887884765358284 Centerline is valid? [True, True] Translation: X:279.58, Y:7.97, Z:-2.94 [[ 9.98844728e-01 -4.80313898e-02 1.48164705e-03 2.79583945e+02] [ 4.80312507e-02 9.98845825e-01 1.29393415e-04 7.97076678e+00] [-1.48615191e-03 -5.80785696e-05 9.99998894e-01 -2.94225670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.34589822699996 meters 0.057545981028811144 Centerline is valid? [True, True] Translation: X:279.61, Y:7.99, Z:-2.95 [[ 9.99099499e-01 -4.23948423e-02 -1.69347807e-03 2.79612051e+02] [ 4.23946523e-02 9.99100932e-01 -1.47928683e-04 7.98627402e+00] [ 1.69822693e-03 7.60010588e-05 9.99998555e-01 -2.94924804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.375898227 meters 0.05344427933637284 Centerline is valid? [True, True] Translation: X:279.64, Y:7.98, Z:-2.95 [[ 9.99206885e-01 -3.96895574e-02 -3.21571865e-03 2.79642019e+02] [ 3.96888582e-02 9.99212047e-01 -2.80963228e-04 7.98491651e+00] [ 3.22433612e-03 1.53112190e-04 9.99994790e-01 -2.95067003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.40589822699997 meters 0.05665778889206005 Centerline is valid? [True, True] Translation: X:279.67, Y:7.99, Z:-2.95 [[ 9.99282961e-01 -3.76897524e-02 -3.61195951e-03 2.79670320e+02] [ 3.76888570e-02 9.99289473e-01 -3.15670773e-04 7.99234927e+00] [ 3.62129067e-03 1.79313799e-04 9.99993427e-01 -2.95163099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.435898227 meters 0.05721874287782388 Centerline is valid? [True, True] Translation: X:279.70, Y:8.00, Z:-2.95 [[ 9.99311417e-01 -3.69489547e-02 -3.38632299e-03 2.79699622e+02] [ 3.69481631e-02 9.99317140e-01 -2.96033599e-04 7.99608114e+00] [ 3.39494874e-03 1.70711341e-04 9.99994223e-01 -2.95158852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.46589822699997 meters 0.06639486629229772 Centerline is valid? [True, True] Translation: X:279.73, Y:8.01, Z:-2.95 [[ 9.99315554e-01 -3.68653113e-02 -3.06131366e-03 2.79727776e+02] [ 3.68646639e-02 9.99320231e-01 -2.67629772e-04 8.01028364e+00] [ 3.06909893e-03 1.54592295e-04 9.99995278e-01 -2.95255929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49589822699994 meters 0.06555113087911414 Centerline is valid? [True, True] Translation: X:279.76, Y:8.01, Z:-2.95 [[ 9.99261995e-01 -3.82489150e-02 -3.53355034e-03 2.79757485e+02] [ 3.82480608e-02 9.99268227e-01 -3.09010736e-04 8.01008126e+00] [ 3.54278391e-03 1.73631236e-04 9.99993709e-01 -2.95424859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.52589822699997 meters 0.05677768923294726 Centerline is valid? [True, True] Translation: X:279.79, Y:8.00, Z:-2.96 [[ 9.99220064e-01 -3.92045036e-02 -4.71915808e-03 2.79786877e+02] [ 3.92029855e-02 9.99231182e-01 -4.13811595e-04 8.00054568e+00] [ 4.73175319e-03 2.28483763e-04 9.99988779e-01 -2.95544882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55589822699994 meters 0.05263198024758722 Centerline is valid? [True, True] Translation: X:279.82, Y:8.00, Z:-2.96 [[ 9.99197142e-01 -3.95264380e-02 -6.53693737e-03 2.79816417e+02] [ 3.95235259e-02 9.99218475e-01 -5.74129549e-04 7.99554213e+00] [ 6.55452189e-03 3.15305791e-04 9.99978469e-01 -2.95786597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.585898227 meters 0.05502641954720265 Centerline is valid? [True, True] Translation: X:279.84, Y:8.00, Z:-2.96 [[ 9.99208397e-01 -3.92954258e-02 -6.20078299e-03 2.79844011e+02] [ 3.92928004e-02 9.99227591e-01 -5.44690686e-04 8.00001214e+00] [ 6.21739730e-03 3.00613379e-04 9.99980627e-01 -2.95776002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61589822699995 meters 0.054326959098011475 Centerline is valid? [True, True] Translation: X:279.87, Y:8.00, Z:-2.96 [[ 9.99240732e-01 -3.85652906e-02 -5.53868138e-03 2.79872374e+02] [ 3.85631829e-02 9.99256045e-01 -4.86872335e-04 8.00006079e+00] [ 5.55333722e-03 2.72913486e-04 9.99984543e-01 -2.95586815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.645898227 meters 0.06907706114879007 Centerline is valid? [True, True] Translation: X:279.90, Y:8.02, Z:-2.96 [[ 9.99270940e-01 -3.77652707e-02 -5.60123129e-03 2.79898564e+02] [ 3.77631008e-02 9.99286598e-01 -4.92693240e-04 8.01949008e+00] [ 5.61584206e-03 2.80814175e-04 9.99984192e-01 -2.95853048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67589822699995 meters 0.06308642821056759 Centerline is valid? [True, True] Translation: X:279.93, Y:8.01, Z:-2.96 [[ 9.99338678e-01 -3.56452935e-02 -7.18467057e-03 2.79929183e+02] [ 3.56416694e-02 9.99364434e-01 -6.31876100e-04 8.01159258e+00] [ 7.20262765e-03 3.75384574e-04 9.99973990e-01 -2.95935107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.705898227 meters 0.06622605163198372 Centerline is valid? [True, True] Translation: X:279.96, Y:8.02, Z:-2.96 [[ 9.99388930e-01 -3.41247685e-02 -7.56752183e-03 2.79957408e+02] [ 3.41207020e-02 9.99417498e-01 -6.65863244e-04 8.01746074e+00] [ 7.58583616e-03 4.07247197e-04 9.99971144e-01 -2.96041564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73589822699995 meters 0.0688128338060517 Centerline is valid? [True, True] Translation: X:279.99, Y:8.02, Z:-2.96 [[ 9.99442815e-01 -3.26614925e-02 -6.87653778e-03 2.79986211e+02] [ 3.26580985e-02 9.99466399e-01 -6.05296037e-04 8.02359491e+00] [ 6.89263833e-03 3.80384127e-04 9.99976173e-01 -2.95972533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.765898227 meters 0.06568210427773744 Centerline is valid? [True, True] Translation: X:280.02, Y:8.02, Z:-2.96 [[ 9.99479525e-01 -3.17938699e-02 -5.46163258e-03 2.80015692e+02] [ 3.17917091e-02 9.99494400e-01 -4.82014290e-04 8.01982905e+00] [ 5.47419628e-03 3.08128779e-04 9.99984969e-01 -2.95622824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79589822699995 meters 0.06329841250274096 Centerline is valid? [True, True] Translation: X:280.04, Y:8.02, Z:-2.95 [[ 9.99526490e-01 -3.06410302e-02 -2.81466877e-03 2.80043801e+02] [ 3.06404510e-02 9.99530440e-01 -2.48673501e-04 8.02316676e+00] [ 2.82096672e-03 1.62313031e-04 9.99996008e-01 -2.95146676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.825898227 meters 0.06825487486889809 Centerline is valid? [True, True] Translation: X:280.07, Y:8.03, Z:-2.95 [[ 9.99526290e-01 -3.06778333e-02 -2.46292779e-03 2.80071434e+02] [ 3.06773900e-02 9.99529314e-01 -2.17559985e-04 8.03296657e+00] [ 2.46844280e-03 1.41900729e-04 9.99996943e-01 -2.95164617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85589822699995 meters 0.06353530721405945 Centerline is valid? [True, True] Translation: X:280.10, Y:8.03, Z:-2.95 [[ 9.99516509e-01 -3.09759798e-02 -2.69025621e-03 2.80101868e+02] [ 3.09754522e-02 9.99520117e-01 -2.37597800e-04 8.03078525e+00] [ 2.69632503e-03 1.54151021e-04 9.99996353e-01 -2.95145291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.885898227 meters 0.06730147268373769 Centerline is valid? [True, True] Translation: X:280.13, Y:8.04, Z:-2.95 [[ 9.99481907e-01 -3.20891776e-02 -2.49047629e-03 2.80130415e+02] [ 3.20887288e-02 9.99485000e-01 -2.19984599e-04 8.03949795e+00] [ 2.49625282e-03 1.39954409e-04 9.99996875e-01 -2.95212860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91589822699996 meters 0.06379371759038455 Centerline is valid? [True, True] Translation: X:280.16, Y:8.04, Z:-2.95 [[ 9.99440359e-01 -3.33737439e-02 -2.27216500e-03 2.80160477e+02] [ 3.33733734e-02 9.99442934e-01 -2.00786197e-04 8.03711776e+00] [ 2.27760024e-03 1.24844018e-04 9.99997398e-01 -2.95144820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.945898227 meters 0.059717046609338846 Centerline is valid? [True, True] Translation: X:280.19, Y:8.03, Z:-2.95 [[ 9.99373536e-01 -3.53388892e-02 -1.92336461e-03 2.80190935e+02] [ 3.53386274e-02 9.99375381e-01 -1.69964027e-04 8.03371498e+00] [ 1.92816958e-03 1.01888486e-04 9.99998136e-01 -2.95150163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97589822699996 meters 0.05220067931635177 Centerline is valid? [True, True] Translation: X:280.22, Y:8.03, Z:-2.95 [[ 9.99144982e-01 -4.13091896e-02 -1.69004333e-03 2.80222250e+02] [ 4.13089959e-02 9.99146408e-01 -1.49380402e-04 8.02543107e+00] [ 1.69477150e-03 7.94386861e-05 9.99998561e-01 -2.95220946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.005898227 meters 0.04865362117328877 Centerline is valid? [True, True] Translation: X:280.25, Y:8.02, Z:-2.95 [[ 9.99016944e-01 -4.42915224e-02 -1.84568018e-03 2.80253080e+02] [ 4.42912964e-02 9.99018646e-01 -1.63148522e-04 8.02219061e+00] [ 1.85109501e-03 8.12405701e-05 9.99998283e-01 -2.95299935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03589822699996 meters 0.04805283899947082 Centerline is valid? [True, True] Translation: X:280.28, Y:8.02, Z:-2.95 [[ 9.98898801e-01 -4.68727163e-02 -2.03339945e-03 2.80282062e+02] [ 4.68724471e-02 9.98900867e-01 -1.79874997e-04 8.02119505e+00] [ 2.03959570e-03 8.43665106e-05 9.99997916e-01 -2.95369557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.065898227 meters 0.04738121506656751 Centerline is valid? [True, True] Translation: X:280.31, Y:8.01, Z:-2.95 [[ 9.98779465e-01 -4.93105755e-02 -2.83666440e-03 2.80312854e+02] [ 4.93100612e-02 9.98783487e-01 -2.50979488e-04 8.01367571e+00] [ 2.84558951e-03 1.10797063e-04 9.99995945e-01 -2.95371530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09589822699996 meters 0.04515919948463459 Centerline is valid? [True, True] Translation: X:280.34, Y:8.01, Z:-2.95 [[ 9.98780019e-01 -4.92676352e-02 -3.34268308e-03 2.80341321e+02] [ 4.92669179e-02 9.98785604e-01 -2.96642383e-04 8.01382041e+00] [ 3.35323861e-03 1.31596792e-04 9.99994369e-01 -2.95431531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.125898227 meters 0.04542583969930206 Centerline is valid? [True, True] Translation: X:280.37, Y:8.01, Z:-2.95 [[ 9.98817003e-01 -4.84902889e-02 -3.64511160e-03 2.80369664e+02] [ 4.84894312e-02 9.98823643e-01 -3.23356869e-04 8.01450245e+00] [ 3.65650332e-03 1.46224951e-04 9.99993304e-01 -2.95489343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15589822699997 meters 0.05002141319771124 Centerline is valid? [True, True] Translation: X:280.40, Y:8.02, Z:-2.95 [[ 9.98984987e-01 -4.49763383e-02 -2.47486575e-03 2.80398386e+02] [ 4.49759321e-02 9.98988047e-01 -2.19555334e-04 8.01638801e+00] [ 2.48223609e-03 1.08023089e-04 9.99996913e-01 -2.95351615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.185898227 meters 0.05261739779320917 Centerline is valid? [True, True] Translation: X:280.43, Y:8.02, Z:-2.95 [[ 9.99082629e-01 -4.27867676e-02 -1.78675284e-03 2.80428258e+02] [ 4.27865523e-02 9.99084224e-01 -1.58568573e-04 8.01838211e+00] [ 1.79190121e-03 8.19741129e-05 9.99998391e-01 -2.95229038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21589822699997 meters 0.05261739779320917 Centerline is valid? [True, True] Translation: X:280.46, Y:8.02, Z:-2.95 [[ 9.99074846e-01 -4.29681159e-02 -1.78668407e-03 2.80455644e+02] [ 4.29678995e-02 9.99076441e-01 -1.59342882e-04 8.02099701e+00] [ 1.79188063e-03 8.24254038e-05 9.99998391e-01 -2.95236863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.24589822699994 meters 0.057736927006461485 Centerline is valid? [True, True] Translation: X:280.49, Y:8.02, Z:-2.95 [[ 9.99172838e-01 -4.06325031e-02 -1.62441717e-03 2.80485835e+02] [ 4.06323218e-02 9.99174156e-01 -1.44451003e-04 8.02313529e+00] [ 1.62894506e-03 7.83276772e-05 9.99998670e-01 -2.95240525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.27589822699997 meters 0.06064120614501255 Centerline is valid? [True, True] Translation: X:280.52, Y:8.03, Z:-2.95 [[ 9.99368565e-01 -3.54795279e-02 -1.91679378e-03 2.80515424e+02] [ 3.54792661e-02 9.99370398e-01 -1.70448842e-04 8.02790543e+00] [ 1.92163440e-03 1.02334778e-04 9.99998148e-01 -2.95313081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.30589822699994 meters 0.06156160287066809 Centerline is valid? [True, True] Translation: X:280.55, Y:8.03, Z:-2.95 [[ 9.99445544e-01 -3.32360329e-02 -1.99285476e-03 2.80546091e+02] [ 3.32357455e-02 9.99447524e-01 -1.77189835e-04 8.02944585e+00] [ 1.99764284e-03 1.10857578e-04 9.99997999e-01 -2.95420474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.335898227 meters 0.06702639044656432 Centerline is valid? [True, True] Translation: X:280.58, Y:8.04, Z:-2.96 [[ 9.99505458e-01 -3.13447554e-02 -2.51908408e-03 2.80575293e+02] [ 3.13442899e-02 9.99508622e-01 -2.24039209e-04 8.03628292e+00] [ 2.52486871e-03 1.44969510e-04 9.99996802e-01 -2.95594033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.36589822699995 meters 0.06875248777545351 Centerline is valid? [True, True] Translation: X:280.60, Y:8.04, Z:-2.96 [[ 9.99553373e-01 -2.97242916e-02 -3.08554305e-03 2.80604275e+02] [ 2.97235852e-02 9.99558119e-01 -2.74576047e-04 8.03830752e+00] [ 3.09234119e-03 1.82740012e-04 9.99995202e-01 -2.95726359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.395898227 meters 0.07351916214854137 Centerline is valid? [True, True] Translation: X:280.63, Y:8.04, Z:-2.96 [[ 9.99623663e-01 -2.70994204e-02 -4.26076232e-03 2.80632915e+02] [ 2.70980497e-02 9.99632709e-01 -3.79124786e-04 8.04264739e+00] [ 4.26947144e-03 2.63523758e-04 9.99990851e-01 -2.95987282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.42589822699995 meters 0.06513660028717592 Centerline is valid? [True, True] Translation: X:280.66, Y:8.03, Z:-2.96 [[ 9.99653467e-01 -2.59027978e-02 -4.68950137e-03 2.80663682e+02] [ 2.59011236e-02 9.99664422e-01 -4.17410309e-04 8.03072923e+00] [ 4.69873977e-03 2.95802308e-04 9.99988917e-01 -2.95956879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.455898227 meters 0.07722363094209597 Centerline is valid? [True, True] Translation: X:280.69, Y:8.05, Z:-2.96 [[ 9.99691061e-01 -2.44366008e-02 -4.54254232e-03 2.80690643e+02] [ 2.44350134e-02 9.99701339e-01 -4.04613857e-04 8.04861507e+00] [ 4.55107303e-03 2.93491774e-04 9.99989601e-01 -2.96090294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.48589822699995 meters 0.07183524348219864 Centerline is valid? [True, True] Translation: X:280.72, Y:8.04, Z:-2.96 [[ 9.99696782e-01 -2.44260516e-02 -3.11640442e-03 2.80720591e+02] [ 2.44253018e-02 9.99701619e-01 -2.78435136e-04 8.03826468e+00] [ 3.12227562e-03 2.02231591e-04 9.99995105e-01 -2.95783130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.515898227 meters 0.07662182985200512 Centerline is valid? [True, True] Translation: X:280.75, Y:8.04, Z:-2.96 [[ 9.99667203e-01 -2.56855792e-02 -2.39471440e-03 2.80749431e+02] [ 2.56851406e-02 9.99670060e-01 -2.13728409e-04 8.04338223e+00] [ 2.39941402e-03 1.52148705e-04 9.99997110e-01 -2.95744742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.54589822699995 meters 0.06858491073566986 Centerline is valid? [True, True] Translation: X:280.78, Y:8.03, Z:-2.96 [[ 9.99629300e-01 -2.71592491e-02 -1.90704586e-03 2.80780047e+02] [ 2.71589735e-02 9.99631113e-01 -1.70260821e-04 8.03280419e+00] [ 1.91096654e-03 1.18404297e-04 9.99998167e-01 -2.95616229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.575898227 meters 0.06417980057274264 Centerline is valid? [True, True] Translation: X:280.81, Y:8.03, Z:-2.96 [[ 9.99599627e-01 -2.82305273e-02 -1.90367937e-03 2.80809420e+02] [ 2.82302543e-02 9.99601432e-01 -1.70116884e-04 8.02713331e+00] [ 1.90772312e-03 1.16307421e-04 9.99998174e-01 -2.95552354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.60589822699995 meters 0.0680147405049119 Centerline is valid? [True, True] Translation: X:280.84, Y:8.03, Z:-2.96 [[ 9.99612920e-01 -2.76892311e-02 -2.70508218e-03 2.80838170e+02] [ 2.76886780e-02 9.99616566e-01 -2.41737007e-04 8.03101566e+00] [ 2.71073847e-03 1.66743286e-04 9.99996312e-01 -2.95760281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.635898227 meters 0.07406221033647464 Centerline is valid? [True, True] Translation: X:280.87, Y:8.04, Z:-2.96 [[ 9.99631179e-01 -2.69031556e-02 -3.70483129e-03 2.80865931e+02] [ 2.69021123e-02 9.99638018e-01 -3.31164731e-04 8.04009392e+00] [ 3.71239958e-03 2.31374803e-04 9.99993082e-01 -2.95957734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.66589822699996 meters 0.07419600914622758 Centerline is valid? [True, True] Translation: X:280.90, Y:8.04, Z:-2.96 [[ 9.99648146e-01 -2.61130109e-02 -4.65783542e-03 2.80895708e+02] [ 2.61113531e-02 9.99658954e-01 -4.16396433e-04 8.04241555e+00] [ 4.66712024e-03 2.94627537e-04 9.99989066e-01 -2.96051439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.695898227 meters 0.07300234737208863 Centerline is valid? [True, True] Translation: X:280.93, Y:8.04, Z:-2.96 [[ 9.99700611e-01 -2.39098454e-02 -5.19693512e-03 2.80925677e+02] [ 2.39077518e-02 9.99714061e-01 -4.64611333e-04 8.04323705e+00] [ 5.20655790e-03 3.40225198e-04 9.99986388e-01 -2.96009890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.72589822699996 meters 0.07202970794490267 Centerline is valid? [True, True] Translation: X:280.95, Y:8.04, Z:-2.96 [[ 9.99722520e-01 -2.29167971e-02 -5.44999853e-03 2.80954734e+02] [ 2.29144779e-02 9.99737310e-01 -4.87603527e-04 8.04483070e+00] [ 5.45974118e-03 3.62584356e-04 9.99985030e-01 -2.96013264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.755898227 meters 0.07139908197871402 Centerline is valid? [True, True] Translation: X:280.98, Y:8.05, Z:-2.96 [[ 9.99733859e-01 -2.23621891e-02 -5.66957338e-03 2.80983805e+02] [ 2.23596634e-02 9.99749862e-01 -5.08482295e-04 8.04673598e+00] [ 5.67952598e-03 3.81577215e-04 9.99983799e-01 -2.96059540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.78589822699996 meters 0.07933289291589594 Centerline is valid? [True, True] Translation: X:281.01, Y:8.06, Z:-2.96 [[ 9.99721539e-01 -2.28329787e-02 -5.95815846e-03 2.81010503e+02] [ 2.28301960e-02 9.99739214e-01 -5.34639256e-04 8.05829989e+00] [ 5.96881207e-03 3.98464454e-04 9.99982107e-01 -2.96301704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.815898227 meters 0.06913711683049421 Centerline is valid? [True, True] Translation: X:281.04, Y:8.05, Z:-2.96 [[ 9.99690407e-01 -2.42099694e-02 -5.74173422e-03 2.81041675e+02] [ 2.42074077e-02 9.99706825e-01 -5.15257060e-04 8.04741692e+00] [ 5.75252525e-03 3.76105039e-04 9.99983383e-01 -2.96177848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.84589822699996 meters 0.06754311495472076 Centerline is valid? [True, True] Translation: X:281.07, Y:8.04, Z:-2.96 [[ 9.99637543e-01 -2.63865296e-02 -5.34167716e-03 2.81072054e+02] [ 2.63843432e-02 9.99651758e-01 -4.79369971e-04 8.04195127e+00] [ 5.35246588e-03 3.38259577e-04 9.99985618e-01 -2.96112371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.875898227 meters 0.07750857250742152 Centerline is valid? [True, True] Translation: X:281.10, Y:8.06, Z:-2.96 [[ 9.99588887e-01 -2.83433409e-02 -4.32582392e-03 2.81098997e+02] [ 2.83419248e-02 9.99598212e-01 -3.88311162e-04 8.06212690e+00] [ 4.33509189e-03 2.65549346e-04 9.99990568e-01 -2.96141905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.90589822699997 meters 0.06407561742958023 Centerline is valid? [True, True] Translation: X:281.13, Y:8.05, Z:-2.96 [[ 9.99533441e-01 -3.03516787e-02 -3.41701296e-03 2.81130403e+02] [ 3.03508068e-02 9.99539261e-01 -3.06761233e-04 8.04750189e+00] [ 3.42474932e-03 2.02909011e-04 9.99994115e-01 -2.95838814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.935898227 meters 0.061815990034929685 Centerline is valid? [True, True] Translation: X:281.16, Y:8.05, Z:-2.96 [[ 9.99471956e-01 -3.23727956e-02 -2.79498584e-03 2.81160450e+02] [ 3.23722199e-02 9.99475851e-01 -2.50957098e-04 8.04761833e+00] [ 2.80164503e-03 1.60344685e-04 9.99996063e-01 -2.95619046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.96589822699997 meters 0.06684364268524155 Centerline is valid? [True, True] Translation: X:281.19, Y:8.06, Z:-2.96 [[ 9.99476947e-01 -3.22154976e-02 -2.82749624e-03 2.81187492e+02] [ 3.22149070e-02 9.99480933e-01 -2.54167532e-04 8.05695612e+00] [ 2.83421671e-03 1.62947061e-04 9.99995970e-01 -2.95623926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99589822699994 meters 0.06359358680535884 Centerline is valid? [True, True] Translation: X:281.22, Y:8.06, Z:-2.96 [[ 9.99498266e-01 -3.15817635e-02 -2.40992516e-03 2.81216197e+02] [ 3.15813310e-02 9.99501162e-01 -2.17336538e-04 8.05620147e+00] [ 2.41558687e-03 1.41118849e-04 9.99997073e-01 -2.95567672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.02589822699997 meters 0.06707640452880315 Centerline is valid? [True, True] Translation: X:281.25, Y:8.06, Z:-2.96 [[ 9.99573505e-01 -2.90764739e-02 -2.71435085e-03 2.81245241e+02] [ 2.90759172e-02 9.99577176e-01 -2.44340960e-04 8.06473603e+00] [ 2.72030773e-03 1.65314509e-04 9.99996286e-01 -2.95645471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05589822699994 meters 0.06814923047800835 Centerline is valid? [True, True] Translation: X:281.27, Y:8.07, Z:-2.96 [[ 9.99598865e-01 -2.80947631e-02 -3.57681514e-03 2.81274103e+02] [ 2.80937892e-02 9.99605240e-01 -3.22252220e-04 8.06988857e+00] [ 3.58445675e-03 2.21636662e-04 9.99993551e-01 -2.95757761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.085898227 meters 0.07058323333786347 Centerline is valid? [True, True] Translation: X:281.30, Y:8.08, Z:-2.96 [[ 9.99614305e-01 -2.73565837e-02 -4.78109195e-03 2.81301988e+02] [ 2.73548347e-02 9.99625694e-01 -4.30822817e-04 8.07684112e+00] [ 4.79108820e-03 2.99870671e-04 9.99988478e-01 -2.95941412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11589822699995 meters 0.07604542456210447 Centerline is valid? [True, True] Translation: X:281.33, Y:8.09, Z:-2.96 [[ 9.99638189e-01 -2.63146654e-02 -5.57044106e-03 2.81329145e+02] [ 2.63122735e-02 9.99653646e-01 -5.02257909e-04 8.08721091e+00] [ 5.58172846e-03 3.55505218e-04 9.99984359e-01 -2.96123918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.145898227 meters 0.07613754362011214 Centerline is valid? [True, True] Translation: X:281.36, Y:8.09, Z:-2.96 [[ 9.99701355e-01 -2.40925506e-02 -4.09267303e-03 2.81358858e+02] [ 2.40912411e-02 9.99709696e-01 -3.68988144e-04 8.09214597e+00] [ 4.10037477e-03 2.70280375e-04 9.99991557e-01 -2.95846533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17589822699995 meters 0.07453410809706541 Centerline is valid? [True, True] Translation: X:281.39, Y:8.09, Z:-2.96 [[ 9.99730315e-01 -2.29804502e-02 -3.34611056e-03 2.81388689e+02] [ 2.29795683e-02 9.99735889e-01 -3.01792934e-04 8.09460798e+00] [ 3.35216215e-03 2.24819369e-04 9.99994356e-01 -2.95714116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.205898227 meters 0.07705640925567432 Centerline is valid? [True, True] Translation: X:281.42, Y:8.10, Z:-2.96 [[ 9.99748041e-01 -2.22091814e-02 -3.25673706e-03 2.81416692e+02] [ 2.22083414e-02 9.99753321e-01 -2.93874839e-04 8.10289702e+00] [ 3.26246041e-03 2.21474067e-04 9.99994654e-01 -2.95742338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23589822699995 meters 0.07422689611478205 Centerline is valid? [True, True] Translation: X:281.45, Y:8.11, Z:-2.96 [[ 9.99762950e-01 -2.11737421e-02 -5.07113390e-03 2.81446041e+02] [ 2.11716920e-02 9.99775750e-01 -4.57631291e-04 8.10670818e+00] [ 5.07968647e-03 3.50158325e-04 9.99987037e-01 -2.96002204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.265898227 meters 0.07199239290749955 Centerline is valid? [True, True] Translation: X:281.48, Y:8.11, Z:-2.96 [[ 9.99751455e-01 -2.15204437e-02 -5.82219172e-03 2.81475356e+02] [ 2.15177399e-02 9.99768328e-01 -5.26643278e-04 8.10788345e+00] [ 5.83217648e-03 4.01231977e-04 9.99982912e-01 -2.96046096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29589822699995 meters 0.07109338417605857 Centerline is valid? [True, True] Translation: X:281.50, Y:8.11, Z:-2.96 [[ 9.99740285e-01 -2.21779195e-02 -5.24426768e-03 2.81504587e+02] [ 2.21757333e-02 9.99753976e-01 -4.74663875e-04 8.11049129e+00] [ 5.25350452e-03 3.58245117e-04 9.99986136e-01 -2.95948801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.325898227 meters 0.07693889724911726 Centerline is valid? [True, True] Translation: X:281.53, Y:8.12, Z:-2.95 [[ 9.99714958e-01 -2.38031552e-02 -1.84709645e-03 2.81532766e+02] [ 2.38028867e-02 9.99716657e-01 -1.67206069e-04 8.12149731e+00] [ 1.85055312e-03 1.23192180e-04 9.99998280e-01 -2.95486489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35589822699995 meters 0.07034956375592691 Centerline is valid? [True, True] Translation: X:281.56, Y:8.12, Z:-2.95 [[ 9.99700091e-01 -2.44825845e-02 -5.76272460e-04 2.81563184e+02] [ 2.44825584e-02 9.99700256e-01 -5.22243229e-05 8.11663654e+00] [ 5.77378312e-04 3.81000362e-05 9.99999833e-01 -2.95230819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.385898227 meters 0.07335948528373837 Centerline is valid? [True, True] Translation: X:281.59, Y:8.12, Z:-2.95 [[ 9.99702615e-01 -2.43803767e-02 -5.27940950e-04 2.81593320e+02] [ 2.43803549e-02 9.99702754e-01 -4.77846627e-05 8.11995762e+00] [ 5.28949029e-04 3.48990645e-05 9.99999859e-01 -2.95244715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41589822699996 meters 0.07140820041230282 Centerline is valid? [True, True] Translation: X:281.62, Y:8.12, Z:-2.95 [[ 9.99708588e-01 -2.41056863e-02 -1.28621689e-03 2.81623770e+02] [ 2.41055564e-02 9.99709412e-01 -1.16417263e-04 8.12417655e+00] [ 1.28864945e-03 8.53783635e-05 9.99999166e-01 -2.95329864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.445898227 meters 0.06998861407651576 Centerline is valid? [True, True] Translation: X:281.65, Y:8.13, Z:-2.96 [[ 9.99716316e-01 -2.35207578e-02 -3.74993139e-03 2.81653790e+02] [ 2.35196491e-02 9.99723317e-01 -3.39487765e-04 8.12578469e+00] [ 3.75687886e-03 2.51194387e-04 9.99992911e-01 -2.95735969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47589822699996 meters 0.07754913940863102 Centerline is valid? [True, True] Translation: X:281.68, Y:8.14, Z:-2.96 [[ 9.99724907e-01 -2.30680662e-02 -4.23968328e-03 2.81681068e+02] [ 2.30666440e-02 9.99733856e-01 -3.84033455e-04 8.13865524e+00] [ 4.24741382e-03 2.86132545e-04 9.99990939e-01 -2.95878935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.505898227 meters 0.07547601075417085 Centerline is valid? [True, True] Translation: X:281.71, Y:8.14, Z:-2.96 [[ 9.99748693e-01 -2.20165876e-02 -4.22139707e-03 2.81710197e+02] [ 2.20151678e-02 9.99757564e-01 -3.82518700e-04 8.13892992e+00] [ 4.22879540e-03 2.89487805e-04 9.99991017e-01 -2.95852248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53589822699996 meters 0.0809149830175123 Centerline is valid? [True, True] Translation: X:281.74, Y:8.15, Z:-2.96 [[ 9.99790713e-01 -2.01264270e-02 -3.66840446e-03 2.81738280e+02] [ 2.01253422e-02 9.99797410e-01 -3.32393719e-04 8.14865188e+00] [ 3.67435117e-03 2.58496258e-04 9.99993216e-01 -2.95880214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.565898227 meters 0.07816525311948568 Centerline is valid? [True, True] Translation: X:281.77, Y:8.15, Z:-2.96 [[ 9.99787998e-01 -2.03205271e-02 -3.32187337e-03 2.81766834e+02] [ 2.03196355e-02 9.99793489e-01 -3.01937874e-04 8.14786571e+00] [ 3.32732291e-03 2.34374607e-04 9.99994437e-01 -2.95788328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59589822699996 meters 0.07821750198098985 Centerline is valid? [True, True] Translation: X:281.80, Y:8.15, Z:-2.96 [[ 9.99740357e-01 -2.26060529e-02 -2.86085607e-03 2.81795998e+02] [ 2.26054017e-02 9.99744432e-01 -2.59729135e-04 8.14959577e+00] [ 2.86599638e-03 1.94990898e-04 9.99995874e-01 -2.95720611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.625898227 meters 0.07202491862097955 Centerline is valid? [True, True] Translation: X:281.83, Y:8.14, Z:-2.96 [[ 9.99691379e-01 -2.47221380e-02 -2.44176388e-03 2.81826253e+02] [ 2.47216698e-02 9.99694348e-01 -2.21765594e-04 8.14322644e+00] [ 2.44650007e-03 1.61332672e-04 9.99996994e-01 -2.95635798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65589822699997 meters 0.06761761893296486 Centerline is valid? [True, True] Translation: X:281.86, Y:8.14, Z:-2.96 [[ 9.99618893e-01 -2.75556789e-02 -1.65916738e-03 2.81857011e+02] [ 2.75554667e-02 9.99620265e-01 -1.50655454e-04 8.13876316e+00] [ 1.66268875e-03 1.04878906e-04 9.99998612e-01 -2.95538220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.685898227 meters 0.07190049763397943 Centerline is valid? [True, True] Translation: X:281.89, Y:8.14, Z:-2.96 [[ 9.99550821e-01 -2.99513684e-02 -1.03508618e-03 2.81885585e+02] [ 2.99512870e-02 9.99551355e-01 -9.40520246e-05 8.14458484e+00] [ 1.03743878e-03 6.30076152e-05 9.99999460e-01 -2.95517812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71589822699997 meters 0.06687885846157765 Centerline is valid? [True, True] Translation: X:281.92, Y:8.14, Z:-2.95 [[ 9.99465300e-01 -3.26971200e-02 1.11403516e-04 2.81916502e+02] [ 3.26971190e-02 9.99465306e-01 1.01108519e-05 8.13627984e+00] [-1.11674545e-04 -6.46287158e-06 9.99999994e-01 -2.95355420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.74589822699994 meters 0.0636340102196911 Centerline is valid? [True, True] Translation: X:281.95, Y:8.13, Z:-2.95 [[ 9.99470035e-01 -3.25484128e-02 4.99815809e-04 2.81946228e+02] [ 3.25483942e-02 9.99470160e-01 4.53388172e-05 8.13231876e+00] [-5.01026693e-04 -2.90465873e-05 9.99999874e-01 -2.95264596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.77589822699997 meters 0.06800134999417809 Centerline is valid? [True, True] Translation: X:281.97, Y:8.14, Z:-2.95 [[ 9.99494673e-01 -3.17822819e-02 5.33413696e-04 2.81974768e+02] [ 3.17822606e-02 9.99494815e-01 4.83769835e-05 8.13814930e+00] [-5.34681755e-04 -3.13994442e-05 9.99999857e-01 -2.95295549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.80589822699994 meters 0.0654960485828801 Centerline is valid? [True, True] Translation: X:282.01, Y:8.13, Z:-2.95 [[ 9.99566816e-01 -2.94217018e-02 -7.36881592e-04 2.82005675e+02] [ 2.94216604e-02 9.99567087e-01 -6.70055241e-05 8.13336386e+00] [ 7.38534003e-04 4.52962185e-05 9.99999726e-01 -2.95467362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.835898227 meters 0.07265018548740369 Centerline is valid? [True, True] Translation: X:282.03, Y:8.14, Z:-2.96 [[ 9.99597643e-01 -2.83190412e-02 -1.60743953e-03 2.82033624e+02] [ 2.83188425e-02 9.99598930e-01 -1.46247719e-04 8.14416936e+00] [ 1.61093643e-03 1.00668049e-04 9.99998697e-01 -2.95649790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.86589822699995 meters 0.07402403147416901 Centerline is valid? [True, True] Translation: X:282.06, Y:8.15, Z:-2.96 [[ 9.99621008e-01 -2.74525450e-02 -2.04875881e-03 2.82062003e+02] [ 2.74522203e-02 9.99623099e-01 -1.86437272e-04 8.14664933e+00] [ 2.05310481e-03 1.30123635e-04 9.99997884e-01 -2.95799840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.895898227 meters 0.07494368722248554 Centerline is valid? [True, True] Translation: X:282.09, Y:8.15, Z:-2.96 [[ 9.99599659e-01 -2.82064315e-02 -2.21802453e-03 2.82090926e+02] [ 2.82060527e-02 9.99602110e-01 -2.01904856e-04 8.14576139e+00] [ 2.22283701e-03 1.39262308e-04 9.99997520e-01 -2.95880673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.92589822699995 meters 0.06449732147004292 Centerline is valid? [True, True] Translation: X:282.12, Y:8.13, Z:-2.96 [[ 9.99575110e-01 -2.90714895e-02 -2.10912056e-03 2.82120886e+02] [ 2.90711474e-02 9.99577326e-01 -1.92710934e-04 8.13246376e+00] [ 2.11383148e-03 1.31314498e-04 9.99997757e-01 -2.95754024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.955898227 meters 0.06821501781833211 Centerline is valid? [True, True] Translation: X:282.15, Y:8.14, Z:-2.96 [[ 9.99545850e-01 -3.00969586e-02 -1.50543533e-03 2.82148554e+02] [ 3.00967856e-02 9.99546980e-01 -1.37473067e-04 8.13733828e+00] [ 1.50889086e-03 9.21018690e-05 9.99998857e-01 -2.95786138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.98589822699995 meters 0.06707674553400651 Centerline is valid? [True, True] Translation: X:282.18, Y:8.14, Z:-2.96 [[ 9.99523509e-01 -3.08515074e-02 -9.69652851e-04 2.82177358e+02] [ 3.08514355e-02 9.99523977e-01 -8.90445941e-05 8.13693257e+00] [ 9.71938434e-04 5.90869828e-05 9.99999526e-01 -2.95712214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.015898227 meters 0.06962336462135515 Centerline is valid? [True, True] Translation: X:282.21, Y:8.14, Z:-2.96 [[ 9.99527342e-01 -3.07224462e-02 -1.10669181e-03 2.82205383e+02] [ 3.07223529e-02 9.99527952e-01 -1.01248873e-04 8.14191287e+00] [ 1.10928001e-03 6.72008407e-05 9.99999382e-01 -2.95802979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.04589822699995 meters 0.06531245551639464 Centerline is valid? [True, True] Translation: X:282.23, Y:8.14, Z:-2.96 [[ 9.99542107e-01 -3.02132118e-02 -1.65466683e-03 2.82234892e+02] [ 3.02130015e-02 9.99543472e-01 -1.51965708e-04 8.13961935e+00] [ 1.65850280e-03 1.01903673e-04 9.99998619e-01 -2.95822277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.075898227 meters 0.06589057551617258 Centerline is valid? [True, True] Translation: X:282.26, Y:8.14, Z:-2.96 [[ 9.99556865e-01 -2.97172070e-02 -1.72079033e-03 2.82263553e+02] [ 2.97169783e-02 9.99558341e-01 -1.58297062e-04 8.14400296e+00] [ 1.72473447e-03 1.07090227e-04 9.99998507e-01 -2.95877362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.10589822699995 meters 0.06743046586895643 Centerline is valid? [True, True] Translation: X:282.29, Y:8.15, Z:-2.96 [[ 9.99567307e-01 -2.93144463e-02 -2.42128892e-03 2.82291711e+02] [ 2.93139920e-02 9.99570228e-01 -2.22940760e-04 8.14912964e+00] [ 2.42678371e-03 1.51866651e-04 9.99997044e-01 -2.96022778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.135898227 meters 0.06743046586895643 Centerline is valid? [True, True] Translation: X:282.32, Y:8.15, Z:-2.96 [[ 9.99562577e-01 -2.94752795e-02 -2.42125285e-03 2.82319958e+02] [ 2.94748247e-02 9.99565498e-01 -2.23332610e-04 8.15185655e+00] [ 2.42678360e-03 1.51868916e-04 9.99997044e-01 -2.96030849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.16589822699996 meters 0.06740677168666903 Centerline is valid? [True, True] Translation: X:282.35, Y:8.16, Z:-2.96 [[ 9.99546684e-01 -2.98586894e-02 -3.85817317e-03 2.82347906e+02] [ 2.98575387e-02 9.99554101e-01 -3.55524943e-04 8.15533165e+00] [ 3.86706832e-03 2.40168223e-04 9.99992494e-01 -2.96308100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.195898227 meters 0.06700670435395627 Centerline is valid? [True, True] Translation: X:282.38, Y:8.16, Z:-2.96 [[ 9.99522514e-01 -3.05521878e-02 -4.61600401e-03 2.82376558e+02] [ 3.05505434e-02 9.99533132e-01 -4.26359644e-04 8.15811775e+00] [ 4.62687517e-03 2.85134633e-04 9.99989255e-01 -2.96396245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.22589822699996 meters 0.06628656311551 Centerline is valid? [True, True] Translation: X:282.40, Y:8.16, Z:-2.97 [[ 9.99481114e-01 -3.17428610e-02 -5.46756743e-03 2.82404843e+02] [ 3.17405725e-02 9.99496014e-01 -5.04856556e-04 8.16269923e+00] [ 5.48083744e-03 3.31050873e-04 9.99984925e-01 -2.96551132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.255898227 meters 0.06982829593178833 Centerline is valid? [True, True] Translation: X:282.43, Y:8.17, Z:-2.97 [[ 9.99485451e-01 -3.16222482e-02 -5.37285813e-03 2.82431778e+02] [ 3.16200346e-02 9.99499838e-01 -4.96452978e-04 8.17139595e+00] [ 5.38586979e-03 3.26307568e-04 9.99985443e-01 -2.96641948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.28589822699996 meters 0.0647337322726884 Centerline is valid? [True, True] Translation: X:282.46, Y:8.17, Z:-2.97 [[ 9.99491376e-01 -3.13522531e-02 -5.83308952e-03 2.82461236e+02] [ 3.13496323e-02 9.99508333e-01 -5.40216432e-04 8.16958310e+00] [ 5.84715859e-03 3.57076453e-04 9.99982841e-01 -2.96575316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.315898227 meters 0.06969617797269956 Centerline is valid? [True, True] Translation: X:282.49, Y:8.18, Z:-2.97 [[ 9.99513274e-01 -3.06586584e-02 -5.76724804e-03 2.82487584e+02] [ 3.06560841e-02 9.99529849e-01 -5.34260303e-04 8.18016274e+00] [ 5.78091627e-03 3.57199024e-04 9.99983227e-01 -2.96702557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.34589822699996 meters 0.08169447690927296 Centerline is valid? [True, True] Translation: X:282.51, Y:8.20, Z:-2.97 [[ 9.99558965e-01 -2.87372161e-02 -7.48657750e-03 2.82514413e+02] [ 2.87328254e-02 9.99586887e-01 -6.93401237e-04 8.20239467e+00] [ 7.50341111e-03 4.77984899e-04 9.99971735e-01 -2.97086868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.375898227 meters 0.07505120126453804 Centerline is valid? [True, True] Translation: X:282.54, Y:8.20, Z:-2.97 [[ 9.99580264e-01 -2.77170653e-02 -8.42973510e-03 2.82544484e+02] [ 2.77114607e-02 9.99615659e-01 -7.80967658e-04 8.19866284e+00] [ 8.44814134e-03 5.47039585e-04 9.99964164e-01 -2.97021766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.40589822699997 meters 0.07207374634877058 Centerline is valid? [True, True] Translation: X:282.57, Y:8.20, Z:-2.97 [[ 9.99603322e-01 -2.70041099e-02 -7.99856840e-03 2.82573719e+02] [ 2.69990278e-02 9.99635184e-01 -7.42695923e-04 8.19940535e+00] [ 8.01570624e-03 5.26447741e-04 9.99967735e-01 -2.96876022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.435898227 meters 0.07215479422734843 Centerline is valid? [True, True] Translation: X:282.60, Y:8.21, Z:-2.97 [[ 9.99636018e-01 -2.64506689e-02 -5.30971107e-03 2.82602018e+02] [ 2.64484163e-02 9.99650057e-01 -4.94033516e-04 8.20601747e+00] [ 5.32092050e-03 3.53420248e-04 9.99985781e-01 -2.96502245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.46589822699997 meters 0.07070236563694764 Centerline is valid? [True, True] Translation: X:282.63, Y:8.21, Z:-2.96 [[ 9.99628719e-01 -2.68499950e-02 -4.63701411e-03 2.82630788e+02] [ 2.68482775e-02 9.99639427e-01 -4.32250988e-04 8.20897707e+00] [ 4.64694806e-03 3.07594660e-04 9.99989156e-01 -2.96400226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49589822699994 meters 0.07614877985333453 Centerline is valid? [True, True] Translation: X:282.66, Y:8.22, Z:-2.97 [[ 9.99600786e-01 -2.78327883e-02 -4.85842832e-03 2.82657654e+02] [ 2.78309147e-02 9.99612542e-01 -4.52851982e-04 8.21994229e+00] [ 4.86915002e-03 3.17456693e-04 9.99988095e-01 -2.96524719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.52589822699997 meters 0.06876933405617751 Centerline is valid? [True, True] Translation: X:282.69, Y:8.21, Z:-2.96 [[ 9.99532318e-01 -3.01116125e-02 -5.33252213e-03 2.82688264e+02] [ 3.01093875e-02 9.99546486e-01 -4.97051802e-04 8.21436284e+00] [ 5.34507079e-03 3.36260364e-04 9.99985658e-01 -2.96470340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55589822699994 meters 0.07485537390153009 Centerline is valid? [True, True] Translation: X:282.72, Y:8.23, Z:-2.97 [[ 9.99505869e-01 -3.10586610e-02 -4.83494998e-03 2.82715233e+02] [ 3.10568411e-02 9.99517518e-01 -4.51050225e-04 8.22532459e+00] [ 4.84662622e-03 3.00669074e-04 9.99988210e-01 -2.96503413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.585898227 meters 0.07173784249073227 Centerline is valid? [True, True] Translation: X:282.74, Y:8.22, Z:-2.96 [[ 9.99505493e-01 -3.11647430e-02 -4.18668851e-03 2.82743556e+02] [ 3.11633747e-02 9.99514227e-01 -3.91687742e-04 8.22458608e+00] [ 4.19686158e-03 2.61022707e-04 9.99991159e-01 -2.96303997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61589822699995 meters 0.07624507080835903 Centerline is valid? [True, True] Translation: X:282.77, Y:8.23, Z:-2.96 [[ 9.99561291e-01 -2.94119395e-02 -3.48757955e-03 2.82772244e+02] [ 2.94109804e-02 9.99567350e-01 -3.26001147e-04 8.23319615e+00] [ 3.49565898e-03 2.23284993e-04 9.99993865e-01 -2.96246552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.645898227 meters 0.08000235492059855 Centerline is valid? [True, True] Translation: X:282.80, Y:8.24, Z:-2.96 [[ 9.99593884e-01 -2.83676583e-02 -2.70968111e-03 2.82800185e+02] [ 2.83670751e-02 9.99597541e-01 -2.53420129e-04 8.24092462e+00] [ 2.71577951e-03 1.76451484e-04 9.99996297e-01 -2.96167737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67589822699995 meters 0.07327110758738568 Centerline is valid? [True, True] Translation: X:282.83, Y:8.24, Z:-2.96 [[ 9.99623473e-01 -2.73974569e-02 -1.51405217e-03 2.82830516e+02] [ 2.73972736e-02 9.99624614e-01 -1.41646462e-04 8.23586747e+00] [ 1.51736457e-03 1.00112227e-04 9.99998844e-01 -2.95919751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.705898227 meters 0.07913109948074744 Centerline is valid? [True, True] Translation: X:282.86, Y:8.25, Z:-2.96 [[ 9.99654505e-01 -2.62756251e-02 -6.79133805e-04 2.82858562e+02] [ 2.62755879e-02 9.99654735e-01 -6.36257523e-05 8.24695095e+00] [ 6.80571130e-04 4.57591300e-05 9.99999767e-01 -2.95861654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73589822699995 meters 0.07313584735280967 Centerline is valid? [True, True] Translation: X:282.89, Y:8.24, Z:-2.96 [[ 9.99749083e-01 -2.23232734e-02 -1.85523057e-03 2.82888997e+02] [ 2.23229895e-02 9.99750796e-01 -1.73599385e-04 8.24307557e+00] [ 1.85864355e-03 1.32141533e-04 9.99998264e-01 -2.96018635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.765898227 meters 0.07809420784338181 Centerline is valid? [True, True] Translation: X:282.92, Y:8.25, Z:-2.96 [[ 9.99796138e-01 -1.99064709e-02 -3.37859491e-03 2.82918066e+02] [ 1.99055158e-02 9.99801816e-01 -3.16080212e-04 8.25220145e+00] [ 3.38421737e-03 2.48763101e-04 9.99994243e-01 -2.96344551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79589822699995 meters 0.07876559480249672 Centerline is valid? [True, True] Translation: X:282.95, Y:8.25, Z:-2.96 [[ 9.99875788e-01 -1.52213805e-02 -4.08868469e-03 2.82948403e+02] [ 1.52199428e-02 9.99884097e-01 -3.82533233e-04 8.25487432e+00] [ 4.09403348e-03 3.20256171e-04 9.99991568e-01 -2.96456666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.825898227 meters 0.08713365628241514 Centerline is valid? [True, True] Translation: X:282.98, Y:8.27, Z:-2.96 [[ 9.99898130e-01 -1.39143748e-02 -3.18126337e-03 2.82975415e+02] [ 1.39134970e-02 9.99903158e-01 -2.97912997e-04 8.27086983e+00] [ 3.18510056e-03 2.53620151e-04 9.99994895e-01 -2.96410280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85589822699995 meters 0.08695096824223365 Centerline is valid? [True, True] Translation: X:283.00, Y:8.27, Z:-2.96 [[ 9.99902325e-01 -1.38615855e-02 -1.78819221e-03 2.83004789e+02] [ 1.38613080e-02 9.99903913e-01 -1.67487055e-04 8.27323093e+00] [ 1.79034203e-03 1.42684012e-04 9.99998387e-01 -2.96209464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.885898227 meters 0.07999420896476406 Centerline is valid? [True, True] Translation: X:283.04, Y:8.27, Z:-2.96 [[ 9.99848331e-01 -1.74073906e-02 -5.46318864e-04 2.83036296e+02] [ 1.74073652e-02 9.99848479e-01 -5.11293823e-05 8.26513347e+00] [ 5.47126115e-04 4.16116556e-05 9.99999849e-01 -2.96132912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91589822699996 meters 0.07644936251299568 Centerline is valid? [True, True] Translation: X:283.07, Y:8.27, Z:-2.96 [[ 9.99785327e-01 -2.06854393e-02 -1.18875764e-03 2.83065670e+02] [ 2.06853215e-02 9.99786030e-01 -1.11346347e-04 8.26555389e+00] [ 1.19080653e-03 8.67326096e-05 9.99999287e-01 -2.96322403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.945898227 meters 0.07576108390457029 Centerline is valid? [True, True] Translation: X:283.10, Y:8.27, Z:-2.97 [[ 9.99693910e-01 -2.46686257e-02 -1.88283898e-03 2.83095015e+02] [ 2.46683371e-02 9.99695675e-01 -1.76361859e-04 8.26730275e+00] [ 1.88661659e-03 1.29861370e-04 9.99998212e-01 -2.96597819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97589822699996 meters 0.06093351828149711 Centerline is valid? [True, True] Translation: X:283.13, Y:8.25, Z:-2.97 [[ 9.99371785e-01 -3.53921621e-02 -1.85225850e-03 2.83127583e+02] [ 3.53919010e-02 9.99373495e-01 -1.73534336e-04 8.24823532e+00] [ 1.85723981e-03 1.07870370e-04 9.99998270e-01 -2.96658219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.005898227 meters 0.055296133140855006 Centerline is valid? [True, True] Translation: X:283.16, Y:8.24, Z:-2.96 [[ 9.99137567e-01 -4.15113845e-02 -9.63182282e-04 2.83158447e+02] [ 4.15113168e-02 9.99138030e-01 -9.02219286e-05 8.24142702e+00] [ 9.66097285e-04 5.01611534e-05 9.99999532e-01 -2.96478316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03589822699996 meters 0.04928634755208193 Centerline is valid? [True, True] Translation: X:283.19, Y:8.23, Z:-2.96 [[ 9.98844297e-01 -4.80603706e-02 -5.20508478e-04 2.83188233e+02] [ 4.80603517e-02 9.98844432e-01 -4.88349814e-05 8.23387994e+00] [ 5.22254022e-04 2.37627222e-05 9.99999863e-01 -2.96403074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.065898227 meters 0.037279276297357396 Centerline is valid? [True, True] Translation: X:283.22, Y:8.21, Z:-2.97 [[ 9.98173271e-01 -6.04050714e-02 -1.16111886e-03 2.83220093e+02] [ 6.04049857e-02 9.98173946e-01 -1.08798311e-04 8.21498203e+00] [ 1.16557057e-03 3.84621974e-05 9.99999320e-01 -2.96589714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09589822699996 meters 0.03202736508794006 Centerline is valid? [True, True] Translation: X:283.25, Y:8.21, Z:-2.97 [[ 9.97837936e-01 -6.57084877e-02 -1.35966204e-03 2.83251761e+02] [ 6.57083749e-02 9.97838861e-01 -1.27467305e-04 8.20713225e+00] [ 1.36509931e-03 3.78505289e-05 9.99999068e-01 -2.96621309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.125898227 meters 0.028070700162721413 Centerline is valid? [True, True] Translation: X:283.28, Y:8.20, Z:-2.97 [[ 9.97553393e-01 -6.99008454e-02 -1.04861485e-03 2.83281018e+02] [ 6.99007806e-02 9.97553944e-01 -9.84034324e-05 8.20027220e+00] [ 1.05292836e-03 2.48636813e-05 9.99999445e-01 -2.96649393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15589822699997 meters 0.025586908293905586 Centerline is valid? [True, True] Translation: X:283.31, Y:8.20, Z:-2.97 [[ 9.97357352e-01 -7.26464324e-02 -8.98815238e-04 2.83309416e+02] [ 7.26463857e-02 9.97357757e-01 -8.44773452e-05 8.19544711e+00] [ 9.02577327e-04 1.89584229e-05 9.99999592e-01 -2.96610547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.185898227 meters 0.023998812066408835 Centerline is valid? [True, True] Translation: X:283.34, Y:8.19, Z:-2.97 [[ 9.97230562e-01 -7.43633087e-02 -1.14224281e-03 2.83338928e+02] [ 7.43632340e-02 9.97231216e-01 -1.07794047e-04 8.18854948e+00] [ 1.14709611e-03 2.25546486e-05 9.99999342e-01 -2.96693167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21589822699997 meters 0.025277052617573775 Centerline is valid? [True, True] Translation: X:283.37, Y:8.19, Z:-2.97 [[ 9.97305758e-01 -7.33439527e-02 -1.37468636e-03 2.83366821e+02] [ 7.33438440e-02 9.97306705e-01 -1.29418578e-04 8.19014656e+00] [ 1.38047599e-03 2.82451108e-05 9.99999047e-01 -2.96710441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.24589822699994 meters 0.02780910855905274 Centerline is valid? [True, True] Translation: X:283.40, Y:8.19, Z:-2.97 [[ 9.97450196e-01 -7.13546345e-02 -1.27403275e-03 2.83395115e+02] [ 7.13545388e-02 9.97451009e-01 -1.20451730e-04 8.19380053e+00] [ 1.27938004e-03 2.92365821e-05 9.99999181e-01 -2.96726555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.27589822699997 meters 0.030922999632043213 Centerline is valid? [True, True] Translation: X:283.42, Y:8.20, Z:-2.97 [[ 9.97648331e-01 -6.85323681e-02 -1.05927171e-03 2.83423878e+02] [ 6.85323007e-02 9.97648893e-01 -9.99021292e-05 8.19910702e+00] [ 1.06362778e-03 2.70728649e-05 9.99999434e-01 -2.96686435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.30589822699994 meters 0.03817746074970039 Centerline is valid? [True, True] Translation: X:283.45, Y:8.21, Z:-2.97 [[ 9.98046187e-01 -6.24686197e-02 -1.21640363e-03 2.83452603e+02] [ 6.24685264e-02 9.98046928e-01 -1.14602567e-04 8.20936833e+00] [ 1.22118697e-03 3.83917128e-05 9.99999254e-01 -2.96756125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.335898227 meters 0.041825619004545685 Centerline is valid? [True, True] Translation: X:283.48, Y:8.22, Z:-2.97 [[ 9.98212644e-01 -5.97374609e-02 -1.71831436e-03 2.83481284e+02] [ 5.97372703e-02 9.98214121e-01 -1.62049734e-04 8.21587378e+00] [ 1.72492609e-03 5.91126840e-05 9.99998511e-01 -2.96884360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.36589822699995 meters 0.04678281485578754 Centerline is valid? [True, True] Translation: X:283.51, Y:8.22, Z:-2.97 [[ 9.98444843e-01 -5.56662917e-02 -3.02650977e-03 2.83509529e+02] [ 5.56656820e-02 9.98449423e-01 -2.85356678e-04 8.22304845e+00] [ 3.03770169e-03 1.16440173e-04 9.99995379e-01 -2.97139892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.395898227 meters 0.04748636563399801 Centerline is valid? [True, True] Translation: X:283.54, Y:8.23, Z:-2.97 [[ 9.98472904e-01 -5.50986416e-02 -4.00000223e-03 2.83537950e+02] [ 5.50975682e-02 9.98480904e-01 -3.78139366e-04 8.22584230e+00] [ 4.01476081e-03 1.57171515e-04 9.99991928e-01 -2.97297848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.42589822699995 meters 0.048355820331498135 Centerline is valid? [True, True] Translation: X:283.57, Y:8.23, Z:-2.97 [[ 9.98475205e-01 -5.50161806e-02 -4.52597147e-03 2.83565867e+02] [ 5.50148059e-02 9.98485447e-01 -4.27770136e-04 8.22889551e+00] [ 4.54265092e-03 1.78122432e-04 9.99989666e-01 -2.97435257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.455898227 meters 0.04281085971857534 Centerline is valid? [True, True] Translation: X:283.60, Y:8.22, Z:-2.97 [[ 9.98431385e-01 -5.57243820e-02 -5.43718059e-03 2.83595617e+02] [ 5.57224021e-02 9.98446167e-01 -5.15060147e-04 8.22421337e+00] [ 5.45743353e-03 2.11279452e-04 9.99985086e-01 -2.97410054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.48589822699995 meters 0.048404642939993005 Centerline is valid? [True, True] Translation: X:283.62, Y:8.23, Z:-2.98 [[ 9.98411338e-01 -5.60591881e-02 -5.67160943e-03 2.83622879e+02] [ 5.60570392e-02 9.98427423e-01 -5.37277236e-04 8.23473711e+00] [ 5.69280972e-03 2.18490053e-04 9.99983772e-01 -2.97637672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.515898227 meters 0.048344047790111346 Centerline is valid? [True, True] Translation: X:283.65, Y:8.24, Z:-2.98 [[ 9.98379800e-01 -5.66047176e-02 -5.80350383e-03 2.83651457e+02] [ 5.66024701e-02 9.98396643e-01 -5.50913308e-04 8.23818218e+00] [ 5.82538304e-03 2.21528066e-04 9.99983008e-01 -2.97613170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.54589822699995 meters 0.04205501393120575 Centerline is valid? [True, True] Translation: X:283.68, Y:8.23, Z:-2.97 [[ 9.98354268e-01 -5.70680575e-02 -5.65611445e-03 2.83681228e+02] [ 5.70659252e-02 9.98370267e-01 -5.37793019e-04 8.23333036e+00] [ 5.67758730e-03 2.14136552e-04 9.99983859e-01 -2.97422139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.575898227 meters 0.04163609198419305 Centerline is valid? [True, True] Translation: X:283.71, Y:8.24, Z:-2.97 [[ 9.98336766e-01 -5.75300342e-02 -3.74134686e-03 2.83709644e+02] [ 5.75291015e-02 9.98343766e-01 -3.56527113e-04 8.23533019e+00] [ 3.75566133e-03 1.40697801e-04 9.99992938e-01 -2.97110561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.60589822699995 meters 0.04349492098564739 Centerline is valid? [True, True] Translation: X:283.74, Y:8.24, Z:-2.97 [[ 9.98328074e-01 -5.77110142e-02 -3.23963940e-03 2.83737191e+02] [ 5.77103160e-02 9.98333323e-01 -3.08667665e-04 8.23974386e+00] [ 3.25205349e-03 1.21190982e-04 9.99994705e-01 -2.97012412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.635898227 meters 0.04289457941027191 Centerline is valid? [True, True] Translation: X:283.77, Y:8.24, Z:-2.97 [[ 9.98307132e-01 -5.80028572e-02 -4.30570115e-03 2.83765424e+02] [ 5.80016218e-02 9.98316404e-01 -4.11332451e-04 8.23991533e+00] [ 4.32231054e-03 1.60898470e-04 9.99990646e-01 -2.97028587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.66589822699996 meters 0.043908168847054084 Centerline is valid? [True, True] Translation: X:283.79, Y:8.24, Z:-2.97 [[ 9.98348429e-01 -5.72441849e-02 -4.84951429e-03 2.83793967e+02] [ 5.72426057e-02 9.98360190e-01 -4.63928335e-04 8.24306589e+00] [ 4.86811921e-03 1.85563290e-04 9.99988133e-01 -2.97123599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.695898227 meters 0.04414391874308658 Centerline is valid? [True, True] Translation: X:283.82, Y:8.25, Z:-2.97 [[ 9.98453179e-01 -5.54185797e-02 -4.47564106e-03 2.83823286e+02] [ 5.54172174e-02 9.98463194e-01 -4.27913748e-04 8.24534130e+00] [ 4.49247724e-03 1.79224269e-04 9.99989893e-01 -2.97066641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.72589822699996 meters 0.048656730026106446 Centerline is valid? [True, True] Translation: X:283.85, Y:8.25, Z:-2.97 [[ 9.98603489e-01 -5.27041480e-02 -3.65301854e-03 2.83852181e+02] [ 5.27032213e-02 9.98610158e-01 -3.49553436e-04 8.24799478e+00] [ 3.66636434e-03 1.56539436e-04 9.99993267e-01 -2.96780592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.755898227 meters 0.04963890303736261 Centerline is valid? [True, True] Translation: X:283.88, Y:8.26, Z:-2.97 [[ 9.98897282e-01 -4.68733303e-02 -2.66652257e-03 2.83881866e+02] [ 4.68728161e-02 9.98900833e-01 -2.55042781e-04 8.25799381e+00] [ 2.67554632e-03 1.29774119e-04 9.99996412e-01 -2.96673369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.78589822699996 meters 0.05897879790746581 Centerline is valid? [True, True] Translation: X:283.91, Y:8.27, Z:-2.97 [[ 9.99023746e-01 -4.40437957e-02 -3.42029522e-03 2.83909288e+02] [ 4.40429329e-02 9.99029586e-01 -3.27215852e-04 8.27283631e+00] [ 3.43138795e-03 1.76256573e-04 9.99994097e-01 -2.96840188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.815898227 meters 0.06411919580876276 Centerline is valid? [True, True] Translation: X:283.94, Y:8.28, Z:-2.97 [[ 9.99122223e-01 -4.16914612e-02 -4.07502115e-03 2.83938103e+02] [ 4.16902167e-02 9.99130509e-01 -3.89889841e-04 8.28191113e+00] [ 4.08773303e-03 2.19659090e-04 9.99991621e-01 -2.96971608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.84589822699996 meters 0.05993262363667944 Centerline is valid? [True, True] Translation: X:283.97, Y:8.28, Z:-2.97 [[ 9.99219185e-01 -3.92461450e-02 -4.55645498e-03 2.83969041e+02] [ 3.92445634e-02 9.99229540e-01 -4.36034694e-04 8.27782263e+00] [ 4.57005710e-03 2.56878144e-04 9.99989524e-01 -2.96863245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.875898227 meters 0.06172126432507044 Centerline is valid? [True, True] Translation: X:284.00, Y:8.28, Z:-2.97 [[ 9.99237217e-01 -3.88768153e-02 -3.68468482e-03 2.83996783e+02] [ 3.88757773e-02 9.99243989e-01 -3.52949324e-04 8.28180837e+00] [ 3.69562071e-03 2.09435114e-04 9.99993149e-01 -2.96712414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.90589822699997 meters 0.06497267292328243 Centerline is valid? [True, True] Translation: X:284.03, Y:8.28, Z:-2.97 [[ 9.99241956e-01 -3.88372177e-02 -2.68013656e-03 2.84025497e+02] [ 3.88366663e-02 9.99245539e-01 -2.57497545e-04 8.28352405e+00] [ 2.68811498e-03 1.53214782e-04 9.99996375e-01 -2.96508536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.935898227 meters 0.0620617670764013 Centerline is valid? [True, True] Translation: X:284.05, Y:8.29, Z:-2.96 [[ 9.99276271e-01 -3.79882508e-02 -1.95643941e-03 2.84053871e+02] [ 3.79879545e-02 9.99278179e-01 -1.88411477e-04 8.28672267e+00] [ 1.96218463e-03 1.13953987e-04 9.99998068e-01 -2.96284160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.96589822699997 meters 0.06821071674896781 Centerline is valid? [True, True] Translation: X:284.08, Y:8.30, Z:-2.96 [[ 9.99342092e-01 -3.61905811e-02 -2.37165346e-03 2.84082615e+02] [ 3.61901418e-02 9.99344896e-01 -2.27900016e-04 8.29723840e+00] [ 2.37834761e-03 1.41919604e-04 9.99997162e-01 -2.96393102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99589822699994 meters 0.07301844891865004 Centerline is valid? [True, True] Translation: X:284.11, Y:8.31, Z:-2.96 [[ 9.99419160e-01 -3.39506287e-02 -2.94922599e-03 2.84111158e+02] [ 3.39499396e-02 9.99423494e-01 -2.83429421e-04 8.30658170e+00] [ 2.95714836e-03 1.83138750e-04 9.99995611e-01 -2.96471211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.02589822699997 meters 0.07301844891865004 Centerline is valid? [True, True] Translation: X:284.14, Y:8.31, Z:-2.96 [[ 9.99413241e-01 -3.41244240e-02 -2.94913253e-03 2.84138558e+02] [ 3.41237327e-02 9.99417575e-01 -2.84401119e-04 8.30939659e+00] [ 2.95711991e-03 1.83598834e-04 9.99995611e-01 -2.96479046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05589822699994 meters 0.07501633654908622 Centerline is valid? [True, True] Translation: X:284.17, Y:8.32, Z:-2.97 [[ 9.99548625e-01 -2.98716277e-02 -3.19867149e-03 2.84168666e+02] [ 2.98707946e-02 9.99553721e-01 -3.07919357e-04 8.31554560e+00] [ 3.20644204e-03 2.12233511e-04 9.99994837e-01 -2.96501678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.085898227 meters 0.07211749030147047 Centerline is valid? [True, True] Translation: X:284.20, Y:8.31, Z:-2.97 [[ 9.99576130e-01 -2.88874680e-02 -3.61594075e-03 2.84198132e+02] [ 2.88863961e-02 9.99582640e-01 -3.48312148e-04 8.31460259e+00] [ 3.62449346e-03 2.43713012e-04 9.99993402e-01 -2.96519937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11589822699995 meters 0.07250991291570529 Centerline is valid? [True, True] Translation: X:284.23, Y:8.32, Z:-2.97 [[ 9.99574539e-01 -2.88307224e-02 -4.41928060e-03 2.84226837e+02] [ 2.88291162e-02 9.99584264e-01 -4.26737923e-04 8.31748895e+00] [ 4.42974651e-03 2.99152409e-04 9.99990144e-01 -2.96657789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.145898227 meters 0.07077113181778764 Centerline is valid? [True, True] Translation: X:284.26, Y:8.32, Z:-2.97 [[ 9.99526044e-01 -3.01971228e-02 -5.98504620e-03 2.84256418e+02] [ 3.01941969e-02 9.99543884e-01 -5.78635450e-04 8.31744222e+00] [ 5.99978945e-03 3.97647539e-04 9.99981922e-01 -2.96902588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17589822699995 meters 0.07094438982469448 Centerline is valid? [True, True] Translation: X:284.28, Y:8.32, Z:-2.97 [[ 9.99490625e-01 -3.11570076e-02 -6.90882219e-03 2.84283714e+02] [ 3.11531312e-02 9.99514400e-01 -6.68013681e-04 8.32062915e+00] [ 6.92628057e-03 4.52441967e-04 9.99975911e-01 -2.97051495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.205898227 meters 0.07608442454191082 Centerline is valid? [True, True] Translation: X:284.31, Y:8.33, Z:-2.97 [[ 9.99449610e-01 -3.22805969e-02 -7.64466382e-03 2.84310879e+02] [ 3.22758803e-02 9.99478724e-01 -7.39576420e-04 8.33036881e+00] [ 7.66455281e-03 4.92431110e-04 9.99970506e-01 -2.97363811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23589822699995 meters 0.06324741529035006 Centerline is valid? [True, True] Translation: X:284.34, Y:8.32, Z:-2.97 [[ 9.99399250e-01 -3.39272117e-02 -7.07695307e-03 2.84342489e+02] [ 3.39232110e-02 9.99424208e-01 -6.84622820e-04 8.31762120e+00] [ 7.09610556e-03 4.44138560e-04 9.99974724e-01 -2.97101418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.265898227 meters 0.07029889966592015 Centerline is valid? [True, True] Translation: X:284.37, Y:8.33, Z:-2.97 [[ 9.99389053e-01 -3.44093618e-02 -6.12504687e-03 2.84369517e+02] [ 3.44063709e-02 9.99407750e-01 -5.93034982e-04 8.32917819e+00] [ 6.14182526e-03 3.81932035e-04 9.99981066e-01 -2.97172612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29589822699995 meters 0.07051337387444148 Centerline is valid? [True, True] Translation: X:284.40, Y:8.33, Z:-2.97 [[ 9.99377208e-01 -3.48176624e-02 -5.73810287e-03 2.84397542e+02] [ 3.48150410e-02 9.99393618e-01 -5.56130449e-04 8.33153176e+00] [ 5.75398655e-03 3.56011809e-04 9.99983382e-01 -2.97093108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.325898227 meters 0.06525742121868483 Centerline is valid? [True, True] Translation: X:284.43, Y:8.33, Z:-2.97 [[ 9.99330776e-01 -3.60404045e-02 -6.25219046e-03 2.84427218e+02] [ 3.60373151e-02 9.99350261e-01 -6.06113557e-04 8.32588682e+00] [ 6.26997275e-03 3.80395773e-04 9.99980271e-01 -2.97145978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35589822699995 meters 0.07022790506732067 Centerline is valid? [True, True] Translation: X:284.45, Y:8.33, Z:-2.97 [[ 9.99315317e-01 -3.64233371e-02 -6.49903222e-03 2.84454608e+02] [ 3.64200027e-02 9.99336373e-01 -6.30714854e-04 8.33443182e+00] [ 6.51769203e-03 3.93588243e-04 9.99978682e-01 -2.97355097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.385898227 meters 0.07024272373776336 Centerline is valid? [True, True] Translation: X:284.48, Y:8.34, Z:-2.97 [[ 9.99310422e-01 -3.64655568e-02 -6.99598439e-03 2.84483026e+02] [ 3.64616851e-02 9.99334820e-01 -6.80210810e-04 8.33689251e+00] [ 7.01613507e-03 4.24656372e-04 9.99975296e-01 -2.97434590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41589822699996 meters 0.07229030967355854 Centerline is valid? [True, True] Translation: X:284.51, Y:8.34, Z:-2.97 [[ 9.99359282e-01 -3.51682793e-02 -6.64967905e-03 2.84511006e+02] [ 3.51647528e-02 9.99381320e-01 -6.46540863e-04 8.34263181e+00] [ 6.66830276e-03 4.12292293e-04 9.99977682e-01 -2.97450218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.445898227 meters 0.06535556793007974 Centerline is valid? [True, True] Translation: X:284.54, Y:8.34, Z:-2.97 [[ 9.99405973e-01 -3.38917709e-02 -6.24885754e-03 2.84541182e+02] [ 3.38886312e-02 9.99425431e-01 -6.07664024e-04 8.33723367e+00] [ 6.26586195e-03 3.95537827e-04 9.99980291e-01 -2.97227514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47589822699996 meters 0.07614086749048048 Centerline is valid? [True, True] Translation: X:284.57, Y:8.35, Z:-2.97 [[ 9.99467561e-01 -3.21459243e-02 -5.58867702e-03 2.84569044e+02] [ 3.21433857e-02 9.99483120e-01 -5.43504172e-04 8.35490416e+00] [ 5.60325979e-03 3.63575789e-04 9.99984236e-01 -2.97366267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.505898227 meters 0.07546218415617303 Centerline is valid? [True, True] Translation: X:284.60, Y:8.36, Z:-2.97 [[ 9.99541721e-01 -2.99279023e-02 -4.54619209e-03 2.84598455e+02] [ 2.99261993e-02 9.99552013e-01 -4.42177665e-04 8.35932352e+00] [ 4.55738891e-03 3.05924774e-04 9.99989568e-01 -2.97257626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53589822699996 meters 0.07490150630977999 Centerline is valid? [True, True] Translation: X:284.63, Y:8.36, Z:-2.97 [[ 9.99547522e-01 -2.97444111e-02 -4.47460537e-03 2.84627314e+02] [ 2.97427544e-02 9.99557491e-01 -4.36337957e-04 8.36302464e+00] [ 4.48560394e-03 3.03053435e-04 9.99989894e-01 -2.97212136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.565898227 meters 0.06703541222211298 Centerline is valid? [True, True] Translation: X:284.66, Y:8.36, Z:-2.97 [[ 9.99553816e-01 -2.95570428e-02 -4.30705962e-03 2.84657090e+02] [ 2.95555029e-02 9.99563052e-01 -4.20763679e-04 8.35753197e+00] [ 4.31761419e-03 2.93278627e-04 9.99990636e-01 -2.97105390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59589822699996 meters 0.07247701325650785 Centerline is valid? [True, True] Translation: X:284.68, Y:8.37, Z:-2.97 [[ 9.99579972e-01 -2.87583001e-02 -3.58329314e-03 2.84683830e+02] [ 2.87572291e-02 9.99586364e-01 -3.50044298e-04 8.36917252e+00] [ 3.59187764e-03 2.46851688e-04 9.99993519e-01 -2.97080405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.625898227 meters 0.08606550059741992 Centerline is valid? [True, True] Translation: X:284.71, Y:8.39, Z:-2.97 [[ 9.99669609e-01 -2.56735189e-02 -1.24218739e-03 2.84711531e+02] [ 2.56733879e-02 9.99670377e-01 -1.21335306e-04 8.39332847e+00] [ 1.24489304e-03 8.94040596e-05 9.99999221e-01 -2.96860097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65589822699997 meters 0.07496298967901975 Centerline is valid? [True, True] Translation: X:284.74, Y:8.38, Z:-2.97 [[ 9.99712478e-01 -2.39728332e-02 -5.14254859e-04 2.84743014e+02] [ 2.39728105e-02 9.99712610e-01 -5.02642769e-05 8.38145395e+00] [ 5.15312044e-04 3.79216906e-05 9.99999867e-01 -2.96744490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.685898227 meters 0.07674525214516852 Centerline is valid? [True, True] Translation: X:284.77, Y:8.39, Z:-2.97 [[ 9.99749658e-01 -2.23734390e-02 2.25553373e-04 2.84771619e+02] [ 2.23734346e-02 9.99749683e-01 2.20289530e-05 8.39173955e+00] [-2.25989777e-04 -1.69770346e-05 9.99999974e-01 -2.96685935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71589822699997 meters 0.08965999637392187 Centerline is valid? [True, True] Translation: X:284.80, Y:8.42, Z:-2.97 [[ 9.99837725e-01 -1.80070648e-02 -5.18284063e-04 2.84799041e+02] [ 1.80070410e-02 9.99837859e-01 -5.06187563e-05 8.41598615e+00] [ 5.19111523e-04 4.12777798e-05 9.99999864e-01 -2.96863252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.74589822699994 meters 0.0826522208157023 Centerline is valid? [True, True] Translation: X:284.83, Y:8.41, Z:-2.97 [[ 9.99871596e-01 -1.59077970e-02 -1.93205950e-03 2.84829820e+02] [ 1.59074618e-02 9.99873451e-01 -1.88707788e-04 8.41255249e+00] [ 1.93481693e-03 1.57949395e-04 9.99998116e-01 -2.97088861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.77589822699997 meters 0.09474961692116261 Centerline is valid? [True, True] Translation: X:284.86, Y:8.43, Z:-2.97 [[ 9.99894204e-01 -1.41815955e-02 -3.23464355e-03 2.84857257e+02] [ 1.41806469e-02 9.99899400e-01 -3.16021664e-04 8.43382777e+00] [ 3.23879984e-03 2.70118892e-04 9.99994719e-01 -2.97421698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.80589822699994 meters 0.09789190242985911 Centerline is valid? [True, True] Translation: X:284.89, Y:8.45, Z:-2.98 [[ 9.99923726e-01 -1.12657563e-02 -5.06203848e-03 2.84886093e+02] [ 1.12633959e-02 9.99936444e-01 -4.94563263e-04 8.44764695e+00] [ 5.06728838e-03 4.37509797e-04 9.99987066e-01 -2.97743707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.835898227 meters 0.0919996729864715 Centerline is valid? [True, True] Translation: X:284.92, Y:8.45, Z:-2.98 [[ 9.99933670e-01 -1.05070958e-02 -4.71763753e-03 2.84915682e+02] [ 1.05050362e-02 9.99944714e-01 -4.61145430e-04 8.44601314e+00] [ 4.72222201e-03 4.11555890e-04 9.99988766e-01 -2.97639133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.86589822699995 meters 0.0972225867009696 Centerline is valid? [True, True] Translation: X:284.94, Y:8.46, Z:-2.98 [[ 9.99939880e-01 -1.02441838e-02 -3.91057315e-03 2.84943220e+02] [ 1.02427661e-02 9.99947468e-01 -3.82402943e-04 8.45813683e+00] [ 3.91428512e-03 3.42324867e-04 9.99992281e-01 -2.97558049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.895898227 meters 0.08926980956072096 Centerline is valid? [True, True] Translation: X:284.97, Y:8.46, Z:-2.98 [[ 9.99922877e-01 -1.16212820e-02 -4.38023263e-03 2.84973023e+02] [ 1.16195161e-02 9.99932399e-01 -4.28387457e-04 8.45602320e+00] [ 4.38491494e-03 3.77458235e-04 9.99990315e-01 -2.97559534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.92589822699995 meters 0.08971738541138807 Centerline is valid? [True, True] Translation: X:285.00, Y:8.46, Z:-2.98 [[ 9.99905262e-01 -1.27306521e-02 -5.23421968e-03 2.85001908e+02] [ 1.27281450e-02 9.99918863e-01 -5.12013728e-04 8.46203073e+00] [ 5.24031325e-03 4.45343314e-04 9.99986170e-01 -2.97759307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.955898227 meters 0.08813771279775379 Centerline is valid? [True, True] Translation: X:285.03, Y:8.46, Z:-2.98 [[ 9.99886976e-01 -1.37979745e-02 -5.97087859e-03 2.85031301e+02] [ 1.37947307e-02 9.99904678e-01 -5.84101022e-04 8.46447842e+00] [ 5.97836884e-03 5.01668343e-04 9.99982004e-01 -2.97844045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.98589822699995 meters 0.0882237032519831 Centerline is valid? [True, True] Translation: X:285.06, Y:8.47, Z:-2.98 [[ 9.99859998e-01 -1.56026550e-02 -6.04502541e-03 2.85059906e+02] [ 1.55993622e-02 9.99878148e-01 -5.91488376e-04 8.46855261e+00] [ 6.05351760e-03 4.97107026e-04 9.99981554e-01 -2.97777784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.015898227 meters 0.0891784664664245 Centerline is valid? [True, True] Translation: X:285.09, Y:8.47, Z:-2.98 [[ 9.99847563e-01 -1.64906980e-02 -5.73659959e-03 2.85088346e+02] [ 1.64877452e-02 9.99863910e-01 -5.61646828e-04 8.47170971e+00] [ 5.74508085e-03 4.66977620e-04 9.99983388e-01 -2.97751518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.04589822699995 meters 0.09248497987238706 Centerline is valid? [True, True] Translation: X:285.12, Y:8.48, Z:-2.98 [[ 9.99839439e-01 -1.70758763e-02 -5.43229449e-03 2.85115827e+02] [ 1.70732306e-02 9.99854100e-01 -5.33038353e-04 8.48220078e+00] [ 5.44060401e-03 4.40205951e-04 9.99985103e-01 -2.97642220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.075898227 meters 0.08808351734090264 Centerline is valid? [True, True] Translation: X:285.14, Y:8.48, Z:-2.98 [[ 9.99845253e-01 -1.67083286e-02 -5.50471194e-03 2.85144634e+02] [ 1.67056016e-02 9.99860305e-01 -5.41012295e-04 8.48191224e+00] [ 5.51298237e-03 4.48969050e-04 9.99984703e-01 -2.97531268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.10589822699995 meters 0.08710606890005933 Centerline is valid? [True, True] Translation: X:285.17, Y:8.48, Z:-2.97 [[ 9.99856096e-01 -1.61070472e-02 -5.32443810e-03 2.85172880e+02] [ 1.61044872e-02 9.99870177e-01 -5.23324560e-04 8.48438947e+00] [ 5.33217608e-03 4.37501906e-04 9.99985688e-01 -2.97446191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.135898227 meters 0.08553088807915635 Centerline is valid? [True, True] Translation: X:285.20, Y:8.49, Z:-2.97 [[ 9.99869033e-01 -1.53648340e-02 -5.08325808e-03 2.85202767e+02] [ 1.53624910e-02 9.99881865e-01 -4.99648866e-04 8.48661601e+00] [ 5.09033459e-03 4.21491921e-04 9.99986955e-01 -2.97324877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.16589822699996 meters 0.09427180161951827 Centerline is valid? [True, True] Translation: X:285.23, Y:8.50, Z:-2.97 [[ 9.99882659e-01 -1.45836418e-02 -4.68881194e-03 2.85229457e+02] [ 1.45816383e-02 9.99893576e-01 -4.61199271e-04 8.50277004e+00] [ 4.69503890e-03 3.92774594e-04 9.99988901e-01 -2.97308812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.195898227 meters 0.09027214916114751 Centerline is valid? [True, True] Translation: X:285.26, Y:8.51, Z:-2.97 [[ 9.99911158e-01 -1.25306928e-02 -4.54505339e-03 2.85259453e+02] [ 1.25287898e-02 9.99921412e-01 -4.46936011e-04 8.50699009e+00] [ 4.55029662e-03 3.89952285e-04 9.99989571e-01 -2.97174081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.22589822699996 meters 0.09097909357872065 Centerline is valid? [True, True] Translation: X:285.29, Y:8.51, Z:-2.97 [[ 9.99922299e-01 -1.18558055e-02 -3.85166619e-03 2.85288121e+02] [ 1.18544330e-02 9.99929662e-01 -3.78975663e-04 8.51402465e+00] [ 3.85588833e-03 3.33286897e-04 9.99992510e-01 -2.97091200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.255898227 meters 0.09286592560547043 Centerline is valid? [True, True] Translation: X:285.32, Y:8.52, Z:-2.97 [[ 9.99922750e-01 -1.19416808e-02 -3.44830622e-03 2.85316314e+02] [ 1.19405808e-02 9.99928651e-01 -3.39414122e-04 8.52228239e+00] [ 3.45211336e-03 2.98213124e-04 9.99993997e-01 -2.97021738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.28589822699996 meters 0.09098881924545124 Centerline is valid? [True, True] Translation: X:285.35, Y:8.53, Z:-2.97 [[ 9.99906571e-01 -1.33848647e-02 -2.77410289e-03 2.85346307e+02] [ 1.33841584e-02 9.99910391e-01 -2.73038901e-04 8.52537940e+00] [ 2.77750890e-03 2.35884359e-04 9.99996115e-01 -2.96969404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.315898227 meters 0.08849224404970767 Centerline is valid? [True, True] Translation: X:285.38, Y:8.53, Z:-2.97 [[ 9.99850070e-01 -1.72923619e-02 -9.00840717e-04 2.85375787e+02] [ 1.72922890e-02 9.99850473e-01 -8.86813345e-05 8.53005429e+00] [ 9.02239527e-04 7.30904405e-05 9.99999590e-01 -2.96710296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.34589822699996 meters 0.09264824883265002 Centerline is valid? [True, True] Translation: X:285.40, Y:8.54, Z:-2.97 [[ 9.99829742e-01 -1.84504683e-02 -2.57974586e-04 2.85404648e+02] [ 1.84504624e-02 9.99829775e-01 -2.53898507e-05 8.54081193e+00] [ 2.58399127e-04 2.06257775e-05 9.99999966e-01 -2.96608587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.375898227 meters 0.08805400220300282 Centerline is valid? [True, True] Translation: X:285.44, Y:8.54, Z:-2.97 [[ 9.99819155e-01 -1.90170137e-02 -9.81272187e-05 2.85435185e+02] [ 1.90170128e-02 9.99819160e-01 -9.65767782e-06 8.53992843e+00] [ 9.82931335e-05 7.78984471e-06 9.99999995e-01 -2.96528517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.40589822699997 meters 0.09041968576178566 Centerline is valid? [True, True] Translation: X:285.46, Y:8.55, Z:-2.97 [[ 9.99834983e-01 -1.81551196e-02 -6.31735801e-04 2.85464136e+02] [ 1.81550839e-02 9.99835181e-01 -6.21754179e-05 8.55098504e+00] [ 6.32760481e-04 5.06959414e-05 9.99999799e-01 -2.96640494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.435898227 meters 0.08752046871483422 Centerline is valid? [True, True] Translation: X:285.49, Y:8.55, Z:-2.97 [[ 9.99849593e-01 -1.73165334e-02 -9.63795254e-04 2.85494581e+02] [ 1.73164499e-02 9.99850055e-01 -9.48566991e-05 8.55363073e+00] [ 9.65293327e-04 7.81529197e-05 9.99999531e-01 -2.96733075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.46589822699997 meters 0.09366036270963508 Centerline is valid? [True, True] Translation: X:285.52, Y:8.57, Z:-2.97 [[ 9.99865485e-01 -1.63511753e-02 -1.28507971e-03 2.85523237e+02] [ 1.63510264e-02 9.99866305e-01 -1.26297890e-04 8.56771323e+00] [ 1.28697302e-03 1.05268528e-04 9.99999166e-01 -2.96884101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49589822699994 meters 0.09593793689240739 Centerline is valid? [True, True] Translation: X:285.55, Y:8.58, Z:-2.97 [[ 9.99882352e-01 -1.49044518e-02 -3.62497653e-03 2.85551457e+02] [ 1.49032560e-02 9.99888877e-01 -3.56660055e-04 8.57925610e+00] [ 3.62988953e-03 3.02594141e-04 9.99993366e-01 -2.97349994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.52589822699997 meters 0.08998121645816913 Centerline is valid? [True, True] Translation: X:285.58, Y:8.58, Z:-2.98 [[ 9.99886241e-01 -1.42490247e-02 -4.94680196e-03 2.85581273e+02] [ 1.42467891e-02 9.99898391e-01 -4.86862386e-04 8.57790699e+00] [ 4.95323663e-03 4.16330957e-04 9.99987646e-01 -2.97501886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55589822699994 meters 0.09119213576390812 Centerline is valid? [True, True] Translation: X:285.61, Y:8.59, Z:-2.98 [[ 9.99889533e-01 -1.36767461e-02 -5.81968346e-03 2.85609753e+02] [ 1.36736411e-02 9.99906347e-01 -5.72990463e-04 8.58638116e+00] [ 5.82697508e-03 4.93350904e-04 9.99982901e-01 -2.97632968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.585898227 meters 0.1018470277309555 Centerline is valid? [True, False] Translation: X:285.59, Y:8.59, Z:-2.98 [[ 9.99926551e-01 -8.99204719e-03 -8.12628769e-03 2.85590242e+02] [ 8.93851967e-03 9.99938273e-01 -6.59944513e-03 8.58877340e+00] [ 8.18512860e-03 6.52632342e-03 9.99945204e-01 -2.97597697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61589822699995 meters 0.09984804842977946 Centerline is valid? [False, True] Translation: X:285.61, Y:8.60, Z:-2.98 [[ 9.99982773e-01 -5.05413635e-03 -2.98500889e-03 2.85611450e+02] [ 5.01459858e-03 9.99901517e-01 -1.31076374e-02 8.60000089e+00] [ 3.05096270e-03 1.30924430e-02 9.99909636e-01 -2.98020413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.645898227 meters 0.09220564646396438 Centerline is valid? [True, True] Translation: X:285.64, Y:8.59, Z:-2.98 [[ 9.99970503e-01 -6.61961668e-03 -3.89532596e-03 2.85642870e+02] [ 6.61829539e-03 9.99978037e-01 -3.51991992e-04 8.59056305e+00] [ 3.89757046e-03 3.26201191e-04 9.99992351e-01 -2.98143758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67589822699995 meters 0.08764246865864067 Centerline is valid? [True, True] Translation: X:285.67, Y:8.59, Z:-2.98 [[ 9.99950620e-01 -9.28895675e-03 -3.53166462e-03 2.85672710e+02] [ 9.28788714e-03 9.99956816e-01 -3.19142550e-04 8.58965819e+00] [ 3.53447661e-03 2.86325088e-04 9.99993713e-01 -2.98085160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.705898227 meters 0.08918479636891978 Centerline is valid? [True, True] Translation: X:285.70, Y:8.60, Z:-2.98 [[ 9.99856284e-01 -1.68848505e-02 -1.52101804e-03 2.85702362e+02] [ 1.68846609e-02 9.99857435e-01 -1.37402452e-04 8.59568634e+00] [ 1.52312122e-03 1.11700831e-04 9.99998834e-01 -2.97897711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73589822699995 meters 0.0854823674456024 Centerline is valid? [True, True] Translation: X:285.73, Y:8.59, Z:-2.98 [[ 9.99784526e-01 -2.07548938e-02 -3.68289753e-04 2.85733511e+02] [ 2.07548829e-02 9.99784594e-01 -3.32356790e-05 8.59339581e+00] [ 3.68900224e-04 2.55847069e-05 9.99999932e-01 -2.97707662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.765898227 meters 0.08497406216298549 Centerline is valid? [True, True] Translation: X:285.76, Y:8.59, Z:-2.98 [[ 9.99707179e-01 -2.41979655e-02 1.23963499e-04 2.85763203e+02] [ 2.41979643e-02 9.99707186e-01 1.11389921e-05 8.59429076e+00] [-1.24196742e-04 -8.13606607e-06 9.99999992e-01 -2.97618706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79589822699995 meters 0.06787776589874323 Centerline is valid? [True, True] Translation: X:285.80, Y:8.57, Z:-2.97 [[ 9.99590269e-01 -2.86070411e-02 9.65215910e-04 2.85796146e+02] [ 2.86069702e-02 9.99590733e-01 8.72198519e-05 8.57259101e+00] [-9.67315981e-04 -5.95722125e-05 9.99999530e-01 -2.97408341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.825898227 meters 0.07717991952082501 Centerline is valid? [True, True] Translation: X:285.83, Y:8.59, Z:-2.97 [[ 9.99574041e-01 -2.91421471e-02 1.57208873e-03 2.85825164e+02] [ 2.91419593e-02 9.99575273e-01 1.42191975e-04 8.58613188e+00] [-1.57556480e-03 -9.63176615e-05 9.99998754e-01 -2.97355152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85589822699995 meters 0.06856356074279754 Centerline is valid? [True, True] Translation: X:285.86, Y:8.58, Z:-2.97 [[ 9.99589073e-01 -2.85862599e-02 2.12405669e-03 2.85857096e+02] [ 2.85859164e-02 9.99591321e-01 1.91892778e-04 8.57651666e+00] [-2.12867413e-03 -1.31095817e-04 9.99997726e-01 -2.97222181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.885898227 meters 0.08204089126467444 Centerline is valid? [True, True] Translation: X:285.89, Y:8.59, Z:-2.97 [[ 9.99618747e-01 -2.75391910e-02 1.98843142e-03 2.85885286e+02] [ 2.75388883e-02 9.99620717e-01 1.79481729e-04 8.59490686e+00] [-1.99262003e-03 -1.24654110e-04 9.99998007e-01 -2.97341827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91589822699996 meters 0.06640491148756647 Centerline is valid? [True, True] Translation: X:285.92, Y:8.57, Z:-2.97 [[ 9.99701937e-01 -2.44111643e-02 3.63383472e-04 2.85917528e+02] [ 2.44111540e-02 9.99702003e-01 3.28093608e-05 8.57444456e+00] [-3.64076099e-04 -2.39289717e-05 9.99999933e-01 -2.97499527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.945898227 meters 0.06640491148756647 Centerline is valid? [True, True] Translation: X:285.95, Y:8.58, Z:-2.98 [[ 9.99701937e-01 -2.44111643e-02 3.63384366e-04 2.85947471e+02] [ 2.44111540e-02 9.99702003e-01 3.27994497e-05 8.57714724e+00] [-3.64076752e-04 -2.39190417e-05 9.99999933e-01 -2.97515117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97589822699996 meters 0.07521768190729496 Centerline is valid? [True, True] Translation: X:285.98, Y:8.59, Z:-2.98 [[ 9.99738245e-01 -2.28752684e-02 -4.05247046e-04 2.85976535e+02] [ 2.28752555e-02 9.99738326e-01 -3.63447602e-05 8.58949204e+00] [ 4.05972400e-04 2.70651170e-05 9.99999917e-01 -2.97767127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.005898227 meters 0.0765306874621926 Centerline is valid? [True, True] Translation: X:286.01, Y:8.59, Z:-2.98 [[ 9.99762161e-01 -2.17680665e-02 -1.33145324e-03 2.86007480e+02] [ 2.17679260e-02 9.99763043e-01 -1.19958814e-04 8.59215028e+00] [ 1.33374901e-03 9.09473079e-05 9.99999106e-01 -2.97955790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03589822699996 meters 0.07578233806175495 Centerline is valid? [True, True] Translation: X:286.04, Y:8.59, Z:-2.98 [[ 9.99772121e-01 -2.12918745e-02 -1.53719607e-03 2.86038031e+02] [ 2.12916864e-02 9.99773297e-01 -1.38645776e-04 8.59173864e+00] [ 1.53979961e-03 1.05884685e-04 9.99998809e-01 -2.98003611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.065898227 meters 0.07112055318166623 Centerline is valid? [True, True] Translation: X:286.07, Y:8.58, Z:-2.98 [[ 9.99761652e-01 -2.17871028e-02 -1.40013011e-03 2.86069396e+02] [ 2.17869472e-02 9.99762628e-01 -1.26283256e-04 8.58354219e+00] [ 1.40254910e-03 9.57485964e-05 9.99999012e-01 -2.97912252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09589822699996 meters 0.07974838061248021 Centerline is valid? [True, True] Translation: X:286.10, Y:8.59, Z:-2.98 [[ 9.99742026e-01 -2.26542642e-02 -1.63270587e-03 2.86098016e+02] [ 2.26540536e-02 9.99743353e-01 -1.47339017e-04 8.59480132e+00] [ 1.63562470e-03 1.10313601e-04 9.99998656e-01 -2.98095566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.125898227 meters 0.07831434506667255 Centerline is valid? [True, True] Translation: X:286.13, Y:8.59, Z:-2.98 [[ 9.99718618e-01 -2.36774921e-02 -1.43598719e-03 2.86128101e+02] [ 2.36773301e-02 9.99719644e-01 -1.29680250e-04 8.59280220e+00] [ 1.43865511e-03 9.56434172e-05 9.99998961e-01 -2.98093319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15589822699997 meters 0.06535807577455968 Centerline is valid? [True, True] Translation: X:286.16, Y:8.57, Z:-2.98 [[ 9.99664751e-01 -2.58823715e-02 -6.98316725e-04 2.86160502e+02] [ 2.58823336e-02 9.99664994e-01 -6.31620060e-05 8.57133329e+00] [ 6.99717567e-04 4.50667646e-05 9.99999754e-01 -2.97801206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.185898227 meters 0.07111445598657087 Centerline is valid? [True, True] Translation: X:286.19, Y:8.58, Z:-2.98 [[ 9.99644282e-01 -2.66668902e-02 -4.30675153e-04 2.86189389e+02] [ 2.66668759e-02 9.99644375e-01 -3.89366309e-05 8.57664358e+00] [ 4.31560313e-04 2.74380196e-05 9.99999907e-01 -2.97826064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21589822699997 meters 0.06374670809161964 Centerline is valid? [True, True] Translation: X:286.22, Y:8.56, Z:-2.98 [[ 9.99631991e-01 -2.71224769e-02 -5.04408166e-04 2.86221394e+02] [ 2.71224574e-02 9.99632117e-01 -4.55308718e-05 8.56473353e+00] [ 5.05457513e-04 3.18333271e-05 9.99999872e-01 -2.97736319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.24589822699994 meters 0.07463340213422007 Centerline is valid? [True, True] Translation: X:286.25, Y:8.58, Z:-2.98 [[ 9.99620421e-01 -2.75423125e-02 -6.60060921e-04 2.86250184e+02] [ 2.75422791e-02 9.99620638e-01 -5.96503148e-05 8.57587463e+00] [ 6.61453426e-04 4.14480907e-05 9.99999780e-01 -2.97865947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.27589822699997 meters 0.07505783842093502 Centerline is valid? [True, True] Translation: X:286.28, Y:8.57, Z:-2.98 [[ 9.99602931e-01 -2.81767533e-02 -2.25283619e-04 2.86280077e+02] [ 2.81767494e-02 9.99602956e-01 -2.04562787e-05 8.56992223e+00] [ 2.25770563e-04 1.41003961e-05 9.99999974e-01 -2.97757238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.30589822699994 meters 0.07246085777151877 Centerline is valid? [True, True] Translation: X:286.31, Y:8.57, Z:-2.98 [[ 9.99606954e-01 -2.80343141e-02 1.24446064e-04 2.86310536e+02] [ 2.80343129e-02 9.99606961e-01 1.11255227e-05 8.56533225e+00] [-1.24709048e-04 -7.63238993e-06 9.99999992e-01 -2.97657236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.335898227 meters 0.074071384971306 Centerline is valid? [True, True] Translation: X:286.34, Y:8.57, Z:-2.98 [[ 9.99617090e-01 -2.76695472e-02 2.63036157e-04 2.86339533e+02] [ 2.76695420e-02 9.99617125e-01 2.35955740e-05 8.56684121e+00] [-2.63588326e-04 -1.63084490e-05 9.99999965e-01 -2.97670591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.36589822699995 meters 0.06872794913846987 Centerline is valid? [True, True] Translation: X:286.37, Y:8.56, Z:-2.98 [[ 9.99644177e-01 -2.66487967e-02 1.16633835e-03 2.86369743e+02] [ 2.66486919e-02 9.99644855e-01 1.05292352e-04 8.55997131e+00] [-1.16873005e-03 -7.41734953e-05 9.99999314e-01 -2.97510684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.395898227 meters 0.06833857284276681 Centerline is valid? [True, True] Translation: X:286.40, Y:8.56, Z:-2.97 [[ 9.99693198e-01 -2.46130033e-02 2.77672267e-03 2.86400280e+02] [ 2.46124009e-02 9.99697037e-01 2.50927185e-04 8.55777779e+00] [-2.78205749e-03 -1.82508388e-04 9.99996113e-01 -2.97273701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.42589822699995 meters 0.07103633002555952 Centerline is valid? [True, True] Translation: X:286.43, Y:8.56, Z:-2.97 [[ 9.99707242e-01 -2.39368370e-02 3.52963974e-03 2.86429852e+02] [ 2.39358587e-02 9.99713445e-01 3.19138443e-04 8.56209939e+00] [-3.53626747e-03 -2.34560054e-04 9.99993720e-01 -2.97120023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.455898227 meters 0.06978502309426679 Centerline is valid? [True, True] Translation: X:286.46, Y:8.56, Z:-2.97 [[ 9.99682861e-01 -2.46340088e-02 5.22901697e-03 2.86460633e+02] [ 2.46318736e-02 9.99696478e-01 4.72346709e-04 8.56076430e+00] [-5.23906564e-03 -3.43396425e-04 9.99986217e-01 -2.96851902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.48589822699995 meters 0.06993263122176122 Centerline is valid? [True, True] Translation: X:286.49, Y:8.56, Z:-2.97 [[ 9.99647973e-01 -2.59771477e-02 5.39605440e-03 2.86489947e+02] [ 2.59748934e-02 9.99662477e-01 4.87438173e-04 8.56274751e+00] [-5.40689536e-03 -3.47104644e-04 9.99985322e-01 -2.96828424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.515898227 meters 0.06735756223957387 Centerline is valid? [True, True] Translation: X:286.52, Y:8.56, Z:-2.97 [[ 9.99579302e-01 -2.83666084e-02 6.04595740e-03 2.86521457e+02] [ 2.83638216e-02 9.99597517e-01 5.46203706e-04 8.56158928e+00] [-6.05901795e-03 -3.74487462e-04 9.99981574e-01 -2.96781513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.54589822699995 meters 0.06428067651540943 Centerline is valid? [True, True] Translation: X:286.55, Y:8.56, Z:-2.97 [[ 9.99489524e-01 -3.14017718e-02 5.88388042e-03 2.86552400e+02] [ 3.13991851e-02 9.99506783e-01 5.31505508e-04 8.55954672e+00] [-5.89766860e-03 -3.46485137e-04 9.99982549e-01 -2.96802296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.575898227 meters 0.05965903154081456 Centerline is valid? [True, True] Translation: X:286.58, Y:8.56, Z:-2.97 [[ 9.99370555e-01 -3.49893536e-02 5.85135116e-03 2.86583345e+02] [ 3.49868571e-02 9.99387633e-01 5.28506219e-04 8.55507559e+00] [-5.86626008e-03 -3.23453167e-04 9.99982741e-01 -2.96849015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.60589822699995 meters 0.05251276141380296 Centerline is valid? [True, True] Translation: X:286.61, Y:8.55, Z:-2.97 [[ 9.99088544e-01 -4.22309991e-02 6.21488529e-03 2.86614343e+02] [ 4.22283223e-02 9.99107829e-01 5.61348784e-04 8.54630408e+00] [-6.23304687e-03 -2.98392959e-04 9.99980530e-01 -2.96835558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.635898227 meters 0.0523764225421705 Centerline is valid? [True, True] Translation: X:286.64, Y:8.55, Z:-2.97 [[ 9.98929304e-01 -4.58956986e-02 5.81640452e-03 2.86644013e+02] [ 4.58934160e-02 9.98946204e-01 5.25377739e-04 8.54768534e+00] [-5.83438779e-03 -2.57880547e-04 9.99982947e-01 -2.96902072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.66589822699996 meters 0.04926515575027379 Centerline is valid? [True, True] Translation: X:286.67, Y:8.55, Z:-2.97 [[ 9.98776528e-01 -4.91546523e-02 5.41001553e-03 2.86674051e+02] [ 4.91527248e-02 9.98791155e-01 4.88742826e-04 8.54514106e+00] [-5.42749964e-03 -2.22227859e-04 9.99985246e-01 -2.97002395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.695898227 meters 0.04271942063195465 Centerline is valid? [True, True] Translation: X:286.70, Y:8.54, Z:-2.97 [[ 9.98534956e-01 -5.39463240e-02 4.21146200e-03 2.86704991e+02] [ 5.39451981e-02 9.98543825e-01 3.80551793e-04 8.53747877e+00] [-4.22585874e-03 -1.52806116e-04 9.99991059e-01 -2.97177172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.72589822699996 meters 0.03924984356176551 Centerline is valid? [True, True] Translation: X:286.73, Y:8.53, Z:-2.97 [[ 9.98461460e-01 -5.52910537e-02 4.19662333e-03 2.86734135e+02] [ 5.52899483e-02 9.98470269e-01 3.79062733e-04 8.53497188e+00] [-4.21116240e-03 -1.46448444e-04 9.99991122e-01 -2.97243856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.755898227 meters 0.03984415331496686 Centerline is valid? [True, True] Translation: X:286.76, Y:8.54, Z:-2.97 [[ 9.98435389e-01 -5.58076871e-02 3.50371278e-03 2.86762267e+02] [ 5.58069176e-02 9.98441529e-01 3.17084334e-04 8.53750676e+00] [-3.51594809e-03 -1.21056810e-04 9.99993812e-01 -2.97341082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.78589822699996 meters 0.03836980767606231 Centerline is valid? [True, True] Translation: X:286.79, Y:8.54, Z:-2.97 [[ 9.98415566e-01 -5.61942466e-02 2.92632327e-03 2.86790264e+02] [ 5.61937119e-02 9.98419850e-01 2.64664438e-04 8.53721896e+00] [-2.93657186e-03 -9.98041278e-05 9.99995683e-01 -2.97487166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.815898227 meters 0.039117191042124515 Centerline is valid? [True, True] Translation: X:286.82, Y:8.54, Z:-2.98 [[ 9.98399848e-01 -5.65428869e-02 8.03412374e-04 2.86816764e+02] [ 5.65428468e-02 9.98400171e-01 7.25735341e-05 8.53875668e+00] [-8.06230569e-04 -2.70301826e-05 9.99999675e-01 -2.97898352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.84589822699996 meters 0.038774749175442054 Centerline is valid? [True, True] Translation: X:286.85, Y:8.54, Z:-2.98 [[ 9.98354531e-01 -5.73408402e-02 -5.08087884e-04 2.86845936e+02] [ 5.73408236e-02 9.98354660e-01 -4.70746858e-05 8.54096878e+00] [ 5.09951209e-04 1.78630481e-05 9.99999870e-01 -2.98193290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.875898227 meters 0.04307848915714813 Centerline is valid? [True, True] Translation: X:286.88, Y:8.54, Z:-2.98 [[ 9.98286677e-01 -5.84996995e-02 -1.22327915e-03 2.86875438e+02] [ 5.84996057e-02 9.98287425e-01 -1.12304495e-04 8.54089243e+00] [ 1.22775397e-03 4.05507331e-05 9.99999245e-01 -2.98373773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.90589822699997 meters 0.034971552765016116 Centerline is valid? [True, True] Translation: X:286.90, Y:8.54, Z:-2.98 [[ 9.98100608e-01 -6.16047680e-02 -1.67682124e-04 2.86904542e+02] [ 6.16047662e-02 9.98100622e-01 -1.54724047e-05 8.53792597e+00] [ 1.68316806e-04 5.11299846e-06 9.99999986e-01 -2.98111824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.935898227 meters 0.03160924672438627 Centerline is valid? [True, True] Translation: X:286.93, Y:8.54, Z:-2.98 [[ 9.97964881e-01 -6.37583465e-02 9.84416968e-04 2.86934154e+02] [ 6.37582896e-02 9.97965366e-01 8.91439386e-05 8.53506419e+00] [-9.88097711e-04 -2.61977779e-05 9.99999511e-01 -2.97961592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.96589822699997 meters 0.028871588036908553 Centerline is valid? [True, True] Translation: X:286.96, Y:8.53, Z:-2.98 [[ 9.97799509e-01 -6.62877873e-02 1.43843463e-03 2.86963493e+02] [ 6.62876669e-02 9.97800545e-01 1.31229912e-04 8.53360115e+00] [-1.44396980e-03 -3.55906657e-05 9.99998957e-01 -2.97931400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99589822699994 meters 0.02341369174069125 Centerline is valid? [True, True] Translation: X:286.99, Y:8.53, Z:-2.98 [[ 9.97459116e-01 -7.12387812e-02 5.89640419e-04 2.86994117e+02] [ 7.12387618e-02 9.97459290e-01 5.38384763e-05 8.52868122e+00] [-5.91977701e-04 -1.16964256e-05 9.99999825e-01 -2.98023263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.02589822699997 meters 0.02233882477440345 Centerline is valid? [True, True] Translation: X:287.02, Y:8.53, Z:-2.98 [[ 9.97326284e-01 -7.30743910e-02 6.46190780e-04 2.87021602e+02] [ 7.30743683e-02 9.97326493e-01 5.88015978e-05 8.52916440e+00] [-6.48760075e-04 -1.14243960e-05 9.99999789e-01 -2.98073641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05589822699994 meters 0.020633766358688656 Centerline is valid? [True, True] Translation: X:287.05, Y:8.53, Z:-2.98 [[ 9.97180794e-01 -7.50247781e-02 1.32151971e-03 2.87050863e+02] [ 7.50246846e-02 9.97181670e-01 1.20252243e-04 8.52870867e+00] [-1.32681712e-03 -2.07666278e-05 9.99999120e-01 -2.97929480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.085898227 meters 0.016848118265128807 Centerline is valid? [True, True] Translation: X:287.08, Y:8.53, Z:-2.98 [[ 9.96869176e-01 -7.89904960e-02 3.51377328e-03 2.87080550e+02] [ 7.89898526e-02 9.96875368e-01 3.21730654e-04 8.52501705e+00] [-3.52820770e-03 -4.31709380e-05 9.99993775e-01 -2.97554029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11589822699995 meters 0.014822269149118262 Centerline is valid? [True, True] Translation: X:287.11, Y:8.52, Z:-2.97 [[ 9.96669503e-01 -8.14435778e-02 4.10439801e-03 2.87108390e+02] [ 8.14427172e-02 9.96677953e-01 3.76662955e-04 8.52472480e+00] [-4.12143979e-03 -4.11351538e-05 9.99991506e-01 -2.97456148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.145898227 meters 0.013400168071957177 Centerline is valid? [True, True] Translation: X:287.14, Y:8.53, Z:-2.97 [[ 9.96467000e-01 -8.38988583e-02 3.80786343e-03 2.87136803e+02] [ 8.38981353e-02 9.96474275e-01 3.49507681e-04 8.52554686e+00] [-3.82376124e-03 -2.88002299e-05 9.99992689e-01 -2.97482563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17589822699995 meters 0.011484617133493094 Centerline is valid? [True, True] Translation: X:287.17, Y:8.53, Z:-2.98 [[ 9.96280985e-01 -8.61046427e-02 3.19201410e-03 2.87165707e+02] [ 8.61041448e-02 9.96286099e-01 2.93362597e-04 8.52504620e+00] [-3.20541916e-03 -1.74259324e-05 9.99994862e-01 -2.97519639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.205898227 meters 0.00960037157954796 Centerline is valid? [True, True] Translation: X:287.20, Y:8.52, Z:-2.98 [[ 9.95891255e-01 -9.04914077e-02 3.45159428e-03 2.87195301e+02] [ 9.04908496e-02 9.95897236e-01 3.17845311e-04 8.52184682e+00] [-3.46619547e-03 -4.20166743e-06 9.99993993e-01 -2.97514575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23589822699995 meters 0.009443168092576287 Centerline is valid? [True, True] Translation: X:287.22, Y:8.52, Z:-2.97 [[ 9.95676677e-01 -9.27934744e-02 4.16248679e-03 2.87223204e+02] [ 9.27926794e-02 9.95685378e-01 3.84123772e-04 8.52147108e+00] [-4.18017141e-03 3.78522163e-06 9.99991263e-01 -2.97369820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.265898227 meters 0.00994728179116418 Centerline is valid? [True, True] Translation: X:287.25, Y:8.52, Z:-2.97 [[ 9.95448492e-01 -9.52001852e-02 4.38448053e-03 2.87251357e+02] [ 9.51993226e-02 9.95458148e-01 4.05488976e-04 8.52137707e+00] [-4.40316949e-03 1.37561858e-05 9.99990306e-01 -2.97347209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29589822699995 meters 0.012335211013622316 Centerline is valid? [True, True] Translation: X:287.28, Y:8.52, Z:-2.98 [[ 9.95087380e-01 -9.89427758e-02 3.38121947e-03 2.87279575e+02] [ 9.89422822e-02 9.95093125e-01 3.13355844e-04 8.51844854e+00] [-3.39563254e-03 2.27291246e-05 9.99994235e-01 -2.97579196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.325898227 meters 0.013045262477938453 Centerline is valid? [True, True] Translation: X:287.31, Y:8.52, Z:-2.98 [[ 9.94952431e-01 -1.00319190e-01 2.39149984e-03 2.87308262e+02] [ 1.00318947e-01 9.94955305e-01 2.21421189e-04 8.52127197e+00] [-2.40164825e-03 1.96091962e-05 9.99997116e-01 -2.97689308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35589822699995 meters 0.013518673198922415 Centerline is valid? [True, True] Translation: X:287.34, Y:8.52, Z:-2.98 [[ 9.94902959e-01 -1.00810369e-01 2.31776460e-03 2.87336262e+02] [ 1.00810141e-01 9.94905658e-01 2.15197354e-04 8.52482142e+00] [-2.32765124e-03 1.95536924e-05 9.99997291e-01 -2.97697055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.385898227 meters 0.013597894022785276 Centerline is valid? [True, True] Translation: X:287.36, Y:8.53, Z:-2.98 [[ 9.94902436e-01 -1.00794136e-01 3.11199714e-03 2.87362756e+02] [ 1.00793724e-01 9.94907303e-01 2.89182185e-04 8.53155575e+00] [-3.12529655e-03 2.59617224e-05 9.99995116e-01 -2.97526428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41589822699996 meters 0.014272345752460875 Centerline is valid? [True, True] Translation: X:287.39, Y:8.54, Z:-2.97 [[ 9.94883548e-01 -1.00957001e-01 3.79612352e-03 2.87389820e+02] [ 1.00956388e-01 9.94890789e-01 3.53160597e-04 8.53544639e+00] [-3.81238236e-03 3.18892505e-05 9.99992732e-01 -2.97433048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.445898227 meters 0.013571106514379613 Centerline is valid? [True, True] Translation: X:287.42, Y:8.54, Z:-2.97 [[ 9.94842122e-01 -1.01349503e-01 4.17488339e-03 2.87416925e+02] [ 1.01348764e-01 9.94850882e-01 3.88670157e-04 8.54161682e+00] [-4.19277795e-03 3.64538283e-05 9.99991210e-01 -2.97319424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47589822699996 meters 0.014450295974497462 Centerline is valid? [True, True] Translation: X:287.44, Y:8.55, Z:-2.97 [[ 9.94774530e-01 -1.02032898e-01 3.59463740e-03 2.87444272e+02] [ 1.02032352e-01 9.94781024e-01 3.35351413e-04 8.54789842e+00] [-3.61009395e-03 3.31702643e-05 9.99993483e-01 -2.97436274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.505898227 meters 0.013967266924771432 Centerline is valid? [True, True] Translation: X:287.47, Y:8.55, Z:-2.98 [[ 9.94717710e-01 -1.02609540e-01 2.82136004e-03 2.87472130e+02] [ 1.02609206e-01 9.94721711e-01 2.63354544e-04 8.55444500e+00] [-2.83349077e-03 2.75340853e-05 9.99995985e-01 -2.97576436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53589822699996 meters 0.014887624379746977 Centerline is valid? [True, True] Translation: X:287.50, Y:8.56, Z:-2.98 [[ 9.94644525e-01 -1.03340144e-01 1.75608314e-03 2.87499587e+02] [ 1.03340016e-01 9.94646075e-01 1.64007463e-04 8.55878975e+00] [-1.76362975e-03 1.83445340e-05 9.99998445e-01 -2.97802483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.565898227 meters 0.01795670771323996 Centerline is valid? [True, True] Translation: X:287.53, Y:8.56, Z:-2.98 [[ 9.94437408e-01 -1.05329104e-01 1.49614147e-04 2.87526934e+02] [ 1.05329103e-01 9.94437419e-01 1.37009647e-05 8.56389739e+00] [-1.50225016e-04 2.13397203e-06 9.99999989e-01 -2.98099270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59589822699996 meters 0.01677415505246824 Centerline is valid? [True, True] Translation: X:287.56, Y:8.57, Z:-2.98 [[ 9.94329581e-01 -1.06342297e-01 1.04528022e-05 2.87555281e+02] [ 1.06342297e-01 9.94329581e-01 8.72286483e-08 8.57190534e+00] [-1.04028066e-05 1.02484097e-06 1.00000000e+00 -2.97989085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.625898227 meters 0.019160894264063373 Centerline is valid? [True, True] Translation: X:287.58, Y:8.57, Z:-2.98 [[ 9.94261427e-01 -1.06977591e-01 9.78747504e-05 2.87582582e+02] [ 1.06977590e-01 9.94261432e-01 8.86976011e-06 8.57410943e+00] [-9.82619551e-05 1.65154460e-06 9.99999995e-01 -2.98096147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65589822699997 meters 0.020486296737554945 Centerline is valid? [True, True] Translation: X:287.61, Y:8.58, Z:-2.98 [[ 9.94167350e-01 -1.07847704e-01 3.91332157e-04 2.87609935e+02] [ 1.07847698e-01 9.94167427e-01 3.64618080e-05 8.57795841e+00] [-3.92982006e-04 5.95513314e-06 9.99999923e-01 -2.98131148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.685898227 meters 0.022887524151704246 Centerline is valid? [True, True] Translation: X:287.64, Y:8.58, Z:-2.98 [[ 9.93944047e-01 -1.09887331e-01 7.05080600e-05 2.87637958e+02] [ 1.09887331e-01 9.93944050e-01 6.33822200e-06 8.58360987e+00] [-7.07775570e-05 1.44810448e-06 9.99999997e-01 -2.98252468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71589822699997 meters 0.020489076056315527 Centerline is valid? [True, True] Translation: X:287.67, Y:8.59, Z:-2.98 [[ 9.93845922e-01 -1.10770805e-01 -3.35939283e-04 2.87666261e+02] [ 1.10770800e-01 9.93845978e-01 -3.25150142e-05 8.59334546e+00] [ 3.37473619e-04 -4.89734889e-06 9.99999943e-01 -2.98135151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.74589822699994 meters 0.024434936583620392 Centerline is valid? [True, True] Translation: X:287.69, Y:8.59, Z:-2.98 [[ 9.93802346e-01 -1.11161282e-01 -2.57984973e-04 2.87694384e+02] [ 1.11161279e-01 9.93802379e-01 -2.46194772e-05 8.59413279e+00] [ 2.59122812e-04 -4.21104545e-06 9.99999966e-01 -2.98305548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.77589822699997 meters 0.021948513224363978 Centerline is valid? [True, True] Translation: X:287.72, Y:8.60, Z:-2.98 [[ 9.93785531e-01 -1.11311382e-01 3.08621640e-04 2.87722076e+02] [ 1.11311379e-01 9.93785579e-01 2.81600412e-05 8.60339793e+00] [-3.09838268e-04 6.36805868e-06 9.99999952e-01 -2.98187311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.80589822699994 meters 0.0258021282506298 Centerline is valid? [True, True] Translation: X:287.75, Y:8.61, Z:-2.98 [[ 9.93668290e-01 -1.12345752e-01 1.32727001e-03 2.87749853e+02] [ 1.12345685e-01 9.93669176e-01 1.25071290e-04 8.60786243e+00] [-1.33291853e-03 2.48336834e-05 9.99999111e-01 -2.98111615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.835898227 meters 0.0258021282506298 Centerline is valid? [True, True] Translation: X:287.78, Y:8.61, Z:-2.98 [[ 9.93648741e-01 -1.12518519e-01 1.32730480e-03 2.87777212e+02] [ 1.12518452e-01 9.93649628e-01 1.24703622e-04 8.61065779e+00] [-1.33290739e-03 2.54346852e-05 9.99999111e-01 -2.98125873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.86589822699995 meters 0.02347048065507124 Centerline is valid? [True, True] Translation: X:287.81, Y:8.62, Z:-2.98 [[ 9.93553376e-01 -1.13358240e-01 1.26439182e-03 2.87805459e+02] [ 1.13358181e-01 9.93554180e-01 1.19010203e-04 8.62024439e+00] [-1.26973257e-03 2.50861683e-05 9.99999194e-01 -2.98009420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.895898227 meters 0.023843191850212473 Centerline is valid? [True, True] Translation: X:287.83, Y:8.63, Z:-2.98 [[ 9.93484211e-01 -1.13959594e-01 1.52774895e-03 2.87833665e+02] [ 1.13959506e-01 9.93485385e-01 1.44230535e-04 8.62639545e+00] [-1.53423271e-03 3.08107574e-05 9.99998823e-01 -2.98008851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.92589822699995 meters 0.02400996395016468 Centerline is valid? [True, True] Translation: X:287.86, Y:8.64, Z:-2.98 [[ 9.93513565e-01 -1.13681492e-01 2.70467398e-03 2.87860587e+02] [ 1.13681214e-01 9.93517245e-01 2.56706863e-04 8.63571992e+00] [-2.71632306e-03 5.24288698e-05 9.99996309e-01 -2.97844426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.955898227 meters 0.02729035914097647 Centerline is valid? [True, True] Translation: X:287.89, Y:8.64, Z:-2.98 [[ 9.93487792e-01 -1.13881706e-01 3.60053846e-03 2.87887981e+02] [ 1.13881214e-01 9.93494314e-01 3.42012219e-04 8.63733255e+00] [-3.61606342e-03 7.02487261e-05 9.99993460e-01 -2.97711649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.98589822699995 meters 0.024402472825616625 Centerline is valid? [True, True] Translation: X:287.91, Y:8.65, Z:-2.97 [[ 9.93428264e-01 -1.14365407e-01 4.56477312e-03 2.87914898e+02] [ 1.14364620e-01 9.93438748e-01 4.34022710e-04 8.64769016e+00] [-4.58445968e-03 9.08781157e-05 9.99989487e-01 -2.97497215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.015898227 meters 0.023973184866458448 Centerline is valid? [True, True] Translation: X:287.94, Y:8.66, Z:-2.97 [[ 9.93320869e-01 -1.15256357e-01 5.44274325e-03 2.87942876e+02] [ 1.15255245e-01 9.93335774e-01 5.18690550e-04 8.65518744e+00] [-5.46625396e-03 1.12078557e-04 9.99985054e-01 -2.97374004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.04589822699995 meters 0.02448572960529363 Centerline is valid? [True, True] Translation: X:287.97, Y:8.66, Z:-2.98 [[ 9.93167533e-01 -1.16624542e-01 4.11915122e-03 2.87971066e+02] [ 1.16623914e-01 9.93176071e-01 3.93030127e-04 8.66470062e+00] [-4.13687939e-03 9.00467767e-05 9.99991439e-01 -2.97691893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.075898227 meters 0.025663362016914697 Centerline is valid? [True, True] Translation: X:288.00, Y:8.67, Z:-2.98 [[ 9.92989985e-01 -1.18160933e-01 2.98055172e-03 2.87999436e+02] [ 1.18160610e-01 9.92994456e-01 2.84653581e-04 8.66882876e+00] [-2.99330626e-03 6.95256543e-05 9.99995518e-01 -2.97947413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.10589822699995 meters 0.030441931364726543 Centerline is valid? [True, True] Translation: X:288.03, Y:8.67, Z:-2.98 [[ 9.92763964e-01 -1.20071556e-01 1.59137830e-03 2.88027318e+02] [ 1.20071466e-01 9.92765239e-01 1.52235472e-04 8.66773931e+00] [-1.59814421e-03 3.99452344e-05 9.99998722e-01 -2.98227958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.135898227 meters 0.03155915514711052 Centerline is valid? [True, True] Translation: X:288.06, Y:8.67, Z:-2.98 [[ 9.92479115e-01 -1.22411801e-01 7.46752480e-04 2.88056836e+02] [ 1.22411781e-01 9.92479396e-01 7.14784191e-05 8.67147135e+00] [-7.49886252e-04 2.04704632e-05 9.99999719e-01 -2.98389601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.16589822699996 meters 0.03701510730842839 Centerline is valid? [True, True] Translation: X:288.09, Y:8.67, Z:-2.98 [[ 9.91755696e-01 -1.28140306e-01 8.37856877e-04 2.88087169e+02] [ 1.28140284e-01 9.91756049e-01 8.03158582e-05 8.67020782e+00] [-8.41241325e-04 2.77095080e-05 9.99999646e-01 -2.98386456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.195898227 meters 0.0414896282059114 Centerline is valid? [True, True] Translation: X:288.12, Y:8.67, Z:-2.98 [[ 9.91318415e-01 -1.31476271e-01 1.33816132e-03 2.88116783e+02] [ 1.31476217e-01 9.91319317e-01 1.28220382e-04 8.66785909e+00] [-1.34340311e-03 4.88291633e-05 9.99999096e-01 -2.98360925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.22589822699996 meters 0.045461362645134104 Centerline is valid? [True, True] Translation: X:288.15, Y:8.67, Z:-2.98 [[ 9.90852583e-01 -1.34940928e-01 1.45053823e-03 2.88147516e+02] [ 1.34940869e-01 9.90853643e-01 1.39118420e-04 8.66669178e+00] [-1.45604386e-03 5.78910437e-05 9.99998938e-01 -2.98368683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.255898227 meters 0.05080777440639964 Centerline is valid? [True, True] Translation: X:288.18, Y:8.67, Z:-2.99 [[ 9.90127024e-01 -1.40173020e-01 -1.08966501e-05 2.88177848e+02] [ 1.40173020e-01 9.90127024e-01 -1.10244207e-06 8.66565435e+00] [ 1.09436004e-05 -4.35858668e-07 1.00000000e+00 -2.98644907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.28589822699996 meters 0.052636570079231164 Centerline is valid? [True, True] Translation: X:288.21, Y:8.67, Z:-2.99 [[ 9.89858008e-01 -1.42058307e-01 -7.49910372e-04 2.88207275e+02] [ 1.42058293e-01 9.89858291e-01 -7.20674438e-05 8.66766137e+00] [ 7.52542778e-04 -3.51944509e-05 9.99999716e-01 -2.98802223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.315898227 meters 0.05491100593983948 Centerline is valid? [True, True] Translation: X:288.24, Y:8.67, Z:-2.99 [[ 9.89646312e-01 -1.43518226e-01 -1.64216201e-03 2.88235423e+02] [ 1.43518162e-01 9.89647671e-01 -1.57865729e-04 8.66867357e+00] [ 1.64781842e-03 -7.94488374e-05 9.99998639e-01 -2.98964863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.34589822699996 meters 0.056112723570323146 Centerline is valid? [True, True] Translation: X:288.26, Y:8.67, Z:-2.99 [[ 9.89440321e-01 -1.44924112e-01 -2.20305519e-03 2.88264432e+02] [ 1.44923999e-01 9.89442767e-01 -2.11721933e-04 8.67125298e+00] [ 2.21048063e-03 -1.09789350e-04 9.99997551e-01 -2.99042171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.375898227 meters 0.059029779915276956 Centerline is valid? [True, True] Translation: X:288.29, Y:8.67, Z:-2.99 [[ 9.89180409e-01 -1.46696533e-01 -1.49865276e-03 2.88292644e+02] [ 1.46696482e-01 9.89181541e-01 -1.44261650e-04 8.67250376e+00] [ 1.50360233e-03 -7.71462904e-05 9.99998867e-01 -2.98906809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.40589822699997 meters 0.0575421890619536 Centerline is valid? [True, True] Translation: X:288.32, Y:8.68, Z:-2.99 [[ 9.89113129e-01 -1.47157120e-01 -2.69585717e-05 2.88320621e+02] [ 1.47157120e-01 9.89113129e-01 -3.42848599e-06 8.67852099e+00] [ 2.71696033e-05 -5.75985266e-07 1.00000000e+00 -2.98618568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.435898227 meters 0.05829897788049543 Centerline is valid? [True, True] Translation: X:288.35, Y:8.68, Z:-2.98 [[ 9.88981501e-01 -1.48032435e-01 1.41034050e-03 2.88349251e+02] [ 1.48032392e-01 9.88982504e-01 1.35120693e-04 8.68087933e+00] [-1.41480433e-03 7.51442125e-05 9.99998996e-01 -2.98399258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.46589822699997 meters 0.060355469020416976 Centerline is valid? [True, True] Translation: X:288.38, Y:8.68, Z:-2.98 [[ 9.88740450e-01 -1.49633297e-01 1.48298593e-03 2.88378382e+02] [ 1.49633251e-01 9.88741559e-01 1.42830156e-04 8.68421688e+00] [-1.48766197e-03 8.06820533e-05 9.99998890e-01 -2.98338431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49589822699994 meters 0.06298941443090902 Centerline is valid? [True, True] Translation: X:288.41, Y:8.68, Z:-2.99 [[ 9.88242769e-01 -1.52890195e-01 -9.04627116e-04 2.88408492e+02] [ 1.52890179e-01 9.88243181e-01 -8.73230997e-05 8.67768446e+00] [ 9.07342425e-04 -5.20121796e-05 9.99999587e-01 -2.98782920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.52589822699997 meters 0.06503856634764187 Centerline is valid? [True, True] Translation: X:288.44, Y:8.68, Z:-2.99 [[ 9.88057125e-01 -1.54083150e-01 -1.22519222e-03 2.88438287e+02] [ 1.54083121e-01 9.88057882e-01 -1.18315398e-04 8.67744108e+00] [ 1.22879124e-03 -7.18790692e-05 9.99999242e-01 -2.98871563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55589822699994 meters 0.06959263160191194 Centerline is valid? [True, True] Translation: X:288.47, Y:8.67, Z:-2.99 [[ 9.87986719e-01 -1.54538016e-01 -4.95431173e-04 2.88466767e+02] [ 1.54538011e-01 9.87986842e-01 -4.81184816e-05 8.67403513e+00] [ 4.96915615e-04 -2.90225274e-05 9.99999876e-01 -2.98763405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.585898227 meters 0.0640522317966425 Centerline is valid? [True, True] Translation: X:288.50, Y:8.68, Z:-2.98 [[ 9.88061100e-01 -1.54058142e-01 1.16238495e-03 2.88495011e+02] [ 1.54058117e-01 9.88061782e-01 1.11560275e-04 8.68410036e+00] [-1.16569491e-03 6.88464679e-05 9.99999318e-01 -2.98382496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61589822699995 meters 0.060877740849375146 Centerline is valid? [True, True] Translation: X:288.52, Y:8.69, Z:-2.98 [[ 9.88669844e-01 -1.50027974e-01 4.85250816e-03 2.88523391e+02] [ 1.50027473e-01 9.88681717e-01 4.69181830e-04 8.69284711e+00] [-4.86797650e-03 2.64143609e-04 9.99988116e-01 -2.97747911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.645898227 meters 0.06397696484532057 Centerline is valid? [True, True] Translation: X:288.55, Y:8.69, Z:-2.98 [[ 9.89046048e-01 -1.47522183e-01 5.01202899e-03 2.88552263e+02] [ 1.47521616e-01 9.89058713e-01 4.84759186e-04 8.69325236e+00] [-5.02870367e-03 2.59933458e-04 9.99987322e-01 -2.97694703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67589822699995 meters 0.05305331419269392 Centerline is valid? [True, True] Translation: X:288.58, Y:8.71, Z:-2.98 [[ 9.89396947e-01 -1.45184240e-01 3.90100555e-03 2.88580455e+02] [ 1.45183877e-01 9.89404619e-01 3.77378524e-04 8.71244636e+00] [-3.91446232e-03 1.92985952e-04 9.99992320e-01 -2.97837342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.705898227 meters 0.05198855459870668 Centerline is valid? [True, True] Translation: X:288.61, Y:8.72, Z:-2.98 [[ 9.89675921e-01 -1.43302208e-01 2.45925636e-03 2.88609019e+02] [ 1.43302059e-01 9.89678970e-01 2.37880844e-04 8.71924657e+00] [-2.46796315e-03 1.16991555e-04 9.99996948e-01 -2.98096396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73589822699995 meters 0.052045962764185855 Centerline is valid? [True, True] Translation: X:288.64, Y:8.73, Z:-2.98 [[ 9.89866202e-01 -1.41993074e-01 1.69412712e-03 2.88636666e+02] [ 1.41993001e-01 9.89867648e-01 1.63793692e-04 8.72689786e+00] [-1.70021920e-03 7.84203538e-05 9.99998552e-01 -2.98315553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.765898227 meters 0.05548743366325314 Centerline is valid? [True, True] Translation: X:288.66, Y:8.73, Z:-2.98 [[ 9.89762462e-01 -1.42713245e-01 1.78824813e-03 2.88664089e+02] [ 1.42713165e-01 9.89764074e-01 1.72913241e-04 8.72767114e+00] [-1.79462077e-03 8.40635159e-05 9.99998386e-01 -2.98327446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79589822699995 meters 0.05181201627839807 Centerline is valid? [True, True] Translation: X:288.69, Y:8.74, Z:-2.98 [[ 9.89583056e-01 -1.43953876e-01 1.62993395e-03 2.88693051e+02] [ 1.43953811e-01 9.89584395e-01 1.57845315e-04 8.73814364e+00] [-1.63567965e-03 7.84341546e-05 9.99998659e-01 -2.98365630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.825898227 meters 0.06024069193049298 Centerline is valid? [True, True] Translation: X:288.72, Y:8.74, Z:-2.98 [[ 9.89204283e-01 -1.46533201e-01 1.70522370e-03 2.88722447e+02] [ 1.46533134e-01 9.89205749e-01 1.65182458e-04 8.73695542e+00] [-1.71102180e-03 8.64725773e-05 9.99998532e-01 -2.98435760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85589822699995 meters 0.05836423194586855 Centerline is valid? [True, True] Translation: X:288.75, Y:8.75, Z:-2.98 [[ 9.89071730e-01 -1.47421042e-01 2.03707098e-03 2.88750506e+02] [ 1.47420948e-01 9.89073822e-01 1.96977781e-04 8.74582560e+00] [-2.04385225e-03 1.05481781e-04 9.99997906e-01 -2.98366899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.885898227 meters 0.06256930641604992 Centerline is valid? [True, True] Translation: X:288.78, Y:8.75, Z:-2.98 [[ 9.88966561e-01 -1.48112051e-01 2.82170839e-03 2.88778245e+02] [ 1.48111871e-01 9.88970575e-01 2.73847356e-04 8.74672567e+00] [-2.83114666e-03 1.47102630e-04 9.99995981e-01 -2.98328692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91589822699996 meters 0.05779171150545121 Centerline is valid? [True, True] Translation: X:288.81, Y:8.76, Z:-2.98 [[ 9.88877855e-01 -1.48702642e-01 2.84832922e-03 2.88805485e+02] [ 1.48702460e-01 9.88881945e-01 2.76588747e-04 8.75949564e+00] [-2.85779082e-03 1.50041076e-04 9.99995905e-01 -2.98301288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.945898227 meters 0.06019986859726587 Centerline is valid? [True, True] Translation: X:288.83, Y:8.77, Z:-2.98 [[ 9.88683825e-01 -1.50002687e-01 1.86765960e-03 2.88833488e+02] [ 1.50002611e-01 9.88685584e-01 1.81441974e-04 8.76856304e+00] [-1.87374491e-03 1.00765073e-04 9.99998239e-01 -2.98472297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97589822699996 meters 0.0611384754786391 Centerline is valid? [True, True] Translation: X:288.86, Y:8.77, Z:-2.99 [[ 9.88497901e-01 -1.51221558e-01 1.98509238e-03 2.88862474e+02] [ 1.51221474e-01 9.88499888e-01 1.92965949e-04 8.77448709e+00] [-1.99144421e-03 1.09442161e-04 9.99998011e-01 -2.98514127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.005898227 meters 0.06257576175696826 Centerline is valid? [True, True] Translation: X:288.89, Y:8.78, Z:-2.99 [[ 9.88179304e-01 -1.53289475e-01 1.99995322e-03 2.88892687e+02] [ 1.53289394e-01 9.88181321e-01 1.94529628e-04 8.77890265e+00] [-2.00613576e-03 1.14341466e-04 9.99997981e-01 -2.98609658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03589822699996 meters 0.06825161918975467 Centerline is valid? [True, True] Translation: X:288.92, Y:8.78, Z:-2.99 [[ 9.87204158e-01 -1.59460528e-01 5.39132445e-04 2.88922791e+02] [ 1.59460523e-01 9.87204305e-01 5.24361430e-05 8.78002954e+00] [-5.40595365e-04 3.42051630e-05 9.99999853e-01 -2.98966902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.065898227 meters 0.07738093355803155 Centerline is valid? [True, True] Translation: X:288.95, Y:8.77, Z:-2.99 [[ 9.86646033e-01 -1.62877584e-01 -7.05637945e-04 2.88952846e+02] [ 1.62877576e-01 9.86646284e-01 -6.87007385e-05 8.77357445e+00] [ 7.07404866e-04 -4.71492870e-05 9.99999749e-01 -2.99231980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09589822699996 meters 0.07147019422160344 Centerline is valid? [True, True] Translation: X:288.98, Y:8.79, Z:-2.99 [[ 9.86062838e-01 -1.66365658e-01 -1.59581285e-03 2.88982019e+02] [ 1.66365624e-01 9.86064123e-01 -1.55311765e-04 8.78562878e+00] [ 1.59941234e-03 -1.12341241e-04 9.99998715e-01 -2.99271804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.125898227 meters 0.07923830384170151 Centerline is valid? [True, True] Translation: X:289.01, Y:8.78, Z:-2.99 [[ 9.85268569e-01 -1.71002345e-01 -2.01101030e-03 2.89011846e+02] [ 1.71002300e-01 9.85270610e-01 -1.95678602e-04 8.78031314e+00] [ 2.01485084e-03 -1.51091409e-04 9.99997959e-01 -2.99362662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15589822699997 meters 0.08662503245578347 Centerline is valid? [True, True] Translation: X:289.04, Y:8.77, Z:-2.99 [[ 9.85098352e-01 -1.71987120e-01 -1.29144460e-03 2.89041073e+02] [ 1.71987102e-01 9.85099193e-01 -1.25867900e-04 8.77427645e+00] [ 1.29384869e-03 -9.81195528e-05 9.99999158e-01 -2.99359479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.185898227 meters 0.08484724169064267 Centerline is valid? [True, True] Translation: X:289.07, Y:8.78, Z:-2.99 [[ 9.85103474e-01 -1.71962097e-01 -4.26556229e-04 2.89069150e+02] [ 1.71962094e-01 9.85103566e-01 -4.23787664e-05 8.77992565e+00] [ 4.27489604e-04 -3.16040324e-05 9.99999908e-01 -2.99241145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21589822699997 meters 0.07847814180252043 Centerline is valid? [True, True] Translation: X:289.10, Y:8.79, Z:-2.99 [[ 9.85663169e-01 -1.68723792e-01 6.31973093e-04 2.89097684e+02] [ 1.68723787e-01 9.85663370e-01 6.15206527e-05 8.79456183e+00] [-6.33292727e-04 4.59902522e-05 9.99999798e-01 -2.99001391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.24589822699994 meters 0.0754296749476618 Centerline is valid? [True, True] Translation: X:289.13, Y:8.80, Z:-2.99 [[ 9.85999722e-01 -1.66746517e-01 3.84239951e-04 2.89126066e+02] [ 1.66746515e-01 9.85999796e-01 3.73035609e-05 8.79859164e+00] [-3.85080753e-04 2.72893722e-05 9.99999925e-01 -2.99020942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.27589822699997 meters 0.07232190247209526 Centerline is valid? [True, True] Translation: X:289.16, Y:8.81, Z:-2.99 [[ 9.86315885e-01 -1.64866365e-01 2.37557091e-04 2.89155286e+02] [ 1.64866365e-01 9.86315914e-01 2.30545757e-05 8.80569583e+00] [-2.38107264e-04 1.64260798e-05 9.99999972e-01 -2.99075793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.30589822699994 meters 0.07656590558549234 Centerline is valid? [True, True] Translation: X:289.18, Y:8.80, Z:-2.99 [[ 9.86533879e-01 -1.63556543e-01 4.04329659e-04 2.89184185e+02] [ 1.63556540e-01 9.86533961e-01 3.92822516e-05 8.80355299e+00] [-4.05309809e-04 2.73774881e-05 9.99999917e-01 -2.99139777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.335898227 meters 0.06978934855884852 Centerline is valid? [True, True] Translation: X:289.21, Y:8.82, Z:-2.99 [[ 9.86753538e-01 -1.62213886e-01 2.02754868e-03 2.89213022e+02] [ 1.62213821e-01 9.86755612e-01 1.97836917e-04 8.81684265e+00] [-2.03278693e-03 1.33680140e-04 9.99997925e-01 -2.98944374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.36589822699995 meters 0.07271174007885275 Centerline is valid? [True, True] Translation: X:289.24, Y:8.82, Z:-2.99 [[ 9.86837384e-01 -1.61688885e-01 2.94652656e-03 2.89240938e+02] [ 1.61688744e-01 9.86841764e-01 2.87465878e-04 8.81597483e+00] [-2.95423550e-03 1.92738104e-04 9.99995618e-01 -2.98813523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.395898227 meters 0.06913906478003777 Centerline is valid? [True, True] Translation: X:289.27, Y:8.82, Z:-2.99 [[ 9.86870409e-01 -1.61469542e-01 3.79236168e-03 2.89269328e+02] [ 1.61469307e-01 9.86877665e-01 3.70145292e-04 8.82447787e+00] [-3.80236423e-03 2.47064576e-04 9.99992740e-01 -2.98695655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.42589822699995 meters 0.06693025406126044 Centerline is valid? [True, True] Translation: X:289.30, Y:8.83, Z:-2.99 [[ 9.86922330e-01 -1.61155142e-01 3.65159603e-03 2.89297679e+02] [ 1.61154919e-01 9.86929058e-01 3.56953098e-04 8.83172957e+00] [-3.66139105e-03 2.36187680e-04 9.99993269e-01 -2.98719707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.455898227 meters 0.06912780523647698 Centerline is valid? [True, True] Translation: X:289.33, Y:8.84, Z:-2.99 [[ 9.86942816e-01 -1.61056657e-01 2.15185852e-03 2.89325006e+02] [ 1.61056579e-01 9.86945152e-01 2.10666734e-04 8.83610309e+00] [-2.15769561e-03 1.38654953e-04 9.99997663e-01 -2.98982817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.48589822699995 meters 0.07360558484894533 Centerline is valid? [True, True] Translation: X:289.35, Y:8.84, Z:-2.99 [[ 9.86879159e-01 -1.61450014e-01 1.84903590e-03 2.89352978e+02] [ 1.61449957e-01 9.86880884e-01 1.81087235e-04 8.83538082e+00] [-1.85401472e-03 1.19815548e-04 9.99998274e-01 -2.99101507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.515898227 meters 0.06953331549541493 Centerline is valid? [True, True] Translation: X:289.38, Y:8.85, Z:-2.99 [[ 9.86589386e-01 -1.63206774e-01 2.22103690e-03 2.89381595e+02] [ 1.63206695e-01 9.86591875e-01 2.17835274e-04 8.84838002e+00] [-2.22680915e-03 1.47574122e-04 9.99997510e-01 -2.99034211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.54589822699995 meters 0.07792460837804621 Centerline is valid? [True, True] Translation: X:289.41, Y:8.84, Z:-2.99 [[ 9.86327867e-01 -1.64775394e-01 2.53144267e-03 2.89411274e+02] [ 1.64775297e-01 9.86331100e-01 2.48286857e-04 8.84357407e+00] [-2.53775220e-03 1.72226972e-04 9.99996765e-01 -2.99047957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.575898227 meters 0.06798576818674279 Centerline is valid? [True, True] Translation: X:289.44, Y:8.86, Z:-2.99 [[ 9.86027774e-01 -1.66556674e-01 2.84653549e-03 2.89439365e+02] [ 1.66556559e-01 9.86031863e-01 2.79296167e-04 8.86226197e+00] [-2.85329333e-03 1.98715377e-04 9.99995910e-01 -2.98999376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.60589822699995 meters 0.08008658551752172 Centerline is valid? [True, True] Translation: X:289.47, Y:8.85, Z:-2.99 [[ 9.85750648e-01 -1.68189141e-01 2.84114177e-03 2.89469255e+02] [ 1.68189033e-01 9.85754722e-01 2.78812324e-04 8.85313819e+00] [-2.84756212e-03 2.03009456e-04 9.99995925e-01 -2.99121563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.635898227 meters 0.07630088046048457 Centerline is valid? [True, True] Translation: X:289.50, Y:8.87, Z:-2.99 [[ 9.85539739e-01 -1.69441102e-01 1.06582523e-03 2.89497603e+02] [ 1.69441087e-01 9.85540312e-01 1.04513678e-04 8.86852604e+00] [-1.06812264e-03 7.75922033e-05 9.99999427e-01 -2.99383263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.66589822699996 meters 0.08263682958080604 Centerline is valid? [True, True] Translation: X:289.53, Y:8.87, Z:-3.00 [[ 9.85484613e-01 -1.69764422e-01 3.43585419e-04 2.89525359e+02] [ 1.69764421e-01 9.85484673e-01 3.33241723e-05 8.86757230e+00] [-3.44255423e-04 2.54881208e-05 9.99999940e-01 -2.99618451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.695898227 meters 0.08174898895788515 Centerline is valid? [True, True] Translation: X:289.55, Y:8.88, Z:-3.00 [[ 9.85352860e-01 -1.70527733e-01 -1.83370317e-04 2.89553455e+02] [ 1.70527733e-01 9.85352877e-01 -1.88429205e-05 8.87585216e+00] [ 1.83897710e-04 -1.27027987e-05 9.99999983e-01 -2.99675590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.72589822699996 meters 0.08369457247870785 Centerline is valid? [True, True] Translation: X:289.58, Y:8.88, Z:-3.00 [[ 9.85123035e-01 -1.71850400e-01 2.13799061e-04 2.89582618e+02] [ 1.71850399e-01 9.85123058e-01 2.08759378e-05 8.87987870e+00] [-2.14205923e-04 1.61760868e-05 9.99999977e-01 -2.99698133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.755898227 meters 0.08369457247870785 Centerline is valid? [True, True] Translation: X:289.61, Y:8.88, Z:-3.00 [[ 9.85092991e-01 -1.72022537e-01 2.13867606e-04 2.89610026e+02] [ 1.72022536e-01 9.85093014e-01 2.01804086e-05 8.88274839e+00] [-2.14150969e-04 1.69104689e-05 9.99999977e-01 -2.99712423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.78589822699996 meters 0.07754233344405395 Centerline is valid? [True, True] Translation: X:289.64, Y:8.90, Z:-3.00 [[ 9.84513101e-01 -1.75310971e-01 1.31356218e-04 2.89638976e+02] [ 1.75310971e-01 9.84513110e-01 1.29590642e-05 8.89864248e+00] [-1.31593784e-04 1.02698176e-05 9.99999991e-01 -2.99677281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.815898227 meters 0.08808838737772609 Centerline is valid? [True, True] Translation: X:289.67, Y:8.89, Z:-3.00 [[ 9.84236931e-01 -1.76854904e-01 7.72792368e-05 2.89669196e+02] [ 1.76854904e-01 9.84236934e-01 7.50291552e-06 8.88966379e+00] [-7.73880066e-05 6.28256548e-06 9.99999997e-01 -2.99838695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.84589822699996 meters 0.08380428677922197 Centerline is valid? [True, True] Translation: X:289.70, Y:8.90, Z:-3.00 [[ 9.83982622e-01 -1.78264396e-01 6.58549754e-05 2.89698184e+02] [ 1.78264396e-01 9.83982624e-01 6.43839474e-06 8.89888881e+00] [-6.59478881e-05 5.40432886e-06 9.99999998e-01 -2.99890281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.875898227 meters 0.09439903615182427 Centerline is valid? [True, True] Translation: X:289.73, Y:8.89, Z:-3.00 [[ 9.83527579e-01 -1.80758120e-01 5.13836074e-05 2.89728609e+02] [ 1.80758120e-01 9.83527581e-01 5.04969765e-06 8.88965779e+00] [-5.14499689e-05 4.32148738e-06 9.99999999e-01 -2.99894090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.90589822699997 meters 0.08700225385266688 Centerline is valid? [True, True] Translation: X:289.76, Y:8.90, Z:-3.00 [[ 9.83371377e-01 -1.81605698e-01 -3.23150412e-04 2.89757153e+02] [ 1.81605697e-01 9.83371430e-01 -3.20037128e-05 8.90249463e+00] [ 3.23588940e-04 -2.72144208e-05 9.99999947e-01 -2.99864899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.935898227 meters 0.09548241971922997 Centerline is valid? [True, True] Translation: X:289.79, Y:8.89, Z:-3.00 [[ 9.83309177e-01 -1.81935532e-01 -1.58866269e-03 2.89785848e+02] [ 1.81935514e-01 9.83310451e-01 -1.57142944e-04 8.89463389e+00] [ 1.59073851e-03 -1.34514065e-04 9.99998726e-01 -3.00096310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.96589822699997 meters 0.0850965431906454 Centerline is valid? [True, True] Translation: X:289.81, Y:8.91, Z:-3.00 [[ 9.83302516e-01 -1.81951719e-01 -3.11988622e-03 2.89812645e+02] [ 1.81951646e-01 9.83307430e-01 -3.09547908e-04 8.91059120e+00] [ 3.12413008e-03 -2.63289198e-04 9.99995085e-01 -3.00205643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99589822699994 meters 0.08346420855709985 Centerline is valid? [True, True] Translation: X:289.84, Y:8.91, Z:-3.00 [[ 9.83678029e-01 -1.79909124e-01 -3.20047070e-03 2.89843127e+02] [ 1.79909040e-01 9.83683200e-01 -3.16612776e-04 8.91476607e+00] [ 3.20521078e-03 -2.64348579e-04 9.99994828e-01 -3.00207669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.02589822699997 meters 0.08678919143367583 Centerline is valid? [True, True] Translation: X:289.87, Y:8.91, Z:-3.00 [[ 9.83958211e-01 -1.78394413e-01 -1.29316998e-03 2.89872965e+02] [ 1.78394398e-01 9.83959055e-01 -1.28065164e-04 8.91306861e+00] [ 1.29527242e-03 -1.04683511e-04 9.99999156e-01 -2.99992914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05589822699994 meters 0.08277175777289618 Centerline is valid? [True, True] Translation: X:289.90, Y:8.92, Z:-3.00 [[ 9.84221552e-01 -1.76938548e-01 8.28925430e-04 2.89902314e+02] [ 1.76938541e-01 9.84221899e-01 8.19166807e-05 8.92032154e+00] [-8.30340779e-04 6.60446937e-05 9.99999653e-01 -2.99625138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.085898227 meters 0.08526418313107592 Centerline is valid? [True, True] Translation: X:289.93, Y:8.92, Z:-3.00 [[ 9.84498743e-01 -1.75384227e-01 1.61170215e-03 2.89931640e+02] [ 1.75384200e-01 9.84500054e-01 1.59423116e-04 8.91862033e+00] [-1.61468116e-03 1.25715235e-04 9.99998688e-01 -2.99626759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11589822699995 meters 0.07965728764216073 Centerline is valid? [True, True] Translation: X:289.96, Y:8.93, Z:-3.00 [[ 9.84509020e-01 -1.75332784e-01 6.35764139e-04 2.89959392e+02] [ 1.75332780e-01 9.84509224e-01 6.22134766e-05 8.92774585e+00] [-6.36823721e-04 5.02205649e-05 9.99999796e-01 -2.99744580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.145898227 meters 0.08604142964300718 Centerline is valid? [True, True] Translation: X:289.99, Y:8.92, Z:-3.00 [[ 9.84423286e-01 -1.75814477e-01 -2.51744797e-04 2.89987871e+02] [ 1.75814476e-01 9.84423318e-01 -2.54189533e-05 8.92155445e+00] [ 2.52292468e-04 -1.92373699e-05 9.99999968e-01 -3.00034405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17589822699995 meters 0.08410622321447331 Centerline is valid? [True, True] Translation: X:290.02, Y:8.93, Z:-3.00 [[ 9.84266962e-01 -1.76686433e-01 -6.72723037e-04 2.90017522e+02] [ 1.76686428e-01 9.84267190e-01 -6.68855214e-05 8.92628581e+00] [ 6.73956977e-04 -5.30278213e-05 9.99999771e-01 -3.00025101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.205898227 meters 0.0890252685953682 Centerline is valid? [True, True] Translation: X:290.05, Y:8.92, Z:-3.00 [[ 9.84021367e-01 -1.78049467e-01 5.79281138e-04 2.90046286e+02] [ 1.78049464e-01 9.84021537e-01 5.72504348e-05 8.92173757e+00] [-5.80218525e-04 4.68050451e-05 9.99999831e-01 -2.99760984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23589822699995 meters 0.0931027342081517 Centerline is valid? [True, True] Translation: X:290.07, Y:8.92, Z:-3.00 [[ 9.83916483e-01 -1.78622375e-01 1.55000281e-03 2.90074820e+02] [ 1.78622353e-01 9.83917695e-01 1.53730509e-04 8.91962231e+00] [-1.55253490e-03 1.25607167e-04 9.99998787e-01 -2.99599614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.265898227 meters 0.08712797362627837 Centerline is valid? [True, True] Translation: X:290.10, Y:8.93, Z:-3.00 [[ 9.83846262e-01 -1.79007770e-01 1.65847110e-03 2.90102250e+02] [ 1.79007745e-01 9.83847651e-01 1.64593578e-04 8.93086507e+00] [-1.66114642e-03 1.34944395e-04 9.99998611e-01 -2.99609766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29589822699995 meters 0.08044528185511605 Centerline is valid? [True, True] Translation: X:290.13, Y:8.94, Z:-3.00 [[ 9.83571496e-01 -1.80518153e-01 5.54704299e-04 2.90131588e+02] [ 1.80518151e-01 9.83571652e-01 5.51471481e-05 8.94421653e+00] [-5.55546485e-04 4.58930313e-05 9.99999845e-01 -2.99724860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.325898227 meters 0.09328027110066402 Centerline is valid? [True, True] Translation: X:290.16, Y:8.93, Z:-3.00 [[ 9.83292229e-01 -1.82033123e-01 5.78555903e-04 2.90162172e+02] [ 1.82033120e-01 9.83292398e-01 5.74126651e-05 8.93063625e+00] [-5.79340628e-04 4.88629089e-05 9.99999831e-01 -2.99812950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35589822699995 meters 0.08703455832777483 Centerline is valid? [True, True] Translation: X:290.19, Y:8.94, Z:-3.00 [[ 9.82859848e-01 -1.84348851e-01 1.42128264e-03 2.90191274e+02] [ 1.84348838e-01 9.82860868e-01 1.41326305e-04 8.94469241e+00] [-1.42297643e-03 1.23107853e-04 9.99998980e-01 -2.99593547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.385898227 meters 0.09562670337834306 Centerline is valid? [True, True] Translation: X:290.22, Y:8.93, Z:-3.00 [[ 9.82406212e-01 -1.86749739e-01 1.60284479e-03 2.90222074e+02] [ 1.86749726e-01 9.82407509e-01 1.59346631e-04 8.93277676e+00] [-1.60440470e-03 1.42787706e-04 9.99998703e-01 -2.99626943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41589822699996 meters 0.09492457950240563 Centerline is valid? [True, True] Translation: X:290.25, Y:8.93, Z:-3.00 [[ 9.81453377e-01 -1.91699658e-01 -7.13760352e-04 2.90251855e+02] [ 1.91699656e-01 9.81453635e-01 -7.10478049e-05 8.93496072e+00] [ 7.14142531e-04 -6.70975061e-05 9.99999743e-01 -3.00045440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.445898227 meters 0.10436705064528917 Centerline is valid? [True, False] Translation: X:290.25, Y:8.93, Z:-3.00 [[ 9.83876475e-01 -1.78848813e-01 4.29424110e-04 2.90254727e+02] [ 1.78848602e-01 9.83862806e-01 -5.21124507e-03 8.93082352e+00] [ 5.09530583e-04 5.20402333e-03 9.99986329e-01 -3.00362059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47589822699996 meters 0.11524626598314615 Centerline is valid? [False, False] Translation: X:290.26, Y:8.92, Z:-3.01 [[ 9.86099067e-01 -1.66142387e-01 2.31026446e-03 2.90256141e+02] [ 1.66157018e-01 9.86052956e-01 -9.56099888e-03 8.92222995e+00] [-6.89555922e-04 9.81195873e-03 9.99951624e-01 -3.00632337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.505898227 meters 0.11199281810286602 Centerline is valid? [False, False] Translation: X:290.26, Y:8.92, Z:-3.01 [[ 9.88396491e-01 -1.51886622e-01 1.68244423e-03 2.90255598e+02] [ 1.51895609e-01 9.88310592e-01 -1.30344507e-02 8.91541445e+00] [ 3.16981236e-04 1.31387612e-02 9.99913633e-01 -3.00561726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53589822699996 meters 0.11430256412245567 Centerline is valid? [False, False] Translation: X:290.26, Y:8.91, Z:-3.00 [[ 9.90508152e-01 -1.37453723e-01 2.73848195e-04 2.90255091e+02] [ 1.37439793e-01 9.90375202e-01 -1.63481920e-02 8.90913876e+00] [ 1.97590738e-03 1.62306550e-02 9.99866322e-01 -3.00455390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.565898227 meters 0.10250081898878695 Centerline is valid? [False, False] Translation: X:290.25, Y:8.90, Z:-3.00 [[ 9.92690196e-01 -1.20683835e-01 1.25986639e-03 2.90249199e+02] [ 1.20687735e-01 9.92544576e-01 -1.70215986e-02 8.89791281e+00] [ 8.03758249e-04 1.70492244e-02 9.99854328e-01 -3.00066243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59589822699996 meters 0.10043194680005252 Centerline is valid? [False, False] Translation: X:290.25, Y:8.89, Z:-3.00 [[ 9.94554630e-01 -1.04209829e-01 -1.18317586e-03 2.90249477e+02] [ 1.04170512e-01 9.94388657e-01 -1.84310493e-02 8.89134104e+00] [ 3.09723315e-03 1.82074333e-02 9.99829434e-01 -3.00004358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.625898227 meters 0.09402789829510799 Centerline is valid? [False, True] Translation: X:290.25, Y:8.89, Z:-3.00 [[ 9.96130309e-01 -8.78421461e-02 -2.85733789e-03 2.90249549e+02] [ 8.77677036e-02 9.95938844e-01 -2.00661240e-02 8.88508778e+00] [ 4.60838519e-03 1.97376923e-02 9.99794572e-01 -2.99973746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65589822699997 meters 0.09434084989287854 Centerline is valid? [True, True] Translation: X:290.28, Y:8.87, Z:-3.00 [[ 9.96442562e-01 -8.41995170e-02 -3.55840075e-03 2.90278925e+02] [ 8.42001471e-02 9.96448862e-01 2.73601464e-05 8.87058620e+00] [ 3.54346067e-03 -3.26880681e-04 9.99993668e-01 -3.00150076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.685898227 meters 0.0935052797674075 Centerline is valid? [True, True] Translation: X:290.31, Y:8.87, Z:-3.00 [[ 9.96559971e-01 -8.27389011e-02 -4.74326503e-03 2.90308210e+02] [ 8.27400034e-02 9.96571167e-01 3.63007042e-05 8.86931383e+00] [ 4.72399769e-03 -4.28633594e-04 9.99988750e-01 -3.00350656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71589822699997 meters 0.0920757629905477 Centerline is valid? [True, True] Translation: X:290.34, Y:8.87, Z:-3.01 [[ 9.96711744e-01 -8.08202321e-02 -5.81279533e-03 2.90338476e+02] [ 8.08218556e-02 9.96728562e-01 4.45547348e-05 8.86803653e+00] [ 5.79017821e-03 -5.14209132e-04 9.99983105e-01 -3.00527697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.74589822699994 meters 0.08913571261176398 Centerline is valid? [True, True] Translation: X:290.37, Y:8.87, Z:-3.01 [[ 9.96995178e-01 -7.72542790e-02 -5.69140283e-03 2.90369158e+02] [ 7.72557774e-02 9.97011305e-01 4.35795676e-05 8.86585496e+00] [ 5.67102625e-03 -4.83142369e-04 9.99983803e-01 -3.00571404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.77589822699997 meters 0.08931072764637404 Centerline is valid? [True, True] Translation: X:290.40, Y:8.86, Z:-3.00 [[ 9.97043213e-01 -7.67022451e-02 -4.64724113e-03 2.90397774e+02] [ 7.67032330e-02 9.97053967e-01 3.44555936e-05 8.86355916e+00] [ 4.63090738e-03 -3.90812135e-04 9.99989201e-01 -3.00468448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.80589822699994 meters 0.08801783235309685 Centerline is valid? [True, True] Translation: X:290.43, Y:8.86, Z:-3.00 [[ 9.97031168e-01 -7.69352875e-02 -3.13240898e-03 2.90425318e+02] [ 7.69357349e-02 9.97036054e-01 2.23925504e-05 8.86337353e+00] [ 3.12140191e-03 -2.63320258e-04 9.99995094e-01 -3.00233153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.835898227 meters 0.08694394467749102 Centerline is valid? [True, True] Translation: X:290.45, Y:8.86, Z:-3.00 [[ 9.96982121e-01 -7.76020264e-02 -2.13931874e-03 2.90453584e+02] [ 7.76022368e-02 9.96984399e-01 1.53867654e-05 8.86279638e+00] [ 2.13167336e-03 -1.81356250e-04 9.99997712e-01 -3.00048696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.86589822699995 meters 0.08920919775438534 Centerline is valid? [True, True] Translation: X:290.48, Y:8.86, Z:-3.00 [[ 9.96932047e-01 -7.82555131e-02 -1.60272760e-03 2.90481268e+02] [ 7.82556318e-02 9.96933326e-01 1.13925005e-05 8.85763729e+00] [ 1.59692103e-03 -1.36780010e-04 9.99998716e-01 -3.00000003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.895898227 meters 0.08803310408472728 Centerline is valid? [True, True] Translation: X:290.51, Y:8.85, Z:-3.00 [[ 9.96920984e-01 -7.84066831e-02 -9.71270507e-04 2.90508855e+02] [ 7.84067262e-02 9.96921454e-01 6.25869901e-06 8.85391804e+00] [ 9.67789682e-04 -8.23935691e-05 9.99999528e-01 -2.99895050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.92589822699995 meters 0.08826720307768003 Centerline is valid? [True, True] Translation: X:290.54, Y:8.85, Z:-3.00 [[ 9.96954876e-01 -7.79739750e-02 -1.01743703e-03 2.90538093e+02] [ 7.79740220e-02 9.96955391e-01 6.54662515e-06 8.85131086e+00] [ 1.01382886e-03 -8.58603468e-05 9.99999482e-01 -2.99858313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.955898227 meters 0.08622949794477146 Centerline is valid? [True, True] Translation: X:290.57, Y:8.85, Z:-3.00 [[ 9.97028285e-01 -7.70230100e-02 -1.43323965e-03 2.90568325e+02] [ 7.70231032e-02 9.97029308e-01 9.83028798e-06 8.85185882e+00] [ 1.42822478e-03 -1.20193641e-04 9.99998973e-01 -2.99981153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.98589822699995 meters 0.09279058499449457 Centerline is valid? [True, True] Translation: X:290.60, Y:8.84, Z:-3.00 [[ 9.97202184e-01 -7.46521872e-02 -3.85424871e-03 2.90597196e+02] [ 7.46528433e-02 9.97209583e-01 2.64378540e-05 8.83943945e+00] [ 3.84152010e-03 -3.14094511e-04 9.99992572e-01 -3.00464169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.015898227 meters 0.08905430487910933 Centerline is valid? [True, True] Translation: X:290.63, Y:8.84, Z:-3.01 [[ 9.97242598e-01 -7.40399340e-02 -5.02882319e-03 2.90625744e+02] [ 7.40410375e-02 9.97255195e-01 3.33700032e-05 8.84238189e+00] [ 5.01254934e-03 -4.05617275e-04 9.99987355e-01 -3.00579945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.04589822699995 meters 0.08812975395685393 Centerline is valid? [True, True] Translation: X:290.65, Y:8.84, Z:-3.01 [[ 9.97295132e-01 -7.33093478e-02 -5.30644042e-03 2.90654939e+02] [ 7.33105624e-02 9.97309160e-01 3.44752552e-05 8.84214620e+00] [ 5.28963427e-03 -4.23400135e-04 9.99985920e-01 -3.00604814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.075898227 meters 0.08301693183258613 Centerline is valid? [True, True] Translation: X:290.69, Y:8.85, Z:-3.00 [[ 9.97489229e-01 -7.07491870e-02 -3.12911803e-03 2.90685517e+02] [ 7.07495979e-02 9.97494107e-01 2.06510845e-05 8.84640242e+00] [ 3.11981575e-03 -2.41983077e-04 9.99995104e-01 -3.00145959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.10589822699995 meters 0.0894283274702548 Centerline is valid? [True, True] Translation: X:290.71, Y:8.84, Z:-3.00 [[ 9.97578073e-01 -6.95254768e-02 -2.04870303e-03 2.90714802e+02] [ 6.95256501e-02 9.97580164e-01 1.33861867e-05 8.83633544e+00] [ 2.04281482e-03 -1.55791176e-04 9.99997901e-01 -3.00045863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.135898227 meters 0.08093486961297837 Centerline is valid? [True, True] Translation: X:290.74, Y:8.85, Z:-3.00 [[ 9.97619016e-01 -6.89393042e-02 -1.91601045e-03 2.90743567e+02] [ 6.89394544e-02 9.97620846e-01 1.23565057e-05 8.84538361e+00] [ 1.91060012e-03 -1.44415800e-04 9.99998164e-01 -2.99968886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.16589822699996 meters 0.07934765727127305 Centerline is valid? [True, True] Translation: X:290.77, Y:8.85, Z:-3.00 [[ 9.97661493e-01 -6.83179918e-02 -2.04879358e-03 2.90772508e+02] [ 6.83181620e-02 9.97663585e-01 1.31302382e-05 8.84557217e+00] [ 2.04310972e-03 -1.53069345e-04 9.99997901e-01 -3.00029325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.195898227 meters 0.07827690546863172 Centerline is valid? [True, True] Translation: X:290.80, Y:8.85, Z:-3.00 [[ 9.97664715e-01 -6.82418825e-02 -2.85704341e-03 2.90801048e+02] [ 6.82422110e-02 9.97668783e-01 1.75493525e-05 8.84621282e+00] [ 2.84918542e-03 -2.12479329e-04 9.99995918e-01 -3.00157767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.22589822699996 meters 0.08052884415349457 Centerline is valid? [True, True] Translation: X:290.83, Y:8.84, Z:-3.00 [[ 9.97657472e-01 -6.82739701e-02 -4.27006490e-03 2.90828833e+02] [ 6.82747057e-02 9.97666559e-01 2.65692906e-05 8.84260998e+00] [ 4.25828697e-03 -3.18044476e-04 9.99990883e-01 -3.00306414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.255898227 meters 0.08333442289911017 Centerline is valid? [True, True] Translation: X:290.86, Y:8.84, Z:-3.00 [[ 9.97646664e-01 -6.84728531e-02 -3.55000575e-03 2.90857268e+02] [ 6.84733590e-02 9.97652945e-01 2.10244116e-05 8.84290759e+00] [ 3.54023409e-03 -2.64055752e-04 9.99993698e-01 -3.00149744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.28589822699996 meters 0.07836760932667933 Centerline is valid? [True, True] Translation: X:290.89, Y:8.85, Z:-3.00 [[ 9.97743264e-01 -6.71418939e-02 -5.86808832e-04 2.90886948e+02] [ 6.71419075e-02 9.97743436e-01 3.48530816e-06 8.84558016e+00] [ 5.85250650e-04 -4.28769070e-05 9.99999828e-01 -2.99699500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.315898227 meters 0.07608096355176125 Centerline is valid? [True, True] Translation: X:290.92, Y:8.85, Z:-3.00 [[ 9.97759009e-01 -6.69071013e-02 6.32421018e-04 2.90915803e+02] [ 6.69071174e-02 9.97759208e-01 -4.24622275e-06 8.84859476e+00] [-6.30719792e-04 4.65501743e-05 9.99999800e-01 -2.99547560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.34589822699996 meters 0.07029003209807529 Centerline is valid? [True, True] Translation: X:290.95, Y:8.86, Z:-2.99 [[ 9.97717362e-01 -6.75163070e-02 1.27071797e-03 2.90945079e+02] [ 6.75163714e-02 9.97718166e-01 -7.82434418e-06 8.85587462e+00] [-1.26729013e-03 9.36007504e-05 9.99999193e-01 -2.99491830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.375898227 meters 0.08353055929379219 Centerline is valid? [True, True] Translation: X:290.97, Y:8.84, Z:-3.00 [[ 9.97623983e-01 -6.88824575e-02 1.26332220e-03 2.90973470e+02] [ 6.88825217e-02 9.97624778e-01 -7.31722143e-06 8.83793699e+00] [-1.25981750e-03 9.43206544e-05 9.99999202e-01 -2.99611289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.40589822699997 meters 0.08250109141916383 Centerline is valid? [True, True] Translation: X:291.00, Y:8.84, Z:-3.00 [[ 9.97335801e-01 -7.29438606e-02 7.02889316e-04 2.91003675e+02] [ 7.29438814e-02 9.97336047e-01 -4.03293934e-06 8.83635857e+00] [-7.00722674e-04 5.52936697e-05 9.99999753e-01 -2.99787324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.435898227 meters 0.08817807278220482 Centerline is valid? [True, True] Translation: X:291.03, Y:8.83, Z:-3.00 [[ 9.97187849e-01 -7.49425331e-02 9.93319115e-05 2.91033484e+02] [ 7.49425336e-02 9.97187854e-01 -5.80146108e-07 8.82985138e+00] [-9.90090981e-05 8.02269976e-06 9.99999995e-01 -2.99835339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.46589822699997 meters 0.09330385022228546 Centerline is valid? [True, True] Translation: X:291.06, Y:8.82, Z:-3.00 [[ 9.97097155e-01 -7.61395055e-02 -1.97832629e-04 2.91061395e+02] [ 7.61395072e-02 9.97097175e-01 9.73524204e-07 8.81868407e+00] [ 1.97184232e-04 -1.60335771e-05 9.99999980e-01 -3.00041561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49589822699994 meters 0.09541384600077954 Centerline is valid? [True, True] Translation: X:291.09, Y:8.81, Z:-3.00 [[ 9.96955297e-01 -7.79553914e-02 -1.75886145e-03 2.91091495e+02] [ 7.79555293e-02 9.96956837e-01 9.90699028e-06 8.81083404e+00] [ 1.75273665e-03 -1.46989802e-04 9.99998453e-01 -3.00324962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.52589822699997 meters 0.08903862838319805 Centerline is valid? [True, True] Translation: X:291.12, Y:8.82, Z:-3.00 [[ 9.96929308e-01 -7.82943563e-02 -1.39561405e-03 2.91120389e+02] [ 7.82944425e-02 9.96930279e-01 7.14430520e-06 8.81630109e+00] [ 1.39077055e-03 -1.16391191e-04 9.99999026e-01 -3.00286070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55589822699994 meters 0.09850161470329795 Centerline is valid? [True, True] Translation: X:291.15, Y:8.80, Z:-3.00 [[ 9.96946782e-01 -7.80839644e-02 8.90138122e-05 2.91147794e+02] [ 7.80839647e-02 9.96946786e-01 -6.63206856e-07 8.80213229e+00] [-8.86902481e-05 7.61173331e-06 9.99999996e-01 -3.00089758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.585898227 meters 0.09396456223955822 Centerline is valid? [True, True] Translation: X:291.18, Y:8.81, Z:-2.99 [[ 9.97112057e-01 -7.58821232e-02 3.07400990e-03 2.91178631e+02] [ 7.58825329e-02 9.97116764e-01 -1.66798072e-05 8.80551713e+00] [-3.06388110e-03 2.49895294e-04 9.99995275e-01 -2.99447514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61589822699995 meters 0.0838814460626289 Centerline is valid? [True, True] Translation: X:291.21, Y:8.82, Z:-3.00 [[ 9.97216098e-01 -7.45006652e-02 3.11534274e-03 2.91208599e+02] [ 7.45010792e-02 9.97220933e-01 -1.69011802e-05 8.81851622e+00] [-3.10542585e-03 2.48950525e-04 9.99995147e-01 -2.99505272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.645898227 meters 0.0838814460626289 Centerline is valid? [True, True] Translation: X:291.24, Y:8.82, Z:-3.00 [[ 9.97202582e-01 -7.46813612e-02 3.11534284e-03 2.91236185e+02] [ 7.46817761e-02 9.97207417e-01 -1.68835449e-05 8.81853181e+00] [-3.10538210e-03 2.49495651e-04 9.99995147e-01 -2.99514149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67589822699995 meters 0.0821344321993052 Centerline is valid? [True, True] Translation: X:291.27, Y:8.82, Z:-3.00 [[ 9.97333851e-01 -7.29490186e-02 1.90549925e-03 2.91265858e+02] [ 7.29491700e-02 9.97335660e-01 -9.99981594e-06 8.82118685e+00] [-1.89969287e-03 1.48977743e-04 9.99998184e-01 -2.99701811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.705898227 meters 0.08004543603763119 Centerline is valid? [True, True] Translation: X:291.30, Y:8.83, Z:-3.00 [[ 9.97559510e-01 -6.98089055e-02 -1.31906722e-03 2.91295996e+02] [ 6.98089752e-02 9.97560378e-01 6.79246920e-06 8.82764345e+00] [ 1.31537501e-03 -9.88586228e-05 9.99999130e-01 -3.00166071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73589822699995 meters 0.08362868079516407 Centerline is valid? [True, True] Translation: X:291.33, Y:8.83, Z:-3.00 [[ 9.97654998e-01 -6.84071467e-02 -2.22868035e-03 2.91325362e+02] [ 6.84073420e-02 9.97657474e-01 1.14491287e-05 8.82571330e+00] [ 2.22267641e-03 -1.63880380e-04 9.99997516e-01 -3.00347739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.765898227 meters 0.08032142815586192 Centerline is valid? [True, True] Translation: X:291.35, Y:8.83, Z:-3.00 [[ 9.97703171e-01 -6.76840780e-02 -2.69223683e-03 2.91353965e+02] [ 6.76843600e-02 9.97706784e-01 1.36523830e-05 8.83483251e+00] [ 2.68513890e-03 -1.95843352e-04 9.99996376e-01 -3.00334478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79589822699995 meters 0.07656758547317366 Centerline is valid? [True, True] Translation: X:291.38, Y:8.84, Z:-3.00 [[ 9.97672354e-01 -6.81469576e-02 -2.42209552e-03 2.91382277e+02] [ 6.81471867e-02 9.97675278e-01 1.20888117e-05 8.84399279e+00] [ 2.41564101e-03 -1.77119669e-04 9.99997067e-01 -3.00396005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.825898227 meters 0.08982681137429784 Centerline is valid? [True, True] Translation: X:291.41, Y:8.83, Z:-3.00 [[ 9.97589316e-01 -6.93623748e-02 -2.10167887e-03 2.91410179e+02] [ 6.93625498e-02 9.97591518e-01 1.04070736e-05 8.83094035e+00] [ 2.09589516e-03 -1.56159791e-04 9.99997791e-01 -3.00466187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85589822699995 meters 0.08752868857931759 Centerline is valid? [True, True] Translation: X:291.44, Y:8.83, Z:-3.00 [[ 9.97494461e-01 -7.07193478e-02 -1.89062120e-03 2.91439307e+02] [ 7.07194917e-02 9.97496242e-01 9.25148628e-06 8.83340718e+00] [ 1.88523328e-03 -1.42932076e-04 9.99998213e-01 -3.00443066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.885898227 meters 0.0841802790108769 Centerline is valid? [True, True] Translation: X:291.47, Y:8.84, Z:-3.00 [[ 9.97375193e-01 -7.23883822e-02 -1.62658064e-03 2.91469740e+02] [ 7.23884910e-02 9.97376512e-01 8.03657176e-06 8.84215192e+00] [ 1.62173157e-03 -1.25761195e-04 9.99998677e-01 -3.00331890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91589822699996 meters 0.08101664841925972 Centerline is valid? [True, True] Translation: X:291.50, Y:8.85, Z:-3.00 [[ 9.97374938e-01 -7.23864213e-02 -1.85460398e-03 2.91498678e+02] [ 7.23865613e-02 9.97376652e-01 8.40070277e-06 8.84710920e+00] [ 1.84913061e-03 -1.42627055e-04 9.99998280e-01 -3.00348545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.945898227 meters 0.08290139569539558 Centerline is valid? [True, True] Translation: X:291.53, Y:8.85, Z:-3.00 [[ 9.97439835e-01 -7.14790496e-02 -2.12641238e-03 2.91526325e+02] [ 7.14792323e-02 9.97442088e-01 9.91870895e-06 8.84729088e+00] [ 2.12026422e-03 -1.61887640e-04 9.99997739e-01 -3.00359143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97589822699996 meters 0.08275641354539606 Centerline is valid? [True, True] Translation: X:291.56, Y:8.85, Z:-3.00 [[ 9.97503644e-01 -7.05684924e-02 -2.56276325e-03 2.91555172e+02] [ 7.05687546e-02 9.97506918e-01 1.19132897e-05 8.85059921e+00] [ 2.55553337e-03 -1.92734561e-04 9.99996716e-01 -3.00433058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.005898227 meters 0.07997611863500344 Centerline is valid? [True, True] Translation: X:291.58, Y:8.86, Z:-3.01 [[ 9.97601642e-01 -6.91472312e-02 -3.10218981e-03 2.91584755e+02] [ 6.91476087e-02 9.97606439e-01 1.44523478e-05 8.86012843e+00] [ 3.09376519e-03 -2.28926693e-04 9.99995188e-01 -3.00562194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03589822699996 meters 0.07969340618574197 Centerline is valid? [True, True] Translation: X:291.61, Y:8.87, Z:-3.00 [[ 9.97593453e-01 -6.92820198e-02 -2.70263799e-03 2.91612374e+02] [ 6.92823042e-02 9.97597094e-01 1.16415960e-05 8.86539517e+00] [ 2.69533725e-03 -1.98858567e-04 9.99996348e-01 -3.00433451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.065898227 meters 0.08101612484605747 Centerline is valid? [True, True] Translation: X:291.64, Y:8.86, Z:-3.00 [[ 9.97601306e-01 -6.91967144e-02 -1.85694153e-03 2.91640277e+02] [ 6.91968487e-02 9.97603025e-01 8.08793085e-06 8.86273356e+00] [ 1.85193083e-03 -1.36563032e-04 9.99998276e-01 -3.00456973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09589822699996 meters 0.07391940358970349 Centerline is valid? [True, True] Translation: X:291.67, Y:8.87, Z:-3.00 [[ 9.97588623e-01 -6.93919719e-02 -1.30122511e-03 2.91668160e+02] [ 6.93920371e-02 9.97589467e-01 4.95637495e-06 8.87273080e+00] [ 1.29774453e-03 -9.52390840e-05 9.99999153e-01 -3.00311087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.125898227 meters 0.07355389348759049 Centerline is valid? [True, True] Translation: X:291.70, Y:8.87, Z:-3.01 [[ 9.97581373e-01 -6.94674614e-02 -2.38257358e-03 2.91695754e+02] [ 6.94676802e-02 9.97584203e-01 9.13260851e-06 8.87475285e+00] [ 2.37618335e-03 -1.74622380e-04 9.99997162e-01 -3.00513285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15589822699997 meters 0.07464060178780342 Centerline is valid? [True, True] Translation: X:291.72, Y:8.87, Z:-3.01 [[ 9.97572267e-01 -6.95629201e-02 -3.25151116e-03 2.91723477e+02] [ 6.95633270e-02 9.97577538e-01 1.20852511e-05 8.87434252e+00] [ 3.24279381e-03 -2.38241845e-04 9.99994714e-01 -3.00714671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.185898227 meters 0.07382450720654046 Centerline is valid? [True, True] Translation: X:291.75, Y:8.87, Z:-3.01 [[ 9.97639949e-01 -6.85942766e-02 -3.05888416e-03 2.91752550e+02] [ 6.85946330e-02 9.97644614e-01 1.16395127e-05 8.87496650e+00] [ 3.05088090e-03 -2.21435079e-04 9.99995322e-01 -3.00686179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21589822699997 meters 0.07422433156944562 Centerline is valid? [True, True] Translation: X:291.78, Y:8.87, Z:-3.01 [[ 9.97702204e-01 -6.77115679e-02 -2.33560152e-03 2.91780452e+02] [ 6.77117728e-02 9.97704924e-01 8.67907107e-06 8.87345653e+00] [ 2.32965347e-03 -1.66806848e-04 9.99997272e-01 -3.00603893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.24589822699994 meters 0.07315827170272518 Centerline is valid? [True, True] Translation: X:291.81, Y:8.87, Z:-3.01 [[ 9.97820202e-01 -6.59511584e-02 -2.29994517e-03 2.91810155e+02] [ 6.59513527e-02 9.97822839e-01 8.66648088e-06 8.87379355e+00] [ 2.29436625e-03 -1.60332085e-04 9.99997355e-01 -3.00576506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.27589822699997 meters 0.07279275499285369 Centerline is valid? [True, True] Translation: X:291.84, Y:8.87, Z:-3.01 [[ 9.97981588e-01 -6.34487749e-02 -2.64616397e-03 2.91839217e+02] [ 6.34490233e-02 9.97985081e-01 9.93322762e-06 8.87315770e+00] [ 2.64020191e-03 -1.77809697e-04 9.99996499e-01 -3.00677497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.30589822699994 meters 0.07494397463094644 Centerline is valid? [True, True] Translation: X:291.87, Y:8.87, Z:-3.01 [[ 9.98197181e-01 -5.99537408e-02 -2.81726163e-03 2.91868588e+02] [ 5.99540083e-02 9.98201140e-01 1.05194661e-05 8.86951809e+00] [ 2.81156309e-03 -1.79406629e-04 9.99996031e-01 -3.00788427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.335898227 meters 0.06140916945432397 Centerline is valid? [True, True] Translation: X:291.90, Y:8.89, Z:-3.01 [[ 9.98622183e-01 -5.23983021e-02 -2.85558398e-03 2.91898836e+02] [ 5.23985463e-02 9.98626253e-01 1.07023620e-05 8.88537461e+00] [ 2.85110035e-03 -1.60316066e-04 9.99995923e-01 -3.00687638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.36589822699995 meters 0.05854218535843364 Centerline is valid? [True, True] Translation: X:291.93, Y:8.89, Z:-3.01 [[ 9.98795954e-01 -4.89709577e-02 -2.91329314e-03 2.91929004e+02] [ 4.89711972e-02 9.98800191e-01 1.08801732e-05 8.88915316e+00] [ 2.90926493e-03 -1.53534526e-04 9.99995756e-01 -3.00671159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.395898227 meters 0.05594925227648363 Centerline is valid? [True, True] Translation: X:291.96, Y:8.89, Z:-3.01 [[ 9.98940118e-01 -4.59359503e-02 -2.92054299e-03 2.91958967e+02] [ 4.59361780e-02 9.98944377e-01 1.08897373e-05 8.89373372e+00] [ 2.91695977e-03 -1.45036778e-04 9.99995735e-01 -3.00613268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.42589822699995 meters 0.05350838686498027 Centerline is valid? [True, True] Translation: X:291.99, Y:8.90, Z:-3.00 [[ 9.99125291e-01 -4.17821637e-02 -1.70400374e-03 2.91988081e+02] [ 4.17822351e-02 9.99126741e-01 6.30197904e-06 8.90033766e+00] [ 1.70225240e-03 -7.74935517e-05 9.99998548e-01 -3.00477946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.455898227 meters 0.05221981878894467 Centerline is valid? [True, True] Translation: X:292.02, Y:8.90, Z:-3.00 [[ 9.99158800e-01 -4.09956899e-02 -1.02219768e-03 2.92017394e+02] [ 4.09957149e-02 9.99159322e-01 3.46268035e-06 8.90346370e+00] [ 1.02119639e-03 -4.53654923e-05 9.99999478e-01 -3.00386709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.48589822699995 meters 0.052766202335108814 Centerline is valid? [True, True] Translation: X:292.05, Y:8.90, Z:-3.00 [[ 9.99126334e-01 -4.17772845e-02 -1.10735128e-03 2.92046546e+02] [ 4.17773139e-02 9.99126947e-01 3.36007577e-06 8.90469415e+00] [ 1.10624412e-03 -4.96193020e-05 9.99999387e-01 -3.00388062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.515898227 meters 0.05779135656923272 Centerline is valid? [True, True] Translation: X:292.08, Y:8.90, Z:-3.00 [[ 9.98963349e-01 -4.55112064e-02 -9.78136448e-04 2.92076337e+02] [ 4.55112315e-02 9.98963827e-01 3.41653130e-06 8.90268345e+00] [ 9.76967439e-04 -4.79291839e-05 9.99999522e-01 -3.00308067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.54589822699995 meters 0.060637321273789034 Centerline is valid? [True, True] Translation: X:292.11, Y:8.90, Z:-3.00 [[ 9.98868901e-01 -4.75422720e-02 -8.06965606e-04 2.92105064e+02] [ 4.75422896e-02 9.98869226e-01 2.68469245e-06 8.90162909e+00] [ 8.05925474e-04 -4.10466484e-05 9.99999674e-01 -3.00228210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.575898227 meters 0.06214016537470772 Centerline is valid? [True, True] Translation: X:292.13, Y:8.90, Z:-3.00 [[ 9.98802556e-01 -4.89219603e-02 -3.09613481e-04 2.92134969e+02] [ 4.89219630e-02 9.98802604e-01 9.93312957e-07 8.90257161e+00] [ 3.09194156e-04 -1.61390228e-05 9.99999952e-01 -3.00142710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.60589822699995 meters 0.05761069867498347 Centerline is valid? [True, True] Translation: X:292.16, Y:8.91, Z:-3.00 [[ 9.98800446e-01 -4.89649276e-02 3.24633513e-04 2.92163957e+02] [ 4.89649307e-02 9.98800498e-01 -1.57201607e-06 8.91499282e+00] [-3.24167141e-04 1.74657878e-05 9.99999947e-01 -2.99975142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.635898227 meters 0.05699548037488928 Centerline is valid? [True, True] Translation: X:292.19, Y:8.92, Z:-3.00 [[ 9.98839523e-01 -4.81611968e-02 3.27091187e-04 2.92193633e+02] [ 4.81611998e-02 9.98839576e-01 -1.13672152e-06 8.91938965e+00] [-3.26656877e-04 1.68885064e-05 9.99999947e-01 -2.99979584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.66589822699996 meters 0.05847277221519695 Centerline is valid? [True, True] Translation: X:292.22, Y:8.92, Z:-3.00 [[ 9.98884428e-01 -4.72217036e-02 1.02019684e-04 2.92221940e+02] [ 4.72217039e-02 9.98884433e-01 -4.36617232e-07 8.92108175e+00] [-1.01885256e-04 5.25367345e-06 9.99999995e-01 -3.00042619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.695898227 meters 0.0505708034530203 Centerline is valid? [True, True] Translation: X:292.25, Y:8.94, Z:-3.00 [[ 9.99022071e-01 -4.42099404e-02 6.18863310e-04 2.92252104e+02] [ 4.42099501e-02 9.99022262e-01 -2.01761707e-06 8.93766409e+00] [-6.18169025e-04 2.93755601e-05 9.99999809e-01 -2.99914558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.72589822699996 meters 0.04798091445849585 Centerline is valid? [True, True] Translation: X:292.28, Y:8.94, Z:-3.00 [[ 9.99097474e-01 -4.24392655e-02 1.77353976e-03 2.92282069e+02] [ 4.24393425e-02 9.99099045e-01 -5.74400202e-06 8.94380252e+00] [-1.77169811e-03 8.10066791e-05 9.99998427e-01 -2.99734507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.755898227 meters 0.04756448344024519 Centerline is valid? [True, True] Translation: X:292.31, Y:8.95, Z:-2.99 [[ 9.99183267e-01 -4.03002714e-02 2.94735810e-03 2.92312228e+02] [ 4.03004740e-02 9.99187606e-01 -9.35889527e-06 8.94659184e+00] [-2.94458652e-03 1.28131180e-04 9.99995656e-01 -2.99468406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.78589822699996 meters 0.04392742906255497 Centerline is valid? [True, True] Translation: X:292.34, Y:8.95, Z:-2.99 [[ 9.99256580e-01 -3.83908953e-02 3.52502398e-03 2.92342548e+02] [ 3.83911732e-02 9.99262787e-01 -1.11931869e-05 8.95377647e+00] [-3.52199557e-03 1.46514672e-04 9.99993787e-01 -2.99389600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.815898227 meters 0.04225183651199373 Centerline is valid? [True, True] Translation: X:292.37, Y:8.96, Z:-3.00 [[ 9.99376573e-01 -3.52288833e-02 2.32182829e-03 2.92371916e+02] [ 3.52289954e-02 9.99379266e-01 -7.38296385e-06 8.96109785e+00] [-2.32012696e-03 8.91740391e-05 9.99997305e-01 -2.99572232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.84589822699996 meters 0.04450151601428727 Centerline is valid? [True, True] Translation: X:292.40, Y:8.96, Z:-3.00 [[ 9.99434153e-01 -3.35855180e-02 1.84032154e-03 2.92402199e+02] [ 3.35855856e-02 9.99435845e-01 -5.80678630e-06 8.96059029e+00] [-1.83908829e-03 6.76117771e-05 9.99998307e-01 -2.99704455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.875898227 meters 0.03721738684018071 Centerline is valid? [True, True] Translation: X:292.43, Y:8.98, Z:-2.99 [[ 9.99580988e-01 -2.87519184e-02 3.34309990e-03 2.92432534e+02] [ 2.87521146e-02 9.99586572e-01 -1.06152163e-05 8.97602627e+00] [-3.34141256e-03 1.06731960e-04 9.99994412e-01 -2.99355663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.90589822699997 meters 0.035295942401871054 Centerline is valid? [True, True] Translation: X:292.46, Y:8.98, Z:-2.99 [[ 9.99655883e-01 -2.59617765e-02 3.75517879e-03 2.92463731e+02] [ 2.59620044e-02 9.99662930e-01 -1.19458675e-05 8.98410714e+00] [-3.75360290e-03 1.09433725e-04 9.99992949e-01 -2.99353917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.935898227 meters 0.029463417442477647 Centerline is valid? [True, True] Translation: X:292.50, Y:8.99, Z:-2.99 [[ 9.99716158e-01 -2.36622397e-02 2.77518226e-03 2.92495169e+02] [ 2.36623554e-02 9.99720007e-01 -8.87267237e-06 8.99006787e+00] [-2.77419528e-03 7.45375028e-05 9.99996149e-01 -2.99496117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.96589822699997 meters 0.031387324110109555 Centerline is valid? [True, True] Translation: X:292.53, Y:8.99, Z:-3.00 [[ 9.99751029e-01 -2.22771559e-02 1.26855136e-03 2.92525715e+02] [ 2.22771789e-02 9.99751833e-01 -4.06751950e-06 8.98830565e+00] [-1.26814593e-03 3.23262524e-05 9.99999195e-01 -2.99917032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99589822699994 meters 0.02889051501641332 Centerline is valid? [True, True] Translation: X:292.56, Y:8.99, Z:-3.00 [[ 9.99779860e-01 -2.08862580e-02 -1.99871272e-03 2.92557581e+02] [ 2.08863130e-02 9.99781857e-01 6.64428025e-06 8.99192214e+00] [ 1.99813794e-03 -4.83885570e-05 9.99998003e-01 -3.00498820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.02589822699997 meters 0.02624385594265525 Centerline is valid? [True, True] Translation: X:292.59, Y:9.00, Z:-3.01 [[ 9.99810518e-01 -1.92994540e-02 -2.54150404e-03 2.92587842e+02] [ 1.92995375e-02 9.99813747e-01 8.31037784e-06 8.99545411e+00] [ 2.54087029e-03 -5.73586556e-05 9.99996770e-01 -3.00507134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05589822699994 meters 0.02570356979950109 Centerline is valid? [True, True] Translation: X:292.62, Y:9.00, Z:-3.00 [[ 9.99854838e-01 -1.68635812e-02 -2.43347582e-03 2.92617156e+02] [ 1.68636505e-02 9.99857799e-01 7.95714002e-06 8.99646885e+00] [ 2.43299559e-03 -4.89932706e-05 9.99997039e-01 -3.00494668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.085898227 meters 0.01742556388047099 Centerline is valid? [True, True] Translation: X:292.65, Y:9.01, Z:-3.00 [[ 9.99948892e-01 -9.96260188e-03 -1.72016589e-03 2.92647638e+02] [ 9.96262605e-03 9.99950372e-01 5.48522802e-06 9.00931251e+00] [ 1.72002587e-03 -2.26223172e-05 9.99998520e-01 -3.00247513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11589822699995 meters 0.01406510281224737 Centerline is valid? [True, True] Translation: X:292.68, Y:9.02, Z:-3.00 [[ 9.99980679e-01 -5.96652238e-03 -1.74441932e-03 2.92677876e+02] [ 5.96654132e-03 9.99982200e-01 5.65474563e-06 9.01651257e+00] [ 1.74435453e-03 -1.60627863e-05 9.99998478e-01 -3.00227265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.145898227 meters 0.010086470826184258 Centerline is valid? [True, True] Translation: X:292.71, Y:9.03, Z:-3.00 [[ 9.99994106e-01 2.10788675e-03 -2.70998098e-03 2.92708595e+02] [-2.10787068e-03 9.99997778e-01 8.78473023e-06 9.03202041e+00] [ 2.70999348e-03 -3.07238900e-06 9.99996328e-01 -3.00449828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17589822699995 meters 0.010467274801987192 Centerline is valid? [True, True] Translation: X:292.74, Y:9.04, Z:-3.01 [[ 9.99981003e-01 5.52001603e-03 -2.74273805e-03 2.92736940e+02] [-5.52001298e-03 9.99984765e-01 8.68335615e-06 9.03919055e+00] [ 2.74274419e-03 6.45675843e-06 9.99996239e-01 -3.00573272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.205898227 meters 0.011538525902203509 Centerline is valid? [True, True] Translation: X:292.77, Y:9.04, Z:-3.01 [[ 9.99961085e-01 8.36054257e-03 -2.81590902e-03 2.92765495e+02] [-8.36055110e-03 9.99965050e-01 8.74216516e-06 9.04443287e+00] [ 2.81588370e-03 1.48007263e-05 9.99996035e-01 -3.00542368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23589822699995 meters 0.012951112241621196 Centerline is valid? [True, True] Translation: X:292.79, Y:9.05, Z:-3.00 [[ 9.99943354e-01 1.03816067e-02 -2.34746062e-03 2.92793665e+02] [-1.03816187e-02 9.99946110e-01 7.08521183e-06 9.04961472e+00] [ 2.34740767e-03 1.72856305e-05 9.99997245e-01 -3.00491708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.265898227 meters 0.01412461497722325 Centerline is valid? [True, True] Translation: X:292.82, Y:9.06, Z:-3.00 [[ 9.99924164e-01 1.22371860e-02 -1.38483441e-03 2.92822922e+02] [-1.22371921e-02 9.99925123e-01 4.07386864e-06 9.05700808e+00] [ 1.38478057e-03 1.28729249e-05 9.99999041e-01 -3.00168703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29589822699995 meters 0.014831472931470472 Centerline is valid? [True, True] Translation: X:292.85, Y:9.06, Z:-3.00 [[ 9.99918801e-01 1.26391665e-02 -1.62555815e-03 2.92851973e+02] [-1.26391753e-02 9.99920122e-01 4.83861935e-06 9.06060417e+00] [ 1.62548947e-03 1.57074880e-05 9.99998679e-01 -3.00189271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.325898227 meters 0.01456414784824007 Centerline is valid? [True, True] Translation: X:292.88, Y:9.06, Z:-3.00 [[ 9.99919832e-01 1.25310505e-02 -1.81735957e-03 2.92880385e+02] [-1.25310616e-02 9.99921483e-01 5.26294860e-06 9.06264567e+00] [ 1.81728283e-03 1.75109181e-05 9.99998349e-01 -3.00190934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35589822699995 meters 0.014067081489084662 Centerline is valid? [True, True] Translation: X:292.91, Y:9.06, Z:-3.00 [[ 9.99932362e-01 1.15617409e-02 -1.26388122e-03 2.92908693e+02] [-1.15617457e-02 9.99933161e-01 3.55482242e-06 9.06394516e+00] [ 1.26383785e-03 1.10580913e-05 9.99999201e-01 -3.00234771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.385898227 meters 0.011987537192463813 Centerline is valid? [True, True] Translation: X:292.94, Y:9.06, Z:-3.00 [[ 9.99962370e-01 8.59640377e-03 1.16626874e-03 2.92937648e+02] [-8.59640555e-03 9.99963050e-01 -3.49085431e-06 9.06369030e+00] [-1.16625566e-03 -6.53499616e-06 9.99999320e-01 -2.99813209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41589822699996 meters 0.010874420109846142 Centerline is valid? [True, True] Translation: X:292.97, Y:9.06, Z:-3.00 [[ 9.99971391e-01 7.10937428e-03 2.58325767e-03 2.92967250e+02] [-7.10937863e-03 9.99974728e-01 -7.50082536e-06 9.06216535e+00] [-2.58324572e-03 -1.08647461e-05 9.99996663e-01 -2.99620473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.445898227 meters 0.009811390771467867 Centerline is valid? [True, True] Translation: X:293.00, Y:9.06, Z:-3.00 [[ 9.99984203e-01 4.41277357e-03 3.48162855e-03 2.92996502e+02] [-4.41276545e-03 9.99990264e-01 -1.00134957e-05 9.05960315e+00] [-3.48163883e-03 -5.35027264e-06 9.99993939e-01 -2.99500868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47589822699996 meters 0.009721718426951985 Centerline is valid? [True, True] Translation: X:293.03, Y:9.06, Z:-3.00 [[ 9.99991507e-01 3.25456979e-03 2.52845317e-03 2.93028211e+02] [-3.25456177e-03 9.99994704e-01 -7.28707181e-06 9.05917446e+00] [-2.52846350e-03 -9.41997110e-07 9.99996803e-01 -2.99615830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.505898227 meters 0.009770029305914928 Centerline is valid? [True, True] Translation: X:293.06, Y:9.06, Z:-3.00 [[ 9.99996353e-01 2.20236326e-03 1.56299567e-03 2.93059998e+02] [-2.20235890e-03 9.99997575e-01 -4.51228971e-06 9.05946367e+00] [-1.56300181e-03 1.06999584e-06 9.99998779e-01 -2.99774717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53589822699996 meters 0.00994446278100575 Centerline is valid? [True, True] Translation: X:293.09, Y:9.06, Z:-3.00 [[ 9.99998757e-01 1.33188132e-03 8.44232937e-04 2.93090417e+02] [-1.33187971e-03 9.99999113e-01 -2.47684706e-06 9.06013673e+00] [-8.44235487e-04 1.35242727e-06 9.99999644e-01 -2.99879025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.565898227 meters 0.00994446278100575 Centerline is valid? [True, True] Translation: X:293.12, Y:9.06, Z:-3.00 [[ 9.99998757e-01 1.33188132e-03 8.44232937e-04 2.93120417e+02] [-1.33187971e-03 9.99999113e-01 -2.47684706e-06 9.06004872e+00] [-8.44235487e-04 1.35242727e-06 9.99999644e-01 -2.99888679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59589822699996 meters 0.010108968189430443 Centerline is valid? [True, True] Translation: X:293.15, Y:9.06, Z:-3.00 [[ 9.99999324e-01 5.56665648e-04 1.02071921e-03 2.93150561e+02] [-5.56662882e-04 9.99999845e-01 -2.99463011e-06 9.06339338e+00] [-1.02072072e-03 2.42643159e-06 9.99999479e-01 -2.99829910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.625898227 meters 0.009966238624547302 Centerline is valid? [True, True] Translation: X:293.18, Y:9.07, Z:-3.00 [[ 9.99997040e-01 7.43021850e-04 2.31700057e-03 2.93180843e+02] [-7.43008094e-04 9.99999724e-01 -6.79771637e-06 9.06582756e+00] [-2.31700498e-03 5.07614607e-06 9.99997316e-01 -2.99597943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65589822699997 meters 0.010203945823962304 Centerline is valid? [True, True] Translation: X:293.21, Y:9.07, Z:-2.99 [[ 9.99989988e-01 1.78649486e-04 4.47127859e-03 2.93211161e+02] [-1.78592552e-04 9.99999984e-01 -1.31326122e-05 9.06712791e+00] [-4.47128086e-03 1.23339437e-05 9.99990004e-01 -2.99254140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.685898227 meters 0.01234122079347468 Centerline is valid? [True, True] Translation: X:293.24, Y:9.06, Z:-2.99 [[ 9.99973895e-01 -3.42422767e-03 6.36275602e-03 2.93243362e+02] [ 3.42441941e-03 9.99994136e-01 -1.92407423e-05 9.06419552e+00] [-6.36265282e-03 4.10289853e-05 9.99979757e-01 -2.98953456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71589822699997 meters 0.013737137566655488 Centerline is valid? [True, True] Translation: X:293.28, Y:9.06, Z:-2.99 [[ 9.99968706e-01 -5.76352969e-03 5.41927033e-03 2.93275348e+02] [ 5.76370742e-03 9.99983390e-01 -1.71799688e-05 9.06182686e+00] [-5.41908129e-03 4.84145197e-05 9.99985315e-01 -2.99108815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.74589822699994 meters 0.017056912934109762 Centerline is valid? [True, True] Translation: X:293.31, Y:9.06, Z:-3.00 [[ 9.99950971e-01 -9.44553907e-03 2.97277305e-03 2.93306006e+02] [ 9.44560966e-03 9.99955389e-01 -9.70485522e-06 9.05770794e+00] [-2.97254877e-03 3.77840333e-05 9.99995581e-01 -2.99589140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.77589822699997 meters 0.01750593655302836 Centerline is valid? [True, True] Translation: X:293.34, Y:9.06, Z:-3.00 [[ 9.99942395e-01 -1.06365743e-02 1.43904625e-03 2.93337662e+02] [ 1.06365920e-02 9.99943430e-01 -4.67099761e-06 9.05738505e+00] [-1.43891516e-03 1.99772764e-05 9.99998965e-01 -2.99761041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.80589822699994 meters 0.018444101204933352 Centerline is valid? [True, True] Translation: X:293.37, Y:9.06, Z:-3.00 [[ 9.99935504e-01 -1.13572874e-02 2.65025826e-05 2.93369109e+02] [ 1.13572874e-02 9.99935504e-01 2.42639123e-08 9.05611655e+00] [-2.65011489e-05 2.76735101e-07 1.00000000e+00 -2.99960420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.835898227 meters 0.020480828152083522 Centerline is valid? [True, True] Translation: X:293.40, Y:9.05, Z:-3.00 [[ 9.99927271e-01 -1.19911973e-02 -1.28969280e-03 2.93399715e+02] [ 1.19912131e-02 9.99928103e-01 4.49892468e-06 9.05332110e+00] [ 1.28954613e-03 -1.99635787e-05 9.99999168e-01 -3.00132280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.86589822699995 meters 0.028707700167384467 Centerline is valid? [True, True] Translation: X:293.43, Y:9.05, Z:-3.00 [[ 9.99920032e-01 -1.25638140e-02 -1.44260293e-03 2.93430562e+02] [ 1.25638342e-02 9.99921072e-01 4.95270992e-06 9.05476651e+00] [ 1.44242685e-03 -2.30769379e-05 9.99998959e-01 -3.00132880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.895898227 meters 0.01959800294794178 Centerline is valid? [True, True] Translation: X:293.46, Y:9.06, Z:-3.00 [[ 9.99920835e-01 -1.25549970e-02 -8.34353295e-04 2.93461981e+02] [ 1.25550039e-02 9.99921183e-01 2.98484405e-06 9.05579909e+00] [ 8.34250059e-04 -1.34599166e-05 9.99999652e-01 -3.00012396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.92589822699995 meters 0.025670496868027463 Centerline is valid? [True, True] Translation: X:293.49, Y:9.05, Z:-3.00 [[ 9.99912484e-01 -1.32296241e-02 4.08326150e-05 2.93492029e+02] [ 1.32296241e-02 9.99912485e-01 -1.03620266e-07 9.05412843e+00] [-4.08276706e-05 6.43811344e-07 9.99999999e-01 -2.99932336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.955898227 meters 0.022501475069455098 Centerline is valid? [True, True] Translation: X:293.52, Y:9.05, Z:-3.00 [[ 9.99878750e-01 -1.53812181e-02 2.42966676e-03 2.93523295e+02] [ 1.53812838e-02 9.99881701e-01 -8.37535042e-06 9.05196333e+00] [-2.42925051e-03 4.57457289e-05 9.99997048e-01 -2.99536185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.98589822699995 meters 0.02455628750303323 Centerline is valid? [True, True] Translation: X:293.55, Y:9.05, Z:-2.99 [[ 9.99854783e-01 -1.66991130e-02 3.39885532e-03 2.93554407e+02] [ 1.66992496e-02 9.99860558e-01 -1.18253880e-05 9.05101198e+00] [-3.39818390e-03 6.85820040e-05 9.99994224e-01 -2.99326482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.015898227 meters 0.025840196016500377 Centerline is valid? [True, True] Translation: X:293.59, Y:9.05, Z:-2.99 [[ 9.99827418e-01 -1.80555686e-02 4.37379335e-03 2.93586186e+02] [ 1.80558086e-02 9.99836980e-01 -1.53978386e-05 9.05162158e+00] [-4.37280232e-03 9.43675570e-05 9.99990435e-01 -2.99198578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.04589822699995 meters 0.02763106809060497 Centerline is valid? [True, True] Translation: X:293.62, Y:9.05, Z:-2.99 [[ 9.99766339e-01 -2.11217123e-02 4.59793136e-03 2.93618392e+02] [ 2.11220108e-02 9.99776905e-01 -1.63646245e-05 9.05403902e+00] [-4.59655994e-03 1.13478356e-04 9.99989429e-01 -2.99240428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.075898227 meters 0.031055287272449213 Centerline is valid? [True, True] Translation: X:293.65, Y:9.05, Z:-2.99 [[ 9.99727576e-01 -2.30312647e-02 3.78622113e-03 2.93649051e+02] [ 2.30314813e-02 9.99734740e-01 -1.36107171e-05 9.05185440e+00] [-3.78490333e-03 1.00809290e-04 9.99992832e-01 -2.99418407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.10589822699995 meters 0.03590833564027645 Centerline is valid? [True, True] Translation: X:293.68, Y:9.05, Z:-3.00 [[ 9.99600787e-01 -2.81959899e-02 1.80337601e-03 2.93679315e+02] [ 2.81960475e-02 9.99602412e-01 -6.51315582e-06 9.05078883e+00] [-1.80247537e-03 5.73586313e-05 9.99998374e-01 -2.99737818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.135898227 meters 0.04095992885620813 Centerline is valid? [True, True] Translation: X:293.71, Y:9.05, Z:-3.00 [[ 9.99494731e-01 -3.17668329e-02 1.07290467e-03 2.93709567e+02] [ 3.17668553e-02 9.99495306e-01 -3.85755984e-06 9.04608600e+00] [-1.07224063e-03 3.79384180e-05 9.99999424e-01 -2.99915550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.16589822699996 meters 0.04238011999893712 Centerline is valid? [True, True] Translation: X:293.74, Y:9.05, Z:-3.00 [[ 9.99347484e-01 -3.61179673e-02 3.13376728e-04 2.93740048e+02] [ 3.61179695e-02 9.99347533e-01 -1.12988477e-06 9.04547214e+00] [-3.13131451e-04 1.24476786e-05 9.99999951e-01 -3.00047787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.195898227 meters 0.04997712150647439 Centerline is valid? [True, True] Translation: X:293.77, Y:9.04, Z:-3.00 [[ 9.99186088e-01 -4.03368110e-02 -3.22005927e-04 2.93769266e+02] [ 4.03368135e-02 9.99186140e-01 1.20582251e-06 9.03616406e+00] [ 3.21695220e-04 -1.41935341e-05 9.99999948e-01 -3.00165855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.22589822699996 meters 0.05594984753599046 Centerline is valid? [True, True] Translation: X:293.80, Y:9.03, Z:-3.00 [[ 9.98879540e-01 -4.73222707e-02 -5.16782576e-04 2.93799896e+02] [ 4.73222780e-02 9.98879673e-01 1.88917015e-06 9.02963177e+00] [ 5.16114211e-04 -2.63423822e-05 9.99999866e-01 -3.00076223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.255898227 meters 0.057253723565505905 Centerline is valid? [True, True] Translation: X:293.83, Y:9.03, Z:-3.00 [[ 9.98805910e-01 -4.88525181e-02 -4.30783596e-04 2.93830955e+02] [ 4.88525233e-02 9.98806003e-01 1.61016202e-06 9.02901413e+00] [ 4.30190581e-04 -2.26531050e-05 9.99999907e-01 -3.00019722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.28589822699996 meters 0.05794651178965256 Centerline is valid? [True, True] Translation: X:293.86, Y:9.03, Z:-3.00 [[ 9.98793622e-01 -4.91029808e-02 -4.45159899e-04 2.93862307e+02] [ 4.91029864e-02 9.98793721e-01 1.70814014e-06 9.02953155e+00] [ 4.44539037e-04 -2.35647599e-05 9.99999901e-01 -2.99951069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.315898227 meters 0.05665049397514729 Centerline is valid? [True, True] Translation: X:293.89, Y:9.03, Z:-3.00 [[ 9.98915867e-01 -4.65284170e-02 -1.48237534e-03 2.93892593e+02] [ 4.65284762e-02 9.98916964e-01 5.45054449e-06 9.03342570e+00] [ 1.48051627e-03 -7.44173012e-05 9.99998901e-01 -3.00156611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.34589822699996 meters 0.05082914399153284 Centerline is valid? [True, True] Translation: X:293.92, Y:9.04, Z:-3.00 [[ 9.99022281e-01 -4.41313374e-02 -2.62822186e-03 2.93923541e+02] [ 4.41315153e-02 9.99025730e-01 9.73026097e-06 9.04366008e+00] [ 2.62523185e-03 -1.25708161e-04 9.99996546e-01 -3.00260404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.375898227 meters 0.049262242317015384 Centerline is valid? [True, True] Translation: X:293.95, Y:9.05, Z:-3.00 [[ 9.99144829e-01 -4.12199738e-02 -3.24417145e-03 2.93953069e+02] [ 4.12202305e-02 9.99150085e-01 1.22457237e-05 9.04702705e+00] [ 3.24090941e-03 -1.45960746e-04 9.99994738e-01 -3.00422691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.40589822699997 meters 0.041631931070823226 Centerline is valid? [True, True] Translation: X:293.98, Y:9.06, Z:-3.00 [[ 9.99336896e-01 -3.63348187e-02 -2.35551747e-03 2.93983309e+02] [ 3.63349402e-02 9.99339668e-01 8.78790043e-06 9.06308441e+00] [ 2.35364274e-03 -9.43696596e-05 9.99997226e-01 -3.00202471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.435898227 meters 0.04488360839541918 Centerline is valid? [True, True] Translation: X:294.01, Y:9.06, Z:-3.00 [[ 9.99382299e-01 -3.51280035e-02 -1.02183772e-03 2.94014138e+02] [ 3.51280258e-02 9.99382820e-01 3.91071131e-06 9.06136110e+00] [ 1.02106969e-03 -3.98034375e-05 9.99999478e-01 -3.00141122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.46589822699997 meters 0.042833302607175744 Centerline is valid? [True, True] Translation: X:294.05, Y:9.07, Z:-3.00 [[ 9.99352394e-01 -3.59678871e-02 -1.05052469e-03 2.94046663e+02] [ 3.59679113e-02 9.99352945e-01 4.13754250e-06 9.06802306e+00] [ 1.04969612e-03 -4.19200417e-05 9.99999448e-01 -3.00212272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49589822699994 meters 0.041520827748892326 Centerline is valid? [True, True] Translation: X:294.08, Y:9.07, Z:-3.00 [[ 9.99288697e-01 -3.76620552e-02 -1.91559164e-03 2.94078490e+02] [ 3.76621386e-02 9.99290530e-01 7.45884877e-06 9.07200253e+00] [ 1.91395167e-03 -7.95988210e-05 9.99998165e-01 -3.00322543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.52589822699997 meters 0.05504636258145769 Centerline is valid? [True, True] Translation: X:294.11, Y:9.06, Z:-3.01 [[ 9.99218575e-01 -3.94922747e-02 -1.61249846e-03 2.94108557e+02] [ 3.94923361e-02 9.99219873e-01 6.23998873e-06 9.05619064e+00] [ 1.61099408e-03 -6.99164438e-05 9.99998700e-01 -3.00549065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55589822699994 meters 0.05076855191014486 Centerline is valid? [True, True] Translation: X:294.14, Y:9.06, Z:-3.00 [[ 9.99128548e-01 -4.17272036e-02 -9.92103818e-04 2.94139799e+02] [ 4.17272281e-02 9.99129040e-01 3.90936790e-06 9.06298822e+00] [ 9.91076608e-04 -4.53037033e-05 9.99999508e-01 -3.00370414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.585898227 meters 0.050561365829235504 Centerline is valid? [True, True] Translation: X:294.17, Y:9.07, Z:-3.00 [[ 9.98950648e-01 -4.57966389e-02 5.20141511e-04 2.94170543e+02] [ 4.57966461e-02 9.98950783e-01 -2.00670894e-06 9.06560587e+00] [-5.19503869e-04 2.58253399e-05 9.99999865e-01 -3.00092962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61589822699995 meters 0.05328907217526494 Centerline is valid? [True, True] Translation: X:294.20, Y:9.06, Z:-3.00 [[ 9.98897740e-01 -4.69392070e-02 -1.22001161e-04 2.94201610e+02] [ 4.69392074e-02 9.98897748e-01 5.86188813e-07 9.06342039e+00] [ 1.21839170e-04 -6.31218048e-06 9.99999993e-01 -3.00246306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.645898227 meters 0.05354669291693911 Centerline is valid? [True, True] Translation: X:294.23, Y:9.07, Z:-3.01 [[ 9.98855266e-01 -4.77554847e-02 -2.75171533e-03 2.94233739e+02] [ 4.77556958e-02 9.98859046e-01 1.10157523e-05 9.06674643e+00] [ 2.74804969e-03 -1.42413223e-04 9.99996214e-01 -3.00682688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67589822699995 meters 0.052613501815313886 Centerline is valid? [True, True] Translation: X:294.27, Y:9.07, Z:-3.01 [[ 9.98860430e-01 -4.76172608e-02 -3.23086144e-03 2.94266047e+02] [ 4.76175515e-02 9.98865641e-01 1.30575961e-05 9.06947147e+00] [ 3.22657471e-03 -1.66888427e-04 9.99994781e-01 -3.00794558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.705898227 meters 0.05519476662997763 Centerline is valid? [True, True] Translation: X:294.30, Y:9.07, Z:-3.01 [[ 9.98888361e-01 -4.70401743e-02 -3.04375902e-03 2.94296814e+02] [ 4.70404298e-02 9.98892986e-01 1.23764382e-05 9.06737461e+00] [ 3.03980734e-03 -1.55542412e-04 9.99995368e-01 -3.00834717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73589822699995 meters 0.05876531372821396 Centerline is valid? [True, True] Translation: X:294.33, Y:9.06, Z:-3.01 [[ 9.98896851e-01 -4.68759019e-02 -2.78029986e-03 2.94327568e+02] [ 4.68761148e-02 9.98900711e-01 1.14057538e-05 9.06423083e+00] [ 2.77670886e-03 -1.41722827e-04 9.99996135e-01 -3.00785554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.765898227 meters 0.05350054286686652 Centerline is valid? [True, True] Translation: X:294.36, Y:9.07, Z:-3.01 [[ 9.98838291e-01 -4.81257404e-02 -2.44588556e-03 2.94359420e+02] [ 4.81259091e-02 9.98841277e-01 1.01343205e-05 9.07400911e+00] [ 2.44256374e-03 -1.27833014e-04 9.99997009e-01 -3.00552543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79589822699995 meters 0.05993252256868378 Centerline is valid? [True, True] Translation: X:294.39, Y:9.07, Z:-3.01 [[ 9.98756983e-01 -4.97668922e-02 -2.78314176e-03 2.94389652e+02] [ 4.97671170e-02 9.98760849e-01 1.15587876e-05 9.06614177e+00] [ 2.77911779e-03 -1.50053362e-04 9.99996127e-01 -3.00725969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.825898227 meters 0.06004193617853795 Centerline is valid? [True, True] Translation: X:294.42, Y:9.07, Z:-3.01 [[ 9.98638755e-01 -5.20862632e-02 -2.76739936e-03 2.94421093e+02] [ 5.20864946e-02 9.98642577e-01 1.15447750e-05 9.06544820e+00] [ 2.76304151e-03 -1.55673192e-04 9.99996171e-01 -3.00760247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85589822699995 meters 0.06616610975344107 Centerline is valid? [True, True] Translation: X:294.45, Y:9.06, Z:-3.01 [[ 9.98344735e-01 -5.74857879e-02 -1.78139438e-03 2.94451868e+02] [ 5.74858923e-02 9.98346319e-01 7.41130607e-06 9.05532317e+00] [ 1.77802248e-03 -1.09804084e-04 9.99998413e-01 -3.00613236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.885898227 meters 0.0716462044077927 Centerline is valid? [True, True] Translation: X:294.48, Y:9.05, Z:-3.01 [[ 9.98166972e-01 -6.05063382e-02 -1.29588017e-03 2.94481579e+02] [ 6.05063960e-02 9.98167810e-01 5.40699259e-06 9.04724291e+00] [ 1.29317871e-03 -8.38061202e-05 9.99999160e-01 -3.00533951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91589822699996 meters 0.0734735878128935 Centerline is valid? [True, True] Translation: X:294.51, Y:9.04, Z:-3.00 [[ 9.97981113e-01 -6.34944646e-02 -1.46645369e-03 2.94511866e+02] [ 6.34945418e-02 9.97982186e-01 6.10555831e-06 9.04327123e+00] [ 1.46310699e-03 -9.92050371e-05 9.99998925e-01 -3.00467610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.945898227 meters 0.0812044222125205 Centerline is valid? [True, True] Translation: X:294.54, Y:9.03, Z:-3.01 [[ 9.97561694e-01 -6.97212645e-02 -3.10019168e-03 2.94541672e+02] [ 6.97216395e-02 9.97566485e-01 1.29141108e-05 9.02810235e+00] [ 3.09174693e-03 -2.29033069e-04 9.99995194e-01 -3.00761579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97589822699996 meters 0.08477655520269595 Centerline is valid? [True, True] Translation: X:294.57, Y:9.02, Z:-3.01 [[ 9.97361508e-01 -7.24767573e-02 -4.14032158e-03 2.94571944e+02] [ 7.24774496e-02 9.97370051e-01 1.72167589e-05 9.01940152e+00] [ 4.12818493e-03 -3.17251281e-04 9.99991429e-01 -3.00994305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.005898227 meters 0.0873830648900096 Centerline is valid? [True, True] Translation: X:294.60, Y:9.01, Z:-3.01 [[ 9.97164381e-01 -7.51286301e-02 -4.34575351e-03 2.94601030e+02] [ 7.51294182e-02 9.97173791e-01 1.81759080e-05 9.01217934e+00] [ 4.33210597e-03 -3.44618301e-04 9.99990557e-01 -3.01065718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03589822699996 meters 0.0884864033757077 Centerline is valid? [True, True] Translation: X:294.63, Y:9.00, Z:-3.01 [[ 9.96875093e-01 -7.89268616e-02 -3.25554788e-03 2.94631705e+02] [ 7.89273240e-02 9.96880373e-01 1.35959505e-05 9.00286938e+00] [ 3.24431870e-03 -2.70505147e-04 9.99994701e-01 -3.00755592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.065898227 meters 0.09207667199036411 Centerline is valid? [True, True] Translation: X:294.66, Y:8.99, Z:-3.01 [[ 9.96752494e-01 -8.04858021e-02 -2.54972025e-03 2.94660403e+02] [ 8.04860905e-02 9.96755732e-01 1.05181212e-05 8.99395032e+00] [ 2.54060171e-03 -2.15700978e-04 9.99996749e-01 -3.00681291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09589822699996 meters 0.09642901777483628 Centerline is valid? [True, True] Translation: X:294.69, Y:8.98, Z:-3.01 [[ 9.96656877e-01 -8.16536508e-02 -2.78410306e-03 2.94689133e+02] [ 8.16539990e-02 9.96660737e-01 1.14330356e-05 8.98348662e+00] [ 2.77387266e-03 -2.38727962e-04 9.99996124e-01 -3.00718407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.125898227 meters 0.09826009199779036 Centerline is valid? [True, True] Translation: X:294.72, Y:8.97, Z:-3.01 [[ 9.96429524e-01 -8.43263209e-02 -4.15630577e-03 2.94719243e+02] [ 8.43271201e-02 9.96438125e-01 1.70993415e-05 8.97246063e+00] [ 4.14005960e-03 -3.67527585e-04 9.99991362e-01 -3.00926683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15589822699997 meters 0.09828297774895267 Centerline is valid? [True, True] Translation: X:294.75, Y:8.97, Z:-3.01 [[ 9.96329522e-01 -8.54989789e-02 -4.17233750e-03 2.94749390e+02] [ 8.54997943e-02 9.96338188e-01 1.71173753e-05 8.96835155e+00] [ 4.15559567e-03 -3.73788544e-04 9.99991296e-01 -3.00870581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.185898227 meters 0.09665247938445576 Centerline is valid? [True, True] Translation: X:294.78, Y:8.96, Z:-3.01 [[ 9.96283407e-01 -8.60879549e-02 -2.87008019e-03 2.94778181e+02] [ 8.60883406e-02 9.96287507e-01 1.08715307e-05 8.96142804e+00] [ 2.85848913e-03 -2.57911567e-04 9.99995881e-01 -3.00566133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21589822699997 meters 0.09883673161424153 Centerline is valid? [True, True] Translation: X:294.81, Y:8.95, Z:-3.01 [[ 9.96343527e-01 -8.54080938e-02 -2.24345478e-03 2.94805741e+02] [ 8.54083280e-02 9.96346033e-01 8.58614432e-06 8.95414036e+00] [ 2.23452394e-03 -2.00164471e-04 9.99997483e-01 -3.00509810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.24589822699994 meters 0.08898203791043557 Centerline is valid? [True, True] Translation: X:294.84, Y:8.96, Z:-3.00 [[ 9.96464229e-01 -8.39998285e-02 -1.75208481e-03 2.94835493e+02] [ 8.39999692e-02 9.96465757e-01 6.73057650e-06 8.96317953e+00] [ 1.74532715e-03 -1.53881849e-04 9.99998465e-01 -3.00362606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.27589822699997 meters 0.08527422479196345 Centerline is valid? [True, True] Translation: X:294.87, Y:8.96, Z:-3.00 [[ 9.96675865e-01 -8.14682481e-02 -3.81089549e-04 2.94865419e+02] [ 8.14682546e-02 9.96675937e-01 1.41805775e-06 8.96276803e+00] [ 3.79707257e-04 -3.24600444e-05 9.99999927e-01 -3.00177316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.30589822699994 meters 0.09224837056180431 Centerline is valid? [True, True] Translation: X:294.89, Y:8.95, Z:-3.00 [[ 9.96696361e-01 -8.12158376e-02 -5.92485961e-04 2.94893711e+02] [ 8.12158529e-02 9.96696536e-01 1.69314142e-06 8.95144155e+00] [ 5.90391195e-04 -4.98068005e-05 9.99999824e-01 -3.00281341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.335898227 meters 0.09229904269697783 Centerline is valid? [True, True] Translation: X:294.92, Y:8.95, Z:-3.00 [[ 9.96644179e-01 -8.18471331e-02 -1.19481777e-03 2.94922496e+02] [ 8.18471960e-02 9.96644890e-01 3.76116044e-06 8.94902476e+00] [ 1.19050118e-03 -1.01541022e-04 9.99999286e-01 -3.00402561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.36589822699995 meters 0.09378999495637934 Centerline is valid? [True, True] Translation: X:294.95, Y:8.94, Z:-3.01 [[ 9.96575536e-01 -8.26676939e-02 -1.80373441e-03 2.94951496e+02] [ 8.26678396e-02 9.96577156e-01 6.25270035e-06 8.94396226e+00] [ 1.79704361e-03 -1.55342115e-04 9.99998373e-01 -3.00566592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.395898227 meters 0.09633906917691362 Centerline is valid? [True, True] Translation: X:294.98, Y:8.93, Z:-3.01 [[ 9.96430382e-01 -8.43770781e-02 -2.64633160e-03 2.94981343e+02] [ 8.43773981e-02 9.96433869e-01 9.28883241e-06 8.93484580e+00] [ 2.63611067e-03 -2.32546250e-04 9.99996498e-01 -3.00698427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.42589822699995 meters 0.08127822332402897 Centerline is valid? [True, True] Translation: X:295.01, Y:8.95, Z:-3.00 [[ 9.96316414e-01 -8.57446626e-02 -1.20681827e-03 2.95011837e+02] [ 8.57447302e-02 9.96317139e-01 4.24549686e-06 8.94726286e+00] [ 1.20200969e-03 -1.07708165e-04 9.99999272e-01 -3.00485249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.455898227 meters 0.08127822332402897 Centerline is valid? [True, True] Translation: X:295.04, Y:8.95, Z:-3.00 [[ 9.96302385e-01 -8.59075205e-02 -1.20682075e-03 2.95040259e+02] [ 8.59075873e-02 9.96303110e-01 3.52218378e-06 8.94726216e+00] [ 1.20205669e-03 -1.07184219e-04 9.99999272e-01 -3.00494395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.48589822699995 meters 0.10114905986122288 Centerline is valid? [True, False] Translation: X:295.06, Y:8.95, Z:-3.01 [[ 9.97236526e-01 -7.41633722e-02 4.37092147e-03 2.95060321e+02] [ 7.42186795e-02 9.97140110e-01 -1.42544237e-02 8.94565332e+00] [-3.30126499e-03 1.45394360e-02 9.99888847e-01 -3.00600582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.515898227 meters 0.0931433163053377 Centerline is valid? [False, True] Translation: X:295.06, Y:8.94, Z:-3.01 [[ 9.98058036e-01 -6.22132458e-02 3.10942117e-03 2.95059900e+02] [ 6.22648082e-02 9.97840931e-01 -2.08942466e-02 8.94219448e+00] [-1.80280881e-03 2.10472783e-02 9.99776856e-01 -3.00508195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.54589822699995 meters 0.10119431390407924 Centerline is valid? [True, False] Translation: X:295.06, Y:8.94, Z:-3.01 [[ 9.98821494e-01 -4.85024868e-02 1.76949098e-03 2.95060904e+02] [ 4.85318632e-02 9.98495906e-01 -2.55065453e-02 8.93794367e+00] [-5.29698623e-04 2.55623624e-02 9.99673089e-01 -3.00533198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.575898227 meters 0.09749334921568183 Centerline is valid? [False, True] Translation: X:295.06, Y:8.93, Z:-3.01 [[ 9.99398077e-01 -3.46705184e-02 1.19968903e-03 2.95063903e+02] [ 3.46908624e-02 9.98955913e-01 -2.97258772e-02 8.93118864e+00] [-1.67824878e-04 2.97496028e-02 9.99557369e-01 -3.00834813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.60589822699995 meters 0.09694303000594236 Centerline is valid? [True, True] Translation: X:295.09, Y:8.91, Z:-3.01 [[ 9.99403131e-01 -3.44826418e-02 2.08086200e-03 2.95093906e+02] [ 3.44829589e-02 9.99405279e-01 -1.16683257e-04 8.91421632e+00] [-2.07560092e-03 1.88367891e-04 9.99997828e-01 -3.01118634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.635898227 meters 0.09810250094957898 Centerline is valid? [True, True] Translation: X:295.12, Y:8.91, Z:-3.01 [[ 9.99435541e-01 -3.35792837e-02 1.01515162e-03 2.95123931e+02] [ 3.35793587e-02 9.99436053e-01 -5.69688095e-05 8.90664769e+00] [-1.01266616e-03 9.10247933e-05 9.99999483e-01 -3.01356379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.66589822699996 meters 0.09441160285172497 Centerline is valid? [True, True] Translation: X:295.15, Y:8.90, Z:-3.01 [[ 9.99435426e-01 -3.35768235e-02 1.19410966e-03 2.95153174e+02] [ 3.35769275e-02 9.99436134e-01 -6.71697248e-05 8.90395600e+00] [-1.19118099e-03 1.07226336e-04 9.99999285e-01 -3.01361551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.695898227 meters 0.10108665120377251 Centerline is valid? [True, False] Translation: X:295.15, Y:8.90, Z:-3.01 [[ 9.99664942e-01 -2.57988261e-02 -2.10353981e-03 2.95153122e+02] [ 2.57736715e-02 9.99604866e-01 -1.12174230e-02 8.90202299e+00] [ 2.39210497e-03 1.11594486e-02 9.99934870e-01 -3.01097962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.72589822699996 meters 0.10225068318573945 Centerline is valid? [False, False] Translation: X:295.15, Y:8.89, Z:-3.01 [[ 9.99847275e-01 -1.67863926e-02 -4.86240092e-03 2.95154108e+02] [ 1.66850822e-02 9.99657208e-01 -2.01761086e-02 8.89489667e+00] [ 5.19941821e-03 2.00918976e-02 9.99784618e-01 -3.01031807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.755898227 meters 0.10316953808783229 Centerline is valid? [False, False] Translation: X:295.15, Y:8.88, Z:-3.01 [[ 9.99962566e-01 -7.31152611e-03 -4.62699883e-03 2.95153736e+02] [ 7.26955476e-03 9.99932861e-01 -9.02368826e-03 8.88464877e+00] [ 4.69266511e-03 8.98971424e-03 9.99948581e-01 -3.01190605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.78589822699996 meters 0.09557707409080865 Centerline is valid? [False, True] Translation: X:295.15, Y:8.88, Z:-3.01 [[ 9.99987033e-01 -2.37524439e-03 -4.50466420e-03 2.95153671e+02] [ 2.36156432e-03 9.99992591e-01 -3.03975824e-03 8.87764131e+00] [ 4.51185100e-03 3.02908076e-03 9.99985234e-01 -3.01292926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.815898227 meters 0.10311522636120062 Centerline is valid? [True, False] Translation: X:295.15, Y:8.87, Z:-3.01 [[ 9.99988193e-01 -1.79275904e-03 -4.51665769e-03 2.95153991e+02] [ 1.78511007e-03 9.99996967e-01 -1.69696365e-03 8.87163190e+00] [ 4.51968624e-03 1.68888088e-03 9.99988360e-01 -3.01362969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.84589822699996 meters 0.09110336000231557 Centerline is valid? [False, True] Translation: X:295.11, Y:8.87, Z:-3.02 [[ 9.99989941e-01 2.02279223e-04 -4.48069177e-03 2.95112042e+02] [-2.04385461e-04 9.99999869e-01 -4.69616913e-04 8.87184533e+00] [ 4.48059619e-03 4.70527978e-04 9.99989851e-01 -3.01567275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.875898227 meters 0.09092700223607306 Centerline is valid? [True, True] Translation: X:295.14, Y:8.86, Z:-3.01 [[ 9.99986995e-01 4.40445161e-03 -2.57113125e-03 2.95141427e+02] [-4.40386645e-03 9.99990276e-01 2.33205565e-04 8.86440906e+00] [ 2.57213339e-03 -2.21879613e-04 9.99996667e-01 -3.01215932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.90589822699997 meters 0.08762501132075025 Centerline is valid? [True, True] Translation: X:295.17, Y:8.87, Z:-3.01 [[ 9.99974005e-01 6.91637097e-03 -2.03775463e-03 2.95172387e+02] [-6.91600861e-03 9.99976067e-01 1.84817600e-04 8.86801474e+00] [ 2.03898413e-03 -1.70719667e-04 9.99997907e-01 -3.01103686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.935898227 meters 0.07693303368548418 Centerline is valid? [True, True] Translation: X:295.20, Y:8.87, Z:-3.01 [[ 9.99950802e-01 9.78500944e-03 -1.62730947e-03 2.95202844e+02] [-9.78478228e-03 9.99952117e-01 1.47497630e-04 8.87469497e+00] [ 1.62867482e-03 -1.31567505e-04 9.99998665e-01 -3.01032219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.96589822699997 meters 0.08658463792898984 Centerline is valid? [True, True] Translation: X:295.23, Y:8.86, Z:-3.01 [[ 9.99897530e-01 1.41978162e-02 -1.83079629e-03 2.95230533e+02] [-1.41975359e-02 9.99899196e-01 1.66009539e-04 8.85876181e+00] [ 1.83296872e-03 -1.39999732e-04 9.99998310e-01 -3.01231649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99589822699994 meters 0.07627129184508759 Centerline is valid? [True, True] Translation: X:295.26, Y:8.87, Z:-3.01 [[ 9.99879137e-01 1.54787679e-02 -1.45560894e-03 2.95261315e+02] [-1.54785923e-02 9.99880191e-01 1.31871882e-04 8.86950072e+00] [ 1.45747576e-03 -1.09325166e-04 9.99998932e-01 -3.01063861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.02589822699997 meters 0.07794792103542365 Centerline is valid? [True, True] Translation: X:295.29, Y:8.87, Z:-3.01 [[ 9.99867594e-01 1.62638201e-02 -5.32451772e-04 2.95290077e+02] [-1.62637967e-02 9.99867735e-01 4.81695261e-05 8.86553520e+00] [ 5.33164768e-04 -3.95034608e-05 9.99999857e-01 -3.00914027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05589822699994 meters 0.07638976360556046 Centerline is valid? [True, True] Translation: X:295.32, Y:8.87, Z:-3.01 [[ 9.99873407e-01 1.59052732e-02 4.38728883e-04 2.95320703e+02] [-1.59052573e-02 9.99873503e-01 -3.97638674e-05 8.86708874e+00] [-4.39305840e-04 3.27807378e-05 9.99999903e-01 -3.00763067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.085898227 meters 0.08333613422865283 Centerline is valid? [True, True] Translation: X:295.35, Y:8.86, Z:-3.01 [[ 9.99887503e-01 1.49887552e-02 5.65096121e-04 2.95350359e+02] [-1.49887287e-02 9.99887661e-01 -5.11793633e-05 8.85608260e+00] [-5.65799753e-04 4.27035334e-05 9.99999839e-01 -3.00874643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11589822699995 meters 0.08966257049164451 Centerline is valid? [True, True] Translation: X:295.38, Y:8.85, Z:-3.01 [[ 9.99939078e-01 1.10334973e-02 -3.19302315e-04 2.95379309e+02] [-1.10334886e-02 9.99939129e-01 2.90052533e-05 8.84531481e+00] [ 3.19602908e-04 -2.54804678e-05 9.99999949e-01 -3.01102774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.145898227 meters 0.09079400338712171 Centerline is valid? [True, True] Translation: X:295.41, Y:8.84, Z:-3.01 [[ 9.99964016e-01 8.43189751e-03 -9.32558107e-04 2.95409842e+02] [-8.43182230e-03 9.99964448e-01 8.45553429e-05 8.84037316e+00] [ 9.33237915e-04 -7.66891360e-05 9.99999562e-01 -3.01181223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17589822699995 meters 0.08871342460595702 Centerline is valid? [True, True] Translation: X:295.44, Y:8.84, Z:-3.01 [[ 9.99982472e-01 5.71913244e-03 -1.53234594e-03 2.95440545e+02] [-5.71892620e-03 9.99983637e-01 1.38935847e-04 8.83928407e+00] [ 1.53311545e-03 -1.30170039e-04 9.99998816e-01 -3.01205557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.205898227 meters 0.09313521714853544 Centerline is valid? [True, True] Translation: X:295.47, Y:8.83, Z:-3.01 [[ 9.99995984e-01 9.84744147e-04 -2.65760938e-03 2.95470393e+02] [-9.84107263e-04 9.99999487e-01 2.40942533e-04 8.82706813e+00] [ 2.65784529e-03 -2.38326192e-04 9.99996440e-01 -3.01363608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23589822699995 meters 0.10168120226342486 Centerline is valid? [True, False] Translation: X:295.47, Y:8.82, Z:-3.01 [[ 9.99995779e-01 1.20224605e-03 -2.64506553e-03 2.95470486e+02] [-1.20020975e-03 9.99998982e-01 7.71298878e-04 8.82470337e+00] [ 2.64599012e-03 -7.68120989e-04 9.99996204e-01 -3.01396600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.265898227 meters 0.09493491270596083 Centerline is valid? [False, True] Translation: X:295.47, Y:8.82, Z:-3.01 [[ 9.99995558e-01 1.39632229e-03 -2.63336680e-03 2.95470447e+02] [-1.39306888e-03 9.99998265e-01 1.23688410e-03 8.82260827e+00] [ 2.63508932e-03 -1.23321014e-03 9.99995768e-01 -3.01399991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29589822699995 meters 0.09819787008849076 Centerline is valid? [True, True] Translation: X:295.50, Y:8.81, Z:-3.01 [[ 9.99995813e-01 3.03547467e-04 -2.87765123e-03 2.95498849e+02] [-3.02767690e-04 9.99999917e-01 2.71408649e-04 8.81200891e+00] [ 2.87773338e-03 -2.70536253e-04 9.99995823e-01 -3.01348903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.325898227 meters 0.09909636878500959 Centerline is valid? [True, True] Translation: X:295.53, Y:8.81, Z:-3.01 [[ 9.99995042e-01 8.50226588e-04 -3.03184881e-03 2.95526883e+02] [-8.49363941e-04 9.99999598e-01 2.85804548e-04 8.80639947e+00] [ 3.03209060e-03 -2.83227988e-04 9.99995363e-01 -3.01378388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35589822699995 meters 0.10511635509406926 Centerline is valid? [True, False] Translation: X:295.53, Y:8.80, Z:-3.01 [[ 9.99994898e-01 1.04228456e-03 -3.01949137e-03 2.95526873e+02] [-1.04007583e-03 9.99999190e-01 7.32969295e-04 8.80437588e+00] [ 3.02025289e-03 -7.29825055e-04 9.99995173e-01 -3.01387411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.385898227 meters 0.09570242840117776 Centerline is valid? [False, True] Translation: X:295.53, Y:8.80, Z:-3.02 [[ 9.99993241e-01 -3.65720252e-04 -3.65835748e-03 2.95531717e+02] [ 3.63390961e-04 9.99999731e-01 -6.37348489e-04 8.80496493e+00] [ 3.65858959e-03 6.36014767e-04 9.99993105e-01 -3.01755368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41589822699996 meters 0.09416358084752188 Centerline is valid? [True, True] Translation: X:295.56, Y:8.80, Z:-3.02 [[ 9.99996165e-01 -2.66266567e-04 -2.75668982e-03 2.95560620e+02] [ 2.66956868e-04 9.99999933e-01 2.50044433e-04 8.80126039e+00] [ 2.75662305e-03 -2.50779391e-04 9.99996169e-01 -3.01664614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.445898227 meters 0.10236232573173075 Centerline is valid? [True, False] Translation: X:295.56, Y:8.80, Z:-3.02 [[ 9.99996332e-01 -5.87706431e-05 -2.70800389e-03 2.95560513e+02] [ 6.07551433e-05 9.99999730e-01 7.32751240e-04 8.79907227e+00] [ 2.70796010e-03 -7.32913078e-04 9.99996065e-01 -3.01676803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47589822699996 meters 0.08819117006221999 Centerline is valid? [False, True] Translation: X:295.56, Y:8.80, Z:-3.01 [[ 9.99996792e-01 -1.41216577e-03 -2.10298968e-03 2.95555480e+02] [ 1.41078832e-03 9.99998789e-01 -6.56334206e-04 8.79930695e+00] [ 2.10391399e-03 6.53365227e-04 9.99997573e-01 -3.01246187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.505898227 meters 0.09234031566002668 Centerline is valid? [True, True] Translation: X:295.58, Y:8.79, Z:-3.01 [[ 9.99997523e-01 -9.21395375e-04 -2.02617988e-03 2.95584578e+02] [ 9.21762059e-04 9.99999559e-01 1.80046683e-04 8.79000333e+00] [ 2.02601309e-03 -1.81913893e-04 9.99997931e-01 -3.01301581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53589822699996 meters 0.08992271313507828 Centerline is valid? [True, True] Translation: X:295.61, Y:8.79, Z:-3.01 [[ 9.99995194e-01 -1.11036989e-03 -2.89478629e-03 2.95613897e+02] [ 1.11111887e-03 9.99999350e-01 2.57140572e-04 8.78812789e+00] [ 2.89449889e-03 -2.60355788e-04 9.99995777e-01 -3.01392114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.565898227 meters 0.09015794029473674 Centerline is valid? [True, True] Translation: X:295.64, Y:8.78, Z:-3.02 [[ 9.99991328e-01 -2.10463553e-03 -3.59363044e-03 2.95643383e+02] [ 2.10579594e-03 9.99997732e-01 3.19155778e-04 8.78340160e+00] [ 3.59295058e-03 -3.26720463e-04 9.99993492e-01 -3.01529226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59589822699996 meters 0.09674071984019206 Centerline is valid? [True, True] Translation: X:295.67, Y:8.77, Z:-3.02 [[ 9.99985900e-01 -3.69531521e-03 -3.81382999e-03 2.95671455e+02] [ 3.69663393e-03 9.99993110e-01 3.38783070e-04 8.77046055e+00] [ 3.81255180e-03 -3.52876627e-04 9.99992670e-01 -3.01667175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.625898227 meters 0.10280840591418276 Centerline is valid? [True, False] Translation: X:295.69, Y:8.77, Z:-3.02 [[ 9.99995029e-01 -3.06935621e-03 -7.22458587e-04 2.95691588e+02] [ 3.06290529e-03 9.99956878e-01 -8.76699623e-03 8.76701418e+00] [ 7.49336468e-04 8.76473983e-03 9.99961308e-01 -3.01855047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65589822699997 meters 0.10212748013876546 Centerline is valid? [False, False] Translation: X:295.67, Y:8.76, Z:-3.02 [[ 9.99991630e-01 -3.92238235e-03 1.16431844e-03 2.95669032e+02] [ 3.92134824e-03 9.99991916e-01 8.89124037e-04 8.76451744e+00] [-1.16779651e-03 -8.84550896e-04 9.99998927e-01 -3.02090221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.685898227 meters 0.10220887973074068 Centerline is valid? [False, False] Translation: X:295.69, Y:8.77, Z:-3.01 [[ 9.99991042e-01 -3.26891115e-03 -2.68906205e-03 2.95686050e+02] [ 3.25028350e-03 9.99970894e-01 -6.90263842e-03 8.76538103e+00] [ 2.71154789e-03 6.89383637e-03 9.99972561e-01 -3.01259375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71589822699997 meters 0.09984771773420581 Centerline is valid? [False, True] Translation: X:295.64, Y:8.76, Z:-3.01 [[ 9.99995514e-01 2.88985994e-04 -2.98147235e-03 2.95644680e+02] [-2.98901244e-04 9.99994425e-01 -3.32571282e-03 8.76362009e+00] [ 2.98049465e-03 3.32658907e-03 9.99990025e-01 -3.01498659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.74589822699994 meters 0.09906505479561992 Centerline is valid? [True, True] Translation: X:295.67, Y:8.76, Z:-3.02 [[ 9.99995384e-01 1.38307550e-03 -2.70522299e-03 2.95673829e+02] [-1.38237476e-03 9.99999010e-01 2.60882826e-04 8.75839490e+00] [ 2.70558113e-03 -2.57141990e-04 9.99996307e-01 -3.01514477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.77589822699997 meters 0.09611019197290918 Centerline is valid? [True, True] Translation: X:295.70, Y:8.76, Z:-3.02 [[ 9.99973366e-01 5.23903437e-03 -5.08133623e-03 2.95704496e+02] [-5.23661043e-03 9.99986169e-01 4.90215764e-04 8.75796668e+00] [ 5.08383421e-03 -4.63593729e-04 9.99986970e-01 -3.01881545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.80589822699994 meters 0.09118827025790323 Centerline is valid? [True, True] Translation: X:295.73, Y:8.76, Z:-3.02 [[ 9.99945915e-01 7.96310856e-03 -6.69002723e-03 2.95734912e+02] [-7.95896865e-03 9.99968119e-01 6.45214629e-04 8.76134488e+00] [ 6.69495185e-03 -5.91934015e-04 9.99977413e-01 -3.02087215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.835898227 meters 0.08764552723629652 Centerline is valid? [True, True] Translation: X:295.76, Y:8.76, Z:-3.02 [[ 9.99867226e-01 1.50885739e-02 -6.15343572e-03 2.95764953e+02] [-1.50852050e-02 9.99886036e-01 5.93524876e-04 8.76361493e+00] [ 6.16168989e-03 -5.00620232e-04 9.99980891e-01 -3.01930933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.86589822699995 meters 0.08044736921899619 Centerline is valid? [True, True] Translation: X:295.80, Y:8.77, Z:-3.02 [[ 9.99804363e-01 1.93243574e-02 -4.21963017e-03 2.95795923e+02] [-1.93228108e-02 9.99813214e-01 4.06981779e-04 8.77065268e+00] [ 4.22670667e-03 -3.25367043e-04 9.99991015e-01 -3.01552495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.895898227 meters 0.07684071931269533 Centerline is valid? [True, True] Translation: X:295.83, Y:8.77, Z:-3.01 [[ 9.99715197e-01 2.36658541e-02 -3.07456003e-03 2.95825379e+02] [-2.36650536e-02 9.99719899e-01 2.96466080e-04 8.77372331e+00] [ 3.08071497e-03 -2.23622017e-04 9.99995230e-01 -3.01376721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.92589822699995 meters 0.07355349915734624 Centerline is valid? [True, True] Translation: X:295.86, Y:8.78, Z:-3.02 [[ 9.99490999e-01 3.14943892e-02 -5.08389907e-03 2.95855613e+02] [-3.14923012e-02 9.99503874e-01 4.90258003e-04 8.77796243e+00] [ 5.09681719e-03 -3.29904781e-04 9.99986957e-01 -3.01785548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.955898227 meters 0.0730429286530544 Centerline is valid? [True, True] Translation: X:295.88, Y:8.78, Z:-3.02 [[ 9.99370967e-01 3.49724211e-02 -5.88218276e-03 2.95884758e+02] [-3.49696865e-02 9.99388213e-01 5.67134371e-04 8.77690361e+00] [ 5.89841817e-03 -3.61079538e-04 9.99982539e-01 -3.01956979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.98589822699995 meters 0.06497933208494114 Centerline is valid? [True, True] Translation: X:295.92, Y:8.79, Z:-3.01 [[ 9.99157015e-01 4.08822696e-02 -3.72829768e-03 2.95916430e+02] [-4.08812120e-02 9.99163949e-01 3.59471393e-04 8.78604730e+00] [ 3.73987664e-03 -2.06751036e-04 9.99992985e-01 -3.01447853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.015898227 meters 0.0640645337138912 Centerline is valid? [True, True] Translation: X:295.95, Y:8.79, Z:-3.01 [[ 9.99071285e-01 4.30336541e-02 -2.16150237e-03 2.95945878e+02] [-4.30333037e-02 9.99073617e-01 2.08356095e-04 8.78529378e+00] [ 2.16846631e-03 -1.15146004e-04 9.99997642e-01 -3.01231384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.04589822699995 meters 0.06257332657225693 Centerline is valid? [True, True] Translation: X:295.98, Y:8.79, Z:-3.01 [[ 9.99017569e-01 4.42864311e-02 -1.61504389e-03 2.95976746e+02] [-4.42862371e-02 9.99018871e-01 1.55703299e-04 8.78568324e+00] [ 1.62035487e-03 -8.40261147e-05 9.99998684e-01 -3.01131684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.075898227 meters 0.05501173195325133 Centerline is valid? [True, True] Translation: X:296.01, Y:8.80, Z:-3.01 [[ 9.98959543e-01 4.55919673e-02 -1.09685282e-03 2.96008282e+02] [-4.55918786e-02 9.98960144e-01 1.05745487e-04 8.79592625e+00] [ 1.10053340e-03 -5.56278827e-05 9.99999393e-01 -3.00965578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.10589822699995 meters 0.05464032532266204 Centerline is valid? [True, True] Translation: X:296.04, Y:8.80, Z:-3.01 [[ 9.98924505e-01 4.63567812e-02 -9.39524025e-04 2.96038161e+02] [-4.63567165e-02 9.98924945e-01 9.04927512e-05 8.79594735e+00] [ 9.42708938e-04 -4.68421778e-05 9.99999555e-01 -3.00903969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.135898227 meters 0.05148334176971772 Centerline is valid? [True, True] Translation: X:296.07, Y:8.80, Z:-3.01 [[ 9.98779522e-01 4.93860896e-02 6.93602765e-04 2.96069723e+02] [-4.93860550e-02 9.98779762e-01 -6.68617880e-05 8.80419754e+00] [-6.96058447e-04 3.25258804e-05 9.99999757e-01 -3.00642801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.16589822699996 meters 0.048202885741404064 Centerline is valid? [True, True] Translation: X:296.10, Y:8.81, Z:-3.00 [[ 9.98679803e-01 5.13466982e-02 1.47214784e-03 2.96099963e+02] [-5.13465447e-02 9.98680886e-01 -1.41916717e-04 8.81008472e+00] [-1.47749286e-03 6.61396538e-05 9.99998906e-01 -3.00486317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.195898227 meters 0.04555573043631348 Centerline is valid? [True, True] Translation: X:296.13, Y:8.82, Z:-3.00 [[ 9.98572695e-01 5.33842658e-02 1.64109881e-03 2.96130194e+02] [-5.33840779e-02 9.98574041e-01 -1.58158306e-04 8.81610200e+00] [-1.64720184e-03 7.03240189e-05 9.99998641e-01 -3.00439875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.22589822699996 meters 0.043505462945596825 Centerline is valid? [True, True] Translation: X:296.16, Y:8.82, Z:-3.01 [[ 9.98475971e-01 5.51707838e-02 1.38542585e-03 2.96160817e+02] [-5.51706516e-02 9.98476931e-01 -1.33480020e-04 8.82085232e+00] [-1.39067995e-03 5.68417455e-05 9.99999031e-01 -3.00536243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.255898227 meters 0.04643133819113152 Centerline is valid? [True, True] Translation: X:296.19, Y:8.82, Z:-3.01 [[ 9.98530239e-01 5.41916865e-02 7.88946608e-04 2.96189420e+02] [-5.41916433e-02 9.98530550e-01 -7.60543958e-05 8.82209576e+00] [-7.91908807e-04 3.31883008e-05 9.99999686e-01 -3.00781334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.28589822699996 meters 0.049343441542551075 Centerline is valid? [True, True] Translation: X:296.22, Y:8.82, Z:-3.01 [[ 9.98667142e-01 5.16016935e-02 1.09804622e-03 2.96218477e+02] [-5.16016084e-02 9.98667744e-01 -1.05770329e-04 8.81819600e+00] [-1.10204127e-03 4.89684009e-05 9.99999392e-01 -3.00795842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.315898227 meters 0.05817431758115966 Centerline is valid? [True, True] Translation: X:296.25, Y:8.81, Z:-3.01 [[ 9.99040828e-01 4.37879905e-02 1.90282399e-04 2.96247658e+02] [-4.37879878e-02 9.99040846e-01 -1.82984544e-05 8.80797071e+00] [-1.90901141e-04 9.94881971e-06 9.99999982e-01 -3.01006744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.34589822699996 meters 0.06214102918055041 Centerline is valid? [True, True] Translation: X:296.28, Y:8.80, Z:-3.01 [[ 9.99199450e-01 3.99608388e-02 -1.89480287e-03 2.96278012e+02] [-3.99605645e-02 9.99201241e-01 1.82429422e-04 8.80107992e+00] [ 1.90057941e-03 -1.06565986e-04 9.99998188e-01 -3.01334118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.375898227 meters 0.06214102918055041 Centerline is valid? [True, True] Translation: X:296.31, Y:8.80, Z:-3.01 [[ 9.99200337e-01 3.99386489e-02 -1.89481305e-03 2.96307092e+02] [-3.99383747e-02 9.99202128e-01 1.82323648e-04 8.79832270e+00] [ 1.90058299e-03 -1.06502096e-04 9.99998188e-01 -3.01342209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.40589822699997 meters 0.059212386768820735 Centerline is valid? [True, True] Translation: X:296.34, Y:8.80, Z:-3.02 [[ 9.99409489e-01 3.39051166e-02 -5.57823247e-03 2.96338083e+02] [-3.39026458e-02 9.99424996e-01 5.36927047e-04 8.80085561e+00] [ 5.59322953e-03 -3.47493146e-04 9.99984297e-01 -3.01748863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.435898227 meters 0.0734369433028583 Centerline is valid? [True, True] Translation: X:296.37, Y:8.78, Z:-3.02 [[ 9.99446486e-01 3.27498170e-02 -5.84553080e-03 2.96365018e+02] [-3.27470859e-02 9.99463512e-01 5.62348992e-04 8.78119008e+00] [ 5.86081157e-03 -3.70613625e-04 9.99982757e-01 -3.01978271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.46589822699997 meters 0.07193995379865638 Centerline is valid? [True, True] Translation: X:296.40, Y:8.78, Z:-3.02 [[ 9.99408552e-01 3.39964263e-02 -5.17580363e-03 2.96395044e+02] [-3.39943022e-02 9.99421903e-01 4.97834072e-04 8.78281827e+00] [ 5.18973609e-03 -3.21591796e-04 9.99986482e-01 -3.01933598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49589822699994 meters 0.06896363675531712 Centerline is valid? [True, True] Translation: X:296.43, Y:8.79, Z:-3.02 [[ 9.99368390e-01 3.52021212e-02 -4.86119943e-03 2.96425513e+02] [-3.52002625e-02 9.99380169e-01 4.67411686e-04 8.78548125e+00] [ 4.87464019e-03 -2.96000969e-04 9.99988075e-01 -3.01886522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.52589822699997 meters 0.06664829126418467 Centerline is valid? [True, True] Translation: X:296.46, Y:8.79, Z:-3.02 [[ 9.99330686e-01 3.62456012e-02 -4.94340258e-03 2.96455270e+02] [-3.62436927e-02 9.99342869e-01 4.75139223e-04 8.78825988e+00] [ 4.95737582e-03 -2.95654042e-04 9.99987668e-01 -3.01818494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55589822699994 meters 0.0614775018187576 Centerline is valid? [True, True] Translation: X:296.49, Y:8.80, Z:-3.02 [[ 9.99296696e-01 3.71188174e-02 -5.32032944e-03 2.96485494e+02] [-3.71166220e-02 9.99310810e-01 5.10813037e-04 8.79709423e+00] [ 5.33562350e-03 -3.12981123e-04 9.99985716e-01 -3.01818205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.585898227 meters 0.07215096112726235 Centerline is valid? [True, True] Translation: X:296.51, Y:8.78, Z:-3.02 [[ 9.99296112e-01 3.70960114e-02 -5.58271085e-03 2.96512513e+02] [-3.70935952e-02 9.99311652e-01 5.35756134e-04 8.78414152e+00] [ 5.59874242e-03 -3.28296205e-04 9.99984273e-01 -3.02038614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61589822699995 meters 0.06172182977267704 Centerline is valid? [True, True] Translation: X:296.54, Y:8.80, Z:-3.02 [[ 9.99375356e-01 3.50494042e-02 -4.52071410e-03 2.96544453e+02] [-3.50477984e-02 9.99385543e-01 4.33968694e-04 8.79560557e+00] [ 4.53314666e-03 -2.75256542e-04 9.99989687e-01 -3.01753992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.645898227 meters 0.06690311277566033 Centerline is valid? [True, True] Translation: X:296.57, Y:8.79, Z:-3.02 [[ 9.99459221e-01 3.26457114e-02 -3.93995924e-03 2.96572461e+02] [-3.26444737e-02 9.99466956e-01 3.78063903e-04 8.78677540e+00] [ 3.95020123e-03 -2.49241559e-04 9.99992167e-01 -3.01703493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67589822699995 meters 0.07929557911571039 Centerline is valid? [True, True] Translation: X:296.60, Y:8.77, Z:-3.02 [[ 9.99554950e-01 2.96596368e-02 -3.19483317e-03 2.96600610e+02] [-2.96588078e-02 9.99560034e-01 3.06544717e-04 8.76803450e+00] [ 3.20251955e-03 -2.11653347e-04 9.99994850e-01 -3.01733989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.705898227 meters 0.08832571389873561 Centerline is valid? [True, True] Translation: X:296.63, Y:8.75, Z:-3.02 [[ 9.99697670e-01 2.44719359e-02 -2.38593221e-03 2.96628510e+02] [-2.44714588e-02 9.99700503e-01 2.28993186e-04 8.75287092e+00] [ 2.39082154e-03 -1.70536712e-04 9.99997127e-01 -3.01576747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73589822699995 meters 0.07590027678061542 Centerline is valid? [True, True] Translation: X:296.66, Y:8.77, Z:-3.01 [[ 9.99727913e-01 2.32685892e-02 -1.63498017e-03 2.96660232e+02] [-2.32683636e-02 9.99729243e-01 1.56905569e-04 8.76507415e+00] [ 1.63818846e-03 -1.18819564e-04 9.99998651e-01 -3.01365068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.765898227 meters 0.07960263904988935 Centerline is valid? [True, True] Translation: X:296.69, Y:8.76, Z:-3.01 [[ 9.99754720e-01 2.21431560e-02 -4.25343551e-04 2.96689290e+02] [-2.21431407e-02 9.99754810e-01 4.08083913e-05 8.75679282e+00] [ 4.26142887e-04 -3.13799398e-05 9.99999909e-01 -3.01224182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79589822699995 meters 0.0767490690051266 Centerline is valid? [True, True] Translation: X:296.72, Y:8.76, Z:-3.01 [[ 9.99763350e-01 2.17214833e-02 -1.19198077e-03 2.96719776e+02] [-2.17213623e-02 9.99764057e-01 1.14387767e-04 8.75742714e+00] [ 1.19418420e-03 -8.84692511e-05 9.99999283e-01 -3.01314159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.825898227 meters 0.08597460363677265 Centerline is valid? [True, True] Translation: X:296.75, Y:8.74, Z:-3.02 [[ 9.99797633e-01 1.99220162e-02 -2.79406860e-03 2.96747433e+02] [-1.99213443e-02 9.99801514e-01 2.68099293e-04 8.74172100e+00] [ 2.79885510e-03 -2.12383436e-04 9.99996061e-01 -3.01605491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85589822699995 meters 0.08370588036848474 Centerline is valid? [True, True] Translation: X:296.78, Y:8.74, Z:-3.02 [[ 9.99833878e-01 1.79463575e-02 -3.18492503e-03 2.96777446e+02] [-1.79454747e-02 9.99838920e-01 3.05573033e-04 8.74015878e+00] [ 3.18989592e-03 -2.48367279e-04 9.99994881e-01 -3.01758683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.885898227 meters 0.09044533107239942 Centerline is valid? [True, True] Translation: X:296.81, Y:8.73, Z:-3.02 [[ 9.99877343e-01 1.52514621e-02 -3.56267418e-03 2.96805436e+02] [-1.52503407e-02 9.99883648e-01 3.41709277e-04 8.72660966e+00] [ 3.56747122e-03 -2.87335369e-04 9.99993595e-01 -3.01856914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91589822699996 meters 0.09033462605310995 Centerline is valid? [True, True] Translation: X:296.84, Y:8.72, Z:-3.02 [[ 9.99939953e-01 1.04442401e-02 -3.31776675e-03 2.96835157e+02] [-1.04432412e-02 9.99945417e-01 3.18251669e-04 8.71891665e+00] [ 3.32090955e-03 -2.83584321e-04 9.99994446e-01 -3.01859685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.945898227 meters 0.0969777305705316 Centerline is valid? [True, True] Translation: X:296.86, Y:8.71, Z:-3.02 [[ 9.99953584e-01 9.00534859e-03 -3.42528169e-03 2.96863235e+02] [-9.00427598e-03 9.99959407e-01 3.28437428e-04 8.70506294e+00] [ 3.42810034e-03 -2.97580002e-04 9.99994080e-01 -3.01865083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97589822699996 meters 0.09189545111174206 Centerline is valid? [True, True] Translation: X:296.89, Y:8.70, Z:-3.02 [[ 9.99949271e-01 9.10629824e-03 -4.30476003e-03 2.96893098e+02] [-9.10460538e-03 9.99958467e-01 4.12686868e-04 8.70310415e+00] [ 4.30833929e-03 -3.73472791e-04 9.99990649e-01 -3.01964820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.005898227 meters 0.08493046016272315 Centerline is valid? [True, True] Translation: X:296.92, Y:8.71, Z:-3.02 [[ 9.99934083e-01 1.03571612e-02 -4.95559808e-03 2.96924038e+02] [-1.03549331e-02 9.99946273e-01 4.75063271e-04 8.70753440e+00] [ 4.96025214e-03 -4.23717070e-04 9.99987608e-01 -3.01940320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03589822699996 meters 0.09143058345779921 Centerline is valid? [True, True] Translation: X:296.95, Y:8.70, Z:-3.02 [[ 9.99912529e-01 1.23087233e-02 -4.84040753e-03 2.96952031e+02] [-1.23066206e-02 9.99924163e-01 4.63946545e-04 8.69579828e+00] [ 4.84575104e-03 -4.04336904e-04 9.99988178e-01 -3.01981847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.065898227 meters 0.08069781170301908 Centerline is valid? [True, True] Translation: X:296.98, Y:8.71, Z:-3.02 [[ 9.99836067e-01 1.78157763e-02 -3.23081250e-03 2.96984120e+02] [-1.78148680e-02 9.99841255e-01 3.09715623e-04 8.70926254e+00] [ 3.23581745e-03 -2.52108352e-04 9.99994733e-01 -3.01649946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09589822699996 meters 0.07984427684208927 Centerline is valid? [True, True] Translation: X:297.01, Y:8.71, Z:-3.02 [[ 9.99778412e-01 2.08951796e-02 -2.55298381e-03 2.97013069e+02] [-2.08946226e-02 9.99781654e-01 2.44632720e-04 8.70600510e+00] [ 2.55753802e-03 -1.91234879e-04 9.99996711e-01 -3.01568419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.125898227 meters 0.08298110648466323 Centerline is valid? [True, True] Translation: X:297.04, Y:8.70, Z:-3.02 [[ 9.99719268e-01 2.36022480e-02 -2.07819035e-03 2.97042221e+02] [-2.36018848e-02 9.99721417e-01 1.99114471e-04 8.69932134e+00] [ 2.08231095e-03 -1.50009364e-04 9.99997821e-01 -3.01582793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15589822699997 meters 0.07329937351548103 Centerline is valid? [True, True] Translation: X:297.07, Y:8.71, Z:-3.02 [[ 9.99653165e-01 2.62340776e-02 -2.30715693e-03 2.97074053e+02] [-2.62336369e-02 9.99655814e-01 2.21081656e-04 8.70999078e+00] [ 2.31216272e-03 -1.60479860e-04 9.99997314e-01 -3.01662700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.185898227 meters 0.08073327788129248 Centerline is valid? [True, True] Translation: X:297.10, Y:8.70, Z:-3.02 [[ 9.99700444e-01 2.44025700e-02 -1.88054418e-03 2.97102039e+02] [-2.44022740e-02 9.99702204e-01 1.80217053e-04 8.69901480e+00] [ 1.88438192e-03 -1.34273514e-04 9.99998216e-01 -3.01662701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21589822699997 meters 0.083502672466776 Centerline is valid? [True, True] Translation: X:297.13, Y:8.69, Z:-3.02 [[ 9.99743568e-01 2.25927088e-02 -1.53888166e-03 2.97131215e+02] [-2.25925085e-02 9.99744746e-01 1.47422797e-04 8.69255897e+00] [ 1.54181954e-03 -1.12617796e-04 9.99998805e-01 -3.01595837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.24589822699994 meters 0.08200932282864196 Centerline is valid? [True, True] Translation: X:297.16, Y:8.69, Z:-3.02 [[ 9.99792581e-01 2.02904377e-02 -1.75844257e-03 2.97161578e+02] [-2.02901725e-02 9.99794119e-01 1.68514568e-04 8.69126072e+00] [ 1.76149978e-03 -1.32800512e-04 9.99998440e-01 -3.01613152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.27589822699997 meters 0.07934393395002773 Centerline is valid? [True, True] Translation: X:297.19, Y:8.69, Z:-3.02 [[ 9.99844034e-01 1.75056884e-02 -2.33645182e-03 2.97191682e+02] [-1.75052128e-02 9.99846747e-01 2.23837060e-04 8.69131126e+00] [ 2.34001217e-03 -1.82902063e-04 9.99997245e-01 -3.01697226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.30589822699994 meters 0.0804789608317263 Centerline is valid? [True, True] Translation: X:297.22, Y:8.68, Z:-3.02 [[ 9.99934400e-01 1.09042893e-02 -3.50593571e-03 2.97221213e+02] [-1.09031777e-02 9.99940502e-01 3.36006760e-04 8.68388009e+00] [ 3.50939103e-03 -2.97758878e-04 9.99993798e-01 -3.01847662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.335898227 meters 0.09437069781251438 Centerline is valid? [True, True] Translation: X:297.25, Y:8.66, Z:-3.02 [[ 9.99985052e-01 3.18204852e-03 -4.44632132e-03 2.97248841e+02] [-3.18018520e-03 9.99994852e-01 4.26077627e-04 8.65888927e+00] [ 4.44765423e-03 -4.11931133e-04 9.99990024e-01 -3.01988292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.36589822699995 meters 0.09852067579682895 Centerline is valid? [True, True] Translation: X:297.28, Y:8.65, Z:-3.02 [[ 9.99990839e-01 6.42592324e-04 -4.23189754e-03 2.97277182e+02] [-6.40882495e-04 9.99999712e-01 4.05377446e-04 8.64846529e+00] [ 4.23215682e-03 -4.02661583e-04 9.99990963e-01 -3.01900204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.395898227 meters 0.09318719410330445 Centerline is valid? [True, True] Translation: X:297.31, Y:8.65, Z:-3.02 [[ 9.99994517e-01 -7.54296194e-04 -3.22453646e-03 2.97307362e+02] [ 7.55295981e-04 9.99999667e-01 3.08849529e-04 8.65081577e+00] [ 3.22430242e-03 -3.11283315e-04 9.99994753e-01 -3.01689259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.42589822699995 meters 0.10706936075381383 Centerline is valid? [True, False] Translation: X:297.31, Y:8.65, Z:-3.02 [[ 9.99994766e-01 -6.41659134e-04 -3.17111967e-03 2.97307138e+02] [ 6.43476608e-04 9.99999629e-01 5.72146188e-04 8.64961264e+00] [ 3.17075137e-03 -5.74183734e-04 9.99994808e-01 -3.01679421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.455898227 meters 0.0964116359816343 Centerline is valid? [False, True] Translation: X:297.31, Y:8.65, Z:-3.02 [[ 9.99995227e-01 -4.19013270e-04 -3.06124997e-03 2.97306564e+02] [ 4.22348516e-04 9.99999318e-01 1.08893949e-03 8.64722895e+00] [ 3.06079161e-03 -1.09022721e-03 9.99994721e-01 -3.01635628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.48589822699995 meters 0.09613643584942007 Centerline is valid? [True, True] Translation: X:297.34, Y:8.64, Z:-3.02 [[ 9.99996830e-01 4.02656965e-04 -2.48557275e-03 2.97335809e+02] [-4.02063052e-04 9.99999891e-01 2.39439162e-04 8.64289961e+00] [ 2.48566889e-03 -2.38439046e-04 9.99996882e-01 -3.01568826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.515898227 meters 0.09654535635031365 Centerline is valid? [True, True] Translation: X:297.36, Y:8.63, Z:-3.02 [[ 9.99994871e-01 2.63820220e-03 -1.81579976e-03 2.97364893e+02] [-2.63788891e-03 9.99996505e-01 1.74909641e-04 8.63387643e+00] [ 1.81625486e-03 -1.70118866e-04 9.99998336e-01 -3.01643137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.54589822699995 meters 0.10409354359102425 Centerline is valid? [True, False] Translation: X:297.37, Y:8.63, Z:-3.02 [[ 9.99995903e-01 3.60302458e-04 -2.83965468e-03 2.97371428e+02] [-3.65683942e-04 9.99998138e-01 -1.89482779e-03 8.63223867e+00] [ 2.83896668e-03 1.89585844e-03 9.99994173e-01 -3.02108379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.575898227 meters 0.09480204077931462 Centerline is valid? [False, True] Translation: X:297.37, Y:8.63, Z:-3.02 [[ 9.99995579e-01 9.08595945e-04 -2.83146583e-03 2.97371663e+02] [-9.10373300e-04 9.99999389e-01 -6.26489609e-04 8.62655259e+00] [ 2.83089488e-03 6.29064530e-04 9.99995795e-01 -3.02174988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.60589822699995 meters 0.09400831649434035 Centerline is valid? [True, True] Translation: X:297.40, Y:8.62, Z:-3.02 [[ 9.99991735e-01 7.45619048e-04 -3.99680286e-03 2.97400389e+02] [-7.44132759e-04 9.99999653e-01 3.73343599e-04 8.62042344e+00] [ 3.99707984e-03 -3.70366361e-04 9.99991943e-01 -3.02393435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.635898227 meters 0.09710904127708318 Centerline is valid? [True, True] Translation: X:297.43, Y:8.61, Z:-3.03 [[ 9.99987391e-01 5.22774126e-04 -4.99451519e-03 2.97428432e+02] [-5.20451249e-04 9.99999756e-01 4.66373936e-04 8.60886109e+00] [ 4.99475778e-03 -4.63768654e-04 9.99987419e-01 -3.02626654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.66589822699996 meters 0.098533621602162 Centerline is valid? [True, True] Translation: X:297.46, Y:8.60, Z:-3.03 [[ 9.99978977e-01 -2.99999131e-04 -6.47724000e-03 2.97457155e+02] [ 3.03922640e-04 9.99999771e-01 6.04761973e-04 8.59837089e+00] [ 6.47705709e-03 -6.06717839e-04 9.99978840e-01 -3.02759870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.695898227 meters 0.09653513053200405 Centerline is valid? [True, True] Translation: X:297.48, Y:8.59, Z:-3.03 [[ 9.99978126e-01 -5.27673831e-07 -6.61420139e-03 2.97484189e+02] [ 4.60980563e-06 9.99999810e-01 6.17161593e-04 8.58958390e+00] [ 6.61419981e-03 -6.17178583e-04 9.99977935e-01 -3.02891790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.72589822699996 meters 0.09963190421170008 Centerline is valid? [True, True] Translation: X:297.51, Y:8.57, Z:-3.03 [[ 9.99973338e-01 1.79935902e-03 -7.07704827e-03 2.97512228e+02] [-1.79473039e-03 9.99998171e-01 6.60330173e-04 8.57225888e+00] [ 7.07822350e-03 -6.47611174e-04 9.99974739e-01 -3.02955506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.755898227 meters 0.09340341393723182 Centerline is valid? [True, True] Translation: X:297.54, Y:8.57, Z:-3.03 [[ 9.99969460e-01 3.57608996e-03 -6.94907669e-03 2.97543284e+02] [-3.57166988e-03 9.99993411e-01 6.48373491e-04 8.57399328e+00] [ 6.95134954e-03 -6.23533882e-04 9.99975645e-01 -3.02826849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.78589822699996 meters 0.09115873292003018 Centerline is valid? [True, True] Translation: X:297.57, Y:8.57, Z:-3.03 [[ 9.99955705e-01 6.09398754e-03 -7.17302389e-03 2.97572732e+02] [-6.08934313e-03 9.99981236e-01 6.69145089e-04 8.56822836e+00] [ 7.17696706e-03 -6.25436446e-04 9.99974050e-01 -3.02888949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.815898227 meters 0.09216000312402234 Centerline is valid? [True, True] Translation: X:297.60, Y:8.56, Z:-3.03 [[ 9.99921733e-01 9.55350632e-03 -8.07822301e-03 2.97601317e+02] [-9.54772892e-03 9.99954136e-01 7.53445721e-04 8.56078220e+00] [ 8.08505056e-03 -6.76258068e-04 9.99967087e-01 -3.02987472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.84589822699996 meters 0.08523994846156817 Centerline is valid? [True, True] Translation: X:297.63, Y:8.56, Z:-3.03 [[ 9.99906801e-01 1.12009888e-02 -7.80555323e-03 2.97631613e+02] [-1.11956460e-02 9.99937062e-01 7.27842982e-04 8.55812321e+00] [ 7.81321453e-03 -6.40386937e-04 9.99969271e-01 -3.02980384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.875898227 meters 0.09227234001386547 Centerline is valid? [True, True] Translation: X:297.66, Y:8.54, Z:-3.03 [[ 9.99881809e-01 1.41942223e-02 -5.90687261e-03 2.97659399e+02] [-1.41912152e-02 9.99899148e-01 5.50684788e-04 8.54309825e+00] [ 5.91409343e-03 -4.66794002e-04 9.99982403e-01 -3.02664768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.90589822699997 meters 0.07778326673991186 Centerline is valid? [True, True] Translation: X:297.69, Y:8.55, Z:-3.03 [[ 9.99844496e-01 1.67551274e-02 -5.50000199e-03 2.97691437e+02] [-1.67525585e-02 9.99859535e-01 5.12813478e-04 8.55360327e+00] [ 5.50782168e-03 -4.20594628e-04 9.99984743e-01 -3.02525838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.935898227 meters 0.07873054058011701 Centerline is valid? [True, True] Translation: X:297.72, Y:8.55, Z:-3.03 [[ 9.99800603e-01 1.91173263e-02 -5.76907830e-03 2.97720560e+02] [-1.91145395e-02 9.99817156e-01 5.37817447e-04 8.55013046e+00] [ 5.77830509e-03 -4.27436933e-04 9.99983214e-01 -3.02547121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.96589822699997 meters 0.0760032350775302 Centerline is valid? [True, True] Translation: X:297.75, Y:8.55, Z:-3.03 [[ 9.99714616e-01 2.28769057e-02 -6.87991648e-03 2.97751202e+02] [-2.28730310e-02 9.99738172e-01 6.41364952e-04 8.55358768e+00] [ 6.89278757e-03 -4.83817374e-04 9.99976127e-01 -3.02600288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99589822699994 meters 0.07541487052879789 Centerline is valid? [True, True] Translation: X:297.78, Y:8.55, Z:-3.02 [[ 9.99696874e-01 2.38915395e-02 -5.94589090e-03 2.97780209e+02] [-2.38886641e-02 9.99714472e-01 5.54151477e-04 8.55249982e+00] [ 5.95743271e-03 -4.11944109e-04 9.99982169e-01 -3.02432383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.02589822699997 meters 0.08344062076942559 Centerline is valid? [True, True] Translation: X:297.81, Y:8.54, Z:-3.02 [[ 9.99724202e-01 2.34450439e-02 -1.36009329e-03 2.97809187e+02] [-2.34448930e-02 9.99725123e-01 1.26774118e-04 8.54154216e+00] [ 1.36269165e-03 -9.48519124e-05 9.99999067e-01 -3.01694343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05589822699994 meters 0.07630149736857811 Centerline is valid? [True, True] Translation: X:297.84, Y:8.55, Z:-3.01 [[ 9.99755749e-01 2.20844576e-02 8.48487964e-04 2.97841423e+02] [-2.20843984e-02 9.99756107e-01 -7.90992276e-05 8.54878770e+00] [-8.50027887e-04 6.03415613e-05 9.99999637e-01 -3.01340159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.085898227 meters 0.08439369744023767 Centerline is valid? [True, True] Translation: X:297.87, Y:8.54, Z:-3.01 [[ 9.99792869e-01 2.01880610e-02 2.58093734e-03 2.97870544e+02] [-2.01875066e-02 9.99796183e-01 -2.40711278e-04 8.53617680e+00] [-2.58527080e-03 1.88558730e-04 9.99996640e-01 -3.01159014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11589822699995 meters 0.08915201952964584 Centerline is valid? [True, True] Translation: X:297.90, Y:8.53, Z:-3.01 [[ 9.99840045e-01 1.74647158e-02 3.85582558e-03 2.97899578e+02] [-1.74634581e-02 9.99847438e-01 -3.59596708e-04 8.52720253e+00] [-3.86151758e-03 2.92203140e-04 9.99992502e-01 -3.00950363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.145898227 meters 0.07828863587603373 Centerline is valid? [True, True] Translation: X:297.93, Y:8.54, Z:-3.01 [[ 9.99840140e-01 1.76238525e-02 3.01576575e-03 2.97934226e+02] [-1.76230823e-02 9.99844662e-01 -2.81756168e-04 8.53865594e+00] [-3.02026292e-03 2.28564038e-04 9.99995413e-01 -3.01098613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17589822699995 meters 0.07790847995963582 Centerline is valid? [True, True] Translation: X:297.96, Y:8.54, Z:-3.02 [[ 9.99803611e-01 1.98175940e-02 -5.01040613e-05 2.97964351e+02] [-1.98175938e-02 9.99803612e-01 4.67922573e-06 8.54192197e+00] [ 5.01869525e-05 -3.68536485e-06 9.99999999e-01 -3.01510648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.205898227 meters 0.07835913878775286 Centerline is valid? [True, True] Translation: X:297.99, Y:8.54, Z:-3.02 [[ 9.99770082e-01 2.14038845e-02 -1.28729331e-03 2.97994653e+02] [-2.14037473e-02 9.99770906e-01 1.20279563e-04 8.54198521e+00] [ 1.28957285e-03 -9.26990080e-05 9.99999164e-01 -3.01760223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23589822699995 meters 0.07116495595063928 Centerline is valid? [True, True] Translation: X:298.03, Y:8.55, Z:-3.02 [[ 9.99736257e-01 2.29021853e-02 -1.70481680e-03 2.98026822e+02] [-2.29019468e-02 9.99737703e-01 1.59314466e-04 8.55134273e+00] [ 1.70801829e-03 -1.20228824e-04 9.99998534e-01 -3.01898070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.265898227 meters 0.07116495595063928 Centerline is valid? [True, True] Translation: X:298.06, Y:8.55, Z:-3.02 [[ 9.99736257e-01 2.29021853e-02 -1.70481710e-03 2.98056766e+02] [-2.29019468e-02 9.99737703e-01 1.59311295e-04 8.54854455e+00] [ 1.70801851e-03 -1.20225647e-04 9.99998534e-01 -3.01898895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29589822699995 meters 0.08159982020984163 Centerline is valid? [True, True] Translation: X:298.09, Y:8.54, Z:-3.02 [[ 9.99718508e-01 2.35971013e-02 -2.46621166e-03 2.98085868e+02] [-2.35966041e-02 9.99721535e-01 2.30493780e-04 8.53685902e+00] [ 2.47096389e-03 -1.72234678e-04 9.99996932e-01 -3.02204302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.325898227 meters 0.0798780941328857 Centerline is valid? [True, True] Translation: X:298.12, Y:8.54, Z:-3.02 [[ 9.99732234e-01 2.29511770e-02 -2.95007222e-03 2.98116382e+02] [-2.29504629e-02 9.99736565e-01 2.75711908e-04 8.53861227e+00] [ 2.95562299e-03 -2.07932559e-04 9.99995611e-01 -3.02300549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35589822699995 meters 0.07819039684605987 Centerline is valid? [True, True] Translation: X:298.15, Y:8.54, Z:-3.03 [[ 9.99773113e-01 2.05179669e-02 -5.72142900e-03 2.98147641e+02] [-2.05152410e-02 9.99789397e-01 5.34732945e-04 8.54153416e+00] [ 5.73119569e-03 -4.17235126e-04 9.99983490e-01 -3.02860849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.385898227 meters 0.08157921750623331 Centerline is valid? [True, True] Translation: X:298.18, Y:8.54, Z:-3.03 [[ 9.99798461e-01 1.84961733e-02 -7.80572826e-03 2.98176307e+02] [-1.84910390e-02 9.99828760e-01 7.29426570e-04 8.53555779e+00] [ 7.81788320e-03 -5.84943537e-04 9.99969269e-01 -3.03261015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41589822699996 meters 0.08233179069335551 Centerline is valid? [True, True] Translation: X:298.21, Y:8.53, Z:-3.04 [[ 9.99816649e-01 1.66492629e-02 -9.45889719e-03 2.98206103e+02] [-1.66416423e-02 9.99861128e-01 8.83796521e-04 8.53228557e+00] [ 9.47229817e-03 -7.26222893e-04 9.99954873e-01 -3.03520977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.445898227 meters 0.08494573341021731 Centerline is valid? [True, True] Translation: X:298.24, Y:8.53, Z:-3.03 [[ 9.99847941e-01 1.48217251e-02 -9.18759982e-03 2.98235108e+02] [-1.48144587e-02 9.99889891e-01 8.58443447e-04 8.52651044e+00] [ 9.19931180e-03 -7.22203595e-04 9.99957425e-01 -3.03468249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47589822699996 meters 0.08550376265305448 Centerline is valid? [True, True] Translation: X:298.26, Y:8.52, Z:-3.03 [[ 9.99847547e-01 1.49721060e-02 -8.98433219e-03 2.98264025e+02] [-1.49651674e-02 9.99887664e-01 8.39033522e-04 8.52341973e+00] [ 8.99588502e-03 -7.04453574e-04 9.99959288e-01 -3.03410565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.505898227 meters 0.08691370523274376 Centerline is valid? [True, True] Translation: X:298.29, Y:8.52, Z:-3.03 [[ 9.99836935e-01 1.55284567e-02 -9.21795514e-03 2.98292379e+02] [-1.55211789e-02 9.99879169e-01 8.60544120e-04 8.51936020e+00] [ 9.23020424e-03 -7.17330264e-04 9.99957143e-01 -3.03428186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53589822699996 meters 0.08060180105481966 Centerline is valid? [True, True] Translation: X:298.32, Y:8.52, Z:-3.03 [[ 9.99780895e-01 1.88077252e-02 -9.18868624e-03 2.98322959e+02] [-1.88006317e-02 9.99822885e-01 8.57753174e-04 8.52442109e+00] [ 9.20319117e-03 -6.84812130e-04 9.99957415e-01 -3.03305498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.565898227 meters 0.07691698550495872 Centerline is valid? [True, True] Translation: X:298.35, Y:8.53, Z:-3.03 [[ 9.99736527e-01 2.14579994e-02 -8.15046084e-03 2.98354023e+02] [-2.14525061e-02 9.99769579e-01 7.60821130e-04 8.52622947e+00] [ 8.16490851e-03 -5.85772863e-04 9.99966495e-01 -3.03077392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59589822699996 meters 0.0721805554934334 Centerline is valid? [True, True] Translation: X:298.39, Y:8.53, Z:-3.03 [[ 9.99625565e-01 2.67535045e-02 -5.74282822e-03 2.98385238e+02] [-2.67508644e-02 9.99641988e-01 5.36059148e-04 8.53177542e+00] [ 5.75511368e-03 -3.82232810e-04 9.99983366e-01 -3.02632699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.625898227 meters 0.06996050896111863 Centerline is valid? [True, True] Translation: X:298.42, Y:8.53, Z:-3.02 [[ 9.99569320e-01 2.89699104e-02 -4.68175379e-03 2.98415968e+02] [-2.89681801e-02 9.99580239e-01 4.36996045e-04 8.53306143e+00] [ 4.69244831e-03 -3.01185952e-04 9.99988945e-01 -3.02423661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65589822699997 meters 0.06911454889037627 Centerline is valid? [True, True] Translation: X:298.45, Y:8.53, Z:-3.02 [[ 9.99524876e-01 3.05203683e-02 -4.30461676e-03 2.98446524e+02] [-3.05189200e-02 9.99534109e-01 4.01742856e-04 8.53333381e+00] [ 4.31487261e-03 -2.70179724e-04 9.99990654e-01 -3.02376938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.685898227 meters 0.06783015167955882 Centerline is valid? [True, True] Translation: X:298.48, Y:8.53, Z:-3.02 [[ 9.99528590e-01 3.02885936e-02 -5.01978445e-03 2.98477004e+02] [-3.02866212e-02 9.99541145e-01 4.68491912e-04 8.53279816e+00] [ 5.03167106e-03 -3.16238750e-04 9.99987291e-01 -3.02386308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71589822699997 meters 0.07205928521874055 Centerline is valid? [True, True] Translation: X:298.51, Y:8.53, Z:-3.02 [[ 9.99562877e-01 2.91532657e-02 -4.91345897e-03 2.98506247e+02] [-2.91513623e-02 9.99574904e-01 4.58561080e-04 8.52797869e+00] [ 4.92473883e-03 -3.15126610e-04 9.99987824e-01 -3.02415962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.74589822699994 meters 0.07048571382117375 Centerline is valid? [True, True] Translation: X:298.54, Y:8.52, Z:-3.02 [[ 9.99632609e-01 2.68694467e-02 -3.56079462e-03 2.98535847e+02] [-2.68684328e-02 9.99638923e-01 3.32276609e-04 8.52493408e+00] [ 3.56843699e-03 -2.36481563e-04 9.99993605e-01 -3.02195673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.77589822699997 meters 0.0738328580113425 Centerline is valid? [True, True] Translation: X:298.57, Y:8.52, Z:-3.02 [[ 9.99664879e-01 2.57732839e-02 -2.42228411e-03 2.98565931e+02] [-2.57728115e-02 9.99667800e-01 2.26069043e-04 8.51759342e+00] [ 2.42730597e-03 -1.63564211e-04 9.99997041e-01 -3.02015059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.80589822699994 meters 0.0720278999382016 Centerline is valid? [True, True] Translation: X:298.60, Y:8.52, Z:-3.02 [[ 9.99688598e-01 2.48875799e-02 -1.82055285e-03 2.98596845e+02] [-2.48873115e-02 9.99690248e-01 1.69907802e-04 8.51699722e+00] [ 1.82421752e-03 -1.24546226e-04 9.99998328e-01 -3.01859960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.835898227 meters 0.0717175609139958 Centerline is valid? [True, True] Translation: X:298.63, Y:8.52, Z:-3.02 [[ 9.99697196e-01 2.44883463e-02 -2.41619344e-03 2.98627155e+02] [-2.44878724e-02 9.99700102e-01 2.25497500e-04 8.51590017e+00] [ 2.42099089e-03 -1.66261782e-04 9.99997056e-01 -3.01839957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.86589822699995 meters 0.07368284644801336 Centerline is valid? [True, True] Translation: X:298.66, Y:8.51, Z:-3.02 [[ 9.99684079e-01 2.49933069e-02 -2.66013907e-03 2.98656767e+02] [-2.49927343e-02 9.99687602e-01 2.48297788e-04 8.51141533e+00] [ 2.66551383e-03 -1.81735197e-04 9.99996431e-01 -3.01903574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.895898227 meters 0.0673622950322511 Centerline is valid? [True, True] Translation: X:298.69, Y:8.52, Z:-3.02 [[ 9.99646581e-01 2.64878822e-02 -2.25962025e-03 2.98688344e+02] [-2.64874728e-02 9.99649123e-01 2.10940493e-04 8.51876219e+00] [ 2.26441477e-03 -1.51014313e-04 9.99997425e-01 -3.01796340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.92589822699995 meters 0.06645390568640164 Centerline is valid? [True, True] Translation: X:298.72, Y:8.52, Z:-3.02 [[ 9.99618705e-01 2.75615588e-02 -1.67506664e-03 2.98718238e+02] [-2.75613352e-02 9.99620102e-01 1.56431511e-04 8.51873615e+00] [ 1.67874178e-03 -1.10204791e-04 9.99998585e-01 -3.01713498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.955898227 meters 0.07004370570850672 Centerline is valid? [True, True] Translation: X:298.75, Y:8.51, Z:-3.02 [[ 9.99579873e-01 2.89612554e-02 -1.15025799e-03 2.98747728e+02] [-2.89611509e-02 9.99580532e-01 1.07431041e-04 8.51385771e+00] [ 1.15288683e-03 -7.40731107e-05 9.99999333e-01 -3.01608287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.98589822699995 meters 0.06519440002330615 Centerline is valid? [True, True] Translation: X:298.78, Y:8.52, Z:-3.02 [[ 9.99459479e-01 3.28517532e-02 -1.22959601e-03 2.98779837e+02] [-3.28516367e-02 9.99460233e-01 1.14852062e-04 8.52344445e+00] [ 1.23270541e-03 -7.43957400e-05 9.99999237e-01 -3.01635188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.015898227 meters 0.0634383569363031 Centerline is valid? [True, True] Translation: X:298.81, Y:8.53, Z:-3.02 [[ 9.99388641e-01 3.49263225e-02 -1.58004520e-03 2.98810593e+02] [-3.49261326e-02 9.99389886e-01 1.47603996e-04 8.52683136e+00] [ 1.58423645e-03 -9.23288892e-05 9.99998741e-01 -3.01729276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.04589822699995 meters 0.06016582696133081 Centerline is valid? [True, True] Translation: X:298.84, Y:8.53, Z:-3.02 [[ 9.99311236e-01 3.70257414e-02 -2.47965684e-03 2.98841553e+02] [-3.70252803e-02 9.99314302e-01 2.31606814e-04 8.53282563e+00] [ 2.48653196e-03 -1.39637302e-04 9.99996899e-01 -3.01821625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.075898227 meters 0.05729783403065167 Centerline is valid? [True, True] Translation: X:298.87, Y:8.54, Z:-3.02 [[ 9.99124532e-01 4.16272933e-02 -4.16393486e-03 2.98871934e+02] [-4.16260332e-02 9.99133185e-01 3.88869008e-04 8.54197476e+00] [ 4.17651306e-03 -2.15200475e-04 9.99991255e-01 -3.02077972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.10589822699995 meters 0.054192695011467895 Centerline is valid? [True, True] Translation: X:298.90, Y:8.55, Z:-3.02 [[ 9.99046572e-01 4.34173656e-02 -4.56933212e-03 2.98902721e+02] [-4.34158671e-02 9.99056996e-01 4.26677418e-04 8.54734771e+00] [ 4.58354843e-03 -2.27889095e-04 9.99989470e-01 -3.02093309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.135898227 meters 0.05643852398342946 Centerline is valid? [True, True] Translation: X:298.93, Y:8.56, Z:-3.02 [[ 9.98954003e-01 4.54606255e-02 -4.92255740e-03 2.98933729e+02] [-4.54589114e-02 9.98966104e-01 4.59604774e-04 8.55507521e+00] [ 4.93836190e-03 -2.35349928e-04 9.99987779e-01 -3.02025173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.16589822699996 meters 0.048938832422036234 Centerline is valid? [True, True] Translation: X:298.96, Y:8.56, Z:-3.02 [[ 9.98908603e-01 4.64168802e-02 -5.20349937e-03 2.98963099e+02] [-4.64149791e-02 9.98922126e-01 4.85580838e-04 8.56031027e+00] [ 5.22042980e-03 -2.43530562e-04 9.99986344e-01 -3.02023785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.195898227 meters 0.06106846225286046 Centerline is valid? [True, True] Translation: X:298.99, Y:8.55, Z:-3.02 [[ 9.98869075e-01 4.72472611e-02 -5.31673681e-03 2.98990212e+02] [-4.72452894e-02 9.98883195e-01 4.95899855e-04 8.54570784e+00] [ 5.33422896e-03 -2.44148260e-04 9.99985743e-01 -3.02273295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.22589822699996 meters 0.04298916780547871 Centerline is valid? [True, True] Translation: X:299.02, Y:8.57, Z:-3.02 [[ 9.98734341e-01 5.00210789e-02 -5.25439486e-03 2.99023242e+02] [-5.00191918e-02 9.98748137e-01 4.90031371e-04 8.57366376e+00] [ 5.27232897e-03 -2.26590574e-04 9.99986076e-01 -3.01888418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.255898227 meters 0.04576204731620643 Centerline is valid? [True, True] Translation: X:299.05, Y:8.57, Z:-3.02 [[ 9.98660592e-01 5.14819222e-02 -5.16075414e-03 2.99050675e+02] [-5.14801228e-02 9.98673904e-01 4.80978695e-04 8.57137110e+00] [ 5.17867219e-03 -2.14658211e-04 9.99986568e-01 -3.01914241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.28589822699996 meters 0.041581438172018106 Centerline is valid? [True, True] Translation: X:299.08, Y:8.58, Z:-3.02 [[ 9.98538018e-01 5.38627196e-02 -4.54238117e-03 2.99081719e+02] [-5.38613504e-02 9.98548334e-01 4.23304894e-04 8.58138443e+00] [ 4.55858751e-03 -1.78027246e-04 9.99989594e-01 -3.01701750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.315898227 meters 0.0413824334704621 Centerline is valid? [True, True] Translation: X:299.11, Y:8.58, Z:-3.02 [[ 9.98505311e-01 5.45127026e-02 -3.93804384e-03 2.99109701e+02] [-5.45116795e-02 9.98513066e-01 3.66745639e-04 8.58160894e+00] [ 3.95218052e-03 -1.51528085e-04 9.99992179e-01 -3.01657202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.34589822699996 meters 0.04467976518030547 Centerline is valid? [True, True] Translation: X:299.14, Y:8.58, Z:-3.02 [[ 9.98479701e-01 5.50120893e-02 -3.45776611e-03 2.99137503e+02] [-5.50113043e-02 9.98485680e-01 3.21811874e-04 8.57647732e+00] [ 3.47023349e-03 -1.31106400e-04 9.99993970e-01 -3.01653192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.375898227 meters 0.044560931041212594 Centerline is valid? [True, True] Translation: X:299.17, Y:8.58, Z:-3.02 [[ 9.98467868e-01 5.52951085e-02 -2.08975134e-03 2.99166513e+02] [-5.52948225e-02 9.98470052e-01 1.94397219e-04 8.57763273e+00] [ 2.09730335e-03 -7.85469472e-05 9.99997798e-01 -3.01513156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.40589822699997 meters 0.039798519825988664 Centerline is valid? [True, True] Translation: X:299.20, Y:8.58, Z:-3.01 [[ 9.98458364e-01 5.54848874e-02 -1.52394057e-03 2.99196174e+02] [-5.54847357e-02 9.98459525e-01 1.41687917e-04 8.58344774e+00] [ 1.52945452e-03 -5.69140465e-05 9.99998829e-01 -3.01356191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.435898227 meters 0.03872610957344294 Centerline is valid? [True, True] Translation: X:299.23, Y:8.59, Z:-3.01 [[ 9.98298416e-01 5.83038291e-02 -9.67896397e-04 2.99225344e+02] [-5.83037692e-02 9.98298884e-01 8.99545593e-05 8.58618482e+00] [ 9.71494589e-04 -3.33694859e-05 9.99999528e-01 -3.01251553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.46589822699997 meters 0.03649642669411762 Centerline is valid? [True, True] Translation: X:299.25, Y:8.59, Z:-3.01 [[ 9.98168280e-01 6.04952040e-02 -6.44792839e-04 2.99254169e+02] [-6.04951779e-02 9.98168488e-01 5.98905832e-05 8.58782155e+00] [ 6.47234986e-04 -2.07740229e-05 9.99999790e-01 -3.01170873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49589822699994 meters 0.0333485651693122 Centerline is valid? [True, True] Translation: X:299.28, Y:8.59, Z:-3.01 [[ 9.98037454e-01 6.26175127e-02 -5.35944477e-04 2.99283260e+02] [-6.26174950e-02 9.98037598e-01 4.97524429e-05 8.59256713e+00] [ 5.38008113e-04 -1.60953008e-05 9.99999855e-01 -3.01190284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.52589822699997 meters 0.02924290321363335 Centerline is valid? [True, True] Translation: X:299.31, Y:8.60, Z:-3.01 [[ 9.97805943e-01 6.62056933e-02 -3.26285737e-04 2.99312805e+02] [-6.62056870e-02 9.97805996e-01 3.02833374e-05 8.59553723e+00] [ 3.27574794e-04 -8.61492269e-06 9.99999946e-01 -3.01292885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55589822699994 meters 0.028765020410987684 Centerline is valid? [True, True] Translation: X:299.34, Y:8.59, Z:-3.01 [[ 9.97693349e-01 6.78820693e-02 7.37735424e-05 2.99341033e+02] [-6.78820690e-02 9.97693352e-01 -6.85779706e-06 8.59376177e+00] [-7.40688942e-05 1.83407783e-06 9.99999997e-01 -3.01347073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.585898227 meters 0.025211667006413536 Centerline is valid? [True, True] Translation: X:299.37, Y:8.60, Z:-3.02 [[ 9.97499633e-01 7.06657885e-02 -9.10332589e-04 2.99370357e+02] [-7.06657409e-02 9.97500048e-01 8.44108186e-05 8.59525880e+00] [ 9.14021758e-04 -1.98704337e-05 9.99999582e-01 -3.01538941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61589822699995 meters 0.025549862446211945 Centerline is valid? [True, True] Translation: X:299.40, Y:8.59, Z:-3.02 [[ 9.97408902e-01 7.19146990e-02 -1.93875563e-03 2.99398413e+02] [-7.19144855e-02 9.97410785e-01 1.79696747e-04 8.59172138e+00] [ 1.94665861e-03 -3.98065216e-05 9.99998104e-01 -3.01742579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.645898227 meters 0.023246719840555263 Centerline is valid? [True, True] Translation: X:299.43, Y:8.59, Z:-3.02 [[ 9.97215578e-01 7.44555613e-02 -4.17855940e-03 2.99426674e+02] [-7.44545928e-02 9.97224330e-01 3.87076403e-04 8.59165251e+00] [ 4.19578108e-03 -7.48856805e-05 9.99991195e-01 -3.02154664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67589822699995 meters 0.020673740380932 Centerline is valid? [True, True] Translation: X:299.46, Y:8.59, Z:-3.02 [[ 9.97131940e-01 7.54984237e-02 -5.28033832e-03 2.99456077e+02] [-7.54968927e-02 9.97145917e-01 4.88963481e-04 8.59144098e+00] [ 5.30218377e-03 -8.89119688e-05 9.99985939e-01 -3.02259977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.705898227 meters 0.01958634701701515 Centerline is valid? [True, True] Translation: X:299.48, Y:8.59, Z:-3.02 [[ 9.97024159e-01 7.68423906e-02 -6.17039339e-03 2.99484427e+02] [-7.68403274e-02 9.97043248e-01 5.71093535e-04 8.58813458e+00] [ 6.19603325e-03 -9.52590035e-05 9.99980800e-01 -3.02457448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73589822699995 meters 0.017064430137023055 Centerline is valid? [True, True] Translation: X:299.51, Y:8.59, Z:-3.03 [[ 9.96786272e-01 7.98570947e-02 -6.32231236e-03 2.99512037e+02] [-7.98549916e-02 9.96806319e-01 5.84783393e-04 8.58527585e+00] [ 6.34882002e-03 -7.80358584e-05 9.99979843e-01 -3.02529902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.765898227 meters 0.015451224274513667 Centerline is valid? [True, True] Translation: X:299.54, Y:8.58, Z:-3.02 [[ 9.96673896e-01 8.12774388e-02 -5.92638103e-03 2.99540544e+02] [-8.12756176e-02 9.96691514e-01 5.47887896e-04 8.58342199e+00] [ 5.95130461e-03 -6.43952853e-05 9.99982289e-01 -3.02422552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79589822699995 meters 0.012630503277102434 Centerline is valid? [True, True] Translation: X:299.57, Y:8.58, Z:-3.02 [[ 9.96383727e-01 8.48196570e-02 -5.00932987e-03 2.99569963e+02] [-8.48184015e-02 9.96396319e-01 4.62934230e-04 8.58249794e+00] [ 5.03054376e-03 -3.63767821e-05 9.99987346e-01 -3.02213637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.825898227 meters 0.01132674215869178 Centerline is valid? [True, True] Translation: X:299.60, Y:8.58, Z:-3.02 [[ 9.96215150e-01 8.68131554e-02 -4.34176947e-03 2.99597747e+02] [-8.68122323e-02 9.96224611e-01 4.00982942e-04 8.58064460e+00] [ 4.36018819e-03 -2.25465820e-05 9.99990494e-01 -3.02155724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85589822699995 meters 0.010217475493825094 Centerline is valid? [True, True] Translation: X:299.63, Y:8.58, Z:-3.02 [[ 9.96030686e-01 8.89077140e-02 -4.27670482e-03 2.99626747e+02] [-8.89068385e-02 9.96039868e-01 3.94782635e-04 8.57888463e+00] [ 4.29486772e-03 -1.29873151e-05 9.99990777e-01 -3.02100948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.885898227 meters 0.009602133359291786 Centerline is valid? [True, True] Translation: X:299.66, Y:8.58, Z:-3.02 [[ 9.95797878e-01 9.14580902e-02 -4.69090136e-03 2.99655107e+02] [-9.14570661e-02 9.95808926e-01 4.32799957e-04 8.57786752e+00] [ 4.71082451e-03 -1.96520293e-06 9.99988904e-01 -3.02036414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91589822699996 meters 0.011217124207226942 Centerline is valid? [True, True] Translation: X:299.68, Y:8.58, Z:-3.02 [[ 9.95277671e-01 9.69480115e-02 -4.84152874e-03 2.99684102e+02] [-9.69469894e-02 9.95289447e-01 4.45916181e-04 8.57981347e+00] [ 4.86195315e-03 2.55612177e-05 9.99988180e-01 -3.01998377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.945898227 meters 0.01322716375704756 Centerline is valid? [True, True] Translation: X:299.71, Y:8.58, Z:-3.02 [[ 9.95018183e-01 9.96372430e-02 -3.35178029e-03 2.99711973e+02] [-9.96367690e-02 9.95023828e-01 3.08519833e-04 8.58076618e+00] [ 3.36584132e-03 2.69777149e-05 9.99994335e-01 -3.01866279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97589822699996 meters 0.0167614508019476 Centerline is valid? [True, True] Translation: X:299.74, Y:8.58, Z:-3.01 [[ 9.94673463e-01 1.03076123e-01 1.23373206e-04 2.99739980e+02] [-1.03076123e-01 9.94673470e-01 -1.13653081e-05 8.58163687e+00] [-1.23887546e-04 -1.41206131e-06 9.99999992e-01 -3.01266445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.005898227 meters 0.015021119733032754 Centerline is valid? [True, True] Translation: X:299.77, Y:8.58, Z:-3.01 [[ 9.94619951e-01 1.03585439e-01 1.09964750e-03 2.99768734e+02] [-1.03585390e-01 9.94620559e-01 -1.01119008e-04 8.57525222e+00] [-1.10420647e-03 -1.33324330e-05 9.99999390e-01 -3.01108684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03589822699996 meters 0.018010498713255167 Centerline is valid? [True, True] Translation: X:299.80, Y:8.58, Z:-3.01 [[ 9.94557220e-01 1.04183939e-01 1.28147922e-03 2.99796295e+02] [-1.04183873e-01 9.94558046e-01 -1.17718033e-04 8.57649670e+00] [-1.28676980e-03 -1.64321486e-05 9.99999172e-01 -3.00975498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.065898227 meters 0.018078072512756078 Centerline is valid? [True, True] Translation: X:299.82, Y:8.57, Z:-3.01 [[ 9.94330806e-01 1.06330266e-01 3.51127357e-04 2.99824416e+02] [-1.06330261e-01 9.94330868e-01 -3.22423059e-05 8.57303190e+00] [-3.52565103e-04 -5.27594555e-06 9.99999938e-01 -3.01091417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09589822699996 meters 0.02286604142566709 Centerline is valid? [True, True] Translation: X:299.85, Y:8.58, Z:-3.01 [[ 9.94150756e-01 1.08000766e-01 3.28800077e-04 2.99852532e+02] [-1.08000762e-01 9.94150811e-01 -3.01729443e-05 8.57656683e+00] [-3.30135564e-04 -5.51420360e-06 9.99999945e-01 -3.01132303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.125898227 meters 0.02517213823029683 Centerline is valid? [True, True] Translation: X:299.88, Y:8.58, Z:-3.01 [[ 9.93965587e-01 1.09692020e-01 2.69362956e-04 2.99881447e+02] [-1.09692017e-01 9.93965624e-01 -2.47050234e-05 8.57621606e+00] [-2.70447463e-04 -4.99102296e-06 9.99999963e-01 -3.01178402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15589822699997 meters 0.025694116803683425 Centerline is valid? [True, True] Translation: X:299.91, Y:8.57, Z:-3.01 [[ 9.93714318e-01 1.11945653e-01 -1.60849078e-04 2.99909712e+02] [-1.11945652e-01 9.93714331e-01 1.47198297e-05 8.57275691e+00] [ 1.61485855e-04 3.37904933e-06 9.99999987e-01 -3.01304661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.185898227 meters 0.025694116803683425 Centerline is valid? [True, True] Translation: X:299.94, Y:8.57, Z:-3.01 [[ 9.93722108e-01 1.11876474e-01 -1.60850390e-04 2.99937101e+02] [-1.11876473e-01 9.93722121e-01 1.47054919e-05 8.57038444e+00] [ 1.61485790e-04 3.38220194e-06 9.99999987e-01 -3.01305415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21589822699997 meters 0.026533669822549674 Centerline is valid? [True, True] Translation: X:299.97, Y:8.57, Z:-3.01 [[ 9.93676675e-01 1.12276999e-01 -7.35273177e-04 2.99965818e+02] [-1.12276980e-01 9.93676947e-01 6.72152101e-05 8.56750358e+00] [ 7.38170728e-04 1.57640656e-05 9.99999727e-01 -3.01401819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.24589822699994 meters 0.030454039493012123 Centerline is valid? [True, True] Translation: X:299.99, Y:8.57, Z:-3.02 [[ 9.93577838e-01 1.13137875e-01 -1.70300711e-03 2.99993981e+02] [-1.13137775e-01 9.93579297e-01 1.55566700e-04 8.56562163e+00] [ 1.70967310e-03 3.81068105e-05 9.99998538e-01 -3.01566952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.27589822699997 meters 0.03165695311615772 Centerline is valid? [True, True] Translation: X:300.02, Y:8.56, Z:-3.02 [[ 9.93505394e-01 1.13772661e-01 -1.67752609e-03 3.00021807e+02] [-1.13772565e-01 9.93506809e-01 1.53155534e-04 8.56210064e+00] [ 1.68405851e-03 3.86955966e-05 9.99998581e-01 -3.01591736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.30589822699994 meters 0.03063730018016277 Centerline is valid? [True, True] Translation: X:300.05, Y:8.56, Z:-3.02 [[ 9.93444260e-01 1.14301940e-01 -1.88897603e-03 3.00050401e+02] [-1.14301819e-01 9.93446055e-01 1.72379298e-04 8.55623370e+00] [ 1.89629907e-03 4.46641710e-05 9.99998201e-01 -3.01633661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.335898227 meters 0.029703099932470257 Centerline is valid? [True, True] Translation: X:300.08, Y:8.55, Z:-3.02 [[ 9.93176642e-01 1.16557766e-01 -3.80068956e-03 3.00079614e+02] [-1.16557292e-01 9.93183909e-01 3.46759090e-04 8.54957670e+00] [ 3.81520118e-03 9.86050537e-05 9.99992717e-01 -3.01899787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.36589822699995 meters 0.03157084635331058 Centerline is valid? [True, True] Translation: X:300.11, Y:8.55, Z:-3.02 [[ 9.93039467e-01 1.17705875e-01 -4.23610553e-03 3.00107419e+02] [-1.17705298e-01 9.93048495e-01 3.86218562e-04 8.54831155e+00] [ 4.25211842e-03 1.15081788e-04 9.99990953e-01 -3.02021146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.395898227 meters 0.033666326649251045 Centerline is valid? [True, True] Translation: X:300.14, Y:8.55, Z:-3.02 [[ 9.92824055e-01 1.19534627e-01 -3.44512225e-03 3.00135648e+02] [-1.19534257e-01 9.92830027e-01 3.13893925e-04 8.54511485e+00] [ 3.45794201e-03 1.00168689e-04 9.99994016e-01 -3.01871119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.42589822699995 meters 0.035468639712783384 Centerline is valid? [True, True] Translation: X:300.16, Y:8.54, Z:-3.02 [[ 9.92808910e-01 1.19666800e-01 -3.21322399e-03 3.00163660e+02] [-1.19666479e-01 9.92814106e-01 2.92573886e-04 8.54283273e+00] [ 3.22514549e-03 9.40452406e-05 9.99994795e-01 -3.01865054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.455898227 meters 0.034290930115628 Centerline is valid? [True, True] Translation: X:300.19, Y:8.54, Z:-3.02 [[ 9.92845481e-01 1.19362365e-01 -3.23687128e-03 3.00191748e+02] [-1.19362038e-01 9.92850753e-01 2.94576721e-04 8.53628940e+00] [ 3.24889146e-03 9.38903876e-05 9.99994718e-01 -3.01849884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.48589822699995 meters 0.032786615935955096 Centerline is valid? [True, True] Translation: X:300.22, Y:8.53, Z:-3.02 [[ 9.92990455e-01 1.18165561e-01 -2.61862752e-03 3.00219471e+02] [-1.18165344e-01 9.92993905e-01 2.38185537e-04 8.52655180e+00] [ 2.62842650e-03 7.29150561e-05 9.99996543e-01 -3.01653008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.515898227 meters 0.036425839117710634 Centerline is valid? [True, True] Translation: X:300.25, Y:8.52, Z:-3.02 [[ 9.92994187e-01 1.18140604e-01 -2.31144323e-03 3.00247490e+02] [-1.18140435e-01 9.92996875e-01 2.10072911e-04 8.52313659e+00] [ 2.32007404e-03 6.44737297e-05 9.99997307e-01 -3.01514494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.54589822699995 meters 0.032570593375366594 Centerline is valid? [True, True] Translation: X:300.28, Y:8.52, Z:-3.01 [[ 9.92907722e-01 1.18873380e-01 -1.83700484e-03 3.00276448e+02] [-1.18873274e-01 9.92909420e-01 1.66867437e-04 8.51881441e+00] [ 1.84381550e-03 5.26868130e-05 9.99998299e-01 -3.01410302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.575898227 meters 0.03547944549895763 Centerline is valid? [True, True] Translation: X:300.31, Y:8.52, Z:-3.01 [[ 9.92645845e-01 1.21043113e-01 -1.67092520e-03 3.00305232e+02] [-1.21043029e-01 9.92647250e-01 1.51723084e-04 8.51899894e+00] [ 1.67700433e-03 5.16465577e-05 9.99998592e-01 -3.01408342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.60589822699995 meters 0.03399324327638817 Centerline is valid? [True, True] Translation: X:300.33, Y:8.51, Z:-3.01 [[ 9.92586448e-01 1.21524520e-01 -1.98338421e-03 3.00333154e+02] [-1.21524403e-01 9.92588428e-01 1.79902325e-04 8.51379344e+00] [ 1.99054676e-03 6.24609721e-05 9.99998017e-01 -3.01448080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.635898227 meters 0.034699878598155105 Centerline is valid? [True, True] Translation: X:300.36, Y:8.51, Z:-3.02 [[ 9.92795346e-01 1.19778216e-01 -3.25256688e-03 3.00360560e+02] [-1.19777893e-01 9.92800670e-01 2.94748233e-04 8.51169200e+00] [ 3.26445500e-03 9.69609327e-05 9.99994667e-01 -3.01608870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.66589822699996 meters 0.032950005452694685 Centerline is valid? [True, True] Translation: X:300.39, Y:8.51, Z:-3.02 [[ 9.93018161e-01 1.17926972e-01 -2.85672996e-03 3.00389178e+02] [-1.17926715e-01 9.93022267e-01 2.58750584e-04 8.50705167e+00] [ 2.86731014e-03 7.99407499e-05 9.99995886e-01 -3.01526338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.695898227 meters 0.03018245134372076 Centerline is valid? [True, True] Translation: X:300.42, Y:8.50, Z:-3.01 [[ 9.93309038e-01 1.15472690e-01 -1.79219874e-03 3.00418157e+02] [-1.15472585e-01 9.93310654e-01 1.62264138e-04 8.50108207e+00] [ 1.79894718e-03 4.57713871e-05 9.99998381e-01 -3.01394576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.72589822699996 meters 0.02701992472101179 Centerline is valid? [True, True] Translation: X:300.45, Y:8.49, Z:-3.01 [[ 9.93700300e-01 1.12068919e-01 -5.20377480e-04 3.00447001e+02] [-1.12068909e-01 9.93700436e-01 4.70985279e-05 8.49464649e+00] [ 5.22377610e-04 1.15163153e-05 9.99999863e-01 -3.01255216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.755898227 meters 0.01737980468064072 Centerline is valid? [True, True] Translation: X:300.48, Y:8.48, Z:-3.01 [[ 9.94693876e-01 1.02852418e-01 2.33949870e-03 3.00476244e+02] [-1.02852204e-01 9.94696627e-01 -2.11756681e-04 8.47921058e+00] [-2.34887115e-03 -2.99895240e-05 9.99997241e-01 -3.00833779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.78589822699996 meters 0.013287687561021628 Centerline is valid? [True, True] Translation: X:300.50, Y:8.47, Z:-3.01 [[ 9.95160613e-01 9.81953670e-02 3.60880745e-03 3.00504468e+02] [-9.81948287e-02 9.95167156e-01 -3.26486050e-04 8.47073211e+00] [-3.62342606e-03 -2.94601718e-05 9.99993435e-01 -3.00635470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.815898227 meters 0.009717652499760717 Centerline is valid? [True, True] Translation: X:300.53, Y:8.46, Z:-3.01 [[ 9.95858800e-01 9.08239264e-02 4.03289620e-03 3.00530788e+02] [-9.08231945e-02 9.95866966e-01 -3.64619266e-04 8.45659343e+00] [-4.04934425e-03 -3.17121110e-06 9.99991801e-01 -3.00588245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.84589822699996 meters 0.009859168563371042 Centerline is valid? [True, True] Translation: X:300.56, Y:8.45, Z:-3.01 [[ 9.96107815e-01 8.80986757e-02 2.80085645e-03 3.00559185e+02] [-8.80983123e-02 9.96111752e-01 -2.53101123e-04 8.44800188e+00] [-2.81226390e-03 5.36528062e-06 9.99996046e-01 -3.00814944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.875898227 meters 0.011694119765543213 Centerline is valid? [True, True] Translation: X:300.59, Y:8.44, Z:-3.01 [[ 9.96460304e-01 8.40645476e-02 -1.20562229e-04 3.00587479e+02] [-8.40645469e-02 9.96460311e-01 1.08758307e-05 8.43764139e+00] [ 1.21049748e-04 -7.02324448e-07 9.99999993e-01 -3.01343817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.90589822699997 meters 0.012540368489538701 Centerline is valid? [True, True] Translation: X:300.62, Y:8.43, Z:-3.01 [[ 9.96577582e-01 8.26625951e-02 -1.32481061e-04 3.00616136e+02] [-8.26625943e-02 9.96577591e-01 1.19459463e-05 8.43328948e+00] [ 1.33015140e-04 -9.53834089e-07 9.99999991e-01 -3.01374874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.935898227 meters 0.013254131031013083 Centerline is valid? [True, True] Translation: X:300.64, Y:8.43, Z:-3.01 [[ 9.96639682e-01 8.19063901e-02 8.28583078e-04 3.00643534e+02] [-8.19063563e-02 9.96640027e-01 -7.47619131e-05 8.42895733e+00] [-8.31922540e-04 6.64446852e-06 9.99999654e-01 -3.01225902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.96589822699997 meters 0.01317387395842129 Centerline is valid? [True, True] Translation: X:300.67, Y:8.42, Z:-3.01 [[ 9.96717465e-01 8.09164520e-02 2.61221247e-03 3.00672492e+02] [-8.09161126e-02 9.96720887e-01 -2.35530930e-04 8.42447611e+00] [-2.62270506e-03 2.33877131e-05 9.99996560e-01 -3.01118825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99589822699994 meters 0.014199043050852303 Centerline is valid? [True, True] Translation: X:300.70, Y:8.42, Z:-3.01 [[ 9.96754201e-01 8.04743849e-02 2.22155021e-03 3.00699938e+02] [-8.04741386e-02 9.96756677e-01 -2.00175946e-04 8.41991295e+00] [-2.23045404e-03 2.07488758e-05 9.99997512e-01 -3.01199916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.02589822699997 meters 0.015271140187460983 Centerline is valid? [True, True] Translation: X:300.73, Y:8.42, Z:-3.01 [[ 9.96797175e-01 7.99594760e-02 1.36865195e-03 3.00727951e+02] [-7.99593821e-02 9.96798115e-01 -1.23245112e-04 8.41616273e+00] [-1.37412430e-03 1.34138155e-05 9.99999056e-01 -3.01360502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05589822699994 meters 0.017016014682815814 Centerline is valid? [True, True] Translation: X:300.76, Y:8.41, Z:-3.02 [[ 9.96899796e-01 7.86814717e-02 -1.52397068e-04 3.00757063e+02] [-7.86814705e-02 9.96899807e-01 1.37014683e-05 8.41323448e+00] [ 1.53002659e-04 -1.66816553e-06 9.99999988e-01 -3.01687918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.085898227 meters 0.025578349964735538 Centerline is valid? [True, True] Translation: X:300.79, Y:8.41, Z:-3.02 [[ 9.97014498e-01 7.72101091e-02 -8.30795360e-04 3.00785269e+02] [-7.72100736e-02 9.97014844e-01 7.47115707e-05 8.40828966e+00] [ 8.34083795e-04 -1.03427483e-05 9.99999652e-01 -3.01782102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11589822699995 meters 0.019296273263390937 Centerline is valid? [True, True] Translation: X:300.81, Y:8.40, Z:-3.02 [[ 9.97171720e-01 7.51443424e-02 -1.37436405e-03 3.00813021e+02] [-7.51442433e-02 9.97172667e-01 1.23615486e-04 8.40138421e+00] [ 1.37976727e-03 -1.99903199e-05 9.99999048e-01 -3.01925483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.145898227 meters 0.02514420246833094 Centerline is valid? [True, True] Translation: X:300.84, Y:8.39, Z:-3.02 [[ 9.97584169e-01 6.94056858e-02 -2.94549094e-03 3.00842656e+02] [-6.94052059e-02 9.97588516e-01 2.64928215e-04 8.38900237e+00] [ 2.95677546e-03 -5.98557877e-05 9.99995627e-01 -3.02211659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17589822699995 meters 0.02751421985473082 Centerline is valid? [True, True] Translation: X:300.87, Y:8.38, Z:-3.02 [[ 9.97812738e-01 6.60344758e-02 -3.03101750e-03 3.00871775e+02] [-6.60339524e-02 9.97817339e-01 2.72543034e-04 8.38200572e+00] [ 3.04239905e-03 -7.17968464e-05 9.99995369e-01 -3.02217245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.205898227 meters 0.03203358768105573 Centerline is valid? [True, True] Translation: X:300.90, Y:8.37, Z:-3.02 [[ 9.98015737e-01 6.28943644e-02 -2.98108445e-03 3.00899889e+02] [-6.28938439e-02 9.98020186e-01 2.68126764e-04 8.37185197e+00] [ 2.99204612e-03 -8.01028704e-05 9.99995521e-01 -3.02201306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23589822699995 meters 0.034359474381534486 Centerline is valid? [True, True] Translation: X:300.93, Y:8.36, Z:-3.02 [[ 9.98293363e-01 5.83412418e-02 -2.58088386e-03 3.00928991e+02] [-5.83408366e-02 9.98296696e-01 2.32092636e-04 8.36215826e+00] [ 2.59002840e-03 -8.11256146e-05 9.99996643e-01 -3.02018147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.265898227 meters 0.0342571813602917 Centerline is valid? [True, True] Translation: X:300.96, Y:8.36, Z:-3.02 [[ 9.98350446e-01 5.73573827e-02 -2.55296168e-03 3.00958462e+02] [-5.73569831e-02 9.98353707e-01 2.29516161e-04 8.35807569e+00] [ 2.56192321e-03 -8.27073811e-05 9.99996715e-01 -3.01973823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29589822699995 meters 0.03870921014621672 Centerline is valid? [True, True] Translation: X:300.99, Y:8.35, Z:-3.02 [[ 9.98401615e-01 5.64891758e-02 -1.78531536e-03 3.00985758e+02] [-5.64889791e-02 9.98403210e-01 1.60433494e-04 8.34614402e+00] [ 1.79152734e-03 -5.93264174e-05 9.99998393e-01 -3.01910762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.325898227 meters 0.03861438594839389 Centerline is valid? [True, True] Translation: X:301.02, Y:8.34, Z:-3.02 [[ 9.98436882e-01 5.58498768e-02 -2.14085010e-03 3.01015418e+02] [-5.58495927e-02 9.98439175e-01 1.92338883e-04 8.34195962e+00] [ 2.14825071e-03 -7.24726292e-05 9.99997690e-01 -3.02002905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35589822699995 meters 0.03690313732288006 Centerline is valid? [True, True] Translation: X:301.04, Y:8.34, Z:-3.02 [[ 9.98472749e-01 5.51524078e-02 -3.22205784e-03 3.01044783e+02] [-5.51517607e-02 9.98477941e-01 2.89403263e-04 8.33943107e+00] [ 3.23311497e-03 -1.11259109e-04 9.99994767e-01 -3.02068373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.385898227 meters 0.039439794921278845 Centerline is valid? [True, True] Translation: X:301.07, Y:8.33, Z:-3.02 [[ 9.98476285e-01 5.50561618e-02 -3.73196667e-03 3.01072958e+02] [-5.50552935e-02 9.98483251e-01 3.35068368e-04 8.33164964e+00] [ 3.74475379e-03 -1.29093299e-04 9.99992980e-01 -3.02231021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41589822699996 meters 0.03916979248975828 Centerline is valid? [True, True] Translation: X:301.10, Y:8.33, Z:-3.02 [[ 9.98356150e-01 5.72240476e-02 -3.22586601e-03 3.01101715e+02] [-5.72234102e-02 9.98361356e-01 2.89597292e-04 8.32543989e+00] [ 3.23715189e-03 -1.04526184e-04 9.99994755e-01 -3.02103754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.445898227 meters 0.034988035766612295 Centerline is valid? [True, True] Translation: X:301.13, Y:8.33, Z:-3.02 [[ 9.98238129e-01 5.92556673e-02 -3.06654153e-03 3.01132117e+02] [-5.92551011e-02 9.98242835e-01 2.75258415e-04 8.32652199e+00] [ 3.07746373e-03 -9.30652166e-05 9.99995260e-01 -3.02010760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47589822699996 meters 0.03127326857428072 Centerline is valid? [True, True] Translation: X:301.16, Y:8.33, Z:-3.02 [[ 9.97911342e-01 6.45032775e-02 -3.50433266e-03 3.01161384e+02] [-6.45025707e-02 9.97917491e-01 3.14474354e-04 8.32704451e+00] [ 3.51731948e-03 -8.77790594e-05 9.99993810e-01 -3.02100384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.505898227 meters 0.029150815948660126 Centerline is valid? [True, True] Translation: X:301.19, Y:8.33, Z:-3.02 [[ 9.97760553e-01 6.67796436e-02 -3.78930407e-03 3.01191695e+02] [-6.67788336e-02 9.97767744e-01 3.40008542e-04 8.32624605e+00] [ 3.80355103e-03 -8.62018049e-05 9.99992763e-01 -3.02182436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53589822699996 meters 0.027268973882814584 Centerline is valid? [True, True] Translation: X:301.22, Y:8.32, Z:-3.02 [[ 9.97630523e-01 6.87785653e-02 -1.68792642e-03 3.01220152e+02] [-6.87784076e-02 9.97631950e-01 1.51390858e-04 8.32322801e+00] [ 1.69434177e-03 -3.49392497e-05 9.99998564e-01 -3.01868741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.565898227 meters 0.024846598197571745 Centerline is valid? [True, True] Translation: X:301.25, Y:8.32, Z:-3.02 [[ 9.97612264e-01 6.90621937e-02 -4.30005192e-04 3.01250205e+02] [-6.90621835e-02 9.97612356e-01 3.85532865e-05 8.32207352e+00] [ 4.31641067e-04 -8.76413390e-06 9.99999907e-01 -3.01620331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59589822699996 meters 0.023061772397651347 Centerline is valid? [True, True] Translation: X:301.28, Y:8.32, Z:-3.01 [[ 9.97591702e-01 6.93595335e-02 2.24256744e-04 3.01279456e+02] [-6.93595308e-02 9.97591728e-01 -2.01108486e-05 8.32021871e+00] [-2.25111551e-04 4.50807323e-06 9.99999975e-01 -3.01451313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.625898227 meters 0.02385317022837429 Centerline is valid? [True, True] Translation: X:301.31, Y:8.31, Z:-3.01 [[ 9.97534258e-01 7.01812187e-02 3.39310894e-05 3.01308145e+02] [-7.01812186e-02 9.97534258e-01 -3.04473188e-06 8.31410704e+00] [-3.40611071e-05 6.55899151e-07 9.99999999e-01 -3.01456273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65589822699997 meters 0.023031794028271806 Centerline is valid? [True, True] Translation: X:301.34, Y:8.31, Z:-3.01 [[ 9.97491437e-01 7.07862361e-02 3.76283398e-04 3.01338206e+02] [-7.07862284e-02 9.97491508e-01 -3.37263122e-05 8.31218444e+00] [-3.77726853e-04 7.00602502e-06 9.99999929e-01 -3.01345613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.685898227 meters 0.02205967426786602 Centerline is valid? [True, True] Translation: X:301.37, Y:8.31, Z:-3.01 [[ 9.97443557e-01 7.14555321e-02 6.76015869e-04 3.01367930e+02] [-7.14555074e-02 9.97443786e-01 -6.05705085e-05 8.31109437e+00] [-6.78615926e-04 1.21106065e-05 9.99999770e-01 -3.01261013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71589822699997 meters 0.022253248307670007 Centerline is valid? [True, True] Translation: X:301.40, Y:8.31, Z:-3.01 [[ 9.97429163e-01 7.16484901e-02 1.24876921e-03 3.01396191e+02] [-7.16484062e-02 9.97429944e-01 -1.11854704e-04 8.30900486e+00] [-1.25357402e-03 2.20948204e-05 9.99999214e-01 -3.01181233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.74589822699994 meters 0.024123006219656327 Centerline is valid? [True, True] Translation: X:301.42, Y:8.30, Z:-3.01 [[ 9.97468524e-01 7.11000751e-02 1.15043576e-03 3.01424920e+02] [-7.11000036e-02 9.97469187e-01 -1.03010701e-04 8.30491790e+00] [-1.15484829e-03 2.09539451e-05 9.99999333e-01 -3.01159642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.77589822699997 meters 0.022726942081170695 Centerline is valid? [True, True] Translation: X:301.46, Y:8.31, Z:-3.01 [[ 9.97520512e-01 7.03747586e-02 4.70258380e-04 3.01455185e+02] [-7.03747466e-02 9.97520623e-01 -4.20986714e-05 8.30688656e+00] [-4.72055116e-04 8.89997395e-06 9.99999889e-01 -3.01380302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.80589822699994 meters 0.023076740300774418 Centerline is valid? [True, True] Translation: X:301.48, Y:8.30, Z:-3.02 [[ 9.97552194e-01 6.99223498e-02 -6.96646481e-04 3.01484618e+02] [-6.99223233e-02 9.97552437e-01 6.23328224e-05 8.30465369e+00] [ 6.99299853e-04 -1.34691033e-05 9.99999755e-01 -3.01622515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.835898227 meters 0.024897886432532313 Centerline is valid? [True, True] Translation: X:301.51, Y:8.30, Z:-3.02 [[ 9.97617655e-01 6.89692225e-02 -1.50366960e-03 3.01512742e+02] [-6.89690981e-02 9.97618788e-01 1.34507673e-04 8.29952940e+00] [ 1.50936594e-03 -3.04804930e-05 9.99998860e-01 -3.01791902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.86589822699995 meters 0.02876721381422022 Centerline is valid? [True, True] Translation: X:301.54, Y:8.29, Z:-3.02 [[ 9.97910307e-01 6.46128035e-02 -4.53570845e-04 3.01542537e+02] [-6.46127917e-02 9.97910410e-01 4.05754730e-05 8.28971070e+00] [ 4.55244762e-04 -1.11842042e-05 9.99999896e-01 -3.01630634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.895898227 meters 0.03219017599291158 Centerline is valid? [True, True] Translation: X:301.57, Y:8.28, Z:-3.02 [[ 9.98105335e-01 6.15277677e-02 2.70620786e-04 3.01572345e+02] [-6.15277634e-02 9.98105372e-01 -2.42091539e-05 8.28102407e+00] [-2.71597596e-04 7.51259401e-06 9.99999963e-01 -3.01533376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.92589822699995 meters 0.03497237355859159 Centerline is valid? [True, True] Translation: X:301.60, Y:8.27, Z:-3.01 [[ 9.98282822e-01 5.85745094e-02 6.58854608e-04 3.01602687e+02] [-5.85744833e-02 9.98283039e-01 -5.89442214e-05 8.27300677e+00] [-6.61176009e-04 2.02509355e-05 9.99999781e-01 -3.01445047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.955898227 meters 0.038582383253739604 Centerline is valid? [True, True] Translation: X:301.63, Y:8.26, Z:-3.02 [[ 9.98446771e-01 5.57129318e-02 3.38982103e-04 3.01632058e+02] [-5.57129247e-02 9.98446828e-01 -3.03322732e-05 8.26415207e+00] [-3.40145506e-04 1.13994758e-05 9.99999942e-01 -3.01520506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.98589822699995 meters 0.041430825646512716 Centerline is valid? [True, True] Translation: X:301.66, Y:8.26, Z:-3.02 [[ 9.98603090e-01 5.28208526e-02 -1.35148874e-03 3.01662350e+02] [-5.28207372e-02 9.98604003e-01 1.21011868e-04 8.25602093e+00] [ 1.35599401e-03 -4.94561938e-05 9.99999079e-01 -3.01855617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.015898227 meters 0.04079412144642094 Centerline is valid? [True, True] Translation: X:301.69, Y:8.25, Z:-3.02 [[ 9.98624618e-01 5.24014009e-02 -1.72223207e-03 3.01692770e+02] [-5.24012128e-02 9.98626101e-01 1.54204086e-04 8.25440517e+00] [ 1.72794640e-03 -6.37449472e-05 9.99998505e-01 -3.01937887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.04589822699995 meters 0.0431771782051364 Centerline is valid? [True, True] Translation: X:301.72, Y:8.25, Z:-3.02 [[ 9.98608109e-01 5.27253725e-02 -1.37090592e-03 3.01722922e+02] [-5.27252535e-02 9.98609049e-01 1.22766428e-04 8.24816761e+00] [ 1.37547196e-03 -5.03141888e-05 9.99999053e-01 -3.01834420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.075898227 meters 0.0431771782051364 Centerline is valid? [True, True] Translation: X:301.75, Y:8.25, Z:-3.02 [[ 9.98608109e-01 5.27253725e-02 -1.37090620e-03 3.01752822e+02] [-5.27252536e-02 9.98609049e-01 1.22763272e-04 8.24549006e+00] [ 1.37547207e-03 -5.03110215e-05 9.99999053e-01 -3.01835243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.10589822699995 meters 0.04390521179401213 Centerline is valid? [True, True] Translation: X:301.78, Y:8.24, Z:-3.02 [[ 9.98584834e-01 5.31426276e-02 -2.04692323e-03 3.01783162e+02] [-5.31423631e-02 9.98586929e-01 1.83437863e-04 8.24120325e+00] [ 2.05377916e-03 -7.43999298e-05 9.99997888e-01 -3.01938771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.135898227 meters 0.03945003815193451 Centerline is valid? [True, True] Translation: X:301.81, Y:8.24, Z:-3.02 [[ 9.98575150e-01 5.32601072e-02 -3.32132770e-03 3.01813906e+02] [-5.32594115e-02 9.98580666e-01 2.97619033e-04 8.24380257e+00] [ 3.33246484e-03 -1.20303012e-04 9.99994440e-01 -3.02116040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.16589822699996 meters 0.042088554027889906 Centerline is valid? [True, True] Translation: X:301.84, Y:8.24, Z:-3.02 [[ 9.98593346e-01 5.28474968e-02 -4.29791603e-03 3.01843122e+02] [-5.28463282e-02 9.98602582e-01 3.85075564e-04 8.23765003e+00] [ 4.31226032e-03 -1.57404815e-04 9.99990690e-01 -3.02406616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.195898227 meters 0.04276519013487268 Centerline is valid? [True, True] Translation: X:301.87, Y:8.23, Z:-3.02 [[ 9.98643960e-01 5.19168115e-02 -3.85809755e-03 3.01873409e+02] [-5.19158629e-02 9.98651402e-01 3.45672539e-04 8.23402958e+00] [ 3.87084074e-03 -1.44907330e-04 9.99992498e-01 -3.02301672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.22589822699996 meters 0.04478863280710708 Centerline is valid? [True, True] Translation: X:301.90, Y:8.23, Z:-3.02 [[ 9.98713790e-01 5.06202336e-02 -2.89080350e-03 3.01902579e+02] [-5.06196957e-02 9.98717968e-01 2.58969986e-04 8.22908458e+00] [ 2.90020651e-03 -1.12305303e-04 9.99995788e-01 -3.02154967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.255898227 meters 0.04096744004706129 Centerline is valid? [True, True] Translation: X:301.93, Y:8.23, Z:-3.02 [[ 9.98793234e-01 4.90147640e-02 -3.10285271e-03 3.01933128e+02] [-4.90141367e-02 9.98798046e-01 2.77928339e-04 8.23446588e+00] [ 3.11274582e-03 -1.25509297e-04 9.99995148e-01 -3.01967114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.28589822699996 meters 0.04671836581083511 Centerline is valid? [True, True] Translation: X:301.96, Y:8.23, Z:-3.02 [[ 9.98768343e-01 4.95015669e-02 -3.37515129e-03 3.01962282e+02] [-4.95008276e-02 9.98774037e-01 3.02277861e-04 8.22648521e+00] [ 3.38597671e-03 -1.34832776e-04 9.99994258e-01 -3.02028972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.315898227 meters 0.04565055832492721 Centerline is valid? [True, True] Translation: X:301.99, Y:8.23, Z:-3.02 [[ 9.98677001e-01 5.14015508e-02 -1.45879757e-03 3.01993132e+02] [-5.14014148e-02 9.98678065e-01 1.30631235e-04 8.23312495e+00] [ 1.46358378e-03 -5.54741515e-05 9.99998927e-01 -3.01627111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.34589822699996 meters 0.04456185662298754 Centerline is valid? [True, True] Translation: X:302.02, Y:8.23, Z:-3.01 [[ 9.98635856e-01 5.22149644e-02 1.59635309e-04 3.02022255e+02] [-5.22149628e-02 9.98635868e-01 -1.42965258e-05 8.23176205e+00] [-1.60164038e-04 5.94167157e-06 9.99999987e-01 -3.01336414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.375898227 meters 0.04346200347038214 Centerline is valid? [True, True] Translation: X:302.05, Y:8.23, Z:-3.01 [[ 9.98641652e-01 5.20874182e-02 1.32377892e-03 3.02053263e+02] [-5.20873068e-02 9.98642528e-01 -1.18528495e-04 8.23379914e+00] [-1.32815577e-03 4.94154131e-05 9.99999117e-01 -3.01124508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.40589822699997 meters 0.039516740337136286 Centerline is valid? [True, True] Translation: X:302.08, Y:8.24, Z:-3.01 [[ 9.98701143e-01 5.09393661e-02 1.09874653e-03 3.02084800e+02] [-5.09392886e-02 9.98701747e-01 -9.84163682e-05 8.23955946e+00] [-1.10233334e-03 4.23191729e-05 9.99999392e-01 -3.01226748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.435898227 meters 0.05343952745789079 Centerline is valid? [True, True] Translation: X:302.11, Y:8.22, Z:-3.02 [[ 9.98968058e-01 4.54100841e-02 -8.61670984e-04 3.02113107e+02] [-4.54100343e-02 9.98968429e-01 7.71933146e-05 8.22245827e+00] [ 8.64287464e-04 -3.79851466e-05 9.99999626e-01 -3.01683227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.46589822699997 meters 0.05372535423588819 Centerline is valid? [True, True] Translation: X:302.14, Y:8.22, Z:-3.02 [[ 9.99141639e-01 4.13814530e-02 -1.88701699e-03 3.02143618e+02] [-4.13812073e-02 9.99143417e-01 1.69052643e-04 8.22019989e+00] [ 1.89239625e-03 -9.08204937e-05 9.99998205e-01 -3.01795772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49589822699994 meters 0.059544871396081 Centerline is valid? [True, True] Translation: X:302.17, Y:8.21, Z:-3.02 [[ 9.99442453e-01 3.33582989e-02 -1.41655255e-03 3.02173865e+02] [-3.33581524e-02 9.99443454e-01 1.26909566e-04 8.21177358e+00] [ 1.41999766e-03 -7.95852319e-05 9.99998989e-01 -3.01672002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.52589822699997 meters 0.06459390978832341 Centerline is valid? [True, True] Translation: X:302.20, Y:8.20, Z:-3.01 [[ 9.99539433e-01 3.03414802e-02 -5.61882872e-04 3.02202743e+02] [-3.03414567e-02 9.99539591e-01 5.03309973e-05 8.20337954e+00] [ 5.63151293e-04 -3.32594717e-05 9.99999841e-01 -3.01499087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55589822699994 meters 0.06721418834741374 Centerline is valid? [True, True] Translation: X:302.23, Y:8.20, Z:-3.01 [[ 9.99625054e-01 2.73753299e-02 -5.86004162e-04 3.02232395e+02] [-2.73753039e-02 9.99625225e-01 5.25028582e-05 8.19734262e+00] [ 5.87221825e-04 -3.64411305e-05 9.99999827e-01 -3.01477389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.585898227 meters 0.06782674971385297 Centerline is valid? [True, True] Translation: X:302.26, Y:8.19, Z:-3.02 [[ 9.99640095e-01 2.67901916e-02 -1.40249893e-03 3.02262604e+02] [-2.67900415e-02 9.99641075e-01 1.25650023e-04 8.19409256e+00] [ 1.40536172e-03 -8.80317961e-05 9.99999009e-01 -3.01637132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61589822699995 meters 0.06859234132437976 Centerline is valid? [True, True] Translation: X:302.29, Y:8.19, Z:-3.02 [[ 9.99632108e-01 2.69823781e-02 -2.75682194e-03 3.02293186e+02] [-2.69817991e-02 9.99635894e-01 2.46983960e-04 8.19022692e+00] [ 2.76248238e-03 -1.72509081e-04 9.99996169e-01 -3.01832463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.645898227 meters 0.07148763356336421 Centerline is valid? [True, True] Translation: X:302.32, Y:8.18, Z:-3.02 [[ 9.99605342e-01 2.78145651e-02 -3.93827269e-03 3.02322812e+02] [-2.78133901e-02 9.99613071e-01 3.52830255e-04 8.18353934e+00] [ 3.94656268e-03 -2.43154293e-04 9.99992183e-01 -3.02070511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67589822699995 meters 0.06577452852133842 Centerline is valid? [True, True] Translation: X:302.35, Y:8.19, Z:-3.02 [[ 9.99529854e-01 3.02477896e-02 -5.01410449e-03 3.02353842e+02] [-3.02459155e-02 9.99542387e-01 4.49177379e-04 8.18685079e+00] [ 5.02539660e-03 -2.97310019e-04 9.99987328e-01 -3.02197926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.705898227 meters 0.06295138752389409 Centerline is valid? [True, True] Translation: X:302.38, Y:8.19, Z:-3.02 [[ 9.99493025e-01 3.15272335e-02 -4.44143069e-03 3.02383800e+02] [-3.15257761e-02 9.99502860e-01 3.97768584e-04 8.18916062e+00] [ 4.45176322e-03 -2.57547376e-04 9.99990058e-01 -3.02008452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73589822699995 meters 0.06327252890898297 Centerline is valid? [True, True] Translation: X:302.41, Y:8.18, Z:-3.02 [[ 9.99356761e-01 3.57214015e-02 -3.16942731e-03 3.02413199e+02] [-3.57206804e-02 9.99361773e-01 2.83847384e-04 8.18362099e+00] [ 3.17754392e-03 -1.70450703e-04 9.99994937e-01 -3.01847616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.765898227 meters 0.05627953696787435 Centerline is valid? [True, True] Translation: X:302.44, Y:8.19, Z:-3.02 [[ 9.99284117e-01 3.76968307e-02 -3.19422529e-03 3.02444080e+02] [-3.76961085e-02 9.99289208e-01 2.86028826e-04 8.19027537e+00] [ 3.20273724e-03 -1.65414200e-04 9.99994858e-01 -3.01794622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79589822699995 meters 0.06023455552775277 Centerline is valid? [True, True] Translation: X:302.47, Y:8.18, Z:-3.02 [[ 9.99237728e-01 3.88557779e-02 -3.76717011e-03 3.02473469e+02] [-3.88547816e-02 9.99244811e-01 3.37337227e-04 8.18327657e+00] [ 3.77743269e-03 -1.90707513e-04 9.99992847e-01 -3.01969342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.825898227 meters 0.05546851568046079 Centerline is valid? [True, True] Translation: X:302.50, Y:8.19, Z:-3.02 [[ 9.99237285e-01 3.88221119e-02 -4.20622964e-03 3.02504006e+02] [-3.88208696e-02 9.99246115e-01 3.76601943e-04 8.18796677e+00] [ 4.21767911e-03 -2.13025210e-04 9.99991083e-01 -3.02017247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85589822699995 meters 0.06167607721225703 Centerline is valid? [True, True] Translation: X:302.53, Y:8.18, Z:-3.02 [[ 9.99259490e-01 3.82652799e-02 -4.02989765e-03 3.02533040e+02] [-3.82641351e-02 9.99267595e-01 3.60836629e-04 8.17810352e+00] [ 4.04075364e-03 -2.06368878e-04 9.99991815e-01 -3.02009154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.885898227 meters 0.0571313897564216 Centerline is valid? [True, True] Translation: X:302.56, Y:8.18, Z:-3.02 [[ 9.99289249e-01 3.74751599e-02 -4.07555941e-03 3.02563895e+02] [-3.74739824e-02 9.99297537e-01 3.64923931e-04 8.18176721e+00] [ 4.08637207e-03 -2.11937119e-04 9.99991628e-01 -3.01946660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91589822699996 meters 0.06374397157121445 Centerline is valid? [True, True] Translation: X:302.59, Y:8.17, Z:-3.02 [[ 9.99332639e-01 3.63311730e-02 -3.78442259e-03 3.02592119e+02] [-3.63301499e-02 9.99339785e-01 3.38763308e-04 8.17070087e+00] [ 3.79423172e-03 -2.01048591e-04 9.99992782e-01 -3.01960431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.945898227 meters 0.07042977610039934 Centerline is valid? [True, True] Translation: X:302.62, Y:8.16, Z:-3.02 [[ 9.99495187e-01 3.17206028e-02 -1.78177582e-03 3.02621468e+02] [-3.17203686e-02 9.99496770e-01 1.59552874e-04 8.15878595e+00] [ 1.78594029e-03 -1.02953744e-04 9.99998400e-01 -3.01665190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97589822699996 meters 0.06933463587672041 Centerline is valid? [True, True] Translation: X:302.65, Y:8.16, Z:-3.02 [[ 9.99584969e-01 2.87773246e-02 -1.32512165e-03 3.02651781e+02] [-2.87771925e-02 9.99585844e-01 1.18659013e-04 8.15722650e+00] [ 1.32798753e-03 -8.04764847e-05 9.99999115e-01 -3.01552258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.005898227 meters 0.07420767765674366 Centerline is valid? [True, True] Translation: X:302.68, Y:8.15, Z:-3.02 [[ 9.99690551e-01 2.47979763e-02 -1.96559259e-03 3.02682196e+02] [-2.47976778e-02 9.99692475e-01 1.76050775e-04 8.14653098e+00] [ 1.96935382e-03 -1.27254164e-04 9.99998053e-01 -3.01667002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03589822699996 meters 0.08199757206717535 Centerline is valid? [True, True] Translation: X:302.71, Y:8.13, Z:-3.02 [[ 9.99721929e-01 2.34424062e-02 -2.55320592e-03 3.02711658e+02] [-2.34418982e-02 9.99725175e-01 2.28705600e-04 8.13261174e+00] [ 2.55786564e-03 -1.68790010e-04 9.99996714e-01 -3.01811685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.065898227 meters 0.07706427717986725 Centerline is valid? [True, True] Translation: X:302.74, Y:8.13, Z:-3.02 [[ 9.99749518e-01 2.21177823e-02 -3.42123552e-03 3.02743117e+02] [-2.21168623e-02 9.99755345e-01 3.06537516e-04 8.13419797e+00] [ 3.42717843e-03 -2.30793739e-04 9.99994101e-01 -3.01899798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09589822699996 meters 0.08052526460270812 Centerline is valid? [True, True] Translation: X:302.77, Y:8.13, Z:-3.02 [[ 9.99751362e-01 2.20100738e-02 -3.57350896e-03 3.02771999e+02] [-2.20090693e-02 9.99757720e-01 3.20207208e-04 8.12658098e+00] [ 3.57969096e-03 -2.41477987e-04 9.99993564e-01 -3.01930755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.125898227 meters 0.07662661925207775 Centerline is valid? [True, True] Translation: X:302.80, Y:8.13, Z:-3.02 [[ 9.99748163e-01 2.21782649e-02 -3.42579261e-03 3.02803009e+02] [-2.21773427e-02 9.99754005e-01 3.06968750e-04 8.12823848e+00] [ 3.43175791e-03 -2.30916467e-04 9.99994085e-01 -3.01833147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15589822699997 meters 0.07070738277925909 Centerline is valid? [True, True] Translation: X:302.83, Y:8.13, Z:-3.02 [[ 9.99724972e-01 2.33750901e-02 -1.89359634e-03 3.02834266e+02] [-2.33748104e-02 9.99726757e-01 1.69700789e-04 8.13197729e+00] [ 1.89704570e-03 -1.25391661e-04 9.99998193e-01 -3.01583955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.185898227 meters 0.06863101679971402 Centerline is valid? [True, True] Translation: X:302.87, Y:8.13, Z:-3.02 [[ 9.99711404e-01 2.39727761e-02 -1.55391963e-03 3.02865273e+02] [-2.39725884e-02 9.99712607e-01 1.39278054e-04 8.13209261e+00] [ 1.55681193e-03 -1.01986383e-04 9.99998783e-01 -3.01503301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21589822699997 meters 0.0706341671064782 Centerline is valid? [True, True] Translation: X:302.90, Y:8.13, Z:-3.02 [[ 9.99696268e-01 2.45666368e-02 -1.96254465e-03 3.02895034e+02] [-2.45663386e-02 9.99698186e-01 1.75899201e-04 8.12725439e+00] [ 1.96627358e-03 -1.27633239e-04 9.99998059e-01 -3.01606956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.24589822699994 meters 0.08026424015026738 Centerline is valid? [True, True] Translation: X:302.92, Y:8.11, Z:-3.02 [[ 9.99681749e-01 2.50567344e-02 -2.92572864e-03 3.02924375e+02] [-2.50560737e-02 9.99686013e-01 2.62263617e-04 8.11251950e+00] [ 2.93138147e-03 -1.88872879e-04 9.99995686e-01 -3.01784966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.27589822699997 meters 0.06839751439200595 Centerline is valid? [True, True] Translation: X:302.96, Y:8.12, Z:-3.02 [[ 9.99642487e-01 2.64138074e-02 -4.14836426e-03 3.02956129e+02] [-2.64124908e-02 9.99651060e-01 3.71856853e-04 8.12425479e+00] [ 4.15673888e-03 -2.62155277e-04 9.99991326e-01 -3.01931418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.30589822699994 meters 0.06800903188781592 Centerline is valid? [True, True] Translation: X:302.99, Y:8.12, Z:-3.02 [[ 9.99627484e-01 2.70272046e-02 -3.79769873e-03 3.02986209e+02] [-2.70261055e-02 9.99634670e-01 3.40423408e-04 8.12211151e+00] [ 3.80551201e-03 -2.37659589e-04 9.99992731e-01 -3.01874024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.335898227 meters 0.0699647069361144 Centerline is valid? [True, True] Translation: X:303.02, Y:8.12, Z:-3.02 [[ 9.99559616e-01 2.95810282e-02 -2.35289516e-03 3.03015889e+02] [-2.95806134e-02 9.99562376e-01 2.10891213e-04 8.11796392e+00] [ 2.35810386e-03 -1.41198258e-04 9.99997210e-01 -3.01617662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.36589822699995 meters 0.06469965748242952 Centerline is valid? [True, True] Translation: X:303.05, Y:8.12, Z:-3.01 [[ 9.99514950e-01 3.11004362e-02 -1.62109915e-03 3.03047696e+02] [-3.11002413e-02 9.99516260e-01 1.45322966e-04 8.12358783e+00] [ 1.62483457e-03 -9.48359025e-05 9.99998675e-01 -3.01485969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.395898227 meters 0.06255250075459227 Centerline is valid? [True, True] Translation: X:303.08, Y:8.13, Z:-3.01 [[ 9.99475520e-01 3.23500514e-02 -1.46963561e-03 3.03078714e+02] [-3.23498925e-02 9.99476597e-01 1.31742249e-04 8.12615584e+00] [ 1.47312827e-03 -8.41305983e-05 9.99998911e-01 -3.01489754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.42589822699995 meters 0.062352383321843216 Centerline is valid? [True, True] Translation: X:303.11, Y:8.13, Z:-3.02 [[ 9.99454339e-01 3.28702340e-02 -3.25139195e-03 3.03109975e+02] [-3.28694591e-02 9.99459611e-01 2.91504142e-04 8.12833465e+00] [ 3.25921674e-03 -1.84473585e-04 9.99994672e-01 -3.01800246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.455898227 meters 0.06646636723613757 Centerline is valid? [True, True] Translation: X:303.14, Y:8.12, Z:-3.02 [[ 9.99468803e-01 3.23231723e-02 -4.16224034e-03 3.03138716e+02] [-3.23218975e-02 9.99477441e-01 3.73186612e-04 8.12247113e+00] [ 4.17212790e-03 -2.38456871e-04 9.99991268e-01 -3.02031838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.48589822699995 meters 0.06340424946268533 Centerline is valid? [True, True] Translation: X:303.17, Y:8.13, Z:-3.02 [[ 9.99480124e-01 3.19119723e-02 -4.59423086e-03 3.03168952e+02] [-3.19104154e-02 9.99490648e-01 4.11806160e-04 8.12575278e+00] [ 4.60503233e-03 -2.64988256e-04 9.99989362e-01 -3.02111700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.515898227 meters 0.06638923890754724 Centerline is valid? [True, True] Translation: X:303.20, Y:8.12, Z:-3.02 [[ 9.99481441e-01 3.20376560e-02 -3.23077426e-03 3.03198611e+02] [-3.20368868e-02 9.99486645e-01 2.89556595e-04 8.12436659e+00] [ 3.23839244e-03 -1.85902493e-04 9.99994739e-01 -3.01916149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.54589822699995 meters 0.066696331563657 Centerline is valid? [True, True] Translation: X:303.23, Y:8.12, Z:-3.02 [[ 9.99471937e-01 3.24464047e-02 -1.75438693e-03 3.03228351e+02] [-3.24461786e-02 9.99473472e-01 1.57215409e-04 8.12425661e+00] [ 1.75856427e-03 -1.00209238e-04 9.99998449e-01 -3.01742003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.575898227 meters 0.06742986395125934 Centerline is valid? [True, True] Translation: X:303.26, Y:8.13, Z:-3.02 [[ 9.99475113e-01 3.23565712e-02 -1.59737606e-03 3.03259476e+02] [-3.23563836e-02 9.99476385e-01 1.43147979e-04 8.12616816e+00] [ 1.60117143e-03 -9.13875298e-05 9.99998714e-01 -3.01834798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.60589822699995 meters 0.06103443196860316 Centerline is valid? [True, True] Translation: X:303.29, Y:8.13, Z:-3.02 [[ 9.99468797e-01 3.24533128e-02 -2.98435625e-03 3.03290352e+02] [-3.24526585e-02 9.99473238e-01 2.67441447e-04 8.13438424e+00] [ 2.99146357e-03 -1.70449087e-04 9.99995511e-01 -3.02053351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.635898227 meters 0.06203400344531198 Centerline is valid? [True, True] Translation: X:303.32, Y:8.13, Z:-3.02 [[ 9.99453483e-01 3.27965770e-02 -4.13751886e-03 3.03320023e+02] [-3.27953223e-02 9.99462020e-01 3.70730749e-04 8.13259560e+00] [ 4.14745165e-03 -2.34836874e-04 9.99991372e-01 -3.02303510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.66589822699996 meters 0.06589750108057177 Centerline is valid? [True, True] Translation: X:303.35, Y:8.13, Z:-3.02 [[ 9.99429667e-01 3.35242018e-02 -4.05807865e-03 3.03348244e+02] [-3.35230014e-02 9.99437880e-01 3.63468161e-04 8.12884125e+00] [ 4.06798251e-03 -2.27221887e-04 9.99991700e-01 -3.02352869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.695898227 meters 0.0615794022951856 Centerline is valid? [True, True] Translation: X:303.38, Y:8.13, Z:-3.02 [[ 9.99430951e-01 3.36147842e-02 -2.79649134e-03 3.03378459e+02] [-3.36142148e-02 9.99434851e-01 2.50408695e-04 8.13369823e+00] [ 2.80332834e-03 -1.56264339e-04 9.99996058e-01 -3.02078399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.72589822699996 meters 0.06706191762300573 Centerline is valid? [True, True] Translation: X:303.41, Y:8.13, Z:-3.02 [[ 9.99441546e-01 3.33464434e-02 -2.14717091e-03 3.03407668e+02] [-3.33461071e-02 9.99443845e-01 1.92243338e-04 8.12611944e+00] [ 2.15238738e-03 -1.20536187e-04 9.99997676e-01 -3.01983598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.755898227 meters 0.06731987491501884 Centerline is valid? [True, True] Translation: X:303.44, Y:8.13, Z:-3.02 [[ 9.99475201e-01 3.23454070e-02 -1.75986599e-03 3.03438567e+02] [-3.23451795e-02 9.99476745e-01 1.57569183e-04 8.12683958e+00] [ 1.76404177e-03 -1.00563309e-04 9.99998439e-01 -3.01943950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.78589822699996 meters 0.06308587327408757 Centerline is valid? [True, True] Translation: X:303.47, Y:8.13, Z:-3.02 [[ 9.99480680e-01 3.21838346e-02 -1.60373091e-03 3.03469125e+02] [-3.21836456e-02 9.99481962e-01 1.43547207e-04 8.13144934e+00] [ 1.60752002e-03 -9.18587526e-05 9.99998704e-01 -3.01959872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.815898227 meters 0.063147159977049 Centerline is valid? [True, True] Translation: X:303.50, Y:8.13, Z:-3.02 [[ 9.99472315e-01 3.24000778e-02 -2.30810509e-03 3.03498756e+02] [-3.23996868e-02 9.99474971e-01 2.06574268e-04 8.13282761e+00] [ 2.31358629e-03 -1.31683380e-04 9.99997315e-01 -3.02104792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.84589822699996 meters 0.062241893879627815 Centerline is valid? [True, True] Translation: X:303.53, Y:8.13, Z:-3.02 [[ 9.99465137e-01 3.25470635e-02 -3.18238990e-03 3.03528186e+02] [-3.25463213e-02 9.99470188e-01 2.84748499e-04 8.13327506e+00] [ 3.18997156e-03 -1.81021114e-04 9.99994896e-01 -3.02261295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.875898227 meters 0.062007252681796354 Centerline is valid? [True, True] Translation: X:303.56, Y:8.13, Z:-3.03 [[ 9.99437257e-01 3.32474361e-02 -4.44715989e-03 3.03558205e+02] [-3.32459940e-02 9.99447120e-01 3.97817530e-04 8.13247011e+00] [ 4.45792755e-03 -2.49743410e-04 9.99990032e-01 -3.02590433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.90589822699997 meters 0.06115150525074677 Centerline is valid? [True, True] Translation: X:303.59, Y:8.14, Z:-3.03 [[ 9.99415160e-01 3.37791951e-02 -5.32006951e-03 3.03588272e+02] [-3.37771395e-02 9.99429276e-01 4.75780654e-04 8.13628393e+00] [ 5.33310471e-03 -2.95805669e-04 9.99985735e-01 -3.02696694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.935898227 meters 0.06356688346968924 Centerline is valid? [True, True] Translation: X:303.62, Y:8.13, Z:-3.03 [[ 9.99424192e-01 3.33747223e-02 -6.11652582e-03 3.03616926e+02] [-3.33719990e-02 9.99442850e-01 5.46794533e-04 8.13056013e+00] [ 6.13136711e-03 -3.42358992e-04 9.99981144e-01 -3.02949240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.96589822699997 meters 0.06533593957255879 Centerline is valid? [True, True] Translation: X:303.65, Y:8.13, Z:-3.03 [[ 9.99463799e-01 3.21370732e-02 -6.27073248e-03 3.03645843e+02] [-3.21341878e-02 9.99483407e-01 5.60372031e-04 8.12726079e+00] [ 6.28550177e-03 -3.58566664e-04 9.99980182e-01 -3.03010454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99589822699994 meters 0.06533593957255879 Centerline is valid? [True, True] Translation: X:303.67, Y:8.12, Z:-3.03 [[ 9.99465212e-01 3.20931039e-02 -6.27075739e-03 3.03674114e+02] [-3.20902194e-02 9.99484819e-01 5.60093168e-04 8.12482073e+00] [ 6.28550195e-03 -3.58563656e-04 9.99980182e-01 -3.03011232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.02589822699997 meters 0.06292770598776512 Centerline is valid? [True, True] Translation: X:303.70, Y:8.13, Z:-3.03 [[ 9.99520750e-01 3.03096491e-02 -6.29252326e-03 3.03704560e+02] [-3.03067097e-02 9.99540488e-01 5.61974289e-04 8.12628284e+00] [ 6.30666502e-03 -3.70999287e-04 9.99980044e-01 -3.02917684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05589822699994 meters 0.06691725616498048 Centerline is valid? [True, True] Translation: X:303.73, Y:8.12, Z:-3.03 [[ 9.99620123e-01 2.72276619e-02 -4.27367675e-03 3.03733634e+02] [-2.72262780e-02 9.99629223e-01 3.81685321e-04 8.11988082e+00] [ 4.28248457e-03 -2.65184017e-04 9.99990795e-01 -3.02616411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.085898227 meters 0.06861014461599925 Centerline is valid? [True, True] Translation: X:303.76, Y:8.12, Z:-3.02 [[ 9.99660958e-01 2.58652299e-02 -2.99302751e-03 3.03763596e+02] [-2.58645452e-02 9.99665421e-01 2.67272510e-04 8.11682735e+00] [ 2.99893917e-03 -1.89768598e-04 9.99995485e-01 -3.02371709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11589822699995 meters 0.0709607191880217 Centerline is valid? [True, True] Translation: X:303.79, Y:8.11, Z:-3.02 [[ 9.99688674e-01 2.48780333e-02 -1.90745834e-03 3.03793402e+02] [-2.48777535e-02 9.99690486e-01 1.70286192e-04 8.11365557e+00] [ 1.91110434e-03 -1.22779899e-04 9.99998166e-01 -3.02140914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.145898227 meters 0.07251168342852783 Centerline is valid? [True, True] Translation: X:303.82, Y:8.11, Z:-3.02 [[ 9.99708928e-01 2.40991337e-02 -1.13613049e-03 3.03822255e+02] [-2.40990340e-02 9.99709571e-01 1.01398918e-04 8.11203635e+00] [ 1.13824416e-03 -7.39897563e-05 9.99999349e-01 -3.02002072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17589822699995 meters 0.07470025757342702 Centerline is valid? [True, True] Translation: X:303.85, Y:8.11, Z:-3.02 [[ 9.99752167e-01 2.22503858e-02 -7.23995469e-04 3.03851546e+02] [-2.22503448e-02 9.99752428e-01 6.45980888e-05 8.11259190e+00] [ 7.25253561e-04 -4.84729305e-05 9.99999736e-01 -3.01971614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.205898227 meters 0.0769871593745268 Centerline is valid? [True, True] Translation: X:303.88, Y:8.11, Z:-3.02 [[ 9.99782271e-01 2.08644325e-02 -2.93339914e-04 3.03881259e+02] [-2.08644257e-02 9.99782314e-01 2.61755231e-05 8.10995082e+00] [ 2.93822196e-04 -2.00494551e-05 9.99999957e-01 -3.01879900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23589822699995 meters 0.07773287408288737 Centerline is valid? [True, True] Translation: X:303.91, Y:8.11, Z:-3.02 [[ 9.99815724e-01 1.91967268e-02 6.20381554e-05 3.03911753e+02] [-1.91967265e-02 9.99815726e-01 -5.53583433e-06 8.10922919e+00] [-6.21329932e-05 4.34388471e-06 9.99999998e-01 -3.01783475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.265898227 meters 0.07503407112616896 Centerline is valid? [True, True] Translation: X:303.94, Y:8.12, Z:-3.02 [[ 9.99882542e-01 1.53263458e-02 6.59093809e-05 3.03942530e+02] [-1.53263455e-02 9.99882545e-01 -5.88328117e-06 8.11500481e+00] [-6.59918087e-05 4.87244019e-06 9.99999998e-01 -3.01728625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29589822699995 meters 0.08590787349057377 Centerline is valid? [True, True] Translation: X:303.97, Y:8.10, Z:-3.02 [[ 9.99908687e-01 1.35127226e-02 1.53968644e-04 3.03971058e+02] [-1.35127207e-02 9.99908699e-01 -1.37324663e-05 8.10020826e+00] [-1.54140149e-04 1.16506771e-05 9.99999988e-01 -3.01838963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.325898227 meters 0.08885460534607567 Centerline is valid? [True, True] Translation: X:304.00, Y:8.10, Z:-3.02 [[ 9.99946242e-01 1.03392654e-02 -7.82631720e-04 3.04000917e+02] [-1.03392139e-02 9.99946546e-01 6.98581272e-05 8.09837021e+00] [ 7.83312167e-04 -6.17625750e-05 9.99999691e-01 -3.02052779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35589822699995 meters 0.08175679148825853 Centerline is valid? [True, True] Translation: X:304.03, Y:8.11, Z:-3.02 [[ 9.99952979e-01 9.58360791e-03 -1.48108546e-03 3.04031327e+02] [-9.58342260e-03 9.99954069e-01 1.32164718e-04 8.10875523e+00] [ 1.48228404e-03 -1.17964636e-04 9.99998894e-01 -3.02058943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.385898227 meters 0.0866059343637166 Centerline is valid? [True, True] Translation: X:304.06, Y:8.10, Z:-3.02 [[ 9.99951992e-01 9.55893912e-03 -2.15424394e-03 3.04060151e+02] [-9.55854706e-03 9.99954298e-01 1.92215675e-04 8.10174181e+00] [ 2.15598287e-03 -1.71615005e-04 9.99997661e-01 -3.02212852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41589822699996 meters 0.08572801747989608 Centerline is valid? [True, True] Translation: X:304.09, Y:8.10, Z:-3.03 [[ 9.99932228e-01 1.07384420e-02 -4.49725336e-03 3.04090815e+02] [-1.07367454e-02 9.99942279e-01 4.01228204e-04 8.10495292e+00] [ 4.50130234e-03 -3.52915147e-04 9.99989807e-01 -3.02634309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.445898227 meters 0.07707527530991258 Centerline is valid? [True, True] Translation: X:304.12, Y:8.12, Z:-3.03 [[ 9.99920022e-01 1.13696262e-02 -5.53914171e-03 3.04120899e+02] [-1.13670635e-02 9.99935271e-01 4.93918755e-04 8.11562010e+00] [ 5.54439884e-03 -4.30915477e-04 9.99984537e-01 -3.02726814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47589822699996 meters 0.09084150446557121 Centerline is valid? [True, True] Translation: X:304.15, Y:8.10, Z:-3.03 [[ 9.99909121e-01 1.21113946e-02 -5.92142802e-03 3.04147759e+02] [-1.21084800e-02 9.99926550e-01 5.27808517e-04 8.09740939e+00] [ 5.92738559e-03 -4.56061058e-04 9.99982329e-01 -3.02995631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.505898227 meters 0.0819510421620593 Centerline is valid? [True, True] Translation: X:304.18, Y:8.11, Z:-3.03 [[ 9.99900923e-01 1.27445554e-02 -5.97659460e-03 3.04177776e+02] [-1.27415992e-02 9.99918681e-01 5.32458322e-04 8.10809431e+00] [ 5.98289453e-03 -4.56254195e-04 9.99981998e-01 -3.02914623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53589822699996 meters 0.08250833058806042 Centerline is valid? [True, True] Translation: X:304.21, Y:8.11, Z:-3.03 [[ 9.99879467e-01 1.45391244e-02 -5.44660086e-03 3.04207381e+02] [-1.45366963e-02 9.99894219e-01 4.85127961e-04 8.10821215e+00] [ 5.45307805e-03 -4.05893905e-04 9.99985049e-01 -3.02882444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.565898227 meters 0.07471786820413118 Centerline is valid? [True, True] Translation: X:304.24, Y:8.12, Z:-3.03 [[ 9.99866871e-01 1.55665087e-02 -4.89128893e-03 3.04238221e+02] [-1.55645630e-02 9.99878770e-01 4.35612663e-04 8.11800764e+00] [ 4.89747693e-03 -3.59423896e-04 9.99987943e-01 -3.02736758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59589822699996 meters 0.07325028206362222 Centerline is valid? [True, True] Translation: X:304.27, Y:8.12, Z:-3.03 [[ 9.99851027e-01 1.68352053e-02 -3.80779886e-03 3.04268667e+02] [-1.68340356e-02 9.99858240e-01 3.39012956e-04 8.11964679e+00] [ 3.81296642e-03 -2.74861830e-04 9.99992693e-01 -3.02552031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.625898227 meters 0.07017931163927843 Centerline is valid? [True, True] Translation: X:304.30, Y:8.13, Z:-3.02 [[ 9.99824098e-01 1.87507337e-02 -4.28612440e-04 3.04299515e+02] [-1.87507191e-02 9.99824189e-01 3.81529071e-05 8.12710225e+00] [ 4.29252480e-04 -3.01094045e-05 9.99999907e-01 -3.01888853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65589822699997 meters 0.0725246065933973 Centerline is valid? [True, True] Translation: X:304.33, Y:8.13, Z:-3.02 [[ 9.99825609e-01 1.86521421e-02 9.21710043e-04 3.04329702e+02] [-1.86520744e-02 9.99826032e-01 -8.20376637e-05 8.12789622e+00] [-9.23079873e-04 6.48315528e-05 9.99999572e-01 -3.01643554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.685898227 meters 0.07258747380801142 Centerline is valid? [True, True] Translation: X:304.36, Y:8.13, Z:-3.02 [[ 9.99838084e-01 1.78767948e-02 2.05583762e-03 3.04359063e+02] [-1.78764561e-02 9.99840187e-01 -1.82967129e-04 8.12500028e+00] [-2.05877993e-03 1.46186413e-04 9.99997870e-01 -3.01538405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71589822699997 meters 0.08039948865157255 Centerline is valid? [True, True] Translation: X:304.39, Y:8.11, Z:-3.01 [[ 9.99872810e-01 1.57757345e-02 2.34305700e-03 3.04387965e+02] [-1.57752890e-02 9.99875541e-01 -2.08511455e-04 8.11396371e+00] [-2.34605481e-03 1.71522533e-04 9.99997233e-01 -3.01497348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.74589822699994 meters 0.08725915687943792 Centerline is valid? [True, True] Translation: X:304.42, Y:8.10, Z:-3.02 [[ 9.99962918e-01 8.55045462e-03 1.02555163e-03 3.04417438e+02] [-8.55036550e-03 9.99963441e-01 -9.12582929e-05 8.10418724e+00] [-1.02629444e-03 8.24860676e-05 9.99999470e-01 -3.01762780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.77589822699997 meters 0.08699315282800212 Centerline is valid? [True, True] Translation: X:304.45, Y:8.10, Z:-3.02 [[ 9.99987239e-01 4.99407270e-03 7.61930968e-04 3.04448019e+02] [-4.99402248e-03 9.99987527e-01 -6.77955638e-05 8.10284223e+00] [-7.62260041e-04 6.39895983e-05 9.99999707e-01 -3.01852598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.80589822699994 meters 0.0882152652636456 Centerline is valid? [True, True] Translation: X:304.48, Y:8.10, Z:-3.02 [[ 9.99997318e-01 2.24199457e-03 5.80782770e-04 3.04477879e+02] [-2.24196493e-03 9.99997485e-01 -5.16756895e-05 8.09923440e+00] [-5.80897166e-04 5.03734563e-05 9.99999830e-01 -3.01883749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.835898227 meters 0.09179008817541276 Centerline is valid? [True, True] Translation: X:304.51, Y:8.09, Z:-3.02 [[ 9.99999595e-01 -8.98890128e-04 -4.26876676e-05 3.04507262e+02] [ 8.98890291e-04 9.99999596e-01 3.79521009e-06 8.09135797e+00] [ 4.26842389e-05 -3.83358008e-06 9.99999999e-01 -3.01948514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.86589822699995 meters 0.0954034703419787 Centerline is valid? [True, True] Translation: X:304.54, Y:8.08, Z:-3.02 [[ 9.99998938e-01 -1.45606327e-03 5.48012708e-05 3.04536387e+02] [ 1.45606354e-03 9.99998940e-01 -4.87545952e-06 8.08310203e+00] [-5.47941137e-05 4.95524848e-06 9.99999998e-01 -3.01932164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.895898227 meters 0.09824660037609152 Centerline is valid? [True, True] Translation: X:304.57, Y:8.07, Z:-3.02 [[ 9.99998656e-01 -1.16506098e-03 -1.15340407e-03 3.04566265e+02] [ 1.16518012e-03 9.99999316e-01 1.02629692e-04 8.07478560e+00] [ 1.15328372e-03 -1.03973478e-04 9.99999330e-01 -3.02155098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.92589822699995 meters 0.08604089922806872 Centerline is valid? [True, True] Translation: X:304.60, Y:8.09, Z:-3.02 [[ 9.99997984e-01 -1.06475327e-04 -2.00501259e-03 3.04597700e+02] [ 1.06833235e-04 9.99999978e-01 1.78400429e-04 8.08674280e+00] [ 2.00499355e-03 -1.78614272e-04 9.99997974e-01 -3.02240169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.955898227 meters 0.08891097013524024 Centerline is valid? [True, True] Translation: X:304.63, Y:8.08, Z:-3.02 [[ 9.99995916e-01 1.60549989e-03 -2.36437617e-03 3.04626969e+02] [-1.60500703e-03 9.99998690e-01 2.10334620e-04 8.07976470e+00] [ 2.36471076e-03 -2.06538920e-04 9.99997183e-01 -3.02304622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.98589822699995 meters 0.09192559353201574 Centerline is valid? [True, True] Translation: X:304.66, Y:8.07, Z:-3.03 [[ 9.99973818e-01 6.30354977e-03 -3.55357898e-03 3.04656151e+02] [-6.30246587e-03 9.99980089e-01 3.16134012e-04 8.07077136e+00] [ 3.55550100e-03 -2.93729425e-04 9.99993636e-01 -3.02543405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.015898227 meters 0.08126188489032674 Centerline is valid? [True, True] Translation: X:304.69, Y:8.08, Z:-3.03 [[ 9.99952565e-01 8.55214151e-03 -4.66143115e-03 3.04687377e+02] [-8.55030073e-03 9.99963360e-01 4.14681311e-04 8.08047331e+00] [ 4.66480677e-03 -3.74805002e-04 9.99989049e-01 -3.02618523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.04589822699995 meters 0.08354634090273053 Centerline is valid? [True, True] Translation: X:304.72, Y:8.07, Z:-3.03 [[ 9.99929825e-01 1.07042503e-02 -5.07584564e-03 3.04715848e+02] [-1.07020943e-02 9.99942629e-01 4.51719948e-04 8.07385338e+00] [ 5.08038976e-03 -3.97366070e-04 9.99987016e-01 -3.02756031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.075898227 meters 0.07502312809408461 Centerline is valid? [True, True] Translation: X:304.75, Y:8.08, Z:-3.03 [[ 9.99868517e-01 1.55119729e-02 -4.72524410e-03 3.04746542e+02] [-1.55101580e-02 9.99879622e-01 4.20496743e-04 8.08021317e+00] [ 4.73119802e-03 -3.47152172e-04 9.99988748e-01 -3.02669433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.10589822699995 meters 0.07186081870985202 Centerline is valid? [True, True] Translation: X:304.78, Y:8.08, Z:-3.03 [[ 9.99823844e-01 1.81840925e-02 -4.64962623e-03 3.04776983e+02] [-1.81823640e-02 9.99834602e-01 4.13759186e-04 8.08033833e+00] [ 4.65638102e-03 -3.29145103e-04 9.99989105e-01 -3.02669123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.135898227 meters 0.074308938673764 Centerline is valid? [True, True] Translation: X:304.81, Y:8.07, Z:-3.03 [[ 9.99773123e-01 2.07854616e-02 -4.65481119e-03 3.04805478e+02] [-2.07837576e-02 9.99783909e-01 4.14154018e-04 8.07341012e+00] [ 4.66241371e-03 -3.17315588e-04 9.99989081e-01 -3.02789251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.16589822699996 meters 0.06608515914070015 Centerline is valid? [True, True] Translation: X:304.84, Y:8.08, Z:-3.03 [[ 9.99728576e-01 2.26744963e-02 -5.35173489e-03 3.04836622e+02] [-2.26722711e-02 9.99742838e-01 4.76100849e-04 8.08072043e+00] [ 5.36115398e-03 -3.54635639e-04 9.99985566e-01 -3.02822145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.195898227 meters 0.06696069919532342 Centerline is valid? [True, True] Translation: X:304.87, Y:8.08, Z:-3.03 [[ 9.99691996e-01 2.41758953e-02 -5.60714899e-03 3.04865268e+02] [-2.41734768e-02 9.99707654e-01 4.98690649e-04 8.07627941e+00] [ 5.61756606e-03 -3.62992764e-04 9.99984155e-01 -3.02890297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.22589822699996 meters 0.06435750071633092 Centerline is valid? [True, True] Translation: X:304.90, Y:8.07, Z:-3.03 [[ 9.99665908e-01 2.52970940e-02 -5.30369070e-03 3.04895021e+02] [-2.52949466e-02 9.99679920e-01 4.71579136e-04 8.07429010e+00] [ 5.31392268e-03 -3.37265012e-04 9.99985824e-01 -3.02752290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.255898227 meters 0.06598264653287887 Centerline is valid? [True, True] Translation: X:304.92, Y:8.07, Z:-3.03 [[ 9.99669657e-01 2.52584811e-02 -4.75237362e-03 3.04922825e+02] [-2.52567576e-02 9.99680908e-01 4.22334127e-04 8.06727995e+00] [ 4.76152469e-03 -3.02165064e-04 9.99988618e-01 -3.02710133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.28589822699996 meters 0.06572162889313057 Centerline is valid? [True, True] Translation: X:304.95, Y:8.06, Z:-3.02 [[ 9.99659976e-01 2.59278899e-02 -2.77080184e-03 3.04950126e+02] [-2.59273070e-02 9.99663801e-01 2.46082286e-04 8.05949093e+00] [ 2.77625069e-03 -1.74159181e-04 9.99996131e-01 -3.02376591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.315898227 meters 0.06666990664169352 Centerline is valid? [True, True] Translation: X:304.98, Y:8.05, Z:-3.02 [[ 9.99639099e-01 2.67899045e-02 -1.99337978e-03 3.04978684e+02] [-2.67896046e-02 9.99641078e-01 1.76996679e-04 8.05346702e+00] [ 1.99740604e-03 -1.23530944e-04 9.99997998e-01 -3.02203551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.34589822699996 meters 0.06520302052207265 Centerline is valid? [True, True] Translation: X:305.01, Y:8.05, Z:-3.02 [[ 9.99600084e-01 2.82164908e-02 -1.87152108e-03 3.05008412e+02] [-2.82162291e-02 9.99601829e-01 1.66134069e-04 8.05133719e+00] [ 1.87546361e-03 -1.13260362e-04 9.99998235e-01 -3.02151290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.375898227 meters 0.07385309180242491 Centerline is valid? [True, True] Translation: X:305.04, Y:8.04, Z:-3.02 [[ 9.99552642e-01 2.97944024e-02 -2.60951579e-03 3.05036383e+02] [-2.97938990e-02 9.99556036e-01 2.31589574e-04 8.03686542e+00] [ 2.61525733e-03 -1.53738320e-04 9.99996568e-01 -3.02245809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.40589822699997 meters 0.06022226713984646 Centerline is valid? [True, True] Translation: X:305.07, Y:8.05, Z:-3.02 [[ 9.99441492e-01 3.31433215e-02 -4.26890174e-03 3.05068360e+02] [-3.31420047e-02 9.99450581e-01 3.78856860e-04 8.05133879e+00] [ 4.27911290e-03 -2.37165304e-04 9.99990816e-01 -3.02383383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.435898227 meters 0.06095682862286237 Centerline is valid? [True, True] Translation: X:305.10, Y:8.05, Z:-3.02 [[ 9.99406330e-01 3.41995285e-02 -4.16885563e-03 3.05096813e+02] [-3.41982825e-02 9.99414999e-01 3.69828436e-04 8.04843610e+00] [ 4.17906480e-03 -2.27041178e-04 9.99991242e-01 -3.02363110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.46589822699997 meters 0.060967963691802865 Centerline is valid? [True, True] Translation: X:305.13, Y:8.05, Z:-3.02 [[ 9.99384267e-01 3.49223065e-02 -3.39404217e-03 3.05125143e+02] [-3.49214852e-02 9.99390014e-01 3.00978886e-04 8.04665259e+00] [ 3.40248273e-03 -1.82268570e-04 9.99994195e-01 -3.02209676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49589822699994 meters 0.058418219438869115 Centerline is valid? [True, True] Translation: X:305.15, Y:8.05, Z:-3.02 [[ 9.99387916e-01 3.49632862e-02 -1.16719162e-03 3.05154500e+02] [-3.49631891e-02 9.99388595e-01 1.03443308e-04 8.04947718e+00] [ 1.17009471e-03 -6.25712505e-05 9.99999313e-01 -3.01944135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.52589822699997 meters 0.06126185528616376 Centerline is valid? [True, True] Translation: X:305.18, Y:8.05, Z:-3.02 [[ 9.99407175e-01 3.44145989e-02 -9.66610471e-04 3.05182845e+02] [-3.44145322e-02 9.99407641e-01 8.56388443e-05 8.04512454e+00] [ 9.68985117e-04 -5.23226283e-05 9.99999529e-01 -3.01881922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55589822699994 meters 0.06425787359036422 Centerline is valid? [True, True] Translation: X:305.21, Y:8.04, Z:-3.02 [[ 9.99471929e-01 3.24555214e-02 -1.58178894e-03 3.05212369e+02] [-3.24553402e-02 9.99473177e-01 1.40135234e-04 8.04277531e+00] [ 1.58550378e-03 -8.87237343e-05 9.99998739e-01 -3.01959228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.585898227 meters 0.059711079740981575 Centerline is valid? [True, True] Translation: X:305.24, Y:8.05, Z:-3.02 [[ 9.99513821e-01 3.10986577e-02 -2.23513084e-03 3.05242162e+02] [-3.10982926e-02 9.99516312e-01 1.97934406e-04 8.04831580e+00] [ 2.24020523e-03 -1.28329422e-04 9.99997483e-01 -3.01960484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61589822699995 meters 0.05727893646402908 Centerline is valid? [True, True] Translation: X:305.27, Y:8.05, Z:-3.02 [[ 9.99552621e-01 2.98391411e-02 -2.04556809e-03 3.05272195e+02] [-2.98388327e-02 9.99554706e-01 1.81101099e-04 8.05053009e+00] [ 2.05006111e-03 -1.19982714e-04 9.99997891e-01 -3.01900769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.645898227 meters 0.07430152103148911 Centerline is valid? [True, True] Translation: X:305.30, Y:8.03, Z:-3.02 [[ 9.99608242e-01 2.79608750e-02 -1.24610367e-03 3.05299416e+02] [-2.79607591e-02 9.99609015e-01 1.10341670e-04 8.02816026e+00] [ 1.24870171e-03 -7.54564387e-05 9.99999218e-01 -3.01899545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67589822699995 meters 0.06793010078793309 Centerline is valid? [True, True] Translation: X:305.33, Y:8.04, Z:-3.02 [[ 9.99710606e-01 2.40562454e-02 3.00875042e-05 3.05330473e+02] [-2.40562453e-02 9.99710607e-01 -2.66534219e-06 8.03822881e+00] [-3.01429152e-05 1.94077848e-06 1.00000000e+00 -3.01684095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.705898227 meters 0.06728017210766607 Centerline is valid? [True, True] Translation: X:305.36, Y:8.04, Z:-3.02 [[ 9.99744440e-01 2.26064465e-02 4.80845102e-05 3.05361146e+02] [-2.26064463e-02 9.99744442e-01 -4.25750773e-06 8.03861938e+00] [-4.81684689e-05 3.16939979e-06 9.99999999e-01 -3.01644822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73589822699995 meters 0.0684568683599521 Centerline is valid? [True, True] Translation: X:305.39, Y:8.04, Z:-3.02 [[ 9.99777392e-01 2.10922495e-02 -5.33187984e-04 3.05391225e+02] [-2.10922274e-02 9.99777533e-01 4.72004052e-05 8.03688285e+00] [ 5.34064930e-04 -3.59437758e-05 9.99999857e-01 -3.01694423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.765898227 meters 0.07347063656945746 Centerline is valid? [True, True] Translation: X:305.42, Y:8.03, Z:-3.02 [[ 9.99827212e-01 1.82718804e-02 -3.41827791e-03 3.05420369e+02] [-1.82709522e-02 9.99833026e-01 3.02580058e-04 8.03156078e+00] [ 3.42323586e-03 -2.40072584e-04 9.99994112e-01 -3.02160515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79589822699995 meters 0.07379942905053666 Centerline is valid? [True, True] Translation: X:305.45, Y:8.03, Z:-3.02 [[ 9.99848424e-01 1.67081831e-02 -4.89548149e-03 3.05451036e+02] [-1.67062606e-02 9.99860347e-01 4.33344086e-04 8.03016750e+00] [ 4.90203821e-03 -3.51493212e-04 9.99987923e-01 -3.02352417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.825898227 meters 0.08216097762074563 Centerline is valid? [True, True] Translation: X:305.48, Y:8.02, Z:-3.03 [[ 9.99868220e-01 1.51785785e-02 -5.75782423e-03 3.05479023e+02] [-1.51758939e-02 9.99884710e-01 5.09661490e-04 8.01806675e+00] [ 5.76489635e-03 -4.22214197e-04 9.99983294e-01 -3.02618380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85589822699995 meters 0.07726351428422633 Centerline is valid? [True, True] Translation: X:305.51, Y:8.02, Z:-3.03 [[ 9.99909116e-01 1.23023912e-02 -5.51469844e-03 3.05509978e+02] [-1.22998850e-02 9.99924234e-01 4.88142718e-04 8.02152719e+00] [ 5.52028594e-03 -4.20268197e-04 9.99984675e-01 -3.02592598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.885898227 meters 0.07726351428422633 Centerline is valid? [True, True] Translation: X:305.54, Y:8.02, Z:-3.03 [[ 9.99909669e-01 1.22572890e-02 -5.51472155e-03 3.05538282e+02] [-1.22547836e-02 9.99924788e-01 4.87881600e-04 8.01910244e+00] [ 5.52028688e-03 -4.20255810e-04 9.99984675e-01 -3.02593377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91589822699996 meters 0.07848277361390926 Centerline is valid? [True, True] Translation: X:305.57, Y:8.01, Z:-3.03 [[ 9.99923652e-01 1.11437544e-02 -5.33925437e-03 3.05567435e+02] [-1.11413907e-02 9.99937821e-01 4.72242841e-04 8.01427374e+00] [ 5.34418494e-03 -4.12720067e-04 9.99985635e-01 -3.02594475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.945898227 meters 0.07951957001294853 Centerline is valid? [True, True] Translation: X:305.60, Y:8.01, Z:-3.03 [[ 9.99928283e-01 1.03469946e-02 -6.03064133e-03 3.05597138e+02] [-1.03439655e-02 9.99946358e-01 5.33258104e-04 8.01049360e+00] [ 6.03583545e-03 -4.70839114e-04 9.99981673e-01 -3.02677629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97589822699996 meters 0.08010010425071303 Centerline is valid? [True, True] Translation: X:305.63, Y:8.01, Z:-3.03 [[ 9.99903417e-01 1.13174407e-02 -8.06670069e-03 3.05625158e+02] [-1.13120552e-02 9.99935763e-01 7.12927746e-04 8.00543752e+00] [ 8.07425102e-03 -6.21607926e-04 9.99967210e-01 -3.02991726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.005898227 meters 0.08311461219623119 Centerline is valid? [True, True] Translation: X:305.65, Y:8.00, Z:-3.03 [[ 9.99891276e-01 1.21112276e-02 -8.41153080e-03 3.05652520e+02] [-1.21054038e-02 9.99926451e-01 7.42930418e-04 7.99841624e+00] [ 8.41990994e-03 -6.41024667e-04 9.99964346e-01 -3.03039600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03589822699996 meters 0.07770298073040972 Centerline is valid? [True, True] Translation: X:305.68, Y:8.00, Z:-3.03 [[ 9.99870151e-01 1.41767426e-02 -7.66161288e-03 3.05683723e+02] [-1.41719713e-02 9.99899344e-01 6.76690174e-04 8.00254128e+00] [ 7.67043495e-03 -5.68022149e-04 9.99970420e-01 -3.02783475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.065898227 meters 0.07854699243854456 Centerline is valid? [True, True] Translation: X:305.71, Y:8.00, Z:-3.03 [[ 9.99861781e-01 1.51339377e-02 -6.88351649e-03 3.05712131e+02] [-1.51301106e-02 9.99885349e-01 6.07728360e-04 8.00181857e+00] [ 6.89192460e-03 -5.03495995e-04 9.99976124e-01 -3.02624533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09589822699996 meters 0.07892197584018092 Centerline is valid? [True, True] Translation: X:305.74, Y:8.00, Z:-3.03 [[ 9.99853398e-01 1.61210176e-02 -5.77015132e-03 3.05741024e+02] [-1.61183455e-02 9.99869961e-01 5.09306180e-04 7.99952658e+00] [ 5.77761151e-03 -4.16226223e-04 9.99983223e-01 -3.02520152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.125898227 meters 0.0769024174172177 Centerline is valid? [True, True] Translation: X:305.77, Y:8.00, Z:-3.02 [[ 9.99860688e-01 1.58759661e-02 -5.15354341e-03 3.05770529e+02] [-1.58738325e-02 9.99873899e-01 4.54644653e-04 8.00108671e+00] [ 5.16011147e-03 -3.72774831e-04 9.99986617e-01 -3.02419636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15589822699997 meters 0.08015189235839107 Centerline is valid? [True, True] Translation: X:305.80, Y:8.00, Z:-3.02 [[ 9.99896112e-01 1.34766962e-02 -5.11301537e-03 3.05800724e+02] [-1.34745648e-02 9.99909112e-01 4.51075681e-04 7.99698576e+00] [ 5.11862967e-03 -3.82133163e-04 9.99986827e-01 -3.02484885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.185898227 meters 0.0823273821362866 Centerline is valid? [True, True] Translation: X:305.83, Y:7.99, Z:-3.02 [[ 9.99909218e-01 1.25527057e-02 -4.89749155e-03 3.05829208e+02] [-1.25507401e-02 9.99921143e-01 4.31891144e-04 7.99139324e+00] [ 4.90252676e-03 -3.70384793e-04 9.99987914e-01 -3.02468346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21589822699997 meters 0.08616038726344956 Centerline is valid? [True, True] Translation: X:305.86, Y:7.99, Z:-3.02 [[ 9.99918695e-01 1.18907010e-02 -4.60595293e-03 3.05857547e+02] [-1.18889561e-02 9.99929241e-01 4.06030009e-04 7.98544155e+00] [ 4.61045500e-03 -3.51237025e-04 9.99989310e-01 -3.02480885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.24589822699994 meters 0.07745284082100151 Centerline is valid? [True, True] Translation: X:305.89, Y:8.00, Z:-3.02 [[ 9.99925260e-01 1.15005686e-02 -4.14874836e-03 3.05887048e+02] [-1.14991504e-02 9.99933816e-01 3.65533269e-04 7.99529053e+00] [ 4.15267762e-03 -3.17798867e-04 9.99991327e-01 -3.02342151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.27589822699997 meters 0.08114025953140687 Centerline is valid? [True, True] Translation: X:305.92, Y:7.99, Z:-3.02 [[ 9.99924518e-01 1.17940072e-02 -3.44373774e-03 3.05915763e+02] [-1.17930322e-02 9.99930414e-01 3.03301356e-04 7.99019283e+00] [ 3.44707524e-03 -2.62666353e-04 9.99994024e-01 -3.02237592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.30589822699994 meters 0.08336528745625892 Centerline is valid? [True, True] Translation: X:305.94, Y:7.99, Z:-3.02 [[ 9.99925490e-01 1.14264532e-02 -4.29538813e-03 3.05943904e+02] [-1.14249335e-02 9.99934662e-01 3.78169872e-04 7.98606090e+00] [ 4.29942862e-03 -3.29067171e-04 9.99990703e-01 -3.02360416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.335898227 meters 0.07921626051475394 Centerline is valid? [True, True] Translation: X:305.97, Y:7.99, Z:-3.02 [[ 9.99927666e-01 1.08131278e-02 -5.26687847e-03 3.05974422e+02] [-1.08108351e-02 9.99941454e-01 4.63586195e-04 7.99039123e+00] [ 5.27158293e-03 -4.06613307e-04 9.99986022e-01 -3.02455417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.36589822699995 meters 0.0785258599507305 Centerline is valid? [True, True] Translation: X:306.00, Y:7.99, Z:-3.03 [[ 9.99919014e-01 1.08351850e-02 -6.67566596e-03 3.06003585e+02] [-1.08315042e-02 9.99941165e-01 5.87279474e-04 7.98777607e+00] [ 6.68163648e-03 -5.14924409e-04 9.99977545e-01 -3.02587669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.395898227 meters 0.08479175770566921 Centerline is valid? [True, True] Translation: X:306.03, Y:7.98, Z:-3.03 [[ 9.99914831e-01 1.14977411e-02 -6.17524555e-03 3.06030304e+02] [-1.14946061e-02 9.99933787e-01 5.42934634e-04 7.97702172e+00] [ 6.18107919e-03 -4.71906377e-04 9.99980786e-01 -3.02579467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.42589822699995 meters 0.07523738349991692 Centerline is valid? [True, True] Translation: X:306.06, Y:7.99, Z:-3.02 [[ 9.99887478e-01 1.37813227e-02 -5.92508838e-03 3.06061673e+02] [-1.37784763e-02 9.99904937e-01 5.20940205e-04 7.98591790e+00] [ 5.93170437e-03 -4.39242898e-04 9.99982311e-01 -3.02414033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.455898227 meters 0.08537030456225171 Centerline is valid? [True, True] Translation: X:306.09, Y:7.97, Z:-3.03 [[ 9.99865317e-01 1.50521171e-02 -6.54072411e-03 3.06089040e+02] [-1.50486771e-02 9.99886597e-01 5.74838064e-04 7.97070087e+00] [ 6.54863490e-03 -4.76331399e-04 9.99978444e-01 -3.02708157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.48589822699995 meters 0.07569982044911007 Centerline is valid? [True, True] Translation: X:306.12, Y:7.98, Z:-3.03 [[ 9.99838600e-01 1.62818236e-02 -7.59453132e-03 3.06120396e+02] [-1.62772210e-02 9.99867294e-01 6.67463677e-04 7.98082938e+00] [ 7.60439101e-03 -5.43738084e-04 9.99970938e-01 -3.02765534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.515898227 meters 0.07198122971946085 Centerline is valid? [True, True] Translation: X:306.15, Y:7.98, Z:-3.03 [[ 9.99786354e-01 1.88398479e-02 -8.50337588e-03 3.06151276e+02] [-1.88341700e-02 9.99822342e-01 7.47321921e-04 7.98377621e+00] [ 8.51594462e-03 -5.87008232e-04 9.99963566e-01 -3.02864864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.54589822699995 meters 0.07499836197971783 Centerline is valid? [True, True] Translation: X:306.18, Y:7.98, Z:-3.03 [[ 9.99754071e-01 2.02752928e-02 -8.98389333e-03 3.06179758e+02] [-2.02690145e-02 9.99794251e-01 7.89345483e-04 7.97756891e+00] [ 8.99804911e-03 -6.07056696e-04 9.99959332e-01 -3.03012684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.575898227 meters 0.06669482057057652 Centerline is valid? [True, True] Translation: X:306.21, Y:7.99, Z:-3.03 [[ 9.99724264e-01 2.13485841e-02 -9.77926106e-03 3.06209877e+02] [-2.13411994e-02 9.99771882e-01 8.58888625e-04 7.98654427e+00] [ 9.79536629e-03 -6.49950639e-04 9.99951813e-01 -3.02944897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.60589822699995 meters 0.07152367918293784 Centerline is valid? [True, True] Translation: X:306.24, Y:7.98, Z:-3.03 [[ 9.99712654e-01 2.18508310e-02 -9.85651640e-03 3.06237001e+02] [-2.18433589e-02 9.99761031e-01 8.65117088e-04 7.97915409e+00] [ 9.87306452e-03 -6.49569074e-04 9.99951049e-01 -3.03070234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.635898227 meters 0.07355150963207722 Centerline is valid? [True, True] Translation: X:306.27, Y:7.98, Z:-3.03 [[ 9.99736816e-01 2.10220684e-02 -9.18535082e-03 3.06265596e+02] [-2.10155482e-02 9.99778824e-01 8.05805859e-04 7.97561073e+00] [ 9.20025895e-03 -6.12558602e-04 9.99957489e-01 -3.03143985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.66589822699996 meters 0.0743141524487025 Centerline is valid? [True, True] Translation: X:306.30, Y:7.97, Z:-3.03 [[ 9.99759213e-01 2.00057862e-02 -9.01580018e-03 3.06295143e+02] [-1.99994651e-02 9.99799678e-01 7.90738531e-04 7.97214733e+00] [ 9.02981347e-03 -6.10236951e-04 9.99959044e-01 -3.03109903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.695898227 meters 0.07393955767220421 Centerline is valid? [True, True] Translation: X:306.32, Y:7.97, Z:-3.03 [[ 9.99779231e-01 1.90075388e-02 -8.95563427e-03 3.06324760e+02] [-1.90012637e-02 9.99819151e-01 7.85262478e-04 7.97023433e+00] [ 8.96894056e-03 -6.14920748e-04 9.99959589e-01 -3.03056157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.72589822699996 meters 0.07229314156601199 Centerline is valid? [True, True] Translation: X:306.35, Y:7.97, Z:-3.03 [[ 9.99843143e-01 1.65874012e-02 -6.20871863e-03 3.06354663e+02] [-1.65843393e-02 9.99862322e-01 5.44333216e-04 7.96971859e+00] [ 6.21689290e-03 -4.41280337e-04 9.99980578e-01 -3.02656106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.755898227 meters 0.07606526835734517 Centerline is valid? [True, True] Translation: X:306.38, Y:7.96, Z:-3.02 [[ 9.99876193e-01 1.50549318e-02 -4.57696606e-03 3.06382909e+02] [-1.50532526e-02 9.99886613e-01 4.01111186e-04 7.96227318e+00] [ 4.58248580e-03 -3.32163299e-04 9.99989445e-01 -3.02413589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.78589822699996 meters 0.0832813299198617 Centerline is valid? [True, True] Translation: X:306.41, Y:7.95, Z:-3.02 [[ 9.99911223e-01 1.30206196e-02 -2.83014194e-03 3.06410833e+02] [-1.30199696e-02 9.99915206e-01 2.47961585e-04 7.95091242e+00] [ 2.83313058e-03 -2.11091210e-04 9.99995964e-01 -3.02211222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.815898227 meters 0.08934766156337758 Centerline is valid? [True, True] Translation: X:306.44, Y:7.94, Z:-3.02 [[ 9.99962701e-01 8.51915748e-03 -1.42153825e-03 3.06440533e+02] [-8.51898897e-03 9.99963705e-01 1.24549592e-04 7.94197562e+00] [ 1.42254771e-03 -1.12434878e-04 9.99998982e-01 -3.01963476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.84589822699996 meters 0.09139948678457648 Centerline is valid? [True, True] Translation: X:306.47, Y:7.94, Z:-3.02 [[ 9.99981102e-01 6.11212451e-03 -6.61088439e-04 3.06470915e+02] [-6.11208755e-03 9.99981319e-01 5.79220883e-05 7.93706012e+00] [ 6.61430116e-04 -5.38803633e-05 9.99999780e-01 -3.01813019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.875898227 meters 0.10174956261417842 Centerline is valid? [True, False] Translation: X:306.45, Y:7.94, Z:-3.02 [[ 9.99999378e-01 4.11336706e-04 -1.03653274e-03 3.06447644e+02] [-4.07135700e-04 9.99991716e-01 4.04989856e-03 7.93911235e+00] [ 1.03819002e-03 -4.04947403e-03 9.99991262e-01 -3.01714718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.90589822699997 meters 0.08589963907574255 Centerline is valid? [False, True] Translation: X:306.44, Y:7.94, Z:-3.01 [[ 9.99999454e-01 -1.01166121e-03 -2.61304888e-04 3.06442501e+02] [ 1.01228842e-03 9.99996580e-01 2.41142050e-03 7.94142856e+00] [ 2.58864454e-04 -2.41168370e-03 9.99997058e-01 -3.01322337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.935898227 meters 0.08897187631356757 Centerline is valid? [True, True] Translation: X:306.47, Y:7.94, Z:-3.01 [[ 9.99996299e-01 -2.59047992e-03 -8.31092691e-04 3.06472314e+02] [ 2.59054107e-03 9.99996642e-01 7.25090086e-05 7.93548201e+00] [ 8.30902067e-04 -7.46617200e-05 9.99999652e-01 -3.01356240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.96589822699997 meters 0.0988336700613229 Centerline is valid? [True, True] Translation: X:306.50, Y:7.92, Z:-3.02 [[ 9.99987809e-01 -4.41441197e-03 -2.21263595e-03 3.06500489e+02] [ 4.41485021e-03 9.99990236e-01 1.93215916e-04 7.91955147e+00] [ 2.21176141e-03 -2.02982017e-04 9.99997533e-01 -3.01588248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99589822699994 meters 0.1043637609095803 Centerline is valid? [True, False] Translation: X:306.50, Y:7.91, Z:-3.02 [[ 9.99989548e-01 -3.96618240e-03 -2.27454566e-03 3.06501139e+02] [ 3.96941892e-03 9.99991113e-01 1.42018745e-03 7.91441712e+00] [ 2.26889272e-03 -1.42920123e-03 9.99996405e-01 -3.01713229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.02589822699997 meters 0.11190226215090274 Centerline is valid? [False, False] Translation: X:306.50, Y:7.91, Z:-3.02 [[ 9.99990779e-01 -3.64366644e-03 -2.27268861e-03 3.06501347e+02] [ 3.64880430e-03 9.99990788e-01 2.26066216e-03 7.91075414e+00] [ 2.26443058e-03 -2.26893391e-03 9.99994862e-01 -3.01769461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05589822699994 meters 0.11108941193502843 Centerline is valid? [False, False] Translation: X:306.50, Y:7.91, Z:-3.02 [[ 9.99991963e-01 -3.31947173e-03 -2.24832489e-03 3.06501415e+02] [ 3.32642533e-03 9.99989674e-01 3.09614649e-03 7.90706612e+00] [ 2.23802410e-03 -3.10360049e-03 9.99992679e-01 -3.01806737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.085898227 meters 0.11855362294368486 Centerline is valid? [False, False] Translation: X:306.50, Y:7.90, Z:-3.02 [[ 9.99992970e-01 -3.02058650e-03 -2.22189120e-03 3.06501444e+02] [ 3.02908461e-03 9.99988073e-01 3.83135015e-03 7.90379142e+00] [ 2.21029177e-03 -3.83805351e-03 9.99990192e-01 -3.01832402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11589822699995 meters 0.11682754980525403 Centerline is valid? [False, False] Translation: X:306.52, Y:7.90, Z:-3.01 [[ 9.99979863e-01 -1.29994077e-03 -6.21161740e-03 3.06520912e+02] [ 1.28846044e-03 9.99997455e-01 -1.85184690e-03 7.89753052e+00] [ 6.21400888e-03 1.84380619e-03 9.99978993e-01 -3.01159139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.145898227 meters 0.1166929465050553 Centerline is valid? [False, False] Translation: X:306.52, Y:7.90, Z:-3.01 [[ 9.99979835e-01 -1.09300292e-03 -6.25586767e-03 3.06521124e+02] [ 1.08448202e-03 9.99998480e-01 -1.36529540e-03 7.89534762e+00] [ 6.25735043e-03 1.35848349e-03 9.99979500e-01 -3.01176144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17589822699995 meters 0.10321510427600154 Centerline is valid? [False, False] Translation: X:306.52, Y:7.89, Z:-3.01 [[ 9.99979695e-01 -8.26417249e-04 -6.31871893e-03 3.06521621e+02] [ 8.21888639e-04 9.99999404e-01 -7.19260614e-04 7.89255515e+00] [ 6.31930957e-03 7.14052726e-04 9.99979778e-01 -3.01237951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.205898227 meters 0.09600549175823497 Centerline is valid? [False, True] Translation: X:306.52, Y:7.89, Z:-3.01 [[ 9.99979606e-01 -7.03521700e-04 -6.34758185e-03 3.06521836e+02] [ 7.00809127e-04 9.99999662e-01 -4.29553718e-04 7.89126573e+00] [ 6.34788190e-03 4.25096515e-04 9.99979762e-01 -3.01265545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23589822699995 meters 0.09739519480214304 Centerline is valid? [True, True] Translation: X:306.55, Y:7.88, Z:-3.01 [[ 9.99979837e-01 1.40003864e-03 -6.19403451e-03 3.06550315e+02] [-1.39656094e-03 9.99998865e-01 5.65749762e-04 7.88323511e+00] [ 6.19481955e-03 -5.57088008e-04 9.99980657e-01 -3.01334546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.265898227 meters 0.09123178276556632 Centerline is valid? [True, True] Translation: X:306.58, Y:7.88, Z:-3.01 [[ 9.99981133e-01 3.20066016e-03 -5.24307021e-03 3.06581240e+02] [-3.19819289e-03 9.99994771e-01 4.78894266e-04 7.88457041e+00] [ 5.24457557e-03 -4.62116881e-04 9.99986140e-01 -3.01166740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29589822699995 meters 0.10349425100268594 Centerline is valid? [True, False] Translation: X:306.58, Y:7.88, Z:-3.01 [[ 9.99979958e-01 3.67055590e-03 -5.15850153e-03 3.06580666e+02] [-3.66267240e-03 9.99992111e-01 1.53686929e-03 7.87969724e+00] [ 5.16410200e-03 -1.51794458e-03 9.99985514e-01 -3.01116188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.325898227 meters 0.09157646072192763 Centerline is valid? [False, True] Translation: X:306.58, Y:7.88, Z:-3.01 [[ 9.99979430e-01 3.85007690e-03 -5.13002682e-03 3.06580590e+02] [-3.84012095e-03 9.99990727e-01 1.94915997e-03 7.87783089e+00] [ 5.13748366e-03 -1.92941995e-03 9.99984942e-01 -3.01120770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35589822699995 meters 0.07729562330215153 Centerline is valid? [True, True] Translation: X:306.61, Y:7.88, Z:-3.01 [[ 9.99943469e-01 8.86010251e-03 -5.87861494e-03 3.06612064e+02] [-8.85725884e-03 9.99960644e-01 5.09589585e-04 7.88425173e+00] [ 5.88289860e-03 -4.57492363e-04 9.99982591e-01 -3.01346465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.385898227 meters 0.076709111183743 Centerline is valid? [True, True] Translation: X:306.64, Y:7.88, Z:-3.01 [[ 9.99919110e-01 1.11407916e-02 -6.13643867e-03 3.06640720e+02] [-1.11377362e-02 9.99937832e-01 5.31865867e-04 7.87984226e+00] [ 6.14198259e-03 -4.63476810e-04 9.99981030e-01 -3.01337332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41589822699996 meters 0.0741942105081071 Centerline is valid? [True, True] Translation: X:306.67, Y:7.88, Z:-3.01 [[ 9.99892570e-01 1.35229920e-02 -5.65489670e-03 3.06671418e+02] [-1.35204353e-02 9.99908475e-01 4.90107195e-04 7.87874656e+00] [ 5.66100685e-03 -4.13597877e-04 9.99983891e-01 -3.01215612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.445898227 meters 0.07967415589523423 Centerline is valid? [True, True] Translation: X:306.70, Y:7.87, Z:-3.01 [[ 9.99860008e-01 1.59168154e-02 -5.15939071e-03 3.06700419e+02] [-1.59147191e-02 9.99873253e-01 4.47101989e-04 7.86795895e+00] [ 5.16585321e-03 -3.64929144e-04 9.99986590e-01 -3.01097420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47589822699996 meters 0.06838981373282957 Centerline is valid? [True, True] Translation: X:306.73, Y:7.88, Z:-3.01 [[ 9.99768513e-01 2.10340968e-02 -4.52617329e-03 3.06731948e+02] [-2.10325358e-02 9.99778715e-01 3.92208782e-04 7.87854581e+00] [ 4.53342147e-03 -2.96921089e-04 9.99989680e-01 -3.00856435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.505898227 meters 0.07113299081058067 Centerline is valid? [True, True] Translation: X:306.76, Y:7.87, Z:-3.01 [[ 9.99717603e-01 2.34133717e-02 -4.06549760e-03 3.06761227e+02] [-2.34121321e-02 9.99725836e-01 3.52242873e-04 7.87230249e+00] [ 4.07263019e-03 -2.56961434e-04 9.99991674e-01 -3.00828141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53589822699996 meters 0.06484077669334394 Centerline is valid? [True, True] Translation: X:306.79, Y:7.88, Z:-3.01 [[ 9.99678675e-01 2.51494622e-02 -3.17024220e-03 3.06791667e+02] [-2.51487172e-02 9.99683683e-01 2.74640380e-04 7.87832361e+00] [ 3.17614645e-03 -1.94824606e-04 9.99994937e-01 -3.00647923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.565898227 meters 0.0690201158546726 Centerline is valid? [True, True] Translation: X:306.82, Y:7.87, Z:-3.01 [[ 9.99642776e-01 2.65963134e-02 -2.63741502e-03 3.06820449e+02] [-2.65958030e-02 9.99646243e-01 2.28434395e-04 7.87301652e+00] [ 2.64255753e-03 -1.58208622e-04 9.99996496e-01 -3.00509385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59589822699996 meters 0.06547271694137309 Centerline is valid? [True, True] Translation: X:306.85, Y:7.88, Z:-3.01 [[ 9.99647531e-01 2.63159470e-02 -3.50508498e-03 3.06850951e+02] [-2.63150440e-02 9.99653653e-01 3.03500253e-04 7.87640515e+00] [ 3.51185790e-03 -2.11156813e-04 9.99993811e-01 -3.00631783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.625898227 meters 0.06777555752321421 Centerline is valid? [True, True] Translation: X:306.88, Y:7.87, Z:-3.01 [[ 9.99664535e-01 2.54437506e-02 -4.84086653e-03 3.06878888e+02] [-2.54420184e-02 9.99676212e-01 4.19067715e-04 7.87240353e+00] [ 4.84996176e-03 -2.95765716e-04 9.99988195e-01 -3.00831990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65589822699997 meters 0.06887277126384282 Centerline is valid? [True, True] Translation: X:306.91, Y:7.87, Z:-3.01 [[ 9.99690450e-01 2.43069490e-02 -5.30806228e-03 3.06907995e+02] [-2.43048513e-02 9.99704488e-01 4.59348366e-04 7.86966197e+00] [ 5.31765904e-03 -3.30194511e-04 9.99985807e-01 -3.00956720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.685898227 meters 0.07481007970669203 Centerline is valid? [True, True] Translation: X:306.94, Y:7.86, Z:-3.01 [[ 9.99768383e-01 2.08590866e-02 -5.29899084e-03 3.06937146e+02] [-2.08569482e-02 9.99782365e-01 4.58485012e-04 7.86074932e+00] [ 5.30740117e-03 -3.47858041e-04 9.99985855e-01 -3.01050550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71589822699997 meters 0.07616198470586304 Centerline is valid? [True, True] Translation: X:306.97, Y:7.86, Z:-3.01 [[ 9.99804910e-01 1.88702582e-02 -5.83562094e-03 3.06967163e+02] [-1.88676315e-02 9.99821863e-01 5.04851086e-04 7.85683924e+00] [ 5.84410807e-03 -3.94648249e-04 9.99982845e-01 -3.01121015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.74589822699994 meters 0.07834535891051278 Centerline is valid? [True, True] Translation: X:307.00, Y:7.85, Z:-3.01 [[ 9.99855115e-01 1.58319846e-02 -6.25276003e-03 3.06996874e+02] [-1.58289102e-02 9.99874569e-01 5.40870800e-04 7.85268977e+00] [ 6.26053879e-03 -4.41818059e-04 9.99980305e-01 -3.01188288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.77589822699997 meters 0.08198157796157664 Centerline is valid? [True, True] Translation: X:307.02, Y:7.85, Z:-3.01 [[ 9.99871564e-01 1.47157394e-02 -6.34845195e-03 3.07024882e+02] [-1.47125490e-02 9.99891614e-01 5.48960115e-04 7.84651016e+00] [ 6.35584222e-03 -4.55487699e-04 9.99979698e-01 -3.01255053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.80589822699994 meters 0.08198157796157664 Centerline is valid? [True, True] Translation: X:307.05, Y:7.84, Z:-3.01 [[ 9.99872195e-01 1.46727716e-02 -6.34847469e-03 3.07053184e+02] [-1.46695819e-02 9.99892245e-01 5.48697073e-04 7.84414804e+00] [ 6.35584152e-03 -4.55497477e-04 9.99979698e-01 -3.01252342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.835898227 meters 0.0801798423943608 Centerline is valid? [True, True] Translation: X:307.08, Y:7.85, Z:-3.01 [[ 9.99890369e-01 1.32836556e-02 -6.54170656e-03 3.07083519e+02] [-1.32802399e-02 9.99911654e-01 5.65293848e-04 7.84535943e+00] [ 6.54863780e-03 -4.78356442e-04 9.99978443e-01 -3.01189061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.86589822699995 meters 0.08584117832249921 Centerline is valid? [True, True] Translation: X:307.11, Y:7.84, Z:-3.01 [[ 9.99909067e-01 1.18574971e-02 -6.42320888e-03 3.07112338e+02] [-1.18541753e-02 9.99929583e-01 5.54983958e-04 7.83683772e+00] [ 6.42933729e-03 -4.78791647e-04 9.99979217e-01 -3.01189328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.895898227 meters 0.07549030818234163 Centerline is valid? [True, True] Translation: X:307.14, Y:7.85, Z:-3.01 [[ 9.99941915e-01 9.46128728e-03 -5.16233965e-03 3.07143963e+02] [-9.45910996e-03 9.99955162e-01 4.46023233e-04 7.84869508e+00] [ 5.16632813e-03 -3.97166187e-04 9.99986576e-01 -3.00935258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.92589822699995 meters 0.08390015674241683 Centerline is valid? [True, True] Translation: X:307.17, Y:7.84, Z:-3.01 [[ 9.99956546e-01 8.24902869e-03 -4.34266828e-03 3.07172029e+02] [-8.24747707e-03 9.99965919e-01 3.75085190e-04 7.83907996e+00] [ 4.34561436e-03 -3.39252834e-04 9.99990500e-01 -3.00769340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.955898227 meters 0.09436174957127993 Centerline is valid? [True, True] Translation: X:307.20, Y:7.82, Z:-3.01 [[ 9.99965688e-01 7.35047099e-03 -3.82006682e-03 3.07199307e+02] [-7.34926431e-03 9.99972939e-01 3.29821505e-04 7.81982345e+00] [ 3.82238779e-03 -3.01735508e-04 9.99992649e-01 -3.00743311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.98589822699995 meters 0.0902891633650099 Centerline is valid? [True, True] Translation: X:307.23, Y:7.82, Z:-3.01 [[ 9.99968293e-01 7.05355212e-03 -3.69596894e-03 3.07229556e+02] [-7.05242089e-03 9.99975080e-01 3.19016795e-04 7.82303473e+00] [ 3.69812704e-03 -2.92941151e-04 9.99993119e-01 -3.00631653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.015898227 meters 0.09480638262493585 Centerline is valid? [True, True] Translation: X:307.26, Y:7.82, Z:-3.01 [[ 9.99963675e-01 7.27644918e-03 -4.43875902e-03 3.07258033e+02] [-7.27482034e-03 9.99973465e-01 3.82993551e-04 7.81789534e+00] [ 4.44142807e-03 -3.50688464e-04 9.99990075e-01 -3.00676734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.04589822699995 meters 0.0927049438516683 Centerline is valid? [True, True] Translation: X:307.29, Y:7.82, Z:-3.01 [[ 9.99966601e-01 7.13538818e-03 -3.98539080e-03 3.07286800e+02] [-7.13407459e-03 9.99974493e-01 3.43718791e-04 7.81992323e+00] [ 3.98774172e-03 -3.15275236e-04 9.99991999e-01 -3.00566518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.075898227 meters 0.09262264888513087 Centerline is valid? [True, True] Translation: X:307.32, Y:7.82, Z:-3.00 [[ 9.99970648e-01 7.04464416e-03 -3.01279170e-03 3.07316010e+02] [-7.04389343e-03 9.99975158e-01 2.59719297e-04 7.81881934e+00] [ 3.01454649e-03 -2.38489890e-04 9.99995428e-01 -3.00365705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.10589822699995 meters 0.08285672119387645 Centerline is valid? [True, True] Translation: X:307.35, Y:7.83, Z:-3.00 [[ 9.99974513e-01 6.79865842e-03 -2.17988858e-03 3.07345690e+02] [-6.79826501e-03 9.99976874e-01 1.87834427e-04 7.82997344e+00] [ 2.18111519e-03 -1.73010180e-04 9.99997606e-01 -3.00190574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.135898227 meters 0.09466171434152018 Centerline is valid? [True, True] Translation: X:307.37, Y:7.81, Z:-3.00 [[ 9.99972537e-01 6.77477119e-03 -3.00452318e-03 3.07373302e+02] [-6.77402410e-03 9.99977023e-01 2.58763896e-04 7.81298328e+00] [ 3.00620721e-03 -2.38404077e-04 9.99995453e-01 -3.00310494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.16589822699996 meters 0.08440174147075828 Centerline is valid? [True, True] Translation: X:307.40, Y:7.82, Z:-3.00 [[ 9.99964564e-01 7.20102069e-03 -4.36077194e-03 3.07403439e+02] [-7.19945176e-03 9.99974013e-01 3.75373894e-04 7.82407381e+00] [ 4.36336169e-03 -3.43965425e-04 9.99990421e-01 -3.00442900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.195898227 meters 0.09422604983811818 Centerline is valid? [True, True] Translation: X:307.43, Y:7.81, Z:-3.01 [[ 9.99938629e-01 8.58068976e-03 -7.00789971e-03 3.07431392e+02] [-8.57667294e-03 9.99963038e-01 6.03037064e-04 7.81127405e+00] [ 7.01281516e-03 -5.42895591e-04 9.99975263e-01 -3.00865006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.22589822699996 meters 0.08474641497317136 Centerline is valid? [True, True] Translation: X:307.46, Y:7.82, Z:-3.01 [[ 9.99931349e-01 9.33383362e-03 -7.08354829e-03 3.07461120e+02] [-9.32975044e-03 9.99956291e-01 6.09257834e-04 7.82243505e+00] [ 7.08892539e-03 -5.43128270e-04 9.99974726e-01 -3.00779247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.255898227 meters 0.08480210688827533 Centerline is valid? [True, True] Translation: X:307.49, Y:7.82, Z:-3.01 [[ 9.99924230e-01 1.05062332e-02 -6.41512314e-03 3.07490109e+02] [-1.05029093e-02 9.99944691e-01 5.51609926e-04 7.82102878e+00] [ 6.42056367e-03 -4.84190674e-04 9.99979271e-01 -3.00687186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.28589822699996 meters 0.08226160619566335 Centerline is valid? [True, True] Translation: X:307.52, Y:7.82, Z:-3.00 [[ 9.99904635e-01 1.30232391e-02 -4.59519886e-03 3.07520497e+02] [-1.30215601e-02 9.99915138e-01 3.95100904e-04 7.82338294e+00] [ 4.59995439e-03 -3.35226568e-04 9.99989364e-01 -3.00345776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.315898227 meters 0.07151924056826486 Centerline is valid? [True, True] Translation: X:307.55, Y:7.84, Z:-3.00 [[ 9.99887108e-01 1.44265785e-02 -4.20067240e-03 3.07551624e+02] [-1.44251880e-02 9.99895886e-01 3.61140073e-04 7.83502331e+00] [ 4.20544507e-03 -3.00503814e-04 9.99991112e-01 -3.00255274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.34589822699996 meters 0.07659726144999461 Centerline is valid? [True, True] Translation: X:307.58, Y:7.83, Z:-3.00 [[ 9.99868863e-01 1.56084587e-02 -4.31664158e-03 3.07579743e+02] [-1.56070019e-02 9.99878135e-01 3.70983293e-04 7.82797418e+00] [ 4.32190601e-03 -3.03564810e-04 9.99990614e-01 -3.00379203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.375898227 meters 0.0736931853745342 Centerline is valid? [True, True] Translation: X:307.61, Y:7.83, Z:-3.01 [[ 9.99820857e-01 1.78179379e-02 -6.38553795e-03 3.07610334e+02] [-1.78147954e-02 9.99841153e-01 5.48665662e-04 7.82975374e+00] [ 6.39429972e-03 -4.34810320e-04 9.99979462e-01 -3.00801853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.40589822699997 meters 0.07931688145015127 Centerline is valid? [True, True] Translation: X:307.64, Y:7.82, Z:-3.01 [[ 9.99807666e-01 1.84647773e-02 -6.60932164e-03 3.07637382e+02] [-1.84614270e-02 9.99829412e-01 5.67566885e-04 7.82162332e+00] [ 6.61867416e-03 -4.45440213e-04 9.99977997e-01 -3.00950047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.435898227 meters 0.08850380149236074 Centerline is valid? [True, True] Translation: X:307.66, Y:7.81, Z:-3.01 [[ 9.99806288e-01 1.87568038e-02 -5.96398453e-03 3.07664674e+02] [-1.87540825e-02 9.99823996e-01 5.11887703e-04 7.80865675e+00] [ 5.97253622e-03 -3.99939486e-04 9.99982084e-01 -3.00940478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.46589822699997 meters 0.07028849306564225 Centerline is valid? [True, True] Translation: X:307.70, Y:7.83, Z:-3.01 [[ 9.99811952e-01 1.87782302e-02 -4.84126384e-03 3.07695014e+02] [-1.87764383e-02 9.99823621e-01 4.15316602e-04 7.83011040e+00] [ 4.84820885e-03 -3.24336811e-04 9.99988195e-01 -3.00537115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49589822699994 meters 0.07269777044345481 Centerline is valid? [True, True] Translation: X:307.72, Y:7.82, Z:-3.01 [[ 9.99816240e-01 1.85058710e-02 -5.00186755e-03 3.07722264e+02] [-1.85039564e-02 9.99828695e-01 4.28787704e-04 7.82474539e+00] [ 5.00894580e-03 -3.36154571e-04 9.99987399e-01 -3.00588789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.52589822699997 meters 0.0749253740153097 Centerline is valid? [True, True] Translation: X:307.75, Y:7.82, Z:-3.01 [[ 9.99814059e-01 1.84207888e-02 -5.70287800e-03 3.07749371e+02] [-1.84183005e-02 9.99830249e-01 4.88549158e-04 7.81969733e+00] [ 5.71090939e-03 -3.83420996e-04 9.99983619e-01 -3.00683475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55589822699994 meters 0.06605465237594021 Centerline is valid? [True, True] Translation: X:307.78, Y:7.83, Z:-3.01 [[ 9.99808336e-01 1.87030764e-02 -5.78668782e-03 3.07778997e+02] [-1.87005207e-02 9.99825007e-01 4.95451254e-04 7.83013803e+00] [ 5.79494165e-03 -3.87142219e-04 9.99983134e-01 -3.00551113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.585898227 meters 0.07999734924025707 Centerline is valid? [True, True] Translation: X:307.81, Y:7.82, Z:-3.01 [[ 9.99768100e-01 2.07539927e-02 -5.74617884e-03 3.07807335e+02] [-2.07515072e-02 9.99784543e-01 4.91828263e-04 7.81610969e+00] [ 5.75514819e-03 -3.72472336e-04 9.99983370e-01 -3.00585493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61589822699995 meters 0.07295294421678682 Centerline is valid? [True, True] Translation: X:307.84, Y:7.83, Z:-3.00 [[ 9.99745487e-01 2.18654224e-02 -5.55567239e-03 3.07838511e+02] [-2.18631165e-02 9.99760860e-01 4.75450468e-04 7.82945205e+00] [ 5.56473973e-03 -3.53865147e-04 9.99984454e-01 -3.00453414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.645898227 meters 0.07704839270762327 Centerline is valid? [True, True] Translation: X:307.87, Y:7.82, Z:-3.01 [[ 9.99730450e-01 2.25293089e-02 -5.60876153e-03 3.07866263e+02] [-2.25269706e-02 9.99746120e-01 4.79729071e-04 7.82390258e+00] [ 5.61814554e-03 -3.53251354e-04 9.99984156e-01 -3.00522287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67589822699995 meters 0.07928601142262016 Centerline is valid? [True, True] Translation: X:307.89, Y:7.82, Z:-3.01 [[ 9.99743942e-01 2.19912050e-02 -5.33273799e-03 3.07893473e+02] [-2.19890853e-02 9.99758107e-01 4.55795329e-04 7.82205531e+00] [ 5.34147152e-03 -3.38416588e-04 9.99985677e-01 -3.00519915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.705898227 meters 0.08419626841541047 Centerline is valid? [True, True] Translation: X:307.92, Y:7.82, Z:-3.01 [[ 9.99842121e-01 1.70430772e-02 -5.02655632e-03 3.07923620e+02] [-1.70411320e-02 9.99854697e-01 4.29564509e-04 7.81674402e+00] [ 5.03314705e-03 -3.43838480e-04 9.99987275e-01 -3.00565905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73589822699995 meters 0.08303956284999967 Centerline is valid? [True, True] Translation: X:307.95, Y:7.82, Z:-3.01 [[ 9.99899309e-01 1.28190788e-02 -6.08624275e-03 3.07953975e+02] [-1.28161493e-02 9.99917735e-01 5.20087697e-04 7.81580923e+00] [ 6.09240911e-03 -4.42033133e-04 9.99981343e-01 -3.00712789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.765898227 meters 0.09304478087258843 Centerline is valid? [True, True] Translation: X:307.98, Y:7.80, Z:-3.01 [[ 9.99958708e-01 1.81625673e-03 -8.90413142e-03 3.07982866e+02] [-1.80955324e-03 9.99998073e-01 7.60849520e-04 7.79949053e+00] [ 8.90549616e-03 -7.44705604e-04 9.99960068e-01 -3.01126124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79589822699995 meters 0.08880966272382476 Centerline is valid? [True, True] Translation: X:308.01, Y:7.80, Z:-3.01 [[ 9.99949473e-01 -3.27471291e-03 -9.50410687e-03 3.08013005e+02] [ 3.28257768e-03 9.99994283e-01 8.12031440e-04 7.80074173e+00] [ 9.50139336e-03 -8.43188379e-04 9.99954505e-01 -3.01032879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.825898227 meters 0.09898903035154659 Centerline is valid? [True, True] Translation: X:308.04, Y:7.78, Z:-3.01 [[ 9.99936425e-01 -7.37903787e-03 -8.52615046e-03 3.08040854e+02] [ 7.38551445e-03 9.99972461e-01 7.28378121e-04 7.78299003e+00] [ 8.52054093e-03 -7.91301822e-04 9.99963386e-01 -3.00949704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85589822699995 meters 0.10049401633733926 Centerline is valid? [True, False] Translation: X:308.06, Y:7.78, Z:-3.01 [[ 9.99951832e-01 -8.54586667e-03 -4.82711214e-03 3.08059373e+02] [ 8.49800668e-03 9.99915379e-01 -9.84981547e-03 7.77966465e+00] [ 4.91087888e-03 9.80832020e-03 9.99939838e-01 -3.00991086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.885898227 meters 0.09546899108885852 Centerline is valid? [False, True] Translation: X:308.06, Y:7.77, Z:-3.01 [[ 9.99981901e-01 -3.76863520e-03 -4.68992635e-03 3.08059052e+02] [ 3.74807090e-03 9.99983358e-01 -4.38587172e-03 7.77473489e+00] [ 4.70637705e-03 4.36821416e-03 9.99979384e-01 -3.01034552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91589822699996 meters 0.11306957871103734 Centerline is valid? [True, False] Translation: X:308.06, Y:7.77, Z:-3.01 [[ 9.99982462e-01 -3.62783987e-03 -4.68126680e-03 3.08058976e+02] [ 3.60883285e-03 9.99985237e-01 -4.06230912e-03 7.77325188e+00] [ 4.69593510e-03 4.04534397e-03 9.99980792e-01 -3.01027734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.945898227 meters 0.10360961297184622 Centerline is valid? [False, False] Translation: X:308.06, Y:7.77, Z:-3.01 [[ 9.99982867e-01 -3.50583318e-03 -4.68767173e-03 3.08058996e+02] [ 3.48815468e-03 9.99986794e-01 -3.77414632e-03 7.77195037e+00] [ 4.70084135e-03 3.75773033e-03 9.99981891e-01 -3.01029791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97589822699996 meters 0.0953766010536472 Centerline is valid? [False, True] Translation: X:308.06, Y:7.77, Z:-3.01 [[ 9.99983190e-01 -3.35307370e-03 -4.73044031e-03 3.08059188e+02] [ 3.33702989e-03 9.99988668e-01 -3.39543771e-03 7.77027304e+00] [ 4.74177185e-03 3.37959502e-03 9.99983047e-01 -3.01045121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.005898227 meters 0.08604352531288338 Centerline is valid? [True, True] Translation: X:308.09, Y:7.78, Z:-3.01 [[ 9.99988981e-01 -1.43994552e-03 -4.46807198e-03 3.08090304e+02] [ 1.44164390e-03 9.99998890e-01 3.76919077e-04 7.77653615e+00] [ 4.46752428e-03 -3.83356293e-04 9.99989947e-01 -3.01067359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03589822699996 meters 0.08574979527411128 Centerline is valid? [True, True] Translation: X:308.12, Y:7.77, Z:-3.01 [[ 9.99987939e-01 -2.42507421e-04 -4.90532479e-03 3.08118876e+02] [ 2.44539676e-04 9.99999885e-01 4.13700092e-04 7.77282155e+00] [ 4.90522390e-03 -4.14894649e-04 9.99987883e-01 -3.01134324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.065898227 meters 0.08551626442926322 Centerline is valid? [True, True] Translation: X:308.15, Y:7.77, Z:-3.01 [[ 9.99980262e-01 -2.66589181e-04 -6.27722575e-03 3.08146853e+02] [ 2.69912828e-04 9.99999824e-01 5.28635765e-04 7.76643739e+00] [ 6.27708371e-03 -5.30319635e-04 9.99980158e-01 -3.01374695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09589822699996 meters 0.07954040225045879 Centerline is valid? [True, True] Translation: X:308.18, Y:7.77, Z:-3.01 [[ 9.99974910e-01 -1.01360532e-03 -7.01086892e-03 3.08176850e+02] [ 1.01776628e-03 9.99999308e-01 5.89960061e-04 7.76982035e+00] [ 7.01026608e-03 -5.97080685e-04 9.99975250e-01 -3.01393507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.125898227 meters 0.10347329630010256 Centerline is valid? [True, False] Translation: X:308.18, Y:7.77, Z:-3.01 [[ 9.99974869e-01 -8.43480495e-04 -7.03919570e-03 3.08177015e+02] [ 8.50473691e-04 9.99999148e-01 9.90530858e-04 7.76801925e+00] [ 7.03835421e-03 -9.96492615e-04 9.99974734e-01 -3.01411440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15589822699997 meters 0.0935664505245063 Centerline is valid? [False, True] Translation: X:308.20, Y:7.76, Z:-3.02 [[ 9.99990269e-01 -4.15808994e-03 -1.47394565e-03 3.08197451e+02] [ 4.16988639e-03 9.99958559e-01 8.09268883e-03 7.75978133e+00] [ 1.44023444e-03 -8.09875627e-03 9.99966167e-01 -3.01832836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.185898227 meters 0.09490232412012092 Centerline is valid? [True, True] Translation: X:308.23, Y:7.76, Z:-3.02 [[ 9.99990560e-01 -4.06374856e-03 -1.53826990e-03 3.08226828e+02] [ 4.06394927e-03 9.99991734e-01 1.27373974e-04 7.75644057e+00] [ 1.53773957e-03 -1.33624222e-04 9.99998809e-01 -3.01738937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21589822699997 meters 0.09451651623281902 Centerline is valid? [True, True] Translation: X:308.26, Y:7.75, Z:-3.02 [[ 9.99992358e-01 -3.50585042e-03 -1.72988536e-03 3.08256029e+02] [ 3.50610331e-03 9.99993843e-01 1.43178148e-04 7.75207279e+00] [ 1.72937275e-03 -1.49242210e-04 9.99998493e-01 -3.01748672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.24589822699994 meters 0.09320134005111282 Centerline is valid? [True, True] Translation: X:308.29, Y:7.75, Z:-3.02 [[ 9.99993152e-01 -2.81154094e-03 -2.40637742e-03 3.08285342e+02] [ 2.81202756e-03 9.99996026e-01 1.98864562e-04 7.74945807e+00] [ 2.40580874e-03 -2.05630000e-04 9.99997085e-01 -3.01813730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.27589822699997 meters 0.0942409777666664 Centerline is valid? [True, True] Translation: X:308.31, Y:7.74, Z:-3.02 [[ 9.99987753e-01 -8.58593109e-04 -4.87416358e-03 3.08313633e+02] [ 8.60567677e-04 9.99999548e-01 4.03026220e-04 7.74115541e+00] [ 4.87381534e-03 -4.07215832e-04 9.99988040e-01 -3.02257482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.30589822699994 meters 0.09040043584228319 Centerline is valid? [True, True] Translation: X:308.34, Y:7.74, Z:-3.02 [[ 9.99982275e-01 -5.18899958e-04 -5.93127662e-03 3.08342884e+02] [ 5.21810617e-04 9.99999744e-01 4.89193550e-04 7.74097967e+00] [ 5.93102126e-03 -4.92279882e-04 9.99982290e-01 -3.02439196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.335898227 meters 0.08841585140179894 Centerline is valid? [True, True] Translation: X:308.37, Y:7.74, Z:-3.02 [[ 9.99981585e-01 -2.06209867e-04 -6.06523605e-03 3.08371991e+02] [ 2.09242668e-04 9.99999853e-01 4.99399806e-04 7.73854288e+00] [ 6.06513218e-03 -5.00659716e-04 9.99981482e-01 -3.02456214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.36589822699995 meters 0.08968302664532901 Centerline is valid? [True, True] Translation: X:308.40, Y:7.73, Z:-3.02 [[ 9.99993945e-01 1.09257392e-03 -3.30401636e-03 3.08400723e+02] [-1.09168074e-03 9.99999367e-01 2.72121300e-04 7.72980468e+00] [ 3.30431158e-03 -2.68512721e-04 9.99994505e-01 -3.02009873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.395898227 meters 0.08746700635588432 Centerline is valid? [True, True] Translation: X:308.43, Y:7.73, Z:-3.02 [[ 9.99997053e-01 1.80649904e-03 -1.62163240e-03 3.08430083e+02] [-1.80628492e-03 9.99998360e-01 1.33494075e-04 7.72846206e+00] [ 1.62187090e-03 -1.30564551e-04 9.99998676e-01 -3.01684275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.42589822699995 meters 0.08913714321842828 Centerline is valid? [True, True] Translation: X:308.46, Y:7.72, Z:-3.02 [[ 9.99996322e-01 2.68290825e-03 -3.98307129e-04 3.08458831e+02] [-2.68289542e-03 9.99996400e-01 3.27370683e-05 7.72232939e+00] [ 3.98393525e-04 -3.16683315e-05 9.99999920e-01 -3.01569374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.455898227 meters 0.07628277976424576 Centerline is valid? [True, True] Translation: X:308.49, Y:7.73, Z:-3.02 [[ 9.99988230e-01 4.49543613e-03 -1.82487394e-03 3.08490314e+02] [-4.49516945e-03 9.99989885e-01 1.50214552e-04 7.73451460e+00] [ 1.82553076e-03 -1.42009666e-04 9.99998324e-01 -3.01749019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.48589822699995 meters 0.08531756150341772 Centerline is valid? [True, True] Translation: X:308.52, Y:7.72, Z:-3.02 [[ 9.99981782e-01 5.33654788e-03 -2.82095603e-03 3.08517624e+02] [-5.33591419e-03 9.99985737e-01 2.32114837e-04 7.72100589e+00] [ 2.82215449e-03 -2.17058229e-04 9.99995994e-01 -3.01970661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.515898227 meters 0.08353269518121689 Centerline is valid? [True, True] Translation: X:308.55, Y:7.72, Z:-3.02 [[ 9.99975457e-01 6.15847800e-03 -3.34047716e-03 3.08547116e+02] [-6.15759418e-03 9.99981004e-01 2.74801463e-04 7.72152964e+00] [ 3.34210606e-03 -2.54225416e-04 9.99994383e-01 -3.02061472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.54589822699995 meters 0.07487569257274711 Centerline is valid? [True, True] Translation: X:308.58, Y:7.73, Z:-3.02 [[ 9.99972111e-01 6.44966050e-03 -3.76540992e-03 3.08577177e+02] [-6.44854043e-03 9.99979160e-01 3.09527911e-04 7.73102028e+00] [ 3.76732780e-03 -2.85237881e-04 9.99992863e-01 -3.01981893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.575898227 meters 0.07769222065711731 Centerline is valid? [True, True] Translation: X:308.61, Y:7.73, Z:-3.02 [[ 9.99983707e-01 5.00402751e-03 -2.74681991e-03 3.08606702e+02] [-5.00342597e-03 9.99987457e-01 2.25823311e-04 7.72723284e+00] [ 2.74791549e-03 -2.12076122e-04 9.99996202e-01 -3.01964544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.60589822699995 meters 0.08041211257177344 Centerline is valid? [True, True] Translation: X:308.64, Y:7.72, Z:-3.02 [[ 9.99989075e-01 3.70447014e-03 -2.85080935e-03 3.08635446e+02] [-3.70381670e-03 9.99993113e-01 2.34457609e-04 7.72317694e+00] [ 2.85165826e-03 -2.23896172e-04 9.99995909e-01 -3.02032215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.635898227 meters 0.08888589493308423 Centerline is valid? [True, True] Translation: X:308.66, Y:7.71, Z:-3.02 [[ 9.99991621e-01 2.16805782e-03 -3.47240995e-03 3.08664174e+02] [-2.16707950e-03 9.99997611e-01 2.85479146e-04 7.71206730e+00] [ 3.47302059e-03 -2.77951765e-04 9.99993930e-01 -3.02244646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.66589822699996 meters 0.0844854070257564 Centerline is valid? [True, True] Translation: X:308.69, Y:7.72, Z:-3.02 [[ 9.99990123e-01 -1.17353363e-03 -4.28669597e-03 3.08694710e+02] [ 1.17505507e-03 9.99999248e-01 3.52419386e-04 7.71710262e+00] [ 4.28627916e-03 -3.57453009e-04 9.99990750e-01 -3.02272034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.695898227 meters 0.0844854070257564 Centerline is valid? [True, True] Translation: X:308.72, Y:7.71, Z:-3.02 [[ 9.99989926e-01 -1.33127242e-03 -4.28678402e-03 3.08723037e+02] [ 1.33279073e-03 9.99999050e-01 3.51347321e-04 7.71488867e+00] [ 4.28631221e-03 -3.57057167e-04 9.99990750e-01 -3.02279472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.72589822699996 meters 0.08817311713181904 Centerline is valid? [True, True] Translation: X:308.75, Y:7.71, Z:-3.02 [[ 9.99987366e-01 -3.19248901e-03 -3.88278443e-03 3.08751265e+02] [ 3.19374945e-03 9.99994849e-01 3.18466940e-04 7.70811917e+00] [ 3.88174773e-03 -3.30863557e-04 9.99992411e-01 -3.02165766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.755898227 meters 0.08902810796797604 Centerline is valid? [True, True] Translation: X:308.78, Y:7.71, Z:-3.02 [[ 9.99980856e-01 -4.91863640e-03 -3.75428812e-03 3.08781707e+02] [ 4.91982709e-03 9.99987850e-01 3.07984132e-04 7.70570548e+00] [ 3.75272764e-03 -3.26448684e-04 9.99992905e-01 -3.02042086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.78589822699996 meters 0.09869999509502905 Centerline is valid? [True, True] Translation: X:308.81, Y:7.69, Z:-3.02 [[ 9.99965882e-01 -6.89000079e-03 -4.55653087e-03 3.08809938e+02] [ 6.89177506e-03 9.99976182e-01 3.73804490e-04 7.69384232e+00] [ 4.55384683e-03 -4.05194323e-04 9.99989549e-01 -3.02268217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.815898227 meters 0.0976204565398348 Centerline is valid? [True, True] Translation: X:308.84, Y:7.69, Z:-3.02 [[ 9.99956367e-01 -7.46530088e-03 -5.61548604e-03 3.08839832e+02] [ 7.46800367e-03 9.99972008e-01 4.60494711e-04 7.69376478e+00] [ 5.61189112e-03 -5.02411089e-04 9.99984127e-01 -3.02473326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.84589822699996 meters 0.09730278365426981 Centerline is valid? [True, True] Translation: X:308.87, Y:7.69, Z:-3.03 [[ 9.99947232e-01 -8.67740772e-03 -5.49873305e-03 3.08869642e+02] [ 8.68001728e-03 9.99962226e-01 4.50887324e-04 7.69277571e+00] [ 5.49461281e-03 -4.98592629e-04 9.99984780e-01 -3.02529491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.875898227 meters 0.09962105919575978 Centerline is valid? [True, True] Translation: X:308.90, Y:7.69, Z:-3.02 [[ 9.99944274e-01 -9.57334002e-03 -4.44978059e-03 3.08899021e+02] [ 9.57505714e-03 9.99954092e-01 3.64744610e-04 7.68807778e+00] [ 4.44608449e-03 -4.07331188e-04 9.99990033e-01 -3.02398127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.90589822699997 meters 0.11104160155974677 Centerline is valid? [True, False] Translation: X:308.90, Y:7.69, Z:-3.02 [[ 9.99978145e-01 -4.98764612e-03 -4.33961580e-03 3.08898609e+02] [ 5.01076719e-03 9.99973223e-01 5.33344920e-03 7.68529312e+00] [ 4.31289824e-03 -5.35507745e-03 9.99976361e-01 -3.02398041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.935898227 meters 0.10376252839052055 Centerline is valid? [False, False] Translation: X:308.90, Y:7.69, Z:-3.02 [[ 9.99978442e-01 -4.96479850e-03 -4.29725889e-03 3.08898453e+02] [ 4.98792040e-03 9.99973052e-01 5.38672751e-03 7.68504600e+00] [ 4.27039907e-03 -5.40804576e-03 9.99976258e-01 -3.02393165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.96589822699997 meters 0.10902597762795214 Centerline is valid? [False, False] Translation: X:308.90, Y:7.68, Z:-3.02 [[ 9.99979568e-01 -4.72856499e-03 -4.30164931e-03 3.08898524e+02] [ 4.75418285e-03 9.99970909e-01 5.96475328e-03 7.68245032e+00] [ 4.27331945e-03 -5.98508223e-03 9.99972958e-01 -3.02407533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99589822699994 meters 0.10538227521740662 Centerline is valid? [False, False] Translation: X:308.90, Y:7.68, Z:-3.02 [[ 9.99980303e-01 -4.56796278e-03 -4.30438257e-03 3.08898592e+02] [ 4.59518614e-03 9.99969369e-01 6.33604579e-03 7.68077053e+00] [ 4.27530791e-03 -6.35570043e-03 9.99970663e-01 -3.02419507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.02589822699997 meters 0.09985979136977989 Centerline is valid? [False, True] Translation: X:308.88, Y:7.68, Z:-3.03 [[ 9.99996545e-01 -2.60845496e-03 -3.26932397e-04 3.08879883e+02] [ 2.60797461e-03 9.99995532e-01 -1.46116140e-03 7.68243098e+00] [ 3.30742310e-04 1.46030371e-03 9.99998879e-01 -3.03177938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05589822699994 meters 0.09801292378603894 Centerline is valid? [True, True] Translation: X:308.91, Y:7.67, Z:-3.03 [[ 9.99999993e-01 1.82581217e-05 1.16871222e-04 3.08908548e+02] [-1.82568418e-05 1.00000000e+00 -1.09523022e-05 7.67387365e+00] [-1.16871422e-04 1.09501685e-05 9.99999993e-01 -3.03258875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.085898227 meters 0.09389333837884171 Centerline is valid? [True, True] Translation: X:308.94, Y:7.67, Z:-3.03 [[ 9.99997491e-01 2.15585501e-03 6.09016865e-04 3.08939556e+02] [-2.15582059e-03 9.99997675e-01 -5.71611040e-05 7.67381080e+00] [-6.09138680e-04 5.58480295e-05 9.99999813e-01 -3.03195288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11589822699995 meters 0.10668198387357813 Centerline is valid? [True, False] Translation: X:308.95, Y:7.67, Z:-3.04 [[ 9.99999918e-01 2.86733320e-04 -2.86172041e-04 3.08945178e+02] [-2.87261197e-04 9.99998254e-01 -1.84628034e-03 7.67461079e+00] [ 2.85642151e-04 1.84636239e-03 9.99998255e-01 -3.03592860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.145898227 meters 0.09506016257267852 Centerline is valid? [False, True] Translation: X:308.95, Y:7.67, Z:-3.04 [[ 9.99999886e-01 3.92971213e-04 -2.69587810e-04 3.08945000e+02] [-3.93400638e-04 9.99998651e-01 -1.59469272e-03 7.67345292e+00] [ 2.68960778e-04 1.59479859e-03 9.99998692e-01 -3.03569900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17589822699995 meters 0.0884609876747563 Centerline is valid? [True, True] Translation: X:308.98, Y:7.67, Z:-3.03 [[ 9.99997250e-01 2.18647215e-03 8.48438707e-04 3.08975307e+02] [-2.18640928e-03 9.99997607e-01 -7.50185156e-05 7.67408568e+00] [-8.48600703e-04 7.31632751e-05 9.99999637e-01 -3.03242997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.205898227 meters 0.0852523310193186 Centerline is valid? [True, True] Translation: X:309.01, Y:7.67, Z:-3.03 [[ 9.99997574e-01 2.12584751e-03 5.76404719e-04 3.09005954e+02] [-2.12581849e-03 9.99997739e-01 -5.09602672e-05 7.67296872e+00] [-5.76511749e-04 4.97348118e-05 9.99999833e-01 -3.03198643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23589822699995 meters 0.09236991219656371 Centerline is valid? [True, True] Translation: X:309.04, Y:7.66, Z:-3.03 [[ 9.99998454e-01 1.75850708e-03 1.00652750e-05 3.09035048e+02] [-1.75850708e-03 9.99998454e-01 -7.20869142e-07 7.65867776e+00] [-1.00665271e-05 7.03168171e-07 1.00000000e+00 -3.03317961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.265898227 meters 0.0944400686862445 Centerline is valid? [True, True] Translation: X:309.06, Y:7.65, Z:-3.04 [[ 9.99997866e-01 1.16561570e-03 -1.70569809e-03 3.09064322e+02] [-1.16535966e-03 9.99999310e-01 1.51094071e-04 7.64803857e+00] [ 1.70587303e-03 -1.49105996e-04 9.99998534e-01 -3.03798547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29589822699995 meters 0.09272365756712286 Centerline is valid? [True, True] Translation: X:309.09, Y:7.65, Z:-3.04 [[ 9.99996620e-01 7.20724279e-04 -2.49823710e-03 3.09094315e+02] [-7.20174361e-04 9.99999716e-01 2.21015161e-04 7.64513482e+00] [ 2.49839569e-03 -2.19215248e-04 9.99996855e-01 -3.04010059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.325898227 meters 0.09448279257113866 Centerline is valid? [True, True] Translation: X:309.12, Y:7.64, Z:-3.04 [[ 9.99997087e-01 8.09706000e-04 -2.27398946e-03 3.09122775e+02] [-8.09250968e-04 9.99999652e-01 2.01016056e-04 7.63778074e+00] [ 2.27415143e-03 -1.99175242e-04 9.99997394e-01 -3.04061313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35589822699995 meters 0.09919475718236694 Centerline is valid? [True, True] Translation: X:309.15, Y:7.63, Z:-3.04 [[ 9.99997789e-01 1.00554592e-03 -1.84670274e-03 3.09151074e+02] [-1.00524620e-03 9.99999481e-01 1.63222380e-04 7.62681741e+00] [ 1.84686591e-03 -1.61365628e-04 9.99998282e-01 -3.04019515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.385898227 meters 0.09783790696069393 Centerline is valid? [True, True] Translation: X:309.18, Y:7.62, Z:-3.04 [[ 9.99995445e-01 2.10936458e-03 -2.15901906e-03 3.09180485e+02] [-2.10895753e-03 9.99997758e-01 1.90795185e-04 7.62169942e+00] [ 2.15941668e-03 -1.86241037e-04 9.99997651e-01 -3.03938086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41589822699996 meters 0.08720963558174685 Centerline is valid? [True, True] Translation: X:309.21, Y:7.63, Z:-3.04 [[ 9.99989940e-01 3.23097110e-03 -3.11147809e-03 3.09211108e+02] [-3.23013119e-03 9.99994745e-01 2.74926311e-04 7.63113024e+00] [ 3.11235002e-03 -2.64873063e-04 9.99995122e-01 -3.03922457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.445898227 meters 0.07811355369970274 Centerline is valid? [True, True] Translation: X:309.24, Y:7.64, Z:-3.04 [[ 9.99978347e-01 4.79120015e-03 -4.51110780e-03 3.09241550e+02] [-4.79526552e-03 9.99988106e-01 -8.90806944e-04 7.63950798e+00] [ 4.50678611e-03 9.12419615e-04 9.99989428e-01 -3.03944359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47589822699996 meters 0.07901493812306831 Centerline is valid? [True, True] Translation: X:309.27, Y:7.64, Z:-3.04 [[ 9.99954663e-01 8.40998744e-03 -4.46596668e-03 3.09269924e+02] [-8.40252871e-03 9.99963276e-01 1.68627209e-03 7.63510396e+00] [ 4.47998421e-03 -1.64867023e-03 9.99988606e-01 -3.04112698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.505898227 meters 0.08735246127166692 Centerline is valid? [True, True] Translation: X:309.30, Y:7.62, Z:-3.04 [[ 9.99928360e-01 1.10079717e-02 -4.70110122e-03 3.09298018e+02] [-1.10061427e-02 9.99939345e-01 4.14766204e-04 7.61976264e+00] [ 4.70538181e-03 -3.62995499e-04 9.99988864e-01 -3.04344667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53589822699996 meters 0.08546448208251012 Centerline is valid? [True, True] Translation: X:309.33, Y:7.62, Z:-3.04 [[ 9.99897689e-01 1.37343039e-02 -3.99764590e-03 3.09327823e+02] [-1.37330032e-02 9.99905636e-01 3.52621633e-04 7.61864251e+00] [ 4.00211167e-03 -2.97685872e-04 9.99991947e-01 -3.04282646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.565898227 meters 0.06836444324517815 Centerline is valid? [True, True] Translation: X:309.36, Y:7.64, Z:-3.04 [[ 9.99768117e-01 2.13280587e-02 -2.97092643e-03 3.09360007e+02] [-2.13273736e-02 9.99772511e-01 2.62082151e-04 7.63539476e+00] [ 2.97584029e-03 -1.98659320e-04 9.99995552e-01 -3.03973836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59589822699996 meters 0.0648850987188551 Centerline is valid? [True, True] Translation: X:309.39, Y:7.64, Z:-3.04 [[ 9.99671026e-01 2.54992868e-02 -2.76159522e-03 3.09390371e+02] [-2.54987109e-02 9.99674825e-01 2.43575092e-04 7.63698795e+00] [ 2.76690821e-03 -1.73077844e-04 9.99996157e-01 -3.03908218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.625898227 meters 0.07034508168288192 Centerline is valid? [True, True] Translation: X:309.42, Y:7.63, Z:-3.04 [[ 9.99553625e-01 2.97906723e-02 -2.25075713e-03 3.09418977e+02] [-2.97903007e-02 9.99556151e-01 1.98462711e-04 7.62742835e+00] [ 2.25567047e-03 -1.31323391e-04 9.99997447e-01 -3.03920655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65589822699997 meters 0.05646276740014093 Centerline is valid? [True, True] Translation: X:309.45, Y:7.64, Z:-3.03 [[ 9.99338400e-01 3.63690748e-02 -2.27749699e-04 3.09450857e+02] [-3.63690712e-02 9.99338426e-01 2.00799192e-05 7.64275230e+00] [ 2.28329314e-04 -1.17835893e-05 9.99999974e-01 -3.03432666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.685898227 meters 0.050368725028171385 Centerline is valid? [True, True] Translation: X:309.48, Y:7.65, Z:-3.03 [[ 9.99280926e-01 3.79160934e-02 -1.80799176e-05 3.09481053e+02] [-3.79160934e-02 9.99280926e-01 1.50632933e-06 7.64709323e+00] [ 1.81240309e-05 -8.19726323e-07 1.00000000e+00 -3.03329819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71589822699997 meters 0.05505620219863118 Centerline is valid? [True, True] Translation: X:309.51, Y:7.64, Z:-3.03 [[ 9.99265608e-01 3.83171335e-02 2.02829874e-04 3.09509347e+02] [-3.83171307e-02 9.99265629e-01 -1.79665097e-05 7.63669329e+00] [-2.03369347e-04 1.01814565e-05 9.99999979e-01 -3.03406306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.74589822699994 meters 0.05186298014003986 Centerline is valid? [True, True] Translation: X:309.54, Y:7.63, Z:-3.03 [[ 9.99297654e-01 3.74428714e-02 1.49341494e-03 3.09539490e+02] [-3.74427163e-02 9.99298767e-01 -1.31642769e-04 7.63272218e+00] [-1.49729679e-03 7.56327983e-05 9.99998876e-01 -3.03257720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.77589822699997 meters 0.05622673490701789 Centerline is valid? [True, True] Translation: X:309.57, Y:7.62, Z:-3.03 [[ 9.99295048e-01 3.74523347e-02 2.59424232e-03 3.09569208e+02] [-3.74518669e-02 9.99298407e-01 -2.28666437e-04 7.62108891e+00] [-2.60098631e-03 1.31346020e-04 9.99996609e-01 -3.03139046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.80589822699994 meters 0.054000988766550136 Centerline is valid? [True, True] Translation: X:309.60, Y:7.62, Z:-3.03 [[ 9.99256017e-01 3.84706940e-02 2.72353858e-03 3.09600322e+02] [-3.84701822e-02 9.99259720e-01 -2.40086222e-04 7.61855451e+00] [-2.73075868e-03 1.35132577e-04 9.99996262e-01 -3.03060558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.835898227 meters 0.04891147409115748 Centerline is valid? [True, True] Translation: X:309.63, Y:7.62, Z:-3.03 [[ 9.99148991e-01 4.12004177e-02 1.95436443e-03 3.09631388e+02] [-4.12001593e-02 9.99150898e-01 -1.72322575e-04 7.62051284e+00] [-1.95980473e-03 9.16558014e-05 9.99998075e-01 -3.03129335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.86589822699995 meters 0.042023371979047416 Centerline is valid? [True, True] Translation: X:309.66, Y:7.63, Z:-3.03 [[ 9.98700782e-01 5.09582972e-02 2.56793878e-05 3.09660962e+02] [-5.09582972e-02 9.98700782e-01 -2.26526330e-06 7.62519206e+00] [-2.57614586e-05 9.53742352e-07 1.00000000e+00 -3.03348478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.895898227 meters 0.03616313358164416 Centerline is valid? [True, True] Translation: X:309.69, Y:7.63, Z:-3.03 [[ 9.98389923e-01 5.67226643e-02 -3.17484720e-04 3.09692372e+02] [-5.67226582e-02 9.98389974e-01 2.80396219e-05 7.62958199e+00] [ 3.18564044e-04 -9.98589869e-06 9.99999949e-01 -3.03345853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.92589822699995 meters 0.02819006560818764 Centerline is valid? [True, True] Translation: X:309.72, Y:7.64, Z:-3.03 [[ 9.98086806e-01 6.18267903e-02 -4.20028448e-04 3.09723431e+02] [-6.18267802e-02 9.98086894e-01 3.69987009e-05 7.63717368e+00] [ 4.21512400e-04 -1.09589087e-05 9.99999911e-01 -3.03301396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.955898227 meters 0.0222433566216518 Centerline is valid? [True, True] Translation: X:309.75, Y:7.64, Z:-3.03 [[ 9.97507768e-01 7.05552965e-02 4.51049725e-04 3.09753778e+02] [-7.05552857e-02 9.97507870e-01 -3.98257037e-05 7.64288375e+00] [-4.52735565e-04 7.90250661e-06 9.99999897e-01 -3.03218341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.98589822699995 meters 0.018431558362820805 Centerline is valid? [True, True] Translation: X:309.78, Y:7.65, Z:-3.03 [[ 9.97234445e-01 7.43159083e-02 7.79284971e-04 3.09783428e+02] [-7.43158772e-02 9.97234750e-01 -6.88177412e-05 7.64578000e+00] [-7.82244306e-04 1.07141757e-05 9.99999694e-01 -3.03154318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.015898227 meters 0.015373618282771463 Centerline is valid? [True, True] Translation: X:309.81, Y:7.65, Z:-3.03 [[ 9.96978459e-01 7.76751585e-02 7.22843478e-04 3.09813177e+02] [-7.76751327e-02 9.96978721e-01 -6.38183925e-05 7.64827738e+00] [-7.25616670e-04 7.47859951e-06 9.99999737e-01 -3.03168148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.04589822699995 meters 0.011589808617408668 Centerline is valid? [True, True] Translation: X:309.84, Y:7.66, Z:-3.03 [[ 9.96511452e-01 8.34499980e-02 -1.01187115e-03 3.09841626e+02] [-8.34499508e-02 9.96511966e-01 8.88808130e-05 7.65577148e+00] [ 1.01575881e-03 -4.13015064e-06 9.99999484e-01 -3.03440814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.075898227 meters 0.014463219065282302 Centerline is valid? [True, True] Translation: X:309.87, Y:7.66, Z:-3.04 [[ 9.96305384e-01 8.58531146e-02 -2.19660598e-03 3.09869814e+02] [-8.58528978e-02 9.96307805e-01 1.93007574e-04 7.65958498e+00] [ 2.20506598e-03 -3.70949639e-06 9.99997569e-01 -3.03660005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.10589822699995 meters 0.01073240255099923 Centerline is valid? [True, True] Translation: X:309.90, Y:7.66, Z:-3.04 [[ 9.96093940e-01 8.82378195e-02 -3.30893447e-03 3.09898990e+02] [-8.82373403e-02 9.96099436e-01 2.90800148e-04 7.66353487e+00] [ 3.32168733e-03 2.30731092e-06 9.99994483e-01 -3.03757527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.135898227 meters 0.022491586959760376 Centerline is valid? [True, True] Translation: X:309.93, Y:7.67, Z:-3.04 [[ 9.95911133e-01 9.02735201e-02 -3.42142495e-03 3.09927854e+02] [-9.02730204e-02 9.95917010e-01 3.00523500e-04 7.66680677e+00] [ 3.43458462e-03 9.56766434e-06 9.99994102e-01 -3.03773702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.16589822699996 meters 0.01240459736185755 Centerline is valid? [True, True] Translation: X:309.96, Y:7.67, Z:-3.04 [[ 9.95635209e-01 9.33109667e-02 -1.89600078e-03 3.09956387e+02] [-9.33108194e-02 9.95637014e-01 1.66190866e-04 7.67296018e+00] [ 1.90323599e-03 1.14519089e-05 9.99998189e-01 -3.03659518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.195898227 meters 0.012437468912521055 Centerline is valid? [True, True] Translation: X:309.98, Y:7.67, Z:-3.04 [[ 9.95612892e-01 9.35587222e-02 -1.31715158e-03 3.09984863e+02] [-9.35586515e-02 9.95613763e-01 1.15300738e-04 7.67320510e+00] [ 1.32216163e-03 8.43602410e-06 9.99999126e-01 -3.03623146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.22589822699996 meters 0.011687088287659709 Centerline is valid? [True, True] Translation: X:310.01, Y:7.67, Z:-3.04 [[ 9.95758984e-01 9.19755801e-02 -2.13036264e-03 3.10013170e+02] [-9.19753913e-02 9.95761263e-01 1.86637394e-04 7.67157899e+00] [ 2.13849868e-03 1.00950760e-05 9.99997713e-01 -3.03771770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.255898227 meters 0.02463703631501061 Centerline is valid? [True, True] Translation: X:310.04, Y:7.67, Z:-3.04 [[ 9.95973929e-01 8.95995509e-02 -2.80240000e-03 3.10041117e+02] [-8.95992152e-02 9.95977871e-01 2.45361469e-04 7.66699032e+00] [ 2.81311267e-03 6.71921415e-06 9.99996043e-01 -3.03891851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.28589822699996 meters 0.01071151709488558 Centerline is valid? [True, True] Translation: X:310.07, Y:7.66, Z:-3.04 [[ 9.96174510e-01 8.73217413e-02 -3.35559640e-03 3.10068552e+02] [-8.73212475e-02 9.96180161e-01 2.93645030e-04 7.66111802e+00] [ 3.36842015e-03 4.93169762e-07 9.99994327e-01 -3.03973357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.315898227 meters 0.011353034212118165 Centerline is valid? [True, True] Translation: X:310.10, Y:7.65, Z:-3.04 [[ 9.96495192e-01 8.36073042e-02 -2.67429203e-03 3.10097022e+02] [-8.36069776e-02 9.96498780e-01 2.33902035e-04 7.65308068e+00] [ 2.68448467e-03 -9.49277961e-06 9.99996397e-01 -3.03951172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.34589822699996 meters 0.011272350337461934 Centerline is valid? [True, True] Translation: X:310.13, Y:7.65, Z:-3.04 [[ 9.96523593e-01 8.32923584e-02 -1.76419801e-03 3.10125184e+02] [-8.32922160e-02 9.96525154e-01 1.54161566e-04 7.64943135e+00] [ 1.77090818e-03 -6.68167551e-06 9.99998432e-01 -3.03800012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.375898227 meters 0.010808961358145127 Centerline is valid? [True, True] Translation: X:310.15, Y:7.65, Z:-3.04 [[ 9.96466964e-01 8.39847569e-02 -3.86410538e-04 3.10153115e+02] [-8.39847502e-02 9.96467039e-01 3.35332596e-05 7.64744414e+00] [ 3.87861647e-04 -9.62192914e-07 9.99999925e-01 -3.03572666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.40589822699997 meters 0.010362208927138964 Centerline is valid? [True, True] Translation: X:310.18, Y:7.65, Z:-3.03 [[ 9.95995883e-01 8.93924272e-02 1.09276418e-03 3.10182840e+02] [-8.93923761e-02 9.95996483e-01 -9.56421966e-05 7.65336416e+00] [-1.09693897e-03 -2.42555233e-06 9.99999398e-01 -3.03155876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.435898227 meters 0.012569085229747694 Centerline is valid? [True, True] Translation: X:310.21, Y:7.66, Z:-3.03 [[ 9.95642909e-01 9.32458290e-02 6.43268321e-04 3.10211625e+02] [-9.32458120e-02 9.95643116e-01 -5.63753222e-05 7.65705370e+00] [-6.45722439e-04 -3.85238709e-06 9.99999792e-01 -3.03206511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.46589822699997 meters 0.01616298354099982 Centerline is valid? [True, True] Translation: X:310.24, Y:7.66, Z:-3.03 [[ 9.95264291e-01 9.72054882e-02 -2.88894683e-04 3.10241109e+02] [-9.72054850e-02 9.95264333e-01 2.50885843e-05 7.66036716e+00] [ 2.89965322e-04 3.11237571e-06 9.99999958e-01 -3.03422866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49589822699994 meters 0.01998266933424533 Centerline is valid? [True, True] Translation: X:310.27, Y:7.66, Z:-3.04 [[ 9.94914124e-01 1.00715672e-01 -1.49633140e-03 3.10269183e+02] [-1.00715590e-01 9.94915249e-01 1.30302885e-04 7.66284786e+00] [ 1.50184647e-03 2.10637189e-05 9.99998872e-01 -3.03625672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.52589822699997 meters 0.02483535843417169 Centerline is valid? [True, True] Translation: X:310.30, Y:7.66, Z:-3.04 [[ 9.94412771e-01 1.05513355e-01 -3.18958575e-03 3.10298647e+02] [-1.05513006e-01 9.94417884e-01 2.77962518e-04 7.66483086e+00] [ 3.20110987e-03 6.01333023e-05 9.99994875e-01 -3.03946664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55589822699994 meters 0.02642218350913093 Centerline is valid? [True, True] Translation: X:310.33, Y:7.66, Z:-3.04 [[ 9.94292873e-01 1.06637934e-01 -3.16774288e-03 3.10326014e+02] [-1.06637596e-01 9.94297917e-01 2.75712206e-04 7.66422453e+00] [ 3.17908153e-03 6.36618049e-05 9.99994945e-01 -3.03956498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.585898227 meters 0.028059324156629734 Centerline is valid? [True, True] Translation: X:310.35, Y:7.66, Z:-3.04 [[ 9.94172049e-01 1.07774404e-01 -2.57202950e-03 3.10354078e+02] [-1.07774186e-01 9.94175374e-01 2.23540953e-04 7.66356536e+00] [ 2.58114038e-03 5.49602175e-05 9.99996667e-01 -3.03875184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61589822699995 meters 0.028059324156629734 Centerline is valid? [True, True] Translation: X:310.38, Y:7.66, Z:-3.04 [[ 9.94179372e-01 1.07706827e-01 -2.57203963e-03 3.10381480e+02] [-1.07706610e-01 9.94182698e-01 2.23424437e-04 7.66132112e+00] [ 2.58114163e-03 5.49017015e-05 9.99996667e-01 -3.03885396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.645898227 meters 0.03090566420348258 Centerline is valid? [True, True] Translation: X:310.41, Y:7.66, Z:-3.04 [[ 9.94027190e-01 1.09116830e-01 -1.86077843e-03 3.10409800e+02] [-1.09116718e-01 9.94028931e-01 1.61507087e-04 7.66202084e+00] [ 1.86729074e-03 4.24996000e-05 9.99998256e-01 -3.03792853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67589822699995 meters 0.03589046082307689 Centerline is valid? [True, True] Translation: X:310.44, Y:7.66, Z:-3.04 [[ 9.93455838e-01 1.14210560e-01 -1.20259010e-03 3.10440293e+02] [-1.14210517e-01 9.93456565e-01 1.04459530e-04 7.66492531e+00] [ 1.20665141e-03 3.35725070e-05 9.99999271e-01 -3.03570741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.705898227 meters 0.039477407260394934 Centerline is valid? [True, True] Translation: X:310.47, Y:7.67, Z:-3.04 [[ 9.93133612e-01 1.16971614e-01 -1.80854110e-03 3.10468886e+02] [-1.16971522e-01 9.93135257e-01 1.56908492e-04 7.66728281e+00] [ 1.81447977e-03 5.57167072e-05 9.99998352e-01 -3.03690269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73589822699995 meters 0.04139012424183727 Centerline is valid? [True, True] Translation: X:310.50, Y:7.67, Z:-3.04 [[ 9.92946608e-01 1.18535860e-01 -2.50678804e-03 3.10498654e+02] [-1.18535688e-01 9.92949769e-01 2.17579739e-04 7.66696388e+00] [ 2.51490560e-03 8.10987803e-05 9.99996834e-01 -3.03869163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.765898227 meters 0.04258625554821082 Centerline is valid? [True, True] Translation: X:310.53, Y:7.66, Z:-3.04 [[ 9.93070821e-01 1.17513930e-01 -9.06096276e-04 3.10525992e+02] [-1.17513907e-01 9.93071234e-01 7.84179724e-05 7.66226911e+00] [ 9.09033351e-04 2.86043137e-05 9.99999586e-01 -3.03692929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79589822699995 meters 0.038491293293215774 Centerline is valid? [True, True] Translation: X:310.55, Y:7.65, Z:-3.03 [[ 9.93301444e-01 1.15548783e-01 8.48626334e-04 3.10554504e+02] [-1.15548762e-01 9.93301806e-01 -7.37331019e-05 7.65090030e+00] [-8.51461841e-04 -2.48185258e-05 9.99999637e-01 -3.03433215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.825898227 meters 0.03629036773661853 Centerline is valid? [True, True] Translation: X:310.58, Y:7.64, Z:-3.03 [[ 9.93642525e-01 1.12570144e-01 1.57941230e-03 3.10582568e+02] [-1.12570068e-01 9.93643780e-01 -1.37068719e-04 7.64202624e+00] [-1.58480305e-03 -4.15972419e-05 9.99998743e-01 -3.03323077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85589822699995 meters 0.028279155122543993 Centerline is valid? [True, True] Translation: X:310.61, Y:7.62, Z:-3.04 [[ 9.94339612e-01 1.06247703e-01 -4.01962419e-04 3.10610536e+02] [-1.06247698e-01 9.94339693e-01 3.47082331e-05 7.62105288e+00] [ 4.03374858e-04 8.19581060e-06 9.99999919e-01 -3.03741947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.885898227 meters 0.0227145479294026 Centerline is valid? [True, True] Translation: X:310.64, Y:7.61, Z:-3.04 [[ 9.94593270e-01 1.03836351e-01 -1.49624734e-03 3.10638091e+02] [-1.03836274e-01 9.94594395e-01 1.29437342e-04 7.60680638e+00] [ 1.50159952e-03 2.66272384e-05 9.99998872e-01 -3.03864867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91589822699996 meters 0.02138248901976134 Centerline is valid? [True, True] Translation: X:310.67, Y:7.60, Z:-3.04 [[ 9.94718757e-01 1.02625087e-01 -1.63864580e-03 3.10665895e+02] [-1.02624993e-01 9.94720107e-01 1.41693770e-04 7.59784077e+00] [ 1.64453526e-03 2.72205632e-05 9.99998647e-01 -3.03915384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.945898227 meters 0.02123316529072357 Centerline is valid? [True, True] Translation: X:310.69, Y:7.59, Z:-3.04 [[ 9.94738171e-01 1.02445651e-01 -9.27684720e-04 3.10693885e+02] [-1.02445621e-01 9.94738603e-01 8.00970766e-05 7.59047316e+00] [ 9.31009399e-04 1.53616179e-05 9.99999566e-01 -3.03780599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97589822699996 meters 0.02290361932327217 Centerline is valid? [True, True] Translation: X:310.72, Y:7.58, Z:-3.03 [[ 9.94560668e-01 1.04152775e-01 1.13026058e-03 3.10721970e+02] [-1.04152731e-01 9.94561310e-01 -9.79225746e-05 7.58048328e+00] [-1.13431235e-03 -2.03297851e-05 9.99999356e-01 -3.03484192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.005898227 meters 0.024404025993526174 Centerline is valid? [True, True] Translation: X:310.75, Y:7.58, Z:-3.04 [[ 9.94431965e-01 1.05374972e-01 1.08764314e-03 3.10749537e+02] [-1.05374932e-01 9.94432559e-01 -9.42153574e-05 7.57514363e+00] [-1.09151569e-03 -2.09195594e-05 9.99999404e-01 -3.03527131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03589822699996 meters 0.03018046242342517 Centerline is valid? [True, True] Translation: X:310.78, Y:7.57, Z:-3.04 [[ 9.94256177e-01 1.07023607e-01 7.76102515e-04 3.10777629e+02] [-1.07023587e-01 9.94256480e-01 -6.72467287e-05 7.56993313e+00] [-7.78841942e-04 -1.62007996e-05 9.99999697e-01 -3.03562538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.065898227 meters 0.0319888243548984 Centerline is valid? [True, True] Translation: X:310.81, Y:7.57, Z:-3.04 [[ 9.93613883e-01 1.12831413e-01 7.24275591e-04 3.10807660e+02] [-1.12831397e-01 9.93614146e-01 -6.25867771e-05 7.56627670e+00] [-7.26712228e-04 -1.95339365e-05 9.99999736e-01 -3.03545414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09589822699996 meters 0.03558112880212288 Centerline is valid? [True, True] Translation: X:310.84, Y:7.56, Z:-3.04 [[ 9.93230083e-01 1.16159555e-01 9.79703847e-04 3.10836869e+02] [-1.16159528e-01 9.93230566e-01 -8.46956313e-05 7.56465585e+00] [-9.82910013e-04 -2.96796873e-05 9.99999517e-01 -3.03516135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.125898227 meters 0.03939174008251488 Centerline is valid? [True, True] Translation: X:310.87, Y:7.56, Z:-3.04 [[ 9.92547293e-01 1.21855944e-01 9.99776593e-04 3.10867509e+02] [-1.21855919e-01 9.92547796e-01 -8.63015698e-05 7.56026073e+00] [-1.00284241e-03 -3.61703059e-05 9.99999496e-01 -3.03543061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15589822699997 meters 0.04426829873362788 Centerline is valid? [True, True] Translation: X:310.90, Y:7.56, Z:-3.04 [[ 9.92322495e-01 1.23675159e-01 7.21753337e-04 3.10895691e+02] [-1.23675147e-01 9.92322757e-01 -6.24414584e-05 7.56083885e+00] [-7.23934719e-04 -2.73008860e-05 9.99999738e-01 -3.03651334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.185898227 meters 0.04344449195005044 Centerline is valid? [True, True] Translation: X:310.92, Y:7.55, Z:-3.04 [[ 9.92212756e-01 1.24552717e-01 6.83695637e-04 3.10924195e+02] [-1.24552706e-01 9.92212991e-01 -5.91235071e-05 7.55402469e+00] [-6.85735686e-04 -2.64930436e-05 9.99999765e-01 -3.03719845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21589822699997 meters 0.047462053754211586 Centerline is valid? [True, True] Translation: X:310.95, Y:7.55, Z:-3.04 [[ 9.92163067e-01 1.24948703e-01 5.20166486e-04 3.10951860e+02] [-1.24948696e-01 9.92163203e-01 -4.50346894e-05 7.55367481e+00] [-5.21717072e-04 -2.03123688e-05 9.99999864e-01 -3.03791265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.24589822699994 meters 0.044597051114956765 Centerline is valid? [True, True] Translation: X:310.98, Y:7.54, Z:-3.04 [[ 9.92123197e-01 1.25263404e-01 8.00816959e-04 3.10979345e+02] [-1.25263389e-01 9.92123520e-01 -6.91366826e-05 7.54198787e+00] [-8.03169637e-04 -3.17209400e-05 9.99999677e-01 -3.03715942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.27589822699997 meters 0.045009958632735214 Centerline is valid? [True, True] Translation: X:311.01, Y:7.54, Z:-3.04 [[ 9.92075279e-01 1.25643776e-01 5.32293944e-04 3.11007938e+02] [-1.25643769e-01 9.92075421e-01 -4.59877919e-05 7.53794873e+00] [-5.33853818e-04 -2.12560660e-05 9.99999857e-01 -3.03765701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.30589822699994 meters 0.04616206598035744 Centerline is valid? [True, True] Translation: X:311.04, Y:7.53, Z:-3.04 [[ 9.91922504e-01 1.26845331e-01 -9.56024457e-05 3.11036047e+02] [-1.26845330e-01 9.91922508e-01 8.00725386e-06 7.53445465e+00] [ 9.58459005e-05 4.18414852e-06 9.99999995e-01 -3.03922184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.335898227 meters 0.047661880774159546 Centerline is valid? [True, True] Translation: X:311.06, Y:7.53, Z:-3.04 [[ 9.91805444e-01 1.27757128e-01 -2.78204154e-04 3.11063497e+02] [-1.27757127e-01 9.91805483e-01 2.36266609e-05 7.53377139e+00] [ 2.78942879e-04 1.21095124e-05 9.99999961e-01 -3.03975347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.36589822699995 meters 0.04930765527699406 Centerline is valid? [True, True] Translation: X:311.09, Y:7.53, Z:-3.04 [[ 9.91632642e-01 1.29090603e-01 -5.65230340e-04 3.11093378e+02] [-1.29090596e-01 9.91632803e-01 4.84744661e-05 7.53288060e+00] [ 5.66758544e-04 2.48970587e-05 9.99999839e-01 -3.04084512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.395898227 meters 0.049148980990821774 Centerline is valid? [True, True] Translation: X:311.12, Y:7.53, Z:-3.04 [[ 9.91532136e-01 1.29853867e-01 -1.41295656e-03 3.11121592e+02] [-1.29853826e-01 9.91533141e-01 1.21090514e-04 7.52963553e+00] [ 1.41671733e-03 6.34126792e-05 9.99998994e-01 -3.04218139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.42589822699995 meters 0.058062692986798475 Centerline is valid? [True, True] Translation: X:311.15, Y:7.53, Z:-3.04 [[ 9.91521074e-01 1.29932088e-01 -1.90035386e-03 3.11150165e+02] [-1.29932014e-01 9.91522892e-01 1.62693175e-04 7.53437448e+00] [ 1.90538342e-03 8.56030940e-05 9.99998181e-01 -3.04420989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.455898227 meters 0.050617156903437203 Centerline is valid? [True, True] Translation: X:311.18, Y:7.52, Z:-3.05 [[ 9.91662426e-01 1.28841324e-01 -2.35491116e-03 3.11178195e+02] [-1.28841207e-01 9.91665217e-01 2.01707525e-04 7.52035077e+00] [ 2.36127175e-03 1.03383824e-04 9.99997207e-01 -3.04528849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.48589822699995 meters 0.048771103433432085 Centerline is valid? [True, True] Translation: X:311.21, Y:7.51, Z:-3.05 [[ 9.91807538e-01 1.27715568e-01 -2.55778319e-03 3.11206524e+02] [-1.27715427e-01 9.91810830e-01 2.18980071e-04 7.51260673e+00] [ 2.56480423e-03 1.09482287e-04 9.99996705e-01 -3.04609269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.515898227 meters 0.04956360449450456 Centerline is valid? [True, True] Translation: X:311.23, Y:7.50, Z:-3.05 [[ 9.91898093e-01 1.26998038e-01 -3.10988440e-03 3.11233456e+02] [-1.26997827e-01 9.91902960e-01 2.66064637e-04 7.50468332e+00] [ 3.11849323e-03 1.31039556e-04 9.99995129e-01 -3.04767991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.54589822699995 meters 0.05200096416325063 Centerline is valid? [True, True] Translation: X:311.26, Y:7.50, Z:-3.05 [[ 9.91773042e-01 1.27977175e-01 -2.84188938e-03 3.11261467e+02] [-1.27977004e-01 9.91777106e-01 2.42958166e-04 7.50309259e+00] [ 2.84961393e-03 1.22737129e-04 9.99995932e-01 -3.04708420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.575898227 meters 0.053256265717898696 Centerline is valid? [True, True] Translation: X:311.29, Y:7.50, Z:-3.05 [[ 9.91541184e-01 1.29776852e-01 -2.01208824e-03 3.11291008e+02] [-1.29776770e-01 9.91543222e-01 1.72036983e-04 7.50062363e+00] [ 2.01739887e-03 9.05405582e-05 9.99997961e-01 -3.04593090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.60589822699995 meters 0.055749933306962346 Centerline is valid? [True, True] Translation: X:311.32, Y:7.50, Z:-3.04 [[ 9.90824275e-01 1.35147378e-01 -1.56261026e-03 3.11321334e+02] [-1.35147335e-01 9.90825504e-01 1.33675818e-04 7.49894505e+00] [ 1.56634003e-03 7.87333667e-05 9.99998770e-01 -3.04354449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.635898227 meters 0.06348739205364956 Centerline is valid? [True, True] Translation: X:311.35, Y:7.51, Z:-3.04 [[ 9.90404168e-01 1.38189968e-01 -1.76522206e-03 3.11351056e+02] [-1.38189918e-01 9.90405737e-01 1.50908597e-04 7.50535379e+00] [ 1.76914011e-03 9.44753889e-05 9.99998431e-01 -3.04398408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.66589822699996 meters 0.06395603393776024 Centerline is valid? [True, True] Translation: X:311.38, Y:7.50, Z:-3.04 [[ 9.89953119e-01 1.41380382e-01 -2.09995794e-03 3.11381055e+02] [-1.41380318e-01 9.89955339e-01 1.79593868e-04 7.50222291e+00] [ 2.10425562e-03 1.19103212e-04 9.99997779e-01 -3.04388266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.695898227 meters 0.07250201020558654 Centerline is valid? [True, True] Translation: X:311.41, Y:7.51, Z:-3.04 [[ 9.89215170e-01 1.46452613e-01 -2.23172761e-03 3.11410507e+02] [-1.46452554e-01 9.89217677e-01 1.90833359e-04 7.50920385e+00] [ 2.23561244e-03 1.38066953e-04 9.99997491e-01 -3.04465877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.72589822699996 meters 0.07053317030492363 Centerline is valid? [True, True] Translation: X:311.44, Y:7.50, Z:-3.04 [[ 9.88961546e-01 1.48160837e-01 -1.85134946e-03 3.11440155e+02] [-1.48160799e-01 9.88963272e-01 1.58262825e-04 7.50415817e+00] [ 1.85436498e-03 1.17781568e-04 9.99998274e-01 -3.04386976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.755898227 meters 0.07512601838038552 Centerline is valid? [True, True] Translation: X:311.47, Y:7.51, Z:-3.04 [[ 9.88783223e-01 1.49350270e-01 -1.49522946e-03 3.11469229e+02] [-1.49350247e-01 9.88784348e-01 1.27677597e-04 7.50745658e+00] [ 1.49752817e-03 9.70674228e-05 9.99998874e-01 -3.04436656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.78589822699996 meters 0.07833182409197023 Centerline is valid? [True, True] Translation: X:311.50, Y:7.51, Z:-3.05 [[ 9.88645476e-01 1.50255720e-01 -1.82795059e-03 3.11498250e+02] [-1.50255687e-01 9.88647159e-01 1.55981004e-04 7.50907267e+00] [ 1.83063520e-03 1.20450058e-04 9.99998317e-01 -3.04538714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.815898227 meters 0.07889343412051475 Centerline is valid? [True, True] Translation: X:311.53, Y:7.51, Z:-3.05 [[ 9.88465044e-01 1.51422365e-01 -2.85017051e-03 3.11527817e+02] [-1.51422290e-01 9.88469135e-01 2.43336548e-04 7.50604373e+00] [ 2.85415218e-03 1.91049674e-04 9.99995909e-01 -3.04802145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.84589822699996 meters 0.07656120649929975 Centerline is valid? [True, True] Translation: X:311.56, Y:7.50, Z:-3.05 [[ 9.88481311e-01 1.51313482e-01 -2.98779183e-03 3.11555414e+02] [-1.51313401e-01 9.88485807e-01 2.54723595e-04 7.50021721e+00] [ 2.99193293e-03 2.00303428e-04 9.99995504e-01 -3.04828439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.875898227 meters 0.08176264214858216 Centerline is valid? [True, True] Translation: X:311.58, Y:7.50, Z:-3.05 [[ 9.88601375e-01 1.50542538e-01 -2.06524328e-03 3.11583772e+02] [-1.50542498e-01 9.88603523e-01 1.75799467e-04 7.50417340e+00] [ 2.06817208e-03 1.37111287e-04 9.99997852e-01 -3.04783199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.90589822699997 meters 0.08137744500514842 Centerline is valid? [True, True] Translation: X:311.61, Y:7.50, Z:-3.05 [[ 9.88757808e-01 1.49525572e-01 -3.18007447e-04 3.11612302e+02] [-1.49525571e-01 9.88757859e-01 2.69843726e-05 7.50100043e+00] [ 3.18467216e-04 2.08692361e-05 9.99999949e-01 -3.04500679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.935898227 meters 0.07083299934190374 Centerline is valid? [True, True] Translation: X:311.64, Y:7.48, Z:-3.04 [[ 9.88753824e-01 1.49537852e-01 2.07519683e-03 3.11638594e+02] [-1.49537808e-01 9.88755992e-01 -1.76977746e-04 7.48456212e+00] [-2.07832818e-03 -1.35332964e-04 9.99997831e-01 -3.04066538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.96589822699997 meters 0.07899322874494352 Centerline is valid? [True, True] Translation: X:311.67, Y:7.49, Z:-3.04 [[ 9.88544152e-01 1.50920815e-01 1.83496867e-03 3.11667630e+02] [-1.50920784e-01 9.88545847e-01 -1.56350374e-04 7.49249508e+00] [-1.83754718e-03 -1.22375661e-04 9.99998304e-01 -3.04112108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99589822699994 meters 0.07673032593618878 Centerline is valid? [True, True] Translation: X:311.70, Y:7.49, Z:-3.04 [[ 9.87965270e-01 1.54675860e-01 5.45857253e-05 3.11697634e+02] [-1.54675860e-01 9.87965272e-01 -4.68437013e-06 7.48944277e+00] [-5.46533599e-05 -3.81509899e-06 9.99999998e-01 -3.04475010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.02589822699997 meters 0.07674772378470297 Centerline is valid? [True, True] Translation: X:311.73, Y:7.49, Z:-3.05 [[ 9.87763401e-01 1.55958208e-01 -7.07201430e-04 3.11727383e+02] [-1.55958205e-01 9.87763653e-01 6.00840446e-05 7.48823765e+00] [ 7.07918468e-04 5.09450454e-05 9.99999748e-01 -3.04650437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05589822699994 meters 0.07664640099939213 Centerline is valid? [True, True] Translation: X:311.76, Y:7.49, Z:-3.05 [[ 9.87697003e-01 1.56378540e-01 -6.17703542e-04 3.11755816e+02] [-1.56378538e-01 9.87697196e-01 5.23559924e-05 7.48677024e+00] [ 6.18291410e-04 4.48837199e-05 9.99999808e-01 -3.04705609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.085898227 meters 0.07531946421476252 Centerline is valid? [True, True] Translation: X:311.78, Y:7.48, Z:-3.05 [[ 9.87786487e-01 1.55813284e-01 2.76340459e-04 3.11784187e+02] [-1.55813283e-01 9.87786526e-01 -2.36563565e-05 7.48356253e+00] [-2.76651356e-04 -1.96900849e-05 9.99999962e-01 -3.04576676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11589822699995 meters 0.07149361445540584 Centerline is valid? [True, True] Translation: X:311.81, Y:7.48, Z:-3.04 [[ 9.88212850e-01 1.53074503e-01 1.88675520e-03 3.11814249e+02] [-1.53074475e-01 9.88214642e-01 -1.60357265e-04 7.47827772e+00] [-1.88906573e-03 -1.30346952e-04 9.99998207e-01 -3.04194729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.145898227 meters 0.07314948011287312 Centerline is valid? [True, True] Translation: X:311.84, Y:7.48, Z:-3.04 [[ 9.88544280e-01 1.50914869e-01 2.21551372e-03 3.11843004e+02] [-1.50914824e-01 9.88546752e-01 -1.88339727e-04 7.47968100e+00] [-2.21856216e-03 -1.48171703e-04 9.99997528e-01 -3.04155600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17589822699995 meters 0.0724523537800937 Centerline is valid? [True, True] Translation: X:311.87, Y:7.48, Z:-3.04 [[ 9.88883551e-01 1.48676728e-01 2.13371460e-03 3.11871565e+02] [-1.48676681e-01 9.88885844e-01 -1.81316574e-04 7.47841710e+00] [-2.13695772e-03 -1.37932628e-04 9.99997707e-01 -3.04172082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.205898227 meters 0.06755210211600547 Centerline is valid? [True, True] Translation: X:311.90, Y:7.47, Z:-3.04 [[ 9.89199163e-01 1.46559213e-01 2.32671316e-03 3.11900993e+02] [-1.46559152e-01 9.89201888e-01 -1.97595220e-04 7.47145994e+00] [-2.33054845e-03 -1.45540082e-04 9.99997274e-01 -3.04197750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23589822699995 meters 0.06621744779679264 Centerline is valid? [True, True] Translation: X:311.93, Y:7.47, Z:-3.04 [[ 9.89778317e-01 1.42582867e-01 3.00143473e-03 3.11929567e+02] [-1.42582748e-01 9.89782852e-01 -2.54861291e-04 7.47069144e+00] [-3.00710748e-03 -1.75696631e-04 9.99995463e-01 -3.04113227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.265898227 meters 0.06732094972028095 Centerline is valid? [True, True] Translation: X:311.96, Y:7.47, Z:-3.04 [[ 9.90017660e-01 1.40906487e-01 3.22413565e-03 3.11958879e+02] [-1.40906341e-01 9.90022893e-01 -2.73664904e-04 7.47155974e+00] [-3.23052927e-03 -1.83368070e-04 9.99994765e-01 -3.04040540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29589822699995 meters 0.0613892390630442 Centerline is valid? [True, True] Translation: X:311.99, Y:7.47, Z:-3.04 [[ 9.90312543e-01 1.38833320e-01 2.52509615e-03 3.11988419e+02] [-1.38833223e-01 9.90315753e-01 -2.14278416e-04 7.46514554e+00] [-2.53039148e-03 -1.38364634e-04 9.99996789e-01 -3.04114127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.325898227 meters 0.060786094529592584 Centerline is valid? [True, True] Translation: X:312.02, Y:7.46, Z:-3.04 [[ 9.90281953e-01 1.39063729e-01 1.71278760e-03 3.12017381e+02] [-1.39063685e-01 9.90283429e-01 -1.45409254e-04 7.46436985e+00] [-1.71636633e-03 -9.41903947e-05 9.99998523e-01 -3.04277924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35589822699995 meters 0.06382995345628545 Centerline is valid? [True, True] Translation: X:312.05, Y:7.47, Z:-3.04 [[ 9.90098082e-01 1.40375322e-01 7.46316420e-04 3.12046259e+02] [-1.40375314e-01 9.90098362e-01 -6.34207539e-05 7.46880603e+00] [-7.47829374e-04 -4.19716347e-05 9.99999719e-01 -3.04483290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.385898227 meters 0.07364357249008956 Centerline is valid? [True, True] Translation: X:312.08, Y:7.49, Z:-3.05 [[ 9.89493855e-01 1.44574416e-01 -3.85842388e-04 3.12077498e+02] [-1.44574414e-01 9.89493930e-01 3.26732719e-05 7.48673110e+00] [ 3.86512420e-04 2.34529355e-05 9.99999925e-01 -3.04710963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41589822699996 meters 0.06974687142072575 Centerline is valid? [True, True] Translation: X:312.11, Y:7.48, Z:-3.05 [[ 9.89130476e-01 1.47039448e-01 -5.50312207e-04 3.12107471e+02] [-1.47039445e-01 9.89130628e-01 4.65959697e-05 7.48393178e+00] [ 5.51182104e-04 3.48281076e-05 9.99999847e-01 -3.04755354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.445898227 meters 0.07271836151741527 Centerline is valid? [True, True] Translation: X:312.14, Y:7.49, Z:-3.05 [[ 9.88750025e-01 1.49575982e-01 -6.43620554e-04 3.12138756e+02] [-1.49575978e-01 9.88750233e-01 5.45172526e-05 7.48903593e+00] [ 6.44534445e-04 4.23662388e-05 9.99999791e-01 -3.04845657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47589822699996 meters 0.07532980903808052 Centerline is valid? [True, True] Translation: X:312.17, Y:7.49, Z:-3.05 [[ 9.88408843e-01 1.51814816e-01 -4.68908160e-04 3.12169696e+02] [-1.51814814e-01 9.88408954e-01 3.96842843e-05 7.49338244e+00] [ 4.69497686e-04 3.19629075e-05 9.99999889e-01 -3.04819194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.505898227 meters 0.07532980903808052 Centerline is valid? [True, True] Translation: X:312.20, Y:7.49, Z:-3.05 [[ 9.88419154e-01 1.51747673e-01 -4.68928673e-04 3.12197160e+02] [-1.51747671e-01 9.88419265e-01 3.94420401e-05 7.49118607e+00] [ 4.69483372e-04 3.21735660e-05 9.99999889e-01 -3.04829424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53589822699996 meters 0.07579557993690166 Centerline is valid? [True, True] Translation: X:312.23, Y:7.50, Z:-3.05 [[ 9.87925109e-01 1.54929260e-01 9.50626227e-04 3.12228048e+02] [-1.54929254e-01 9.87925564e-01 -8.04821770e-05 7.49547371e+00] [-9.51616996e-04 -6.77694486e-05 9.99999545e-01 -3.04588696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.565898227 meters 0.07718144534356933 Centerline is valid? [True, True] Translation: X:312.26, Y:7.50, Z:-3.04 [[ 9.87806626e-01 1.55677642e-01 1.59403231e-03 3.12257331e+02] [-1.55677625e-01 9.87807906e-01 -1.35002768e-04 7.49804322e+00] [-1.59561463e-03 -1.14798536e-04 9.99998720e-01 -3.04448722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59589822699996 meters 0.0794412783717307 Centerline is valid? [True, True] Translation: X:312.29, Y:7.50, Z:-3.04 [[ 9.87777074e-01 1.55857846e-01 2.18734953e-03 3.12285818e+02] [-1.55857816e-01 9.87779483e-01 -1.85205845e-04 7.50457527e+00] [-2.18948477e-03 -1.57973433e-04 9.99997591e-01 -3.04271748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.625898227 meters 0.08807837720697581 Centerline is valid? [True, True] Translation: X:312.31, Y:7.52, Z:-3.04 [[ 9.87770836e-01 1.55901863e-01 1.83980950e-03 3.12314332e+02] [-1.55901842e-01 9.87772540e-01 -1.55617795e-04 7.51646771e+00] [-1.84157440e-03 -1.33114970e-04 9.99998295e-01 -3.04362756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65589822699997 meters 0.08933402752416716 Centerline is valid? [True, True] Translation: X:312.34, Y:7.52, Z:-3.04 [[ 9.87769694e-01 1.55908716e-01 1.87206271e-03 3.12342469e+02] [-1.55908694e-01 9.87771458e-01 -1.58280489e-04 7.51909817e+00] [-1.87384742e-03 -1.35526182e-04 9.99998235e-01 -3.04385793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.685898227 meters 0.0789652157334535 Centerline is valid? [True, True] Translation: X:312.37, Y:7.51, Z:-3.04 [[ 9.87809952e-01 1.55650806e-01 2.07993785e-03 3.12369834e+02] [-1.55650779e-01 9.87812130e-01 -1.75820106e-04 7.50682373e+00] [-2.08195438e-03 -1.50067097e-04 9.99997821e-01 -3.04358395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71589822699997 meters 0.07892786299986192 Centerline is valid? [True, True] Translation: X:312.40, Y:7.51, Z:-3.05 [[ 9.87728181e-01 1.56181059e-01 7.18941272e-04 3.12398524e+02] [-1.56181056e-01 9.87728442e-01 -6.07101924e-05 7.50911719e+00] [-7.19600525e-04 -5.23198389e-05 9.99999740e-01 -3.04539924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.74589822699994 meters 0.08781291962011699 Centerline is valid? [True, True] Translation: X:312.43, Y:7.52, Z:-3.05 [[ 9.87698439e-01 1.56370470e-01 2.63815128e-04 3.12426922e+02] [-1.56370470e-01 9.87698474e-01 -2.24357603e-05 7.52043832e+00] [-2.64078090e-04 -1.90931301e-05 9.99999965e-01 -3.04679432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.77589822699997 meters 0.08154729014725812 Centerline is valid? [True, True] Translation: X:312.45, Y:7.51, Z:-3.05 [[ 9.87721498e-01 1.56224398e-01 4.24200185e-04 3.12454050e+02] [-1.56224396e-01 9.87721589e-01 -3.62709930e-05 7.50928816e+00] [-4.24658094e-04 -3.04447782e-05 9.99999909e-01 -3.04500299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.80589822699994 meters 0.0849452472415205 Centerline is valid? [True, True] Translation: X:312.48, Y:7.52, Z:-3.05 [[ 9.87773295e-01 1.55897136e-01 -1.74608874e-05 3.12482958e+02] [-1.55897136e-01 9.87773295e-01 1.25220041e-06 7.51868562e+00] [ 1.74426127e-05 1.48521222e-06 1.00000000e+00 -3.04756300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.835898227 meters 0.08234661977411242 Centerline is valid? [True, True] Translation: X:312.51, Y:7.51, Z:-3.05 [[ 9.87955114e-01 1.54739485e-01 -6.20184499e-04 3.12512427e+02] [-1.54739483e-01 9.87955308e-01 5.18981160e-05 7.51424036e+00] [ 6.20745255e-04 4.46940198e-05 9.99999806e-01 -3.04936232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.86589822699995 meters 0.07603687601104367 Centerline is valid? [True, True] Translation: X:312.54, Y:7.50, Z:-3.05 [[ 9.88497799e-01 1.51232838e-01 -8.54801041e-04 3.12541868e+02] [-1.51232833e-01 9.88498166e-01 7.15337941e-05 7.50417768e+00] [ 8.55787520e-04 5.85629850e-05 9.99999632e-01 -3.05122364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.895898227 meters 0.07684075028254429 Centerline is valid? [True, True] Translation: X:312.57, Y:7.50, Z:-3.05 [[ 9.88770001e-01 1.49444507e-01 -4.72748399e-04 3.12570627e+02] [-1.49444505e-01 9.88770114e-01 3.95170242e-05 7.50265799e+00] [ 4.73345090e-04 3.15764024e-05 9.99999887e-01 -3.05159704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.92589822699995 meters 0.069869053867866 Centerline is valid? [True, True] Translation: X:312.60, Y:7.49, Z:-3.05 [[ 9.89047033e-01 1.47600354e-01 3.20500897e-04 3.12599524e+02] [-1.47600353e-01 9.89047084e-01 -2.68868027e-05 7.49056016e+00] [-3.20958979e-04 -2.07137333e-05 9.99999948e-01 -3.05074801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.955898227 meters 0.06509883887547276 Centerline is valid? [True, True] Translation: X:312.63, Y:7.48, Z:-3.05 [[ 9.89289843e-01 1.45962025e-01 8.33440267e-04 3.12628535e+02] [-1.45962018e-01 9.89290192e-01 -6.98741077e-05 7.48063189e+00] [-8.34713248e-04 -5.25248783e-05 9.99999650e-01 -3.05073292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.98589822699995 meters 0.06815278197359544 Centerline is valid? [True, True] Translation: X:312.66, Y:7.48, Z:-3.05 [[ 9.89690733e-01 1.43220994e-01 -6.56074466e-06 3.12657496e+02] [-1.43220994e-01 9.89690733e-01 4.88621795e-07 7.47719640e+00] [ 6.56308908e-06 4.56051911e-07 1.00000000e+00 -3.05249742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.015898227 meters 0.06589526024259602 Centerline is valid? [True, True] Translation: X:312.69, Y:7.47, Z:-3.05 [[ 9.89688936e-01 1.43232975e-01 -3.53017418e-04 3.12686099e+02] [-1.43232973e-01 9.89688999e-01 2.93648364e-05 7.47164036e+00] [ 3.53583467e-04 2.15016806e-05 9.99999937e-01 -3.05450300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.04589822699995 meters 0.06472595431115219 Centerline is valid? [True, True] Translation: X:312.71, Y:7.47, Z:-3.06 [[ 9.89607241e-01 1.43792117e-01 -1.15555649e-03 3.12714049e+02] [-1.43792102e-01 9.89607913e-01 9.63998357e-05 7.46658008e+00] [ 1.15740938e-03 7.07619211e-05 9.99999328e-01 -3.05542580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.075898227 meters 0.07011888923841088 Centerline is valid? [True, True] Translation: X:312.74, Y:7.47, Z:-3.06 [[ 9.88967532e-01 1.48127474e-01 -1.21362608e-03 3.12743529e+02] [-1.48127460e-01 9.88968273e-01 1.01362232e-04 7.46974132e+00] [ 1.21525222e-03 7.95273932e-05 9.99999258e-01 -3.05515216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.10589822699995 meters 0.07310746588179495 Centerline is valid? [True, True] Translation: X:312.77, Y:7.47, Z:-3.05 [[ 9.88597730e-01 1.50579219e-01 -6.52837619e-04 3.12773101e+02] [-1.50579215e-01 9.88597945e-01 5.44887246e-05 7.47136410e+00] [ 6.53598799e-04 4.44363471e-05 9.99999785e-01 -3.05453158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.135898227 meters 0.07863304991540941 Centerline is valid? [True, True] Translation: X:312.80, Y:7.48, Z:-3.05 [[ 9.88252660e-01 1.52827973e-01 5.38987534e-04 3.12802421e+02] [-1.52827971e-01 9.88252806e-01 -4.50844623e-05 7.47648904e+00] [-5.39546110e-04 -3.78175316e-05 9.99999854e-01 -3.05292501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.16589822699996 meters 0.07807404342118515 Centerline is valid? [True, True] Translation: X:312.83, Y:7.47, Z:-3.05 [[ 9.87966121e-01 1.54664083e-01 1.40222378e-03 3.12832461e+02] [-1.54664071e-01 9.87967110e-01 -1.17191917e-04 7.47340305e+00] [-1.40347636e-03 -1.01091995e-04 9.99999010e-01 -3.05096430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.195898227 meters 0.08100187879965753 Centerline is valid? [True, True] Translation: X:312.86, Y:7.47, Z:-3.05 [[ 9.87754627e-01 1.55993482e-01 2.61339441e-03 3.12860879e+02] [-1.55993447e-01 9.87758066e-01 -2.18386694e-04 7.47449362e+00] [-2.61546831e-03 -1.91959936e-04 9.99996561e-01 -3.04928552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.22589822699996 meters 0.08208166855917333 Centerline is valid? [True, True] Translation: X:312.89, Y:7.47, Z:-3.05 [[ 9.87819018e-01 1.55586377e-01 2.54298252e-03 3.12889033e+02] [-1.55586342e-01 9.87822274e-01 -2.12520649e-04 7.47209996e+00] [-2.54508009e-03 -1.85721410e-04 9.99996744e-01 -3.05010100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.255898227 meters 0.0837637148884271 Centerline is valid? [True, True] Translation: X:312.92, Y:7.47, Z:-3.05 [[ 9.87915507e-01 1.54981780e-01 1.89727634e-03 3.12917368e+02] [-1.54981761e-01 9.87917319e-01 -1.58409809e-04 7.46576878e+00] [-1.89890279e-03 -1.37547721e-04 9.99998188e-01 -3.05034913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.28589822699996 meters 0.08469651518169495 Centerline is valid? [True, True] Translation: X:312.95, Y:7.46, Z:-3.05 [[ 9.87978546e-01 1.54588197e-01 9.38696008e-04 3.12945162e+02] [-1.54588192e-01 9.87978990e-01 -7.82386902e-05 7.46445696e+00] [-9.39506712e-04 -6.78131711e-05 9.99999556e-01 -3.05373424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.315898227 meters 0.08534966109944529 Centerline is valid? [True, True] Translation: X:312.97, Y:7.46, Z:-3.05 [[ 9.87957743e-01 1.54720931e-01 9.64667707e-04 3.12972499e+02] [-1.54720926e-01 9.87958212e-01 -8.03382049e-05 7.46114528e+00] [-9.65481384e-04 -6.98835293e-05 9.99999531e-01 -3.05427772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.34589822699996 meters 0.08359874174939731 Centerline is valid? [True, True] Translation: X:313.00, Y:7.45, Z:-3.05 [[ 9.87877411e-01 1.55228754e-01 1.50187847e-03 3.13000893e+02] [-1.55228743e-01 9.87878546e-01 -1.25110263e-04 7.45067303e+00] [-1.50309423e-03 -1.09541104e-04 9.99998864e-01 -3.05237177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.375898227 meters 0.08159999755400371 Centerline is valid? [True, True] Translation: X:313.03, Y:7.45, Z:-3.05 [[ 9.87389805e-01 1.58293678e-01 2.11746306e-03 3.13031480e+02] [-1.58293663e-01 9.87392063e-01 -1.75555405e-04 7.44639942e+00] [-2.11855553e-03 -1.61839366e-04 9.99997743e-01 -3.05210787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.40589822699997 meters 0.08479515599388589 Centerline is valid? [True, True] Translation: X:313.06, Y:7.45, Z:-3.05 [[ 9.87038625e-01 1.60479632e-01 1.02021452e-03 3.13060927e+02] [-1.60479630e-01 9.87039149e-01 -8.46258918e-05 7.44697348e+00] [-1.02057241e-03 -8.01946256e-05 9.99999476e-01 -3.05341756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.435898227 meters 0.08820510346201531 Centerline is valid? [True, True] Translation: X:313.09, Y:7.45, Z:-3.06 [[ 9.86259907e-01 1.65199480e-01 -7.25960410e-04 3.13091406e+02] [-1.65199481e-01 9.86260173e-01 6.01757021e-05 7.44906135e+00] [ 7.25926834e-04 6.05794003e-05 9.99999735e-01 -3.05609038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.46589822699997 meters 0.09138819364366878 Centerline is valid? [True, True] Translation: X:313.12, Y:7.45, Z:-3.06 [[ 9.85903050e-01 1.67315954e-01 -7.39535827e-04 3.13121568e+02] [-1.67315955e-01 9.85903326e-01 6.12892298e-05 7.45153870e+00] [ 7.39365497e-04 6.33109042e-05 9.99999725e-01 -3.05614564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49589822699994 meters 0.09466931501622683 Centerline is valid? [True, True] Translation: X:313.15, Y:7.45, Z:-3.06 [[ 9.85595384e-01 1.69120387e-01 -1.84579243e-04 3.13151165e+02] [-1.69120387e-01 9.85595401e-01 1.52758485e-05 7.45436332e+00] [ 1.84503911e-04 1.61603073e-05 9.99999983e-01 -3.05604975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.52589822699997 meters 0.09870262882252293 Centerline is valid? [True, True] Translation: X:313.18, Y:7.46, Z:-3.05 [[ 9.85329211e-01 1.70663557e-01 5.44563785e-04 3.13180981e+02] [-1.70663558e-01 9.85329360e-01 -4.51703907e-05 7.45831056e+00] [-5.44283625e-04 -4.84294873e-05 9.99999851e-01 -3.05446975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55589822699994 meters 0.0974176665655014 Centerline is valid? [True, True] Translation: X:313.21, Y:7.46, Z:-3.05 [[ 9.85097827e-01 1.71985153e-01 1.83816433e-03 3.13211567e+02] [-1.71985166e-01 9.85099528e-01 -1.52335110e-04 7.45764271e+00] [-1.83697419e-03 -1.66072012e-04 9.99998299e-01 -3.05239501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.585898227 meters 0.10138941965960493 Centerline is valid? [True, False] Translation: X:313.19, Y:7.46, Z:-3.06 [[ 9.87876704e-01 1.54977192e-01 9.03810082e-03 3.13193632e+02] [-1.55036189e-01 9.87889111e-01 6.23571104e-03 7.46405664e+00] [-7.96224841e-03 -7.56134637e-03 9.99939713e-01 -3.05631043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61589822699995 meters 0.09282218854059165 Centerline is valid? [False, True] Translation: X:313.18, Y:7.47, Z:-3.06 [[ 9.90526983e-01 1.36434007e-01 1.55582367e-02 3.13177339e+02] [-1.36597771e-01 9.90576172e-01 9.99486090e-03 7.47106751e+00] [-1.40479796e-02 -1.20253999e-02 9.99829007e-01 -3.05913406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.645898227 meters 0.09130691063966491 Centerline is valid? [True, True] Translation: X:313.21, Y:7.47, Z:-3.06 [[ 9.91273875e-01 1.31211623e-01 1.26339091e-02 3.13206693e+02] [-1.31214307e-01 9.91353833e-01 -6.19818614e-04 7.47409989e+00] [-1.26060016e-02 -1.04333963e-03 9.99919997e-01 -3.06142757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67589822699995 meters 0.07656855602132571 Centerline is valid? [True, True] Translation: X:313.24, Y:7.45, Z:-3.06 [[ 9.91692045e-01 1.28098297e-01 1.17351972e-02 3.13235831e+02] [-1.28100397e-01 9.91761038e-01 -5.75650144e-04 7.45362157e+00] [-1.17122512e-02 -9.32415750e-04 9.99930975e-01 -3.06256402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.705898227 meters 0.07918288988480693 Centerline is valid? [True, True] Translation: X:313.26, Y:7.46, Z:-3.06 [[ 9.92368693e-01 1.22771554e-01 1.14683407e-02 3.13264943e+02] [-1.22773209e-01 9.92434594e-01 -5.62261569e-04 7.45567575e+00] [-1.14506078e-02 -8.50034210e-04 9.99934078e-01 -3.06417526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73589822699995 meters 0.08678053698086403 Centerline is valid? [True, True] Translation: X:313.29, Y:7.46, Z:-3.06 [[ 9.92526732e-01 1.21355641e-01 1.27864688e-02 3.13294073e+02] [-1.21357581e-01 9.92608656e-01 -6.26985389e-04 7.46490319e+00] [-1.27680478e-02 -9.29435155e-04 9.99918053e-01 -3.06355703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.765898227 meters 0.08345198357369402 Centerline is valid? [True, True] Translation: X:313.32, Y:7.46, Z:-3.06 [[ 9.92567513e-01 1.20874716e-01 1.41080069e-02 3.13323026e+02] [-1.20877036e-01 9.92667248e-01 -6.91273274e-04 7.46050098e+00] [-1.40881138e-02 -1.01919866e-03 9.99900238e-01 -3.06126621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79589822699995 meters 0.07865892278848839 Centerline is valid? [True, True] Translation: X:313.35, Y:7.46, Z:-3.06 [[ 9.92682292e-01 1.19866298e-01 1.46266259e-02 3.13351382e+02] [-1.19868692e-01 9.92789496e-01 -7.16012309e-04 7.45625588e+00] [-1.46069863e-02 -1.04250178e-03 9.99892769e-01 -3.06010088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.825898227 meters 0.07872086033100088 Centerline is valid? [True, True] Translation: X:313.38, Y:7.46, Z:-3.06 [[ 9.92790585e-01 1.18970055e-01 1.45938532e-02 3.13380712e+02] [-1.18972353e-01 9.92897311e-01 -7.13717006e-04 7.45703990e+00] [-1.45751086e-02 -1.02769353e-03 9.99893249e-01 -3.06132798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85589822699995 meters 0.07696843597222061 Centerline is valid? [True, True] Translation: X:313.41, Y:7.46, Z:-3.06 [[ 9.92995018e-01 1.17250560e-01 1.46013994e-02 3.13411121e+02] [-1.17252684e-01 9.93101857e-01 -7.13521559e-04 7.45584754e+00] [-1.45843377e-02 -1.00352991e-03 9.99893139e-01 -3.06158149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.885898227 meters 0.07609947898231235 Centerline is valid? [True, True] Translation: X:313.44, Y:7.45, Z:-3.06 [[ 9.93197625e-01 1.15554468e-01 1.43402240e-02 3.13439520e+02] [-1.15556341e-01 9.93300680e-01 -7.00673829e-04 7.45476904e+00] [-1.43251202e-02 -9.61196224e-04 9.99896928e-01 -3.06309602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91589822699996 meters 0.0683860944382898 Centerline is valid? [True, True] Translation: X:313.47, Y:7.44, Z:-3.07 [[ 9.93825101e-01 1.10215139e-01 1.28176684e-02 3.13469167e+02] [-1.10216199e-01 9.93907439e-01 -6.25755253e-04 7.44321703e+00] [-1.28085436e-02 -7.90823415e-04 9.99917655e-01 -3.06642597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.945898227 meters 0.0670092051564804 Centerline is valid? [True, True] Translation: X:313.50, Y:7.44, Z:-3.07 [[ 9.94234137e-01 1.06525499e-01 1.22800118e-02 3.13498674e+02] [-1.06526191e-01 9.94309716e-01 -5.99551740e-04 7.43896112e+00] [-1.22740026e-02 -7.12048081e-04 9.99924418e-01 -3.06780427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97589822699996 meters 0.06261352051604334 Centerline is valid? [True, True] Translation: X:313.53, Y:7.43, Z:-3.07 [[ 9.94673136e-01 1.02320878e-01 1.24816194e-02 3.13527863e+02] [-1.02321265e-01 9.94751219e-01 -6.09235737e-04 7.43094397e+00] [-1.24784436e-02 -6.71144664e-04 9.99921916e-01 -3.06763143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.005898227 meters 0.05906620657128512 Centerline is valid? [True, True] Translation: X:313.56, Y:7.42, Z:-3.06 [[ 9.95438733e-01 9.44336340e-02 1.35653105e-02 3.13556546e+02] [-9.44333649e-02 9.95530965e-01 -6.61805466e-04 7.41989439e+00] [-1.35671834e-02 -6.22231123e-04 9.99907768e-01 -3.06413547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03589822699996 meters 0.05275513173126163 Centerline is valid? [True, True] Translation: X:313.59, Y:7.41, Z:-3.07 [[ 9.95676957e-01 9.18533891e-02 1.37968010e-02 3.13586514e+02] [-9.18528639e-02 9.95772363e-01 -6.73073996e-04 7.41142231e+00] [-1.38002973e-02 -5.97111417e-04 9.99904593e-01 -3.06503951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.065898227 meters 0.049621685957409935 Centerline is valid? [True, True] Translation: X:313.62, Y:7.40, Z:-3.07 [[ 9.95909110e-01 8.94126451e-02 1.30546679e-02 3.13615409e+02] [-8.94119666e-02 9.95994525e-01 -6.36785539e-04 7.39873591e+00] [-1.30593144e-02 -5.33063011e-04 9.99914581e-01 -3.06714150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09589822699996 meters 0.051376837292180066 Centerline is valid? [True, True] Translation: X:313.64, Y:7.40, Z:-3.07 [[ 9.95880666e-01 8.98134679e-02 1.24594989e-02 3.13642820e+02] [-8.98128822e-02 9.95958471e-01 -6.07664749e-04 7.39583378e+00] [-1.24637200e-02 -5.13861934e-04 9.99922193e-01 -3.06855819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.125898227 meters 0.05298028728624504 Centerline is valid? [True, True] Translation: X:313.67, Y:7.39, Z:-3.07 [[ 9.95776155e-01 9.09953264e-02 1.22351918e-02 3.13672279e+02] [-9.09948610e-02 9.95851184e-01 -5.95878939e-04 7.39330809e+00] [-1.22386524e-02 -5.19977537e-04 9.99924970e-01 -3.06976210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15589822699997 meters 0.05225141695883414 Centerline is valid? [True, True] Translation: X:313.70, Y:7.38, Z:-3.07 [[ 9.95459623e-01 9.41685485e-02 1.38716970e-02 3.13701828e+02] [-9.41682633e-02 9.95556067e-01 -6.75181569e-04 7.38405116e+00] [-1.38736330e-02 -6.34157629e-04 9.99903555e-01 -3.06835827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.185898227 meters 0.05683532275287786 Centerline is valid? [True, True] Translation: X:313.73, Y:7.38, Z:-3.07 [[ 9.95347881e-01 9.51785049e-02 1.49548376e-02 3.13730349e+02] [-9.51782891e-02 9.95459976e-01 -7.27774484e-04 7.38156328e+00] [-1.49562108e-02 -6.98987065e-04 9.99887905e-01 -3.06589396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21589822699997 meters 0.054366546474354814 Centerline is valid? [True, True] Translation: X:313.76, Y:7.38, Z:-3.07 [[ 9.95237443e-01 9.62204102e-02 1.56225682e-02 3.13760108e+02] [-9.62203120e-02 9.95359771e-01 -7.59685077e-04 7.37552446e+00] [-1.56231731e-02 -7.47141355e-04 9.99877672e-01 -3.06664362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.24589822699994 meters 0.057769499295006375 Centerline is valid? [True, True] Translation: X:313.79, Y:7.37, Z:-3.07 [[ 9.94984365e-01 9.88093741e-02 1.55827291e-02 3.13789360e+02] [-9.88095989e-02 9.95106070e-01 -7.57368272e-04 7.36953865e+00] [-1.55813034e-02 -7.86153628e-04 9.99878295e-01 -3.06696326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.27589822699997 meters 0.06310281478337963 Centerline is valid? [True, True] Translation: X:313.82, Y:7.37, Z:-3.07 [[ 9.94797191e-01 1.00712872e-01 1.53449283e-02 3.13818288e+02] [-1.00713318e-01 9.94915208e-01 -7.45689140e-04 7.37101639e+00] [-1.53420030e-02 -8.03629173e-04 9.99881982e-01 -3.06860889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.30589822699994 meters 0.061576342285395574 Centerline is valid? [True, True] Translation: X:313.85, Y:7.36, Z:-3.07 [[ 9.94564662e-01 1.03034335e-01 1.50019908e-02 3.13847864e+02] [-1.03035032e-01 9.94677461e-01 -7.28474649e-04 7.36383486e+00] [-1.49972000e-02 -8.21215462e-04 9.99887198e-01 -3.06958682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.335898227 meters 0.06494801378907594 Centerline is valid? [True, True] Translation: X:313.88, Y:7.36, Z:-3.07 [[ 9.94319107e-01 1.05393869e-01 1.48877677e-02 3.13877894e+02] [-1.05394821e-01 9.94430193e-01 -7.22759705e-04 7.36347640e+00] [-1.48810201e-02 -8.50439831e-04 9.99888910e-01 -3.07060405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.36589822699995 meters 0.06793570321804274 Centerline is valid? [True, True] Translation: X:313.91, Y:7.36, Z:-3.07 [[ 9.93665376e-01 1.11329145e-01 1.53278287e-02 3.13907808e+02] [-1.11330862e-01 9.93783118e-01 -7.43925701e-04 7.36059625e+00] [-1.53153580e-02 -9.67247162e-04 9.99882245e-01 -3.07045454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.395898227 meters 0.07889235912361289 Centerline is valid? [True, True] Translation: X:313.94, Y:7.37, Z:-3.07 [[ 9.93302326e-01 1.14634046e-01 1.44749529e-02 3.13938083e+02] [-1.14635926e-01 9.93407324e-01 -7.02480372e-04 7.37083000e+00] [-1.44600523e-02 -9.61574238e-04 9.99894986e-01 -3.07217519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.42589822699995 meters 0.07889235912361289 Centerline is valid? [True, True] Translation: X:313.97, Y:7.37, Z:-3.07 [[ 9.93307344e-01 1.14590555e-01 1.44749477e-02 3.13966438e+02] [-1.14592429e-01 9.93412342e-01 -7.02586195e-04 7.36954282e+00] [-1.44601015e-02 -9.60835398e-04 9.99894986e-01 -3.07267628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.455898227 meters 0.08793585760009648 Centerline is valid? [True, True] Translation: X:314.00, Y:7.38, Z:-3.08 [[ 9.92724365e-01 1.19737031e-01 1.27034918e-02 3.13996359e+02] [-1.19738902e-01 9.92805226e-01 -6.15926219e-04 7.37516147e+00] [-1.26858422e-02 -9.09657195e-04 9.99919118e-01 -3.07549014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.48589822699995 meters 0.07926054137551039 Centerline is valid? [True, True] Translation: X:314.03, Y:7.36, Z:-3.07 [[ 9.92445695e-01 1.22016877e-01 1.27837066e-02 3.14026408e+02] [-1.22018960e-01 9.92527576e-01 -6.19834231e-04 7.36068297e+00] [-1.27638116e-02 -9.44702775e-04 9.99918093e-01 -3.07495662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.515898227 meters 0.08004784954916336 Centerline is valid? [True, True] Translation: X:314.06, Y:7.36, Z:-3.07 [[ 9.92181410e-01 1.24083101e-01 1.33952834e-02 3.14056713e+02] [-1.24085575e-01 9.92271308e-01 -6.49431547e-04 7.35898074e+00] [-1.33723388e-02 -1.01780754e-03 9.99910068e-01 -3.07428012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.54589822699995 meters 0.09378705212793524 Centerline is valid? [True, True] Translation: X:314.09, Y:7.37, Z:-3.07 [[ 9.91706350e-01 1.27628266e-01 1.51506370e-02 3.14087024e+02] [-1.27631847e-01 9.91821341e-01 -7.34338803e-04 7.37418180e+00] [-1.51204475e-02 -1.20545532e-03 9.99884953e-01 -3.07233242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.575898227 meters 0.08199461893191946 Centerline is valid? [True, True] Translation: X:314.12, Y:7.36, Z:-3.07 [[ 9.91515089e-01 1.29073374e-01 1.54237666e-02 3.14116766e+02] [-1.29077261e-01 9.91634258e-01 -7.47392651e-04 7.35777639e+00] [-1.53912038e-02 -1.24980645e-03 9.99880767e-01 -3.07147335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.60589822699995 meters 0.08587419768386688 Centerline is valid? [True, True] Translation: X:314.15, Y:7.36, Z:-3.07 [[ 9.91339118e-01 1.30433291e-01 1.52941259e-02 3.14145812e+02] [-1.30437273e-01 9.91456287e-01 -7.41119905e-04 7.36173939e+00] [-1.52601240e-02 -1.26022293e-03 9.99882763e-01 -3.07219916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.635898227 meters 0.0895308906792769 Centerline is valid? [True, True] Translation: X:314.18, Y:7.37, Z:-3.08 [[ 9.91148952e-01 1.32106665e-01 1.30990182e-02 3.14175239e+02] [-1.32109731e-01 9.91234895e-01 -6.34793483e-04 7.36659405e+00] [-1.30680644e-02 -1.10133287e-03 9.99914003e-01 -3.07690369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.66589822699996 meters 0.09058500947553322 Centerline is valid? [True, True] Translation: X:314.20, Y:7.37, Z:-3.08 [[ 9.91101950e-01 1.32585338e-01 1.17496085e-02 3.14204383e+02] [-1.32587839e-01 9.91171096e-01 -5.69300645e-04 7.36752303e+00] [-1.17213533e-02 -9.93620221e-04 9.99930809e-01 -3.08056091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.695898227 meters 0.0887434134640655 Centerline is valid? [True, True] Translation: X:314.23, Y:7.36, Z:-3.08 [[ 9.91105356e-01 1.32635646e-01 1.08609142e-02 3.14232736e+02] [-1.32637791e-01 9.91164436e-01 -5.25820969e-04 7.36480576e+00] [-1.08346945e-02 -9.19423688e-04 9.99940880e-01 -3.08244531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.72589822699996 meters 0.09444176277408624 Centerline is valid? [True, True] Translation: X:314.26, Y:7.37, Z:-3.08 [[ 9.91130353e-01 1.32447656e-01 1.08738597e-02 3.14260686e+02] [-1.32449799e-01 9.91189575e-01 -5.26026713e-04 7.37187391e+00] [-1.08477274e-02 -9.18879490e-04 9.99940739e-01 -3.08410681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.755898227 meters 0.08983247981783403 Centerline is valid? [True, True] Translation: X:314.29, Y:7.37, Z:-3.08 [[ 9.91156661e-01 1.32197703e-01 1.14995552e-02 3.14288898e+02] [-1.32200092e-01 9.91222895e-01 -5.55512091e-04 7.36644045e+00] [-1.14720599e-02 -9.69642750e-04 9.99933724e-01 -3.08264800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.78589822699996 meters 0.09074947748948237 Centerline is valid? [True, True] Translation: X:314.32, Y:7.37, Z:-3.08 [[ 9.91258278e-01 1.31372779e-01 1.21744986e-02 3.14317460e+02] [-1.31375402e-01 9.91332517e-01 -5.87518522e-04 7.36690530e+00] [-1.21461603e-02 -1.01704705e-03 9.99925715e-01 -3.08176403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.815898227 meters 0.0843137585936178 Centerline is valid? [True, True] Translation: X:314.35, Y:7.36, Z:-3.08 [[ 9.91658419e-01 1.28087210e-01 1.43960649e-02 3.14347206e+02] [-1.28090546e-01 9.91762235e-01 -6.93830825e-04 7.35849819e+00] [-1.43663444e-02 -1.15595665e-03 9.99896131e-01 -3.07851445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.84589822699996 meters 0.08430688439243113 Centerline is valid? [True, True] Translation: X:314.38, Y:7.36, Z:-3.08 [[ 9.91928319e-01 1.25916671e-01 1.49399166e-02 3.14376385e+02] [-1.25920023e-01 9.92040135e-01 -7.19847286e-04 7.35755071e+00] [-1.49116377e-02 -1.16719774e-03 9.99888134e-01 -3.07893961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.875898227 meters 0.07680728552086312 Centerline is valid? [True, True] Translation: X:314.41, Y:7.35, Z:-3.08 [[ 9.92273275e-01 1.23214116e-01 1.45612032e-02 3.14406555e+02] [-1.23217014e-01 9.92379502e-01 -7.01369793e-04 7.34656600e+00] [-1.45366582e-02 -1.09823747e-03 9.99893734e-01 -3.08017025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.90589822699997 meters 0.06962659311486888 Centerline is valid? [True, True] Translation: X:314.44, Y:7.34, Z:-3.08 [[ 9.92916742e-01 1.17972423e-01 1.41014631e-02 3.14436166e+02] [-1.17974615e-01 9.93016379e-01 -6.79203077e-04 7.33515668e+00] [-1.40831110e-02 -9.89222567e-04 9.99900339e-01 -3.08150883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.935898227 meters 0.07390798135330673 Centerline is valid? [True, True] Translation: X:314.47, Y:7.34, Z:-3.08 [[ 9.93238073e-01 1.15179625e-01 1.45528336e-02 3.14465542e+02] [-1.15181662e-01 9.93344197e-01 -7.00940984e-04 7.33888652e+00] [-1.45367069e-02 -9.80018288e-04 9.99893856e-01 -3.08109603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.96589822699997 meters 0.0759753860277065 Centerline is valid? [True, True] Translation: X:314.49, Y:7.34, Z:-3.08 [[ 9.93488428e-01 1.12909831e-01 1.52352629e-02 3.14494736e+02] [-1.12911801e-01 9.93604744e-01 -7.33586664e-04 7.34018819e+00] [-1.52206586e-02 -9.91431101e-04 9.99883668e-01 -3.07991311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99589822699994 meters 0.06189497208985627 Centerline is valid? [True, True] Translation: X:314.52, Y:7.32, Z:-3.08 [[ 9.93966464e-01 1.08592855e-01 1.54356905e-02 3.14523385e+02] [-1.08594361e-01 9.94085868e-01 -7.43008960e-04 7.32101992e+00] [-1.54250873e-02 -9.37702965e-04 9.99880587e-01 -3.07912607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.02589822699997 meters 0.06292067422434817 Centerline is valid? [True, True] Translation: X:314.55, Y:7.32, Z:-3.08 [[ 9.94174097e-01 1.06697194e-01 1.52831432e-02 3.14551894e+02] [-1.06698453e-01 9.94291154e-01 -7.35304094e-04 7.31992977e+00] [-1.52743490e-02 -8.99667457e-04 9.99882936e-01 -3.08041164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05589822699994 meters 0.058665690596981 Centerline is valid? [True, True] Translation: X:314.58, Y:7.31, Z:-3.08 [[ 9.94405479e-01 1.04562936e-01 1.49778473e-02 3.14581841e+02] [-1.04563902e-01 9.94517909e-01 -7.20741300e-04 7.31172403e+00] [-1.49711002e-02 -8.49433061e-04 9.99887566e-01 -3.08147952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.085898227 meters 0.06211771376862419 Centerline is valid? [True, True] Translation: X:314.61, Y:7.30, Z:-3.08 [[ 9.94839094e-01 1.00374570e-01 1.48365540e-02 3.14611014e+02] [-1.00375056e-01 9.94949415e-01 -7.13773235e-04 7.30353280e+00] [-1.48332654e-02 -7.79130432e-04 9.99889678e-01 -3.08186831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11589822699995 meters 0.060971849163403036 Centerline is valid? [True, True] Translation: X:314.64, Y:7.31, Z:-3.09 [[ 9.95027374e-01 9.86431646e-02 1.37858743e-02 3.14640320e+02] [-9.86434208e-02 9.95122624e-01 -6.63050201e-04 7.30528791e+00] [-1.37840408e-02 -7.00132698e-04 9.99904750e-01 -3.08566226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.145898227 meters 0.05887626667475496 Centerline is valid? [True, True] Translation: X:314.67, Y:7.29, Z:-3.09 [[ 9.95296858e-01 9.60429252e-02 1.26460232e-02 3.14670284e+02] [-9.60429333e-02 9.95377007e-01 -6.08069327e-04 7.29414292e+00] [-1.26459614e-02 -6.09351668e-04 9.99919851e-01 -3.08858824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17589822699995 meters 0.05357959320553516 Centerline is valid? [True, True] Translation: X:314.70, Y:7.28, Z:-3.09 [[ 9.95341188e-01 9.55677380e-02 1.27564127e-02 3.14700342e+02] [-9.55677087e-02 9.95422743e-01 -6.13269725e-04 7.28312657e+00] [-1.27566321e-02 -6.08688517e-04 9.99918446e-01 -3.08780347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.205898227 meters 0.05316375379392958 Centerline is valid? [True, True] Translation: X:314.73, Y:7.28, Z:-3.09 [[ 9.95323146e-01 9.56945633e-02 1.32055113e-02 3.14730824e+02] [-9.56945431e-02 9.95410544e-01 -6.34860324e-04 7.27900563e+00] [-1.32056579e-02 -6.31804198e-04 9.99912602e-01 -3.08698457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23589822699995 meters 0.05386832736658825 Centerline is valid? [True, True] Translation: X:314.76, Y:7.28, Z:-3.09 [[ 9.95230660e-01 9.65156063e-02 1.41658125e-02 3.14760951e+02] [-9.65156660e-02 9.95331233e-01 -6.81027191e-04 7.27652946e+00] [-1.41654053e-02 -6.89443683e-04 9.99899428e-01 -3.08597670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.265898227 meters 0.057769813831361816 Centerline is valid? [True, True] Translation: X:314.79, Y:7.28, Z:-3.08 [[ 9.94925953e-01 9.94567783e-02 1.51887172e-02 3.14791026e+02] [-9.94571886e-02 9.95041574e-01 -7.30219571e-04 7.27684349e+00] [-1.51860304e-02 -7.84112710e-04 9.99884378e-01 -3.08415459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29589822699995 meters 0.05848075503084603 Centerline is valid? [True, True] Translation: X:314.82, Y:7.28, Z:-3.08 [[ 9.94825832e-01 1.00501775e-01 1.48646316e-02 3.14821421e+02] [-1.00502286e-01 9.94936571e-01 -7.14526910e-04 7.27528867e+00] [-1.48611768e-02 -7.83099636e-04 9.99889260e-01 -3.08492176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.325898227 meters 0.06201733798487422 Centerline is valid? [True, True] Translation: X:314.85, Y:7.28, Z:-3.09 [[ 9.94634361e-01 1.02617222e-01 1.31222904e-02 3.14850437e+02] [-1.02617802e-01 9.94720659e-01 -6.30877032e-04 7.27705770e+00] [-1.31177522e-02 -7.19088634e-04 9.99913700e-01 -3.08824493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35589822699995 meters 0.05984526072519524 Centerline is valid? [True, True] Translation: X:314.88, Y:7.27, Z:-3.09 [[ 9.94534699e-01 1.03615461e-01 1.28284663e-02 3.14880679e+02] [-1.03616103e-01 9.94617174e-01 -6.16358671e-04 7.27230850e+00] [-1.28232772e-02 -7.16245604e-04 9.99917522e-01 -3.08825728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.385898227 meters 0.06471306030220476 Centerline is valid? [True, True] Translation: X:314.91, Y:7.28, Z:-3.09 [[ 9.94382440e-01 1.04944150e-01 1.37944860e-02 3.14910703e+02] [-1.04945020e-01 9.94477804e-01 -6.62816369e-04 7.27626729e+00] [-1.37878689e-02 -7.88569649e-04 9.99904632e-01 -3.08774296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41589822699996 meters 0.06320169731593268 Centerline is valid? [True, True] Translation: X:314.94, Y:7.27, Z:-3.09 [[ 9.94169777e-01 1.06692372e-01 1.55946444e-02 3.14940787e+02] [-1.06693701e-01 9.94291654e-01 -7.49106971e-04 7.27081557e+00] [-1.55855488e-02 -9.19110814e-04 9.99878116e-01 -3.08573664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.445898227 meters 0.07219707210190535 Centerline is valid? [True, True] Translation: X:314.97, Y:7.28, Z:-3.09 [[ 9.94102569e-01 1.07394386e-01 1.50508643e-02 3.14970045e+02] [-1.07395709e-01 9.94216093e-01 -7.22705971e-04 7.27568999e+00] [-1.50414261e-02 -8.97954376e-04 9.99886468e-01 -3.08663033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47589822699996 meters 0.06628343764051753 Centerline is valid? [True, True] Translation: X:315.00, Y:7.27, Z:-3.09 [[ 9.94057825e-01 1.08156395e-01 1.22977825e-02 3.14999655e+02] [-1.08157329e-01 9.94133614e-01 -5.91035443e-04 7.26530219e+00] [-1.22895632e-02 -7.42571894e-04 9.99924205e-01 -3.09238361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.505898227 meters 0.06726279378529086 Centerline is valid? [True, True] Translation: X:315.03, Y:7.26, Z:-3.09 [[ 9.94026895e-01 1.08515869e-01 1.16119559e-02 3.15028584e+02] [-1.08516727e-01 9.94094467e-01 -5.58089513e-04 7.26306585e+00] [-1.16039427e-02 -7.05335460e-04 9.99932423e-01 -3.09408833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53589822699996 meters 0.07270577701023115 Centerline is valid? [True, True] Translation: X:315.06, Y:7.27, Z:-3.10 [[ 9.93986257e-01 1.08908280e-01 1.14152715e-02 3.15056891e+02] [-1.08909137e-01 9.94051558e-01 -5.48325223e-04 7.26681591e+00] [-1.14070856e-02 -6.98199634e-04 9.99934693e-01 -3.09506656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.565898227 meters 0.06809815285100469 Centerline is valid? [True, True] Translation: X:315.09, Y:7.26, Z:-3.09 [[ 9.93899059e-01 1.09590340e-01 1.24345541e-02 3.15085848e+02] [-1.09591420e-01 9.93976541e-01 -5.96539407e-04 7.25781278e+00] [-1.24250300e-02 -7.69820485e-04 9.99922510e-01 -3.09374599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59589822699996 meters 0.07651752134820815 Centerline is valid? [True, True] Translation: X:315.11, Y:7.27, Z:-3.09 [[ 9.93773816e-01 1.10607279e-01 1.34027213e-02 3.15114593e+02] [-1.10608631e-01 9.93863833e-01 -6.42608967e-04 7.26591014e+00] [-1.33915571e-02 -8.43848683e-04 9.99909973e-01 -3.09314579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.625898227 meters 0.08051691756553352 Centerline is valid? [True, True] Translation: X:315.15, Y:7.27, Z:-3.09 [[ 9.93354494e-01 1.13853579e-01 1.68585649e-02 3.15145113e+02] [-1.13856189e-01 9.93496913e-01 -8.08014657e-04 7.26742672e+00] [-1.68409275e-02 -1.11680696e-03 9.99857558e-01 -3.08716621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65589822699997 meters 0.08386387003658251 Centerline is valid? [True, True] Translation: X:315.17, Y:7.27, Z:-3.09 [[ 9.93101446e-01 1.15979310e-01 1.72718973e-02 3.15174587e+02] [-1.15982370e-01 9.93250927e-01 -8.27835468e-04 7.27026354e+00] [-1.72513398e-02 -1.18111097e-03 9.99850487e-01 -3.08613918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.685898227 meters 0.0797535876811155 Centerline is valid? [True, True] Translation: X:315.20, Y:7.26, Z:-3.09 [[ 9.92742525e-01 1.19307820e-01 1.50971340e-02 3.15204431e+02] [-1.19310542e-01 9.92856722e-01 -7.23511020e-04 7.26409744e+00] [-1.50756115e-02 -1.08298708e-03 9.99885770e-01 -3.09104560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71589822699997 meters 0.07651832966994004 Centerline is valid? [True, True] Translation: X:315.23, Y:7.26, Z:-3.09 [[ 9.92706433e-01 1.19780341e-01 1.36604695e-02 3.15233645e+02] [-1.19782614e-01 9.92799928e-01 -6.54584933e-04 7.25848329e+00] [-1.36405195e-02 -9.86476074e-04 9.99906477e-01 -3.09461351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.74589822699994 meters 0.07563130589876489 Centerline is valid? [True, True] Translation: X:315.26, Y:7.25, Z:-3.10 [[ 9.92865140e-01 1.18558683e-01 1.27535352e-02 3.15263049e+02] [-1.18560568e-01 9.92946634e-01 -6.10865785e-04 7.25196323e+00] [-1.27360033e-02 -9.05559039e-04 9.99918484e-01 -3.09609832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.77589822699997 meters 0.0691105043438792 Centerline is valid? [True, True] Translation: X:315.29, Y:7.24, Z:-3.10 [[ 9.93514263e-01 1.13030508e-01 1.23900620e-02 3.15292611e+02] [-1.13031864e-01 9.93591187e-01 -5.93065166e-04 7.24290641e+00] [-1.23776909e-02 -8.11253100e-04 9.99923064e-01 -3.09832296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.80589822699994 meters 0.08047148362784279 Centerline is valid? [True, True] Translation: X:315.32, Y:7.25, Z:-3.10 [[ 9.93907570e-01 1.09487962e-01 1.26541576e-02 3.15322779e+02] [-1.09489089e-01 9.93987813e-01 -6.05748668e-04 7.25408432e+00] [-1.26444007e-02 -7.83434005e-04 9.99919749e-01 -3.09969958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.835898227 meters 0.06834923219559158 Centerline is valid? [True, True] Translation: X:315.35, Y:7.23, Z:-3.10 [[ 9.94253848e-01 1.06276827e-01 1.28266367e-02 3.15352411e+02] [-1.06277722e-01 9.94336296e-01 -6.13761941e-04 7.23462065e+00] [-1.28192191e-02 -7.52950560e-04 9.99917547e-01 -3.09834899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.86589822699995 meters 0.06588533281321463 Centerline is valid? [True, True] Translation: X:315.38, Y:7.23, Z:-3.10 [[ 9.94577418e-01 1.03284181e-01 1.21711374e-02 3.15381851e+02] [-1.03284763e-01 9.94651657e-01 -5.82448287e-04 7.22709664e+00] [-1.21661997e-02 -6.77803129e-04 9.99925759e-01 -3.09862173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.895898227 meters 0.06250713112756012 Centerline is valid? [True, True] Translation: X:315.41, Y:7.22, Z:-3.10 [[ 9.94483779e-01 1.04130334e-01 1.26050038e-02 3.15412979e+02] [-1.04131029e-01 9.94563404e-01 -6.02927002e-04 7.22237012e+00] [-1.25992585e-02 -7.12970890e-04 9.99920372e-01 -3.09828896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.92589822699995 meters 0.07824005143933946 Centerline is valid? [True, True] Translation: X:315.44, Y:7.24, Z:-3.10 [[ 9.94248132e-01 1.06316534e-01 1.29401197e-02 3.15443402e+02] [-1.06317446e-01 9.94332046e-01 -6.19349243e-04 7.24335377e+00] [-1.29326227e-02 -7.59973648e-04 9.99916081e-01 -3.09975066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.955898227 meters 0.07014698980712877 Centerline is valid? [True, True] Translation: X:315.47, Y:7.24, Z:-3.10 [[ 9.93585015e-01 1.12209439e-01 1.40662644e-02 3.15473300e+02] [-1.12211104e-01 9.93684162e-01 -6.73341425e-04 7.23521598e+00] [-1.40529794e-02 -9.09369101e-04 9.99900838e-01 -3.09835735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.98589822699995 meters 0.07077292112926532 Centerline is valid? [True, True] Translation: X:315.50, Y:7.24, Z:-3.10 [[ 9.93319195e-01 1.14561053e-01 1.38831281e-02 3.15503825e+02] [-1.14562904e-01 9.93415774e-01 -6.64551408e-04 7.23517920e+00] [-1.38678501e-02 -9.30379791e-04 9.99903404e-01 -3.09896990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.015898227 meters 0.07146104575992618 Centerline is valid? [True, True] Translation: X:315.53, Y:7.24, Z:-3.10 [[ 9.93159573e-01 1.15990528e-01 1.34261237e-02 3.15534279e+02] [-1.15992391e-01 9.93249894e-01 -6.42517339e-04 7.23524454e+00] [-1.34100218e-02 -9.19205938e-04 9.99909659e-01 -3.10002895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.04589822699995 meters 0.06876047719310678 Centerline is valid? [True, True] Translation: X:315.56, Y:7.23, Z:-3.10 [[ 9.93119582e-01 1.16430062e-01 1.25513943e-02 3.15564003e+02] [-1.16431723e-01 9.93198516e-01 -6.00776568e-04 7.23194004e+00] [-1.25359746e-02 -8.64737489e-04 9.99921048e-01 -3.10159468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.075898227 meters 0.07288586177921826 Centerline is valid? [True, True] Translation: X:315.59, Y:7.24, Z:-3.10 [[ 9.93239934e-01 1.15384943e-01 1.26786854e-02 3.15593217e+02] [-1.15386556e-01 9.93320479e-01 -6.06622579e-04 7.24039361e+00] [-1.26639929e-02 -8.60428074e-04 9.99919438e-01 -3.10276325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.10589822699995 meters 0.07062634657729801 Centerline is valid? [True, True] Translation: X:315.62, Y:7.24, Z:-3.10 [[ 9.93332373e-01 1.14492246e-01 1.35026786e-02 3.15623196e+02] [-1.14494002e-01 9.93423730e-01 -6.45493141e-04 7.23833202e+00] [-1.34877853e-02 -9.04786477e-04 9.99908626e-01 -3.10188287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.135898227 meters 0.07425140685483676 Centerline is valid? [True, True] Translation: X:315.65, Y:7.24, Z:-3.10 [[ 9.93382245e-01 1.13884628e-01 1.48999043e-02 3.15652212e+02] [-1.13886703e-01 9.93493489e-01 -7.11879666e-04 7.24364367e+00] [-1.48840300e-02 -9.89732360e-04 9.99888737e-01 -3.10034453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.16589822699996 meters 0.07327422403538013 Centerline is valid? [True, True] Translation: X:315.68, Y:7.24, Z:-3.10 [[ 9.93328724e-01 1.14149309e-01 1.63701137e-02 3.15682195e+02] [-1.14151861e-01 9.93463005e-01 -7.81485938e-04 7.24467385e+00] [-1.63523084e-02 -1.09240651e-03 9.99865695e-01 -3.09801279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.195898227 meters 0.07189484560828223 Centerline is valid? [True, True] Translation: X:315.71, Y:7.24, Z:-3.10 [[ 9.93265630e-01 1.14799493e-01 1.56353611e-02 3.15711373e+02] [-1.14801906e-01 9.93388124e-01 -7.46097986e-04 7.24317306e+00] [-1.56176337e-02 -1.05389577e-03 9.99877482e-01 -3.09933703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.22589822699996 meters 0.07562219455618026 Centerline is valid? [True, True] Translation: X:315.74, Y:7.25, Z:-3.10 [[ 9.93178347e-01 1.15625039e-01 1.50871012e-02 3.15740070e+02] [-1.15627388e-01 9.93292399e-01 -7.19437790e-04 7.24822548e+00] [-1.50690879e-02 -1.02995206e-03 9.99885924e-01 -3.10085251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.255898227 meters 0.070189779712256 Centerline is valid? [True, True] Translation: X:315.77, Y:7.24, Z:-3.10 [[ 9.92914363e-01 1.17870024e-01 1.50905942e-02 3.15770346e+02] [-1.17872641e-01 9.93028461e-01 -7.19027961e-04 7.24296220e+00] [-1.50701414e-02 -1.06483500e-03 9.99885872e-01 -3.10049565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.28589822699996 meters 0.07490335351823493 Centerline is valid? [True, True] Translation: X:315.80, Y:7.25, Z:-3.10 [[ 9.92750274e-01 1.19151275e-01 1.58071664e-02 3.15798832e+02] [-1.19154310e-01 9.92875462e-01 -7.53043564e-04 7.25071677e+00] [-1.57842738e-02 -1.13590780e-03 9.99874775e-01 -3.10023805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.315898227 meters 0.07490335351823493 Centerline is valid? [True, True] Translation: X:315.83, Y:7.25, Z:-3.10 [[ 9.92755765e-01 1.19105510e-01 1.58072019e-02 3.15827200e+02] [-1.19108551e-01 9.92880953e-01 -7.52299381e-04 7.24945018e+00] [-1.57842726e-02 -1.13592336e-03 9.99874775e-01 -3.10073938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.34589822699996 meters 0.086482507574813 Centerline is valid? [True, True] Translation: X:315.86, Y:7.27, Z:-3.10 [[ 9.92509199e-01 1.21173337e-01 1.55728294e-02 3.15857529e+02] [-1.21176553e-01 9.92630694e-01 -7.40389337e-04 7.26958112e+00] [-1.55477839e-02 -1.15221856e-03 9.99878462e-01 -3.10275007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.375898227 meters 0.0781190342892578 Centerline is valid? [True, True] Translation: X:315.89, Y:7.26, Z:-3.10 [[ 9.92441587e-01 1.21772202e-01 1.52061247e-02 3.15885899e+02] [-1.21775343e-01 9.92557426e-01 -7.22675788e-04 7.26117261e+00] [-1.51809538e-02 -1.13451754e-03 9.99884119e-01 -3.10407447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.40589822699997 meters 0.07984243062119764 Centerline is valid? [True, True] Translation: X:315.91, Y:7.27, Z:-3.11 [[ 9.92436057e-01 1.21965188e-01 1.39701982e-02 3.15914275e+02] [-1.21967865e-01 9.92533828e-01 -6.63402904e-04 7.26608212e+00] [-1.39468063e-02 -1.04553028e-03 9.99902192e-01 -3.10650231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.435898227 meters 0.08006064451460448 Centerline is valid? [True, True] Translation: X:315.94, Y:7.27, Z:-3.11 [[ 9.92517762e-01 1.21539809e-01 1.16861640e-02 3.15943646e+02] [-1.21541660e-01 9.92586176e-01 -5.54369390e-04 7.27188826e+00] [-1.16669028e-02 -8.70134303e-04 9.99931561e-01 -3.11058780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.46589822699997 meters 0.08036357725489467 Centerline is valid? [True, True] Translation: X:315.97, Y:7.27, Z:-3.11 [[ 9.92585816e-01 1.21088044e-01 1.05396391e-02 3.15972596e+02] [-1.21089528e-01 9.92641464e-01 -4.99579351e-04 7.27338210e+00] [-1.05225759e-02 -7.80364539e-04 9.99944332e-01 -3.11314418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49589822699994 meters 0.07881315729262814 Centerline is valid? [True, True] Translation: X:316.00, Y:7.27, Z:-3.11 [[ 9.92625234e-01 1.20817739e-01 9.91051655e-03 3.16000999e+02] [-1.20819042e-01 9.92674438e-01 -4.69359674e-04 7.27237854e+00] [-9.89462342e-03 -7.31480855e-04 9.99950779e-01 -3.11430422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.52589822699997 meters 0.07965826686712602 Centerline is valid? [True, True] Translation: X:316.03, Y:7.27, Z:-3.11 [[ 9.92634309e-01 1.20736133e-01 9.99577589e-03 3.16029942e+02] [-1.20737459e-01 9.92684362e-01 -4.72929519e-04 7.27455585e+00] [-9.97975009e-03 -7.37418517e-04 9.99949929e-01 -3.11424692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55589822699994 meters 0.08218652518657231 Centerline is valid? [True, True] Translation: X:316.06, Y:7.28, Z:-3.11 [[ 9.92480925e-01 1.21820002e-01 1.18953694e-02 3.16058987e+02] [-1.21821966e-01 9.92551809e-01 -5.62041740e-04 7.28142836e+00] [-1.18752384e-02 -8.91301581e-04 9.99929090e-01 -3.11004091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.585898227 meters 0.08117150214118796 Centerline is valid? [True, True] Translation: X:316.09, Y:7.28, Z:-3.11 [[ 9.92419464e-01 1.22268397e-01 1.24115447e-02 3.16087477e+02] [-1.22270575e-01 9.92496631e-01 -5.86040991e-04 7.28081319e+00] [-1.23900706e-02 -9.35968221e-04 9.99922802e-01 -3.10920246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61589822699995 meters 0.08291217605697528 Centerline is valid? [True, True] Translation: X:316.12, Y:7.28, Z:-3.11 [[ 9.92423939e-01 1.22248536e-01 1.22482776e-02 3.16116152e+02] [-1.22250662e-01 9.92499089e-01 -5.77782664e-04 7.28234335e+00] [-1.22270375e-02 -9.23954702e-04 9.99924820e-01 -3.10850578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.645898227 meters 0.08104720781465802 Centerline is valid? [True, True] Translation: X:316.15, Y:7.28, Z:-3.11 [[ 9.92460792e-01 1.21948339e-01 1.22547628e-02 3.16145036e+02] [-1.21950451e-01 9.92536021e-01 -5.77530313e-04 7.28061733e+00] [-1.22337223e-02 -9.21297657e-04 9.99924741e-01 -3.11016009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67589822699995 meters 0.0840238577384253 Centerline is valid? [True, True] Translation: X:316.17, Y:7.28, Z:-3.11 [[ 9.92714745e-01 1.19663355e-01 1.40753647e-02 3.16174960e+02] [-1.19665925e-01 9.92813994e-01 -6.62453152e-04 7.28307104e+00] [-1.40534904e-02 -1.02671453e-03 9.99900718e-01 -3.10909629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.705898227 meters 0.07241055700879272 Centerline is valid? [True, True] Translation: X:316.20, Y:7.26, Z:-3.11 [[ 9.92675388e-01 1.19759381e-01 1.59143125e-02 3.16200989e+02] [-1.19741730e-01 9.92802937e-01 -2.06089807e-03 7.26425279e+00] [-1.60465881e-02 1.40195484e-04 9.99871235e-01 -3.10690931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73589822699995 meters 0.07614432566123837 Centerline is valid? [True, True] Translation: X:316.23, Y:7.26, Z:-3.11 [[ 9.93144227e-01 1.15687985e-01 1.67580871e-02 3.16232814e+02] [-1.15714174e-01 9.93282373e-01 5.98358746e-04 7.26492993e+00] [-1.65762896e-02 -2.53340474e-03 9.99859394e-01 -3.10624710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.765898227 meters 0.07827329164396592 Centerline is valid? [True, True] Translation: X:316.26, Y:7.26, Z:-3.10 [[ 9.93471287e-01 1.12614208e-01 1.82439724e-02 3.16261782e+02] [-1.12617368e-01 9.93638060e-01 -8.57351260e-04 7.26119209e+00] [-1.82244553e-02 -1.20283430e-03 9.99833197e-01 -3.10325361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79589822699995 meters 0.07727900145638267 Centerline is valid? [True, True] Translation: X:316.29, Y:7.26, Z:-3.10 [[ 9.93442310e-01 1.12786076e-01 1.87530813e-02 3.16290305e+02] [-1.12789451e-01 9.93618520e-01 -8.80988570e-04 7.25734706e+00] [-1.87327721e-02 -1.23993843e-03 9.99823757e-01 -3.10294526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.825898227 meters 0.07427010233086866 Centerline is valid? [True, True] Translation: X:316.32, Y:7.25, Z:-3.10 [[ 9.93302912e-01 1.14017641e-01 1.86896625e-02 3.16320010e+02] [-1.14021225e-01 9.93477927e-01 -8.77211348e-04 7.25179122e+00] [-1.86677847e-02 -1.25968162e-03 9.99824948e-01 -3.10424733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85589822699995 meters 0.08274642352326059 Centerline is valid? [True, True] Translation: X:316.35, Y:7.26, Z:-3.11 [[ 9.92677206e-01 1.19538887e-01 1.73902063e-02 3.16350752e+02] [-1.19542838e-01 9.92828708e-01 -8.15851649e-04 7.25877710e+00] [-1.73630221e-02 -1.26899728e-03 9.99848446e-01 -3.10618454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.885898227 meters 0.07722987033811066 Centerline is valid? [True, True] Translation: X:316.38, Y:7.25, Z:-3.11 [[ 9.92399548e-01 1.21907187e-01 1.67861528e-02 3.16381092e+02] [-1.21911207e-01 9.92540698e-01 -7.87444030e-04 7.25135107e+00] [-1.67569349e-02 -1.26496105e-03 9.99858793e-01 -3.10956866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91589822699996 meters 0.08791606712329576 Centerline is valid? [True, True] Translation: X:316.41, Y:7.26, Z:-3.11 [[ 9.92254196e-01 1.23155410e-01 1.62590069e-02 3.16410151e+02] [-1.23159347e-01 9.92386615e-01 -7.62719786e-04 7.26235036e+00] [-1.62291539e-02 -1.24563676e-03 9.99867523e-01 -3.11118935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.945898227 meters 0.08692719947902416 Centerline is valid? [True, True] Translation: X:316.44, Y:7.25, Z:-3.11 [[ 9.92549073e-01 1.20908749e-01 1.50801990e-02 3.16438860e+02] [-1.20911889e-01 9.92662992e-01 -7.06657767e-04 7.25434368e+00] [-1.50549966e-02 -1.12198284e-03 9.99886038e-01 -3.11411294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97589822699996 meters 0.08231886615663338 Centerline is valid? [True, True] Translation: X:316.47, Y:7.24, Z:-3.12 [[ 9.92847554e-01 1.18387138e-01 1.54344074e-02 3.16468407e+02] [-1.18390129e-01 9.92966895e-01 -7.23025559e-04 7.24322962e+00] [-1.54114525e-02 -1.10942732e-03 9.99880621e-01 -3.11503115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.005898227 meters 0.0807911390891606 Centerline is valid? [True, True] Translation: X:316.50, Y:7.24, Z:-3.11 [[ 9.93153286e-01 1.15720420e-01 1.59792122e-02 3.16497725e+02] [-1.15723282e-01 9.93281210e-01 -7.48535650e-04 7.23610068e+00] [-1.59584721e-02 -1.10575624e-03 9.99872044e-01 -3.11441915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03589822699996 meters 0.06348859608613693 Centerline is valid? [True, True] Translation: X:316.53, Y:7.21, Z:-3.11 [[ 9.93590201e-01 1.11847363e-01 1.63914310e-02 3.16526591e+02] [-1.11849853e-01 9.93724822e-01 -7.67611566e-04 7.20630627e+00] [-1.63744272e-02 -1.07068782e-03 9.99865357e-01 -3.11419048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.065898227 meters 0.06489688645715344 Centerline is valid? [True, True] Translation: X:316.55, Y:7.20, Z:-3.12 [[ 9.93670116e-01 1.11388001e-01 1.45744144e-02 3.16554745e+02] [-1.11389919e-01 9.93776544e-01 -6.82597730e-04 7.20471649e+00] [-1.45597444e-02 -9.45165879e-04 9.99893555e-01 -3.11672782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09589822699996 meters 0.07890655712612046 Centerline is valid? [True, True] Translation: X:316.58, Y:7.22, Z:-3.12 [[ 9.93593923e-01 1.12271321e-01 1.28944392e-02 3.16583831e+02] [-1.12272901e-01 9.93677227e-01 -6.03532850e-04 7.21972899e+00] [-1.28806700e-02 -8.48029529e-04 9.99916681e-01 -3.12118766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.125898227 meters 0.08514706015780023 Centerline is valid? [True, True] Translation: X:316.61, Y:7.22, Z:-3.12 [[ 9.93203084e-01 1.15862149e-01 1.11173546e-02 3.16612782e+02] [-1.15863554e-01 9.93265003e-01 -5.19769114e-04 7.22274837e+00] [-1.11027009e-02 -7.71859938e-04 9.99938065e-01 -3.12471117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15589822699997 meters 0.08780105039787954 Centerline is valid? [True, True] Translation: X:316.64, Y:7.22, Z:-3.12 [[ 9.92999832e-01 1.17549302e-01 1.15539909e-02 3.16642550e+02] [-1.17550932e-01 9.93066708e-01 -5.40312458e-04 7.22285952e+00] [-1.15373970e-02 -8.21652218e-04 9.99933104e-01 -3.12469388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.185898227 meters 0.07333022293597052 Centerline is valid? [True, True] Translation: X:316.67, Y:7.20, Z:-3.12 [[ 9.92815058e-01 1.19015223e-01 1.23950783e-02 3.16670864e+02] [-1.19017212e-01 9.92892022e-01 -5.79627152e-04 7.20082377e+00] [-1.23759589e-02 -8.99765107e-04 9.99923010e-01 -3.12231130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21589822699997 meters 0.09168430118341944 Centerline is valid? [True, True] Translation: X:316.70, Y:7.22, Z:-3.12 [[ 9.92683651e-01 1.20009810e-01 1.32971980e-02 3.16699914e+02] [-1.20012195e-01 9.92772223e-01 -6.21351592e-04 7.22098459e+00] [-1.32756571e-02 -9.79020352e-04 9.99911395e-01 -3.12258061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.24589822699994 meters 0.07969628835056179 Centerline is valid? [True, True] Translation: X:316.73, Y:7.20, Z:-3.12 [[ 9.92516090e-01 1.21271020e-01 1.43230879e-02 3.16728208e+02] [-1.21273929e-01 9.92618853e-01 -6.68519227e-04 7.20208424e+00] [-1.42984391e-02 -1.07350106e-03 9.99897196e-01 -3.12009488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.27589822699997 meters 0.07744546598718731 Centerline is valid? [True, True] Translation: X:316.76, Y:7.20, Z:-3.12 [[ 9.92371961e-01 1.22428825e-01 1.44593754e-02 3.16757534e+02] [-1.22431919e-01 9.92476685e-01 -6.74344238e-04 7.19754032e+00] [-1.44331522e-02 -1.10108877e-03 9.99895230e-01 -3.12058053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.30589822699994 meters 0.08284617710864005 Centerline is valid? [True, True] Translation: X:316.79, Y:7.20, Z:-3.12 [[ 9.92221030e-01 1.23642281e-01 1.44918689e-02 3.16785937e+02] [-1.23645521e-01 9.92326221e-01 -6.75594284e-04 7.20385907e+00] [-1.44641935e-02 -1.12151583e-03 9.99894759e-01 -3.12168551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.335898227 meters 0.08112155057916155 Centerline is valid? [True, True] Translation: X:316.82, Y:7.20, Z:-3.12 [[ 9.91922842e-01 1.26053494e-01 1.41277371e-02 3.16816757e+02] [-1.26056828e-01 9.92022804e-01 -6.57824637e-04 7.20129566e+00] [-1.40979585e-02 -1.12838644e-03 9.99899982e-01 -3.12322996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.36589822699995 meters 0.08602753664397776 Centerline is valid? [True, True] Translation: X:316.85, Y:7.21, Z:-3.12 [[ 9.91800842e-01 1.27011497e-01 1.41127416e-02 3.16845802e+02] [-1.27014919e-01 9.91900589e-01 -6.57235286e-04 7.20663538e+00] [-1.40819132e-02 -1.14068222e-03 9.99900194e-01 -3.12447284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.395898227 meters 0.08433692387244245 Centerline is valid? [True, True] Translation: X:316.88, Y:7.20, Z:-3.13 [[ 9.92000593e-01 1.25494808e-01 1.36336920e-02 3.16875409e+02] [-1.25497866e-01 9.92093687e-01 -6.34426919e-04 7.20351310e+00] [-1.36055171e-02 -1.08164737e-03 9.99906856e-01 -3.12608364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.42589822699995 meters 0.08164544444009399 Centerline is valid? [True, True] Translation: X:316.91, Y:7.20, Z:-3.13 [[ 9.92284850e-01 1.23227728e-01 1.36272970e-02 3.16905888e+02] [-1.23230575e-01 9.92377863e-01 -6.33738500e-04 7.19808480e+00] [-1.36015220e-02 -1.05045053e-03 9.99906943e-01 -3.12750689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.455898227 meters 0.0782034145404038 Centerline is valid? [True, True] Translation: X:316.94, Y:7.19, Z:-3.13 [[ 9.92595354e-01 1.20691342e-01 1.37135976e-02 3.16936090e+02] [-1.20693986e-01 9.92689556e-01 -6.37719859e-04 7.19088730e+00] [-1.36903123e-02 -1.02215098e-03 9.99905761e-01 -3.12815886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.48589822699995 meters 0.0766048867585827 Centerline is valid? [True, True] Translation: X:316.97, Y:7.19, Z:-3.13 [[ 9.92884523e-01 1.18241869e-01 1.41132851e-02 3.16965575e+02] [-1.18244422e-01 9.92984303e-01 -6.56316721e-04 7.18585774e+00] [-1.40918747e-02 -1.01717053e-03 9.99900187e-01 -3.12770411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.515898227 meters 0.07148396144380635 Centerline is valid? [True, True] Translation: X:317.00, Y:7.18, Z:-3.13 [[ 9.93220671e-01 1.15423820e-01 1.37855189e-02 3.16995524e+02] [-1.15425990e-01 9.93315876e-01 -6.40849245e-04 7.17556639e+00] [-1.37673440e-02 -9.54702442e-04 9.99904770e-01 -3.12861002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.54589822699995 meters 0.08015830362372697 Centerline is valid? [True, True] Translation: X:317.02, Y:7.18, Z:-3.13 [[ 9.93253985e-01 1.15125506e-01 1.38794683e-02 3.17024759e+02] [-1.15127675e-01 9.93350493e-01 -6.45259896e-04 7.18476399e+00] [-1.38614626e-02 -9.57003961e-04 9.99903467e-01 -3.13007270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.575898227 meters 0.08165411802452359 Centerline is valid? [True, True] Translation: X:317.05, Y:7.18, Z:-3.13 [[ 9.93113950e-01 1.16216161e-01 1.47812966e-02 3.17053189e+02] [-1.16218746e-01 9.93223405e-01 -6.86911503e-04 7.18440587e+00] [-1.47609600e-02 -1.03568235e-03 9.99890515e-01 -3.12944348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.60589822699995 meters 0.07816157096317305 Centerline is valid? [True, True] Translation: X:317.08, Y:7.17, Z:-3.13 [[ 9.92967938e-01 1.17437682e-01 1.49353670e-02 3.17082127e+02] [-1.17440469e-01 9.93079682e-01 -6.93379244e-04 7.17447891e+00] [-1.49134383e-02 -1.06551314e-03 9.99888221e-01 -3.12737093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.635898227 meters 0.07952268515992023 Centerline is valid? [True, True] Translation: X:317.11, Y:7.17, Z:-3.13 [[ 9.92800023e-01 1.18941026e-01 1.41825929e-02 3.17112332e+02] [-1.18943699e-01 9.92900782e-01 -6.57895950e-04 7.17394701e+00] [-1.41601584e-02 -1.03377095e-03 9.99899206e-01 -3.12825090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.66589822699996 meters 0.08013384823158895 Centerline is valid? [True, True] Translation: X:317.14, Y:7.17, Z:-3.13 [[ 9.92593788e-01 1.20748490e-01 1.33181902e-02 3.17141008e+02] [-1.20751011e-01 9.92682634e-01 -6.17636473e-04 7.17441317e+00] [-1.32953148e-02 -9.95122797e-04 9.99911118e-01 -3.13085498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.695898227 meters 0.08413345640240591 Centerline is valid? [True, True] Translation: X:317.17, Y:7.18, Z:-3.13 [[ 9.92309405e-01 1.23192801e-01 1.20656126e-02 3.17170904e+02] [-1.23195050e-01 9.92382319e-01 -5.59514083e-04 7.17767718e+00] [-1.20426287e-02 -9.31212658e-04 9.99927051e-01 -3.13385388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.72589822699996 meters 0.085151570269732 Centerline is valid? [True, True] Translation: X:317.20, Y:7.18, Z:-3.13 [[ 9.92271399e-01 1.23453301e-01 1.25201042e-02 3.17200089e+02] [-1.23455743e-01 9.92349909e-01 -5.80603922e-04 7.17718231e+00] [-1.24960017e-02 -9.69562099e-04 9.99921452e-01 -3.13424834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.755898227 meters 0.08527193858306131 Centerline is valid? [True, True] Translation: X:317.23, Y:7.17, Z:-3.13 [[ 9.92345693e-01 1.22787545e-01 1.31622140e-02 3.17228268e+02] [-1.22790194e-01 9.92432464e-01 -6.09748767e-04 7.17474836e+00] [-1.31374780e-02 -1.01110925e-03 9.99913188e-01 -3.13388388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.78589822699996 meters 0.0828921365233512 Centerline is valid? [True, True] Translation: X:317.26, Y:7.17, Z:-3.13 [[ 9.92632441e-01 1.20422758e-01 1.33863984e-02 3.17258305e+02] [-1.20425295e-01 9.92722199e-01 -6.19341253e-04 7.16602770e+00] [-1.33635576e-02 -9.97282754e-04 9.99910206e-01 -3.13317187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.815898227 meters 0.08231932138964915 Centerline is valid? [True, True] Translation: X:317.29, Y:7.16, Z:-3.13 [[ 9.92785196e-01 1.19260207e-01 1.24320897e-02 3.17287652e+02] [-1.19262304e-01 9.92862615e-01 -5.75273773e-04 7.16117945e+00] [-1.24119644e-02 -9.11556374e-04 9.99922553e-01 -3.13496200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.84589822699996 meters 0.08335557267593566 Centerline is valid? [True, True] Translation: X:317.32, Y:7.16, Z:-3.14 [[ 9.92879363e-01 1.18538570e-01 1.17973398e-02 3.17316597e+02] [-1.18540410e-01 9.92949079e-01 -5.45660598e-04 7.15869652e+00] [-1.17788395e-02 -8.56686349e-04 9.99930260e-01 -3.13705697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.875898227 meters 0.0857659612825655 Centerline is valid? [True, True] Translation: X:317.35, Y:7.16, Z:-3.14 [[ 9.92701461e-01 1.20037742e-01 1.16081905e-02 3.17347030e+02] [-1.20039630e-01 9.92768956e-01 -5.36528527e-04 7.15700240e+00] [-1.15886549e-02 -8.60830238e-04 9.99932479e-01 -3.13733910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.90589822699997 meters 0.08951398555726608 Centerline is valid? [True, True] Translation: X:317.38, Y:7.16, Z:-3.14 [[ 9.92307015e-01 1.23174336e-01 1.24446926e-02 3.17376984e+02] [-1.23176750e-01 9.92384581e-01 -5.75244201e-04 7.16029828e+00] [-1.24207764e-02 -9.62077928e-04 9.99922396e-01 -3.13659371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93589822699994 meters 0.09455853299773888 Centerline is valid? [True, True] Translation: X:317.41, Y:7.17, Z:-3.14 [[ 9.91755640e-01 1.27532710e-01 1.24963452e-02 3.17407307e+02] [-1.27535490e-01 9.91833840e-01 -5.77451237e-04 7.16572668e+00] [-1.24679420e-02 -1.02103699e-03 9.99921751e-01 -3.13692863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.96589822699997 meters 0.10717139674307775 Centerline is valid? [True, False] Translation: X:317.37, Y:7.17, Z:-3.14 [[ 9.92799611e-01 1.19519139e-01 8.00671388e-03 3.17367657e+02] [-1.19593347e-01 9.92777157e-01 9.53664766e-03 7.17331609e+00] [-6.80907072e-03 -1.04255298e-02 9.99922469e-01 -3.13610017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99589822699994 meters 0.10990188458062387 Centerline is valid? [False, False] Translation: X:317.37, Y:7.18, Z:-3.14 [[ 9.94266440e-01 1.06665780e-01 7.52714073e-03 3.17368286e+02] [-1.06766639e-01 9.94177070e-01 1.45889613e-02 7.17940825e+00] [-5.92716778e-03 -1.53089621e-02 9.99865243e-01 -3.13709344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.02589822699997 meters 0.11532214267453321 Centerline is valid? [False, False] Translation: X:317.39, Y:7.19, Z:-3.14 [[ 9.94969216e-01 9.89909063e-02 1.53967157e-02 3.17387489e+02] [-9.91814794e-02 9.94995204e-01 1.21481581e-02 7.18552758e+00] [-1.41171011e-02 -1.36141124e-02 9.99807663e-01 -3.14250550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05589822699994 meters 0.11805623623884726 Centerline is valid? [False, False] Translation: X:317.39, Y:7.19, Z:-3.14 [[ 9.96206087e-01 8.60055357e-02 1.32845460e-02 3.17386577e+02] [-8.62279415e-02 9.96127135e-01 1.71893293e-02 7.19067194e+00] [-1.17547192e-02 -1.82696136e-02 9.99763996e-01 -3.14106113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.085898227 meters 0.11999925065606368 Centerline is valid? [False, False] Translation: X:317.39, Y:7.20, Z:-3.14 [[ 9.97376543e-01 7.15127290e-02 1.12232673e-02 3.17385690e+02] [-7.17282462e-02 9.97220757e-01 2.01449663e-02 7.19899033e+00] [-9.75145360e-03 -2.08971422e-02 9.99734074e-01 -3.13978794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11589822699995 meters 0.12009417558097196 Centerline is valid? [False, False] Translation: X:317.39, Y:7.20, Z:-3.14 [[ 9.98364760e-01 5.62784609e-02 1.00269713e-02 3.17386359e+02] [-5.64980643e-02 9.98134041e-01 2.31604196e-02 7.20402054e+00] [-8.70482864e-03 -2.36890513e-02 9.99681477e-01 -3.14052047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.145898227 meters 0.11299907707579726 Centerline is valid? [False, False] Translation: X:317.39, Y:7.21, Z:-3.14 [[ 9.99254342e-01 3.78655389e-02 7.54727657e-03 3.17387148e+02] [-3.80292919e-02 9.99014568e-01 2.28837584e-02 7.21143223e+00] [-6.67333339e-03 -2.31537125e-02 9.99709644e-01 -3.14027047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17589822699995 meters 0.10960183567218305 Centerline is valid? [False, False] Translation: X:317.39, Y:7.22, Z:-3.14 [[ 9.99674475e-01 2.44154569e-02 7.40470292e-03 3.17386711e+02] [-2.44742753e-02 9.99668772e-01 7.95959800e-03 7.21953524e+00] [-7.20791306e-03 -8.13823169e-03 9.99940906e-01 -3.14087634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.205898227 meters 0.10475990693250097 Centerline is valid? [False, False] Translation: X:317.37, Y:7.22, Z:-3.14 [[ 9.99856120e-01 1.52897638e-02 7.34592997e-03 3.17366693e+02] [-1.53598890e-02 9.99836073e-01 9.58647498e-03 7.22037724e+00] [-7.19815084e-03 -9.69792834e-03 9.99927066e-01 -3.14283447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23589822699995 meters 0.10475990693250097 Centerline is valid? [False, False] Translation: X:317.37, Y:7.22, Z:-3.14 [[ 9.99914317e-01 1.07867488e-02 7.41647054e-03 3.17366406e+02] [-1.08212388e-02 9.99930747e-01 4.62616015e-03 7.22302311e+00] [-7.36605570e-03 -4.70601917e-03 9.99961797e-01 -3.14307932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.265898227 meters 0.10030449684418172 Centerline is valid? [False, False] Translation: X:317.43, Y:7.23, Z:-3.14 [[ 9.99990850e-01 2.86343150e-03 3.17805559e-03 3.17426987e+02] [-2.87542020e-03 9.99988744e-01 3.77420041e-03 7.22898951e+00] [-3.16721265e-03 -3.78330412e-03 9.99987828e-01 -3.13654023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29589822699995 meters 0.09427336086618297 Centerline is valid? [False, True] Translation: X:317.39, Y:7.23, Z:-3.14 [[ 9.99997140e-01 -6.10382392e-04 2.31265003e-03 3.17388040e+02] [ 6.07606747e-04 9.99999095e-01 1.20071333e-03 7.22674073e+00] [-2.31338083e-03 -1.19930471e-03 9.99996605e-01 -3.14010040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.325898227 meters 0.07411785380052138 Centerline is valid? [True, True] Translation: X:317.42, Y:7.20, Z:-3.14 [[ 9.99994653e-01 -2.06011089e-03 2.53956729e-03 3.17420770e+02] [ 2.05964755e-03 9.99997862e-01 1.85047492e-04 7.20346074e+00] [-2.53994308e-03 -1.79815889e-04 9.99996758e-01 -3.14009034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35589822699995 meters 0.07279172766210786 Centerline is valid? [True, True] Translation: X:317.45, Y:7.20, Z:-3.14 [[ 9.99992741e-01 -3.04745364e-03 2.28697863e-03 3.17452485e+02] [ 3.04708048e-03 9.99995344e-01 1.66631900e-04 7.20375633e+00] [-2.28747579e-03 -1.59662082e-04 9.99997371e-01 -3.14046261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.385898227 meters 0.0741047546734465 Centerline is valid? [True, True] Translation: X:317.48, Y:7.21, Z:-3.14 [[ 9.99991486e-01 -3.56793094e-03 2.07295363e-03 3.17482798e+02] [ 3.56762557e-03 9.99993625e-01 1.50992146e-04 7.20796187e+00] [-2.07347915e-03 -1.43595338e-04 9.99997840e-01 -3.14083323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41589822699996 meters 0.07507240072344411 Centerline is valid? [True, True] Translation: X:317.51, Y:7.21, Z:-3.14 [[ 9.99993128e-01 -3.44346726e-03 1.37323332e-03 3.17514131e+02] [ 3.44333322e-03 9.99994067e-01 9.99628131e-05 7.21377886e+00] [-1.37356939e-03 -9.52336263e-05 9.99999052e-01 -3.14224468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.445898227 meters 0.07221838248993855 Centerline is valid? [True, True] Translation: X:317.55, Y:7.21, Z:-3.14 [[ 9.99993180e-01 -3.31097909e-03 1.63635157e-03 3.17545928e+02] [ 3.31078867e-03 9.99994512e-01 1.19066030e-04 7.21361096e+00] [-1.63673681e-03 -1.13647604e-04 9.99998654e-01 -3.14204620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47589822699996 meters 0.07524920807627458 Centerline is valid? [True, True] Translation: X:317.58, Y:7.22, Z:-3.14 [[ 9.99985197e-01 -4.04428098e-03 3.63992608e-03 3.17576109e+02] [ 4.04334421e-03 9.99991791e-01 2.64682695e-04 7.22115464e+00] [-3.64096665e-03 -2.49961303e-04 9.99993340e-01 -3.14056673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.505898227 meters 0.0714603054178283 Centerline is valid? [True, True] Translation: X:317.61, Y:7.22, Z:-3.14 [[ 9.99974506e-01 -5.72361829e-03 4.26943843e-03 3.17606988e+02] [ 5.72234495e-03 9.99983579e-01 3.10401741e-04 7.21891478e+00] [-4.27114494e-03 -2.85962628e-04 9.99990838e-01 -3.13916641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53589822699996 meters 0.06735867718420337 Centerline is valid? [True, True] Translation: X:317.64, Y:7.22, Z:-3.14 [[ 9.99949607e-01 -8.83273818e-03 4.77145806e-03 3.17638139e+02] [ 8.83118324e-03 9.99960944e-01 3.46854883e-04 7.21641928e+00] [-4.77433538e-03 -3.04699784e-04 9.99988556e-01 -3.13863713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.565898227 meters 0.05934123735591745 Centerline is valid? [True, True] Translation: X:317.67, Y:7.21, Z:-3.14 [[ 9.99820104e-01 -1.82547766e-02 5.15005924e-03 3.17668488e+02] [ 1.82530897e-02 9.99833328e-01 3.74369433e-04 7.20848660e+00] [-5.15603491e-03 -2.80297592e-04 9.99986668e-01 -3.13876474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59589822699996 meters 0.05797129186414034 Centerline is valid? [True, True] Translation: X:317.70, Y:7.21, Z:-3.14 [[ 9.99712160e-01 -2.35501254e-02 4.58131221e-03 3.17698734e+02] [ 2.35488460e-02 9.99722632e-01 3.33017097e-04 7.20834134e+00] [-4.58788409e-03 -2.25036626e-04 9.99989450e-01 -3.13946841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.625898227 meters 0.04551107561267123 Centerline is valid? [True, True] Translation: X:317.73, Y:7.19, Z:-3.14 [[ 9.99574065e-01 -2.88979085e-02 4.07436592e-03 3.17730907e+02] [ 2.88969409e-02 9.99582352e-01 2.96160246e-04 7.19379425e+00] [-4.08122268e-03 -1.78297390e-04 9.99991656e-01 -3.14106866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65589822699997 meters 0.05322548519066081 Centerline is valid? [True, True] Translation: X:317.76, Y:7.20, Z:-3.14 [[ 9.99287943e-01 -3.75882886e-02 3.27543423e-03 3.17760174e+02] [ 3.75877100e-02 9.99293304e-01 2.38057714e-04 7.20384898e+00] [-3.28206768e-03 -1.14772131e-04 9.99994607e-01 -3.14294127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.68589822699994 meters 0.04926373052773583 Centerline is valid? [True, True] Translation: X:317.79, Y:7.20, Z:-3.14 [[ 9.99171399e-01 -4.06090499e-02 2.72420359e-03 3.17790637e+02] [ 4.06086609e-02 9.99175109e-01 1.97975886e-04 7.19998242e+00] [-2.72999603e-03 -8.71855828e-05 9.99996270e-01 -3.14415509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71589822699997 meters 0.04673618309914238 Centerline is valid? [True, True] Translation: X:317.82, Y:7.20, Z:-3.15 [[ 9.99087993e-01 -4.26473325e-02 2.09472197e-03 3.17820037e+02] [ 4.26471072e-02 9.99090187e-01 1.52107814e-04 7.19732450e+00] [-2.09930316e-03 -6.26352577e-05 9.99997794e-01 -3.14567599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.74589822699994 meters 0.04566128620957006 Centerline is valid? [True, True] Translation: X:317.85, Y:7.20, Z:-3.15 [[ 9.99037190e-01 -4.38385278e-02 1.69595225e-03 3.17849355e+02] [ 4.38383817e-02 9.99038628e-01 1.23282148e-04 7.19665334e+00] [-1.69972632e-03 -4.88156487e-05 9.99998554e-01 -3.14708268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.77589822699997 meters 0.04452302269449831 Centerline is valid? [True, True] Translation: X:317.88, Y:7.19, Z:-3.15 [[ 9.98991323e-01 -4.48619017e-02 1.93559975e-03 3.17878832e+02] [ 4.48617124e-02 9.98993197e-01 1.41132405e-04 7.19495319e+00] [-1.93998245e-03 -5.41557289e-05 9.99998117e-01 -3.14625309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.80589822699994 meters 0.04498245618262058 Centerline is valid? [True, True] Translation: X:317.91, Y:7.20, Z:-3.15 [[ 9.98987772e-01 -4.49266250e-02 2.24276481e-03 3.17907292e+02] [ 4.49263707e-02 9.98990287e-01 1.63675745e-04 7.19738161e+00] [-2.24785366e-03 -6.27507841e-05 9.99997472e-01 -3.14544234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.835898227 meters 0.045640843331575295 Centerline is valid? [True, True] Translation: X:317.94, Y:7.20, Z:-3.15 [[ 9.98992252e-01 -4.48271071e-02 2.23850501e-03 3.17936319e+02] [ 4.48268528e-02 9.98994758e-01 1.63687563e-04 7.20077205e+00] [-2.24359241e-03 -6.31774726e-05 9.99997481e-01 -3.14615930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.86589822699995 meters 0.03466135592418636 Centerline is valid? [True, True] Translation: X:317.97, Y:7.19, Z:-3.15 [[ 9.99046502e-01 -4.36574578e-02 3.35671138e-04 3.17966342e+02] [ 4.36574522e-02 9.99046559e-01 2.41493926e-05 7.19074784e+00] [-3.36405396e-04 -9.47181957e-06 9.99999943e-01 -3.14906244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.895898227 meters 0.03580940072719626 Centerline is valid? [True, True] Translation: X:318.00, Y:7.20, Z:-3.15 [[ 9.99077038e-01 -4.29531192e-02 -3.19346132e-04 3.17995089e+02] [ 4.29531137e-02 9.99077089e-01 -2.40383322e-05 7.19614388e+00] [ 3.20083925e-04 1.02992350e-05 9.99999949e-01 -3.15046924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.92589822699995 meters 0.03893338547371826 Centerline is valid? [True, True] Translation: X:318.02, Y:7.20, Z:-3.15 [[ 9.99094502e-01 -4.25461719e-02 8.52479713e-06 3.18022457e+02] [ 4.25461719e-02 9.99094502e-01 3.50569761e-07 7.20404234e+00] [-8.53199334e-06 1.24451639e-08 1.00000000e+00 -3.15052253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.955898227 meters 0.03674404436931432 Centerline is valid? [True, True] Translation: X:318.05, Y:7.21, Z:-3.15 [[ 9.99088214e-01 -4.26777162e-02 1.16333009e-03 3.18050896e+02] [ 4.26776457e-02 9.99088891e-01 8.54133874e-05 7.20530901e+00] [-1.16591541e-03 -3.56873194e-05 9.99999320e-01 -3.14870742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.98589822699995 meters 0.05021032230448858 Centerline is valid? [True, True] Translation: X:318.08, Y:7.23, Z:-3.15 [[ 9.99045314e-01 -4.36389463e-02 2.02540562e-03 3.18078396e+02] [ 4.36387324e-02 9.99047366e-01 1.49704249e-04 7.22910561e+00] [-2.03000908e-03 -6.11751951e-05 9.99997938e-01 -3.14817131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.015898227 meters 0.033381252765948145 Centerline is valid? [True, True] Translation: X:318.11, Y:7.21, Z:-3.15 [[ 9.98981450e-01 -4.50649293e-02 2.28377781e-03 3.18109222e+02] [ 4.50646612e-02 9.98984058e-01 1.68746429e-04 7.21100578e+00] [-2.28906217e-03 -6.56568787e-05 9.99997378e-01 -3.14808095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.04589822699995 meters 0.03961015625077815 Centerline is valid? [True, True] Translation: X:318.14, Y:7.21, Z:-3.15 [[ 9.98879668e-01 -4.72127321e-02 3.21968737e-03 3.18137931e+02] [ 4.72122082e-02 9.98884853e-01 2.38583180e-04 7.21481045e+00] [-3.22736111e-03 -8.63073376e-05 9.99994788e-01 -3.14831764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.075898227 meters 0.0291070596049102 Centerline is valid? [True, True] Translation: X:318.17, Y:7.21, Z:-3.15 [[ 9.98761722e-01 -4.96612454e-02 2.96365396e-03 3.18167081e+02] [ 4.96608120e-02 9.98766117e-01 2.19702315e-04 7.21298500e+00] [-2.97090785e-03 -7.22528002e-05 9.99995584e-01 -3.14753862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.10589822699995 meters 0.024756822539547477 Centerline is valid? [True, True] Translation: X:318.20, Y:7.21, Z:-3.14 [[ 9.98472349e-01 -5.50885092e-02 4.26903163e-03 3.18196226e+02] [ 5.50876585e-02 9.98481472e-01 3.16710990e-04 7.21135620e+00] [-4.27999612e-03 -8.10562095e-05 9.99990837e-01 -3.14479088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.135898227 meters 0.021035749873614416 Centerline is valid? [True, True] Translation: X:318.23, Y:7.21, Z:-3.14 [[ 9.98348471e-01 -5.72385985e-02 4.90639565e-03 3.18225808e+02] [ 5.72374990e-02 9.98360524e-01 3.64345276e-04 7.20858634e+00] [-4.91920635e-03 -8.29137328e-05 9.99987897e-01 -3.14323578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.16589822699996 meters 0.019304849456326295 Centerline is valid? [True, True] Translation: X:318.25, Y:7.21, Z:-3.14 [[ 9.98257603e-01 -5.87163393e-02 5.84375004e-03 3.18254935e+02] [ 5.87147987e-02 9.98274703e-01 4.34987635e-04 7.20812076e+00] [-5.85920872e-03 -9.11151072e-05 9.99982831e-01 -3.14133727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.195898227 meters 0.020895918361274492 Centerline is valid? [True, True] Translation: X:318.28, Y:7.21, Z:-3.14 [[ 9.98192229e-01 -5.97315986e-02 6.66407197e-03 3.18282055e+02] [ 5.97296122e-02 9.98214469e-01 4.96874386e-04 7.21260151e+00] [-6.68185216e-03 -9.79337170e-05 9.99977671e-01 -3.13897220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.22589822699996 meters 0.020035604469450633 Centerline is valid? [True, True] Translation: X:318.31, Y:7.21, Z:-3.14 [[ 9.98206166e-01 -5.95330238e-02 6.34573272e-03 3.18310067e+02] [ 5.95312138e-02 9.98226332e-01 4.73907923e-04 7.21474129e+00] [-6.36269067e-03 -9.52886398e-05 9.99979753e-01 -3.14021979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.255898227 meters 0.021092202752320214 Centerline is valid? [True, True] Translation: X:318.34, Y:7.22, Z:-3.14 [[ 9.98222597e-01 -5.93347625e-02 5.57062465e-03 3.18336368e+02] [ 5.93333606e-02 9.98238137e-01 4.16733812e-04 7.21995258e+00] [-5.58553678e-03 -8.54692271e-05 9.99984397e-01 -3.14136862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.28589822699996 meters 0.018220635643424705 Centerline is valid? [True, True] Translation: X:318.37, Y:7.22, Z:-3.15 [[ 9.98122428e-01 -6.11028819e-02 4.24938489e-03 3.18365786e+02] [ 6.11020806e-02 9.98131472e-01 3.18251668e-04 7.22016012e+00] [-4.26089089e-03 -5.80078692e-05 9.99990921e-01 -3.14516634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.315898227 meters 0.016183232929062787 Centerline is valid? [True, True] Translation: X:318.39, Y:7.22, Z:-3.15 [[ 9.97955833e-01 -6.37715888e-02 4.16407038e-03 3.18394722e+02] [ 6.37708400e-02 9.97964520e-01 3.12490057e-04 7.21963002e+00] [-4.17552248e-03 -4.63050094e-05 9.99991281e-01 -3.14525087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.34589822699996 meters 0.013182523839885683 Centerline is valid? [True, True] Translation: X:318.42, Y:7.22, Z:-3.15 [[ 9.97703681e-01 -6.75985286e-02 4.21956649e-03 3.18422517e+02] [ 6.75977915e-02 9.97712603e-01 3.17209674e-04 7.21666854e+00] [-4.23135757e-03 -3.12478835e-05 9.99991047e-01 -3.14546230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.375898227 meters 0.019775870600221353 Centerline is valid? [True, True] Translation: X:318.45, Y:7.20, Z:-3.15 [[ 9.96903904e-01 -7.84872925e-02 4.72769484e-03 3.18453070e+02] [ 7.84864879e-02 9.96915114e-01 3.55757203e-04 7.20199773e+00] [-4.74103286e-03 1.64044199e-05 9.99988761e-01 -3.14572448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.40589822699997 meters 0.01593354668647035 Centerline is valid? [True, True] Translation: X:318.48, Y:7.19, Z:-3.15 [[ 9.96439965e-01 -8.42054270e-02 4.10388395e-03 3.18481704e+02] [ 8.42048680e-02 9.96448415e-01 3.09118170e-04 7.19080261e+00] [-4.11533808e-03 3.75493078e-05 9.99991531e-01 -3.14643660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43589822699994 meters 0.02419145024249598 Centerline is valid? [True, True] Translation: X:318.51, Y:7.18, Z:-3.15 [[ 9.95493051e-01 -9.47126768e-02 4.80563831e-03 3.18513185e+02] [ 9.47120314e-02 9.95504646e-01 3.62214141e-04 7.17573669e+00] [-4.81834154e-03 9.45701070e-05 9.99988387e-01 -3.14598912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.46589822699997 meters 0.028508723993554738 Centerline is valid? [True, True] Translation: X:318.54, Y:7.17, Z:-3.15 [[ 9.95145321e-01 -9.82640467e-02 5.47421997e-03 3.18541992e+02] [ 9.82632621e-02 9.95160369e-01 4.12756457e-04 7.16897769e+00] [-5.48828589e-03 1.27162055e-04 9.99984931e-01 -3.14523277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49589822699994 meters 0.030467498328379687 Centerline is valid? [True, True] Translation: X:318.57, Y:7.17, Z:-3.15 [[ 9.94910084e-01 -1.00615939e-01 5.50973788e-03 3.18571338e+02] [ 1.00615177e-01 9.94925330e-01 4.15962349e-04 7.16540488e+00] [-5.52363022e-03 1.40518116e-04 9.99984735e-01 -3.14539628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.52589822699997 meters 0.029862896115114387 Centerline is valid? [True, True] Translation: X:318.60, Y:7.17, Z:-3.15 [[ 9.94842634e-01 -1.01317172e-01 4.79210402e-03 3.18599965e+02] [ 1.01316601e-01 9.94854168e-01 3.62501675e-04 7.16529031e+00] [-4.80417231e-03 1.24887570e-04 9.99988452e-01 -3.14680912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55589822699994 meters 0.027824257342520326 Centerline is valid? [True, True] Translation: X:318.63, Y:7.16, Z:-3.15 [[ 9.95118448e-01 -9.86488721e-02 2.77028034e-03 3.18628186e+02] [ 9.86486700e-02 9.95122302e-01 2.09830607e-04 7.16426769e+00] [-2.77746731e-03 6.44781639e-05 9.99996141e-01 -3.15059606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.585898227 meters 0.025086225372263748 Centerline is valid? [True, True] Translation: X:318.66, Y:7.17, Z:-3.15 [[ 9.95379427e-01 -9.60068202e-02 1.57674340e-03 3.18656465e+02] [ 9.60067513e-02 9.95380676e-01 1.19503125e-04 7.16808391e+00] [-1.58093303e-03 3.24270598e-05 9.99998750e-01 -3.15267006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61589822699995 meters 0.021841092488666867 Centerline is valid? [True, True] Translation: X:318.68, Y:7.17, Z:-3.15 [[ 9.95691415e-01 -9.27255566e-02 7.59956601e-04 3.18684879e+02] [ 9.27255397e-02 9.95691705e-01 5.75557356e-05 7.17342264e+00] [-7.62019371e-04 1.31596341e-05 9.99999710e-01 -3.15391266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.645898227 meters 0.018976396059642093 Centerline is valid? [True, True] Translation: X:318.71, Y:7.18, Z:-3.16 [[ 9.96023231e-01 -8.90933126e-02 3.23046104e-04 3.18712094e+02] [ 8.90933094e-02 9.96023284e-01 2.43616354e-05 7.17828752e+00] [-3.23931900e-04 4.51649175e-06 9.99999948e-01 -3.15514830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67589822699995 meters 0.013396356507054454 Centerline is valid? [True, True] Translation: X:318.74, Y:7.19, Z:-3.15 [[ 9.96524542e-01 -8.32925526e-02 1.08988110e-03 3.18740707e+02] [ 8.32925122e-02 9.96525138e-01 8.25054098e-05 7.18654153e+00] [-1.09296600e-03 8.56026921e-06 9.99999403e-01 -3.15339141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.705898227 meters 0.011972586912703746 Centerline is valid? [True, True] Translation: X:318.77, Y:7.19, Z:-3.15 [[ 9.96674043e-01 -8.14740119e-02 1.68472685e-03 3.18769326e+02] [ 8.14739119e-02 9.96675466e-01 1.28035713e-04 7.19063963e+00] [-1.68955750e-03 9.65141522e-06 9.99998573e-01 -3.15281380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73589822699995 meters 0.011087496502556339 Centerline is valid? [True, True] Translation: X:318.80, Y:7.19, Z:-3.15 [[ 9.96799662e-01 -7.99032131e-02 2.43107978e-03 3.18798028e+02] [ 7.99029986e-02 9.96802627e-01 1.85381679e-04 7.19482007e+00] [-2.43811930e-03 9.46216975e-06 9.99997028e-01 -3.15161445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.765898227 meters 0.019628046591256585 Centerline is valid? [True, True] Translation: X:318.83, Y:7.20, Z:-3.15 [[ 9.96885260e-01 -7.88127170e-02 2.88692889e-03 3.18825573e+02] [ 7.88124083e-02 9.96889440e-01 2.20702336e-04 7.20129384e+00] [-2.89534308e-03 7.51091343e-06 9.99995808e-01 -3.15125873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79589822699995 meters 0.01057470021760624 Centerline is valid? [True, True] Translation: X:318.85, Y:7.20, Z:-3.15 [[ 9.96835675e-01 -7.94442867e-02 2.69111820e-03 3.18853564e+02] [ 7.94440195e-02 9.96839308e-01 2.06187708e-04 7.20391691e+00] [-2.69899284e-03 8.25798380e-06 9.99996358e-01 -3.15150897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.825898227 meters 0.011749340327282145 Centerline is valid? [True, True] Translation: X:318.88, Y:7.21, Z:-3.15 [[ 9.96659297e-01 -8.16355007e-02 2.42720433e-03 3.18881729e+02] [ 8.16352888e-02 9.96662252e-01 1.86437012e-04 7.20520691e+00] [-2.43432281e-03 1.23313446e-05 9.99997037e-01 -3.15264623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85589822699995 meters 0.01838049936424131 Centerline is valid? [True, True] Translation: X:318.91, Y:7.20, Z:-3.15 [[ 9.96041573e-01 -8.88716626e-02 1.73568644e-03 3.18911049e+02] [ 8.88715650e-02 9.96043085e-01 1.33469770e-04 7.19898714e+00] [-1.74068016e-03 2.13117305e-05 9.99998485e-01 -3.15386723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.885898227 meters 0.023341709274681263 Centerline is valid? [True, True] Translation: X:318.94, Y:7.19, Z:-3.15 [[ 9.95601103e-01 -9.36753320e-02 1.83724208e-03 3.18941058e+02] [ 9.36752306e-02 9.95602798e-01 1.41365381e-04 7.19473473e+00] [-1.84240580e-03 3.13605457e-05 9.99998302e-01 -3.15358812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91589822699996 meters 0.026068181430828407 Centerline is valid? [True, True] Translation: X:318.97, Y:7.19, Z:-3.15 [[ 9.95126608e-01 -9.85862460e-02 1.94590731e-03 3.18970575e+02] [ 9.85861416e-02 9.95128509e-01 1.49738770e-04 7.19324044e+00] [-1.95119003e-03 4.28304592e-05 9.99998096e-01 -3.15281109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.945898227 meters 0.03670526085173312 Centerline is valid? [True, True] Translation: X:319.00, Y:7.18, Z:-3.15 [[ 9.94176144e-01 -1.07743744e-01 2.25389150e-03 3.19000874e+02] [ 1.07743627e-01 9.94178697e-01 1.73622076e-04 7.18102806e+00] [-2.25947761e-03 7.02315184e-05 9.99997445e-01 -3.15157056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97589822699996 meters 0.039427968704559294 Centerline is valid? [True, True] Translation: X:319.03, Y:7.18, Z:-3.15 [[ 9.93708359e-01 -1.11963203e-01 2.81755062e-03 3.19030796e+02] [ 1.11963038e-01 9.93712348e-01 2.17057342e-04 7.17941007e+00] [-2.82413728e-03 9.97698313e-05 9.99996007e-01 -3.15073395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.005898227 meters 0.0448266075468856 Centerline is valid? [True, True] Translation: X:319.06, Y:7.17, Z:-3.15 [[ 9.93329079e-01 -1.15266030e-01 3.32899512e-03 3.19060612e+02] [ 1.15265817e-01 9.93334649e-01 2.56505713e-04 7.17434951e+00] [-3.33637260e-03 1.28924758e-04 9.99994426e-01 -3.15007874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03589822699996 meters 0.046919932351401274 Centerline is valid? [True, True] Translation: X:319.09, Y:7.17, Z:-3.15 [[ 9.93083187e-01 -1.17383942e-01 2.60635513e-03 3.19090323e+02] [ 1.17383818e-01 9.93086602e-01 2.00870014e-04 7.17315070e+00] [-2.61191527e-03 1.06463284e-04 9.99996583e-01 -3.15180664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.065898227 meters 0.0463745764433444 Centerline is valid? [True, True] Translation: X:319.12, Y:7.18, Z:-3.15 [[ 9.93198200e-01 -1.16418368e-01 2.02481793e-03 3.19119228e+02] [ 1.16418291e-01 9.93200260e-01 1.56010642e-04 7.17903160e+00] [-2.02921220e-03 8.07763547e-05 9.99997938e-01 -3.15304470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09589822699996 meters 0.04064858343833523 Centerline is valid? [True, True] Translation: X:319.15, Y:7.18, Z:-3.15 [[ 9.93456459e-01 -1.14200790e-01 1.56312008e-03 3.19148441e+02] [ 1.14200742e-01 9.93457687e-01 1.20605200e-04 7.18483531e+00] [-1.56666687e-03 5.86934573e-05 9.99998771e-01 -3.15285975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.125898227 meters 0.04064858343833523 Centerline is valid? [True, True] Translation: X:319.18, Y:7.19, Z:-3.15 [[ 9.93434721e-01 -1.14389735e-01 1.56313813e-03 3.19175871e+02] [ 1.14389687e-01 9.93435949e-01 1.20371696e-04 7.18713178e+00] [-1.56664690e-03 5.92254604e-05 9.99998771e-01 -3.15294776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15589822699997 meters 0.03786738211942494 Centerline is valid? [True, True] Translation: X:319.20, Y:7.19, Z:-3.15 [[ 9.93804595e-01 -1.11139320e-01 6.91855001e-04 3.19204375e+02] [ 1.11139310e-01 9.93804835e-01 5.34880098e-05 7.19406376e+00] [-6.93513466e-04 2.37356574e-05 9.99999759e-01 -3.15396399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.18589822699994 meters 0.037679617539095676 Centerline is valid? [True, True] Translation: X:319.23, Y:7.20, Z:-3.15 [[ 9.93876353e-01 -1.10497876e-01 1.18298488e-04 3.19231652e+02] [ 1.10497875e-01 9.93876360e-01 8.97705840e-06 7.19758492e+00] [-1.18566017e-04 4.14964552e-06 9.99999993e-01 -3.15493509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21589822699997 meters 0.03776093100102773 Centerline is valid? [True, True] Translation: X:319.26, Y:7.20, Z:-3.16 [[ 9.93896346e-01 -1.10317836e-01 1.66389884e-04 3.19259776e+02] [ 1.10317836e-01 9.93896360e-01 1.27136478e-05 7.20098687e+00] [-1.66776843e-04 5.71972386e-06 9.99999986e-01 -3.15554508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.24589822699994 meters 0.03945662320449069 Centerline is valid? [True, True] Translation: X:319.29, Y:7.20, Z:-3.15 [[ 9.93889560e-01 -1.10359494e-01 2.07968329e-03 3.19287564e+02] [ 1.10359398e-01 9.93891733e-01 1.61161185e-04 7.20483525e+00] [-2.08476570e-03 6.93361776e-05 9.99997824e-01 -3.15330252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.27589822699997 meters 0.040676156365159005 Centerline is valid? [True, True] Translation: X:319.32, Y:7.20, Z:-3.15 [[ 9.93958782e-01 -1.09726711e-01 2.44707156e-03 3.19315288e+02] [ 1.09726576e-01 9.93961791e-01 1.89908147e-04 7.20481222e+00] [-2.45313363e-03 7.97479142e-05 9.99996988e-01 -3.15212477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.30589822699994 meters 0.03898826806015853 Centerline is valid? [True, True] Translation: X:319.34, Y:7.21, Z:-3.15 [[ 9.93968568e-01 -1.09639333e-01 2.38802216e-03 3.19343511e+02] [ 1.09639204e-01 9.93971434e-01 1.85375260e-04 7.21469321e+00] [-2.39395023e-03 7.75636667e-05 9.99997131e-01 -3.15260281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.335898227 meters 0.037037116834270696 Centerline is valid? [True, True] Translation: X:319.37, Y:7.22, Z:-3.15 [[ 9.94036019e-01 -1.09038628e-01 1.72354545e-03 3.19371609e+02] [ 1.09038560e-01 9.94037512e-01 1.33932668e-04 7.21870841e+00] [-1.72787267e-03 5.47990177e-05 9.99998506e-01 -3.15342796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.36589822699995 meters 0.041025788195551166 Centerline is valid? [True, True] Translation: X:319.40, Y:7.22, Z:-3.16 [[ 9.93943671e-01 -1.09884068e-01 1.21248892e-03 3.19399336e+02] [ 1.09884035e-01 9.93944410e-01 9.44700515e-05 7.21897602e+00] [-1.21552734e-03 3.93352652e-05 9.99999260e-01 -3.15570790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.395898227 meters 0.03928028384747679 Centerline is valid? [True, True] Translation: X:319.43, Y:7.23, Z:-3.15 [[ 9.93772140e-01 -1.11418696e-01 1.67584460e-03 3.19427743e+02] [ 1.11418634e-01 9.93773551e-01 1.30579720e-04 7.22516625e+00] [-1.67995906e-03 5.69538281e-05 9.99998587e-01 -3.15477364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.42589822699995 meters 0.040744081249299006 Centerline is valid? [True, True] Translation: X:319.46, Y:7.23, Z:-3.15 [[ 9.93581025e-01 -1.13109433e-01 1.73313371e-03 3.19457617e+02] [ 1.13109368e-01 9.93582534e-01 1.35543505e-04 7.22729006e+00] [-1.73734264e-03 6.13602048e-05 9.99998489e-01 -3.15434238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.455898227 meters 0.042492098318811705 Centerline is valid? [True, True] Translation: X:319.49, Y:7.23, Z:-3.15 [[ 9.93388196e-01 -1.14793237e-01 1.55068868e-03 3.19486575e+02] [ 1.14793188e-01 9.93389405e-01 1.21284124e-04 7.22934654e+00] [-1.55436031e-03 5.75262797e-05 9.99998790e-01 -3.15433848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.48589822699995 meters 0.049792117760584335 Centerline is valid? [True, True] Translation: X:319.52, Y:7.23, Z:-3.16 [[ 9.92919197e-01 -1.18790733e-01 4.80258840e-04 3.19516005e+02] [ 1.18790729e-01 9.92919313e-01 3.75823268e-05 7.22768678e+00] [-4.81322710e-04 1.97340838e-05 9.99999884e-01 -3.15636006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.515898227 meters 0.04503755047900254 Centerline is valid? [True, True] Translation: X:319.54, Y:7.24, Z:-3.15 [[ 9.92654213e-01 -1.20982301e-01 9.46248086e-04 3.19544509e+02] [ 1.20982286e-01 9.92654664e-01 7.40006212e-05 7.23914076e+00] [-9.48250341e-04 4.10222278e-05 9.99999550e-01 -3.15492231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.54589822699995 meters 0.055173176420924105 Centerline is valid? [True, True] Translation: X:319.57, Y:7.23, Z:-3.15 [[ 9.92389844e-01 -1.23123633e-01 1.72272611e-03 3.19573983e+02] [ 1.23123584e-01 9.92391337e-01 1.34881447e-04 7.23142996e+00] [-1.72622556e-03 7.82532343e-05 9.99998507e-01 -3.15425973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.575898227 meters 0.05429226151957136 Centerline is valid? [True, True] Translation: X:319.60, Y:7.24, Z:-3.15 [[ 9.91984002e-01 -1.26338728e-01 2.50304211e-03 3.19603631e+02] [ 1.26338634e-01 9.91987153e-01 1.96135317e-04 7.24163547e+00] [-2.50776510e-03 1.21667825e-04 9.99996848e-01 -3.15297693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.60589822699995 meters 0.05959774075958437 Centerline is valid? [True, True] Translation: X:319.63, Y:7.24, Z:-3.15 [[ 9.91809799e-01 -1.27716183e-01 1.37781974e-03 3.19632280e+02] [ 1.27716156e-01 9.91810754e-01 1.07922036e-04 7.24041323e+00] [-1.38031982e-03 6.89317074e-05 9.99999045e-01 -3.15488092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.635898227 meters 0.057495472717253145 Centerline is valid? [True, True] Translation: X:319.66, Y:7.25, Z:-3.16 [[ 9.91470379e-01 -1.30328189e-01 -1.02540427e-03 3.19661655e+02] [ 1.30328176e-01 9.91470907e-01 -8.04487791e-05 7.25115637e+00] [ 1.02714325e-03 -5.38764867e-05 9.99999471e-01 -3.15836112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.66589822699996 meters 0.0671724527410799 Centerline is valid? [True, True] Translation: X:319.69, Y:7.24, Z:-3.16 [[ 9.91342273e-01 -1.31302155e-01 -4.92481899e-04 3.19690056e+02] [ 1.31302152e-01 9.91342395e-01 -3.88331659e-05 7.24276515e+00] [ 4.93317064e-04 -2.61669743e-05 9.99999878e-01 -3.15867635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.695898227 meters 0.05515844307952702 Centerline is valid? [True, True] Translation: X:319.72, Y:7.26, Z:-3.15 [[ 9.91245790e-01 -1.32026335e-01 9.11849297e-04 3.19717195e+02] [ 1.32026325e-01 9.91246208e-01 7.11775104e-05 7.26241406e+00] [-9.13264464e-04 4.98337042e-05 9.99999582e-01 -3.15489973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.72589822699996 meters 0.05390147467778352 Centerline is valid? [True, True] Translation: X:319.75, Y:7.27, Z:-3.15 [[ 9.91323091e-01 -1.31369674e-01 4.53185470e-03 3.19745783e+02] [ 1.31369413e-01 9.91333420e-01 3.56635356e-04 7.27057222e+00] [-4.53943010e-03 2.41806227e-04 9.99989667e-01 -3.14943024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.755898227 meters 0.05723063976849801 Centerline is valid? [True, True] Translation: X:319.77, Y:7.27, Z:-3.15 [[ 9.91466529e-01 -1.30253380e-01 5.30836195e-03 3.19773776e+02] [ 1.30253001e-01 9.91480701e-01 4.18497297e-04 7.27095357e+00] [-5.31764911e-03 2.76504013e-04 9.99985823e-01 -3.14783767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.78589822699996 meters 0.061984795121545325 Centerline is valid? [True, True] Translation: X:319.80, Y:7.27, Z:-3.15 [[ 9.91628761e-01 -1.29002467e-01 5.54647408e-03 3.19802039e+02] [ 1.29002032e-01 9.91644233e-01 4.37603065e-04 7.27006026e+00] [-5.55658091e-03 2.81566644e-04 9.99984522e-01 -3.14786197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.815898227 meters 0.05530314048396102 Centerline is valid? [True, True] Translation: X:319.83, Y:7.29, Z:-3.15 [[ 9.91917219e-01 -1.26826737e-01 3.89982891e-03 3.19830652e+02] [ 1.26826504e-01 9.91924868e-01 3.07823460e-04 7.28668290e+00] [-3.90737752e-03 1.89266277e-04 9.99992348e-01 -3.15190305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.84589822699996 meters 0.05417255720675137 Centerline is valid? [True, True] Translation: X:319.86, Y:7.29, Z:-3.15 [[ 9.92017605e-01 -1.26067207e-01 2.85137875e-03 3.19859610e+02] [ 1.26067080e-01 9.92021694e-01 2.25043204e-04 7.29279642e+00] [-2.85700014e-03 1.36218172e-04 9.99995909e-01 -3.15369866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.875898227 meters 0.0527189368654843 Centerline is valid? [True, True] Translation: X:319.89, Y:7.30, Z:-3.15 [[ 9.92095682e-01 -1.25462926e-01 2.28277610e-03 3.19888030e+02] [ 1.25462843e-01 9.92098303e-01 1.80399047e-04 7.29889266e+00] [-2.28737168e-03 1.07430463e-04 9.99997378e-01 -3.15430203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.90589822699997 meters 0.04992872580681619 Centerline is valid? [True, True] Translation: X:319.92, Y:7.31, Z:-3.15 [[ 9.92157554e-01 -1.24983497e-01 1.58569771e-03 3.19915964e+02] [ 1.24983456e-01 9.92158818e-01 1.25404247e-04 7.30658205e+00] [-1.58893742e-03 7.37652084e-05 9.99998735e-01 -3.15490047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93589822699994 meters 0.04965796588825433 Centerline is valid? [True, True] Translation: X:319.94, Y:7.31, Z:-3.16 [[ 9.92228126e-01 -1.24425874e-01 1.24426334e-03 3.19944188e+02] [ 1.24425848e-01 9.92228904e-01 9.84960131e-05 7.31347252e+00] [-1.24684950e-03 5.70880068e-05 9.99999221e-01 -3.15559572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.96589822699997 meters 0.05499385899895354 Centerline is valid? [True, True] Translation: X:319.97, Y:7.32, Z:-3.16 [[ 9.92209138e-01 -1.24566529e-01 2.05077366e-03 3.19971427e+02] [ 1.24566457e-01 9.92211253e-01 1.63102956e-04 7.31593267e+00] [-2.05511787e-03 9.36253650e-05 9.99997884e-01 -3.15586084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99589822699994 meters 0.050656412619892746 Centerline is valid? [True, True] Translation: X:320.00, Y:7.32, Z:-3.15 [[ 9.92162878e-01 -1.24923478e-01 2.63592460e-03 3.20000335e+02] [ 1.24923360e-01 9.92166372e-01 2.09883658e-04 7.32090320e+00] [-2.64149514e-03 1.21049784e-04 9.99996504e-01 -3.15475809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.02589822699997 meters 0.05544294591955758 Centerline is valid? [True, True] Translation: X:320.03, Y:7.32, Z:-3.15 [[ 9.92081342e-01 -1.25566625e-01 2.76295971e-03 3.20028043e+02] [ 1.25566497e-01 9.92085181e-01 2.20515768e-04 7.31866443e+00] [-2.76878080e-03 1.28165592e-04 9.99996159e-01 -3.15436203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05589822699994 meters 0.059715568200015945 Centerline is valid? [True, True] Translation: X:320.06, Y:7.32, Z:-3.16 [[ 9.91750905e-01 -1.28172322e-01 1.41379794e-03 3.20056888e+02] [ 1.28172291e-01 9.91751910e-01 1.12913995e-04 7.31915987e+00] [-1.41660925e-03 6.92271629e-05 9.99998994e-01 -3.15712966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.085898227 meters 0.05493080851384123 Centerline is valid? [True, True] Translation: X:320.09, Y:7.33, Z:-3.16 [[ 9.91520937e-01 -1.29946991e-01 -1.07627162e-04 3.20085712e+02] [ 1.29946991e-01 9.91520943e-01 -8.67475453e-06 7.32969333e+00] [ 1.07841843e-04 -5.38462507e-06 9.99999994e-01 -3.15885559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11589822699995 meters 0.05836811899011928 Centerline is valid? [True, True] Translation: X:320.12, Y:7.33, Z:-3.16 [[ 9.91122028e-01 -1.32952789e-01 -8.25469658e-04 3.20115906e+02] [ 1.32952780e-01 9.91122371e-01 -6.59942402e-05 7.33201413e+00] [ 8.26915563e-04 -4.43401404e-05 9.99999657e-01 -3.15912599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.145898227 meters 0.05832993133340999 Centerline is valid? [True, True] Translation: X:320.14, Y:7.34, Z:-3.16 [[ 9.90986492e-01 -1.33960969e-01 -4.81220466e-04 3.20144754e+02] [ 1.33960966e-01 9.90986608e-01 -3.90559035e-05 7.33739569e+00] [ 4.82115004e-04 -2.57608855e-05 9.99999883e-01 -3.15804330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17589822699995 meters 0.05937146717318168 Centerline is valid? [True, True] Translation: X:320.17, Y:7.34, Z:-3.16 [[ 9.90943372e-01 -1.34280375e-01 1.17694188e-04 3.20172323e+02] [ 1.34280375e-01 9.90943379e-01 9.15885166e-06 7.34165231e+00] [-1.17858131e-04 6.72811634e-06 9.99999993e-01 -3.15761740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.205898227 meters 0.060415787777589984 Centerline is valid? [True, True] Translation: X:320.20, Y:7.35, Z:-3.16 [[ 9.90856736e-01 -1.34914943e-01 9.41600836e-04 3.20200716e+02] [ 1.34914933e-01 9.90857182e-01 7.51504057e-05 7.34619206e+00] [-9.43130864e-04 5.25727277e-05 9.99999554e-01 -3.15601954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23589822699995 meters 0.060954223436982355 Centerline is valid? [True, True] Translation: X:320.23, Y:7.36, Z:-3.15 [[ 9.90574611e-01 -1.36965593e-01 1.53837300e-03 3.20230142e+02] [ 1.36965566e-01 9.90575801e-01 1.23538941e-04 7.35571337e+00] [-1.54079565e-03 8.83295900e-05 9.99998809e-01 -3.15492661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.265898227 meters 0.06529889157313278 Centerline is valid? [True, True] Translation: X:320.26, Y:7.36, Z:-3.16 [[ 9.90328319e-01 -1.38740941e-01 8.78655872e-04 3.20258542e+02] [ 1.38740933e-01 9.90328707e-01 7.04759409e-05 7.35644814e+00] [-8.79936032e-04 5.21112157e-05 9.99999611e-01 -3.15614487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29589822699995 meters 0.06691090416327597 Centerline is valid? [True, True] Translation: X:320.29, Y:7.36, Z:-3.16 [[ 9.90017177e-01 -1.40946689e-01 1.44566678e-04 3.20288076e+02] [ 1.40946688e-01 9.90017187e-01 1.15848272e-05 7.35991367e+00] [-1.44756339e-04 8.90701665e-06 9.99999989e-01 -3.15782273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.325898227 meters 0.07512893113506619 Centerline is valid? [True, True] Translation: X:320.32, Y:7.36, Z:-3.16 [[ 9.89097875e-01 -1.47258878e-01 -4.65767582e-04 3.20317790e+02] [ 1.47258877e-01 9.89097984e-01 -3.74587540e-05 7.35644670e+00] [ 4.66205910e-04 -3.15380371e-05 9.99999891e-01 -3.15928712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35589822699995 meters 0.07957071993293358 Centerline is valid? [True, True] Translation: X:320.35, Y:7.36, Z:-3.16 [[ 9.88520060e-01 -1.51089342e-01 -3.18974966e-04 3.20348376e+02] [ 1.51089341e-01 9.88520111e-01 -2.56387092e-05 7.35527078e+00] [ 3.19186904e-04 -2.28493392e-05 9.99999949e-01 -3.15892180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.385898227 meters 0.08439409075482637 Centerline is valid? [True, True] Translation: X:320.38, Y:7.35, Z:-3.16 [[ 9.87926000e-01 -1.54925653e-01 -5.11465812e-04 3.20377662e+02] [ 1.54925652e-01 9.87926131e-01 -4.11292529e-05 7.35433458e+00] [ 5.11662417e-04 -3.86065161e-05 9.99999868e-01 -3.15896758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41589822699996 meters 0.08791056843650984 Centerline is valid? [True, True] Translation: X:320.41, Y:7.35, Z:-3.16 [[ 9.87460297e-01 -1.57866207e-01 -6.49588910e-04 3.20407235e+02] [ 1.57866207e-01 9.87460510e-01 -5.22634034e-05 7.35472483e+00] [ 6.49694022e-04 -5.09401015e-05 9.99999788e-01 -3.15866258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.445898227 meters 0.07716052333034774 Centerline is valid? [True, True] Translation: X:320.44, Y:7.37, Z:-3.16 [[ 9.87068803e-01 -1.60296915e-01 -2.76590745e-04 3.20436495e+02] [ 1.60296915e-01 9.87068842e-01 -2.22471643e-05 7.37431688e+00] [ 2.76580258e-04 -2.23771611e-05 9.99999962e-01 -3.15689537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47589822699996 meters 0.07999616662373629 Centerline is valid? [True, True] Translation: X:320.46, Y:7.37, Z:-3.16 [[ 9.87132804e-01 -1.59902328e-01 -2.69731031e-04 3.20464324e+02] [ 1.59902327e-01 9.87132841e-01 -2.18917525e-05 7.37431066e+00] [ 2.69760901e-04 -2.15205526e-05 9.99999963e-01 -3.15715909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.505898227 meters 0.090980343437974 Centerline is valid? [True, True] Translation: X:320.49, Y:7.36, Z:-3.16 [[ 9.87364395e-01 -1.58466011e-01 -2.74866969e-04 3.20494284e+02] [ 1.58466011e-01 9.87364433e-01 -2.21969525e-05 7.36387271e+00] [ 2.74911332e-04 -2.16405917e-05 9.99999962e-01 -3.15865063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53589822699996 meters 0.08646478025825226 Centerline is valid? [True, True] Translation: X:320.52, Y:7.37, Z:-3.16 [[ 9.87820497e-01 -1.55597493e-01 -2.93971003e-04 3.20523977e+02] [ 1.55597493e-01 9.87820540e-01 -2.37452727e-05 7.37443393e+00] [ 2.94085300e-04 -2.22850839e-05 9.99999957e-01 -3.15885099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.565898227 meters 0.08894928684568638 Centerline is valid? [True, True] Translation: X:320.55, Y:7.37, Z:-3.16 [[ 9.87912524e-01 -1.55012400e-01 -9.68384797e-07 3.20551705e+02] [ 1.55012400e-01 9.87912524e-01 -2.50688328e-07 7.37398327e+00] [ 9.95539267e-07 9.75464876e-08 1.00000000e+00 -3.15875325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59589822699996 meters 0.09050585524419053 Centerline is valid? [True, True] Translation: X:320.58, Y:7.37, Z:-3.16 [[ 9.87829551e-01 -1.55540229e-01 1.22849892e-04 3.20580836e+02] [ 1.55540229e-01 9.87829559e-01 9.43832755e-06 7.37421712e+00] [-1.22822794e-04 9.78464151e-06 9.99999992e-01 -3.15853436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.625898227 meters 0.07960195437238934 Centerline is valid? [True, True] Translation: X:320.61, Y:7.39, Z:-3.16 [[ 9.87697996e-01 -1.56373491e-01 -3.67292100e-06 3.20608749e+02] [ 1.56373491e-01 9.87697996e-01 -8.05645211e-07 7.38948958e+00] [ 3.75371826e-06 2.21386681e-07 1.00000000e+00 -3.15798337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65589822699997 meters 0.08041150409633814 Centerline is valid? [True, True] Translation: X:320.64, Y:7.39, Z:-3.16 [[ 9.87646286e-01 -1.56692392e-01 -1.51906576e-03 3.20637220e+02] [ 1.56692387e-01 9.87647448e-01 -1.23122541e-04 7.38871098e+00] [ 1.51959379e-03 -1.16424519e-04 9.99998839e-01 -3.15938194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.68589822699994 meters 0.07974866765010456 Centerline is valid? [True, True] Translation: X:320.67, Y:7.39, Z:-3.16 [[ 9.87788084e-01 -1.55788887e-01 -2.12697165e-03 3.20665703e+02] [ 1.55788875e-01 9.87790361e-01 -1.72382438e-04 7.39119848e+00] [ 2.12785736e-03 -1.61081201e-04 9.99997723e-01 -3.15997913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71589822699997 meters 0.0850941198738691 Centerline is valid? [True, True] Translation: X:320.69, Y:7.39, Z:-3.16 [[ 9.88022483e-01 -1.54299458e-01 -1.80289550e-03 3.20694761e+02] [ 1.54299447e-01 9.88024119e-01 -1.46163637e-04 7.38676429e+00] [ 1.80385721e-03 -1.33772819e-04 9.99998364e-01 -3.15940289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.74589822699994 meters 0.07440714121567142 Centerline is valid? [True, True] Translation: X:320.72, Y:7.41, Z:-3.16 [[ 9.88703333e-01 -1.49871101e-01 -2.09123415e-03 3.20724046e+02] [ 1.49871076e-01 9.88705533e-01 -1.69437606e-04 7.40514637e+00] [ 2.09300857e-03 -1.45891987e-04 9.99997799e-01 -3.15831078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.77589822699997 meters 0.07419391403927979 Centerline is valid? [True, True] Translation: X:320.75, Y:7.41, Z:-3.16 [[ 9.89011921e-01 -1.47826355e-01 -1.67020766e-03 3.20752454e+02] [ 1.47826336e-01 9.89013325e-01 -1.35466391e-04 7.40980960e+00] [ 1.67188314e-03 -1.12922803e-04 9.99998596e-01 -3.15810878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.80589822699994 meters 0.06968637480784501 Centerline is valid? [True, True] Translation: X:320.78, Y:7.42, Z:-3.16 [[ 9.89314224e-01 -1.45792885e-01 -1.34198597e-03 3.20781373e+02] [ 1.45792871e-01 9.89315130e-01 -1.08867180e-04 7.42023070e+00] [ 1.34351909e-03 -8.79481383e-05 9.99999094e-01 -3.15672279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.835898227 meters 0.06668222348102179 Centerline is valid? [True, True] Translation: X:320.81, Y:7.43, Z:-3.16 [[ 9.89586820e-01 -1.43934899e-01 -8.19267518e-04 3.20810422e+02] [ 1.43934893e-01 9.89587157e-01 -6.65100462e-05 7.42881496e+00] [ 8.20309731e-04 -5.21037177e-05 9.99999662e-01 -3.15617761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.86589822699995 meters 0.0645454158338286 Centerline is valid? [True, True] Translation: X:320.84, Y:7.44, Z:-3.16 [[ 9.89825680e-01 -1.42281730e-01 -1.01627815e-03 3.20839968e+02] [ 1.42281720e-01 9.89826200e-01 -8.24131599e-05 7.43911682e+00] [ 1.01766463e-03 -6.30231413e-05 9.99999480e-01 -3.15643051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.895898227 meters 0.06313921469717095 Centerline is valid? [True, True] Translation: X:320.87, Y:7.45, Z:-3.16 [[ 9.89734669e-01 -1.42905070e-01 -1.85111166e-03 3.20868632e+02] [ 1.42905037e-01 9.89736393e-01 -1.50941104e-04 7.44592720e+00] [ 1.85368283e-03 -1.15141536e-04 9.99998275e-01 -3.15721970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.92589822699995 meters 0.07378528130062088 Centerline is valid? [True, True] Translation: X:320.90, Y:7.44, Z:-3.16 [[ 9.89569678e-01 -1.44035713e-01 -2.35932954e-03 3.20897938e+02] [ 1.44035663e-01 9.89572479e-01 -1.91906236e-04 7.43659084e+00] [ 2.36236894e-03 -1.49923002e-04 9.99997198e-01 -3.15925724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.955898227 meters 0.07729407470486373 Centerline is valid? [True, True] Translation: X:320.93, Y:7.44, Z:-3.16 [[ 9.89189868e-01 -1.46622868e-01 -2.26691802e-03 3.20927155e+02] [ 1.46622829e-01 9.89192454e-01 -1.84360454e-04 7.43843626e+00] [ 2.26944966e-03 -1.50014441e-04 9.99997414e-01 -3.15914309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.98589822699995 meters 0.07183860485221279 Centerline is valid? [True, True] Translation: X:320.95, Y:7.45, Z:-3.16 [[ 9.89076420e-01 -1.47395556e-01 -1.54432250e-03 3.20954635e+02] [ 1.47395538e-01 9.89077621e-01 -1.25830007e-04 7.45012294e+00] [ 1.54600161e-03 -1.03170754e-04 9.99998800e-01 -3.15753050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.015898227 meters 0.07329405577605518 Centerline is valid? [True, True] Translation: X:320.98, Y:7.45, Z:-3.16 [[ 9.88990290e-01 -1.47975249e-01 -1.23746362e-03 3.20982734e+02] [ 1.47975238e-01 9.88991061e-01 -1.00931665e-04 7.45297058e+00] [ 1.23877585e-03 -8.32935367e-05 9.99999229e-01 -3.15713427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.04589822699995 meters 0.07329405577605518 Centerline is valid? [True, True] Translation: X:321.01, Y:7.46, Z:-3.16 [[ 9.88963979e-01 -1.48150996e-01 -1.23741398e-03 3.21010175e+02] [ 1.48150984e-01 9.88964749e-01 -1.01540472e-04 7.45537279e+00] [ 1.23880213e-03 -8.29042295e-05 9.99999229e-01 -3.15722236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.075898227 meters 0.06894653538016689 Centerline is valid? [True, True] Translation: X:321.04, Y:7.47, Z:-3.16 [[ 9.88919570e-01 -1.48450551e-01 -7.19472948e-04 3.21038464e+02] [ 1.48450546e-01 9.88919831e-01 -5.93401548e-05 7.46581673e+00] [ 7.20310144e-04 -4.81235119e-05 9.99999739e-01 -3.15576373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.10589822699995 meters 0.07730731629754953 Centerline is valid? [True, True] Translation: X:321.07, Y:7.46, Z:-3.16 [[ 9.88865186e-01 -1.48813174e-01 -5.32220286e-04 3.21067004e+02] [ 1.48813172e-01 9.88865328e-01 -4.37289814e-05 7.46184504e+00] [ 5.32801637e-04 -3.59593218e-05 9.99999857e-01 -3.15532467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.135898227 meters 0.07480693351089993 Centerline is valid? [True, True] Translation: X:321.10, Y:7.47, Z:-3.16 [[ 9.88771452e-01 -1.49429605e-01 -1.34514544e-03 3.21095485e+02] [ 1.49429592e-01 9.88772363e-01 -1.10768133e-04 7.47079363e+00] [ 1.34659468e-03 -9.14801665e-05 9.99999089e-01 -3.15675445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.16589822699996 meters 0.07821686284606759 Centerline is valid? [True, True] Translation: X:321.12, Y:7.47, Z:-3.16 [[ 9.88673047e-01 -1.50064882e-01 -2.47736526e-03 3.21123671e+02] [ 1.50064841e-01 9.88676136e-01 -2.03396662e-04 7.46956082e+00] [ 2.47983461e-03 -1.70672625e-04 9.99996911e-01 -3.15891916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.195898227 meters 0.08690275222719344 Centerline is valid? [True, True] Translation: X:321.15, Y:7.47, Z:-3.16 [[ 9.88358911e-01 -1.52105202e-01 -3.26661010e-03 3.21153668e+02] [ 1.52105142e-01 9.88364282e-01 -2.68088599e-04 7.46504841e+00] [ 3.26937842e-03 -2.31900438e-04 9.99994629e-01 -3.16150011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.22589822699996 meters 0.08121775144119081 Centerline is valid? [True, True] Translation: X:321.18, Y:7.48, Z:-3.16 [[ 9.88125554e-01 -1.53636200e-01 -1.95107632e-03 3.21183428e+02] [ 1.53636182e-01 9.88127471e-01 -1.60085923e-04 7.47632787e+00] [ 1.95250710e-03 -1.41570925e-04 9.99998084e-01 -3.15911535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.255898227 meters 0.07451832387643675 Centerline is valid? [True, True] Translation: X:321.21, Y:7.49, Z:-3.16 [[ 9.87869530e-01 -1.55285232e-01 -5.36625324e-04 3.21212795e+02] [ 1.55285231e-01 9.87869675e-01 -4.40731685e-05 7.48890848e+00] [ 5.36959797e-04 -3.97914472e-05 9.99999855e-01 -3.15575455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.28589822699996 meters 0.07954902584498377 Centerline is valid? [True, True] Translation: X:321.24, Y:7.49, Z:-3.15 [[ 9.87673849e-01 -1.56524610e-01 6.44035450e-04 3.21240975e+02] [ 1.56524608e-01 9.87674058e-01 5.27334744e-05 7.48867734e+00] [-6.44351193e-04 4.87239231e-05 9.99999791e-01 -3.15361126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.315898227 meters 0.07970523129461035 Centerline is valid? [True, True] Translation: X:321.27, Y:7.49, Z:-3.15 [[ 9.87705921e-01 -1.56323152e-01 -2.91416272e-04 3.21269217e+02] [ 1.56323151e-01 9.87705964e-01 -2.44713734e-05 7.49374234e+00] [ 2.91659033e-04 -2.13845896e-05 9.99999957e-01 -3.15489174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.34589822699996 meters 0.07837434102700955 Centerline is valid? [True, True] Translation: X:321.30, Y:7.50, Z:-3.16 [[ 9.87815632e-01 -1.55626416e-01 -8.33640092e-04 3.21297832e+02] [ 1.55626413e-01 9.87815982e-01 -6.88960385e-05 7.50220040e+00] [ 8.34205049e-04 -6.16798336e-05 9.99999650e-01 -3.15636417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.375898227 meters 0.07802713709630854 Centerline is valid? [True, True] Translation: X:321.33, Y:7.51, Z:-3.16 [[ 9.88059280e-01 -1.54072267e-01 -7.71846600e-04 3.21326123e+02] [ 1.54072264e-01 9.88059580e-01 -6.36902370e-05 7.50792964e+00] [ 7.72443326e-04 -5.59904235e-05 9.99999700e-01 -3.15606328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.40589822699997 meters 0.06884837250015124 Centerline is valid? [True, True] Translation: X:321.35, Y:7.53, Z:-3.15 [[ 9.88520813e-01 -1.51084712e-01 1.08477033e-04 3.21354921e+02] [ 1.51084712e-01 9.88520819e-01 8.92057492e-06 7.53121217e+00] [-1.08579568e-04 7.57104739e-06 9.99999994e-01 -3.15430773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43589822699994 meters 0.0731398845478999 Centerline is valid? [True, True] Translation: X:321.38, Y:7.53, Z:-3.15 [[ 9.88586806e-01 -1.50652262e-01 1.49556527e-04 3.21383080e+02] [ 1.50652262e-01 9.88586818e-01 1.18320709e-05 7.53249023e+00] [-1.49632139e-04 1.08339998e-05 9.99999989e-01 -3.15494393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.46589822699997 meters 0.07457941981950174 Centerline is valid? [True, True] Translation: X:321.41, Y:7.54, Z:-3.16 [[ 9.88470880e-01 -1.51409608e-01 -6.70580396e-04 3.21411583e+02] [ 1.51409605e-01 9.88471106e-01 -5.59559642e-05 7.53758614e+00] [ 6.71321617e-04 -4.62214718e-05 9.99999774e-01 -3.15648122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49589822699994 meters 0.08067617943883382 Centerline is valid? [True, True] Translation: X:321.44, Y:7.54, Z:-3.16 [[ 9.87868500e-01 -1.55266765e-01 -2.83862214e-03 3.21440702e+02] [ 1.55266728e-01 9.87872557e-01 -2.34772382e-04 7.53937750e+00] [ 2.84064926e-03 -2.08819329e-04 9.99995944e-01 -3.16098497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.52589822699997 meters 0.0806372405185509 Centerline is valid? [True, True] Translation: X:321.47, Y:7.54, Z:-3.16 [[ 9.87426291e-01 -1.58042609e-01 -3.44302626e-03 3.21470298e+02] [ 1.58042571e-01 9.87432258e-01 -2.84761056e-04 7.54493614e+00] [ 3.44475958e-03 -2.62964171e-04 9.99994032e-01 -3.16219295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55589822699994 meters 0.08790203671989778 Centerline is valid? [True, True] Translation: X:321.50, Y:7.54, Z:-3.16 [[ 9.87042166e-01 -1.60430432e-01 -3.13662875e-03 3.21500638e+02] [ 1.60430412e-01 9.87047119e-01 -2.59491224e-04 7.54095715e+00] [ 3.13763066e-03 -2.47081864e-04 9.99995047e-01 -3.16265637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.585898227 meters 0.08816950491703002 Centerline is valid? [True, True] Translation: X:321.53, Y:7.55, Z:-3.16 [[ 9.86521798e-01 -1.63621840e-01 -1.62368774e-03 3.21530510e+02] [ 1.63621839e-01 9.86523125e-01 -1.34301481e-04 7.55043996e+00] [ 1.62378016e-03 -1.33179435e-04 9.99998673e-01 -3.15925059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61589822699995 meters 0.08701038357534155 Centerline is valid? [True, True] Translation: X:321.56, Y:7.56, Z:-3.16 [[ 9.86446370e-01 -1.64080176e-01 -1.12036620e-03 3.21558476e+02] [ 1.64080175e-01 9.86447002e-01 -9.33389166e-05 7.55800530e+00] [ 1.12049694e-03 -9.17560460e-05 9.99999368e-01 -3.15768228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.645898227 meters 0.08177244136066303 Centerline is valid? [True, True] Translation: X:321.59, Y:7.57, Z:-3.16 [[ 9.86479115e-01 -1.63883146e-01 -1.12731463e-03 3.21586074e+02] [ 1.63883145e-01 9.86479754e-01 -9.41073887e-05 7.57146510e+00] [ 1.12749567e-03 -9.19128929e-05 9.99999360e-01 -3.15733939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67589822699995 meters 0.08768823573034365 Centerline is valid? [True, True] Translation: X:321.61, Y:7.57, Z:-3.16 [[ 9.86611991e-01 -1.63078339e-01 -1.49491591e-03 3.21614692e+02] [ 1.63078337e-01 9.86613116e-01 -1.24334223e-04 7.57048357e+00] [ 1.49517986e-03 -1.21118764e-04 9.99998875e-01 -3.15872208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.705898227 meters 0.08962460027704107 Centerline is valid? [True, True] Translation: X:321.64, Y:7.58, Z:-3.16 [[ 9.86689316e-01 -1.62598087e-01 -2.46069408e-03 3.21641510e+02] [ 1.62598078e-01 9.86692365e-01 -2.04730629e-04 7.57894140e+00] [ 2.46123687e-03 -1.98098605e-04 9.99996952e-01 -3.16051318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73589822699995 meters 0.08703183995716585 Centerline is valid? [True, True] Translation: X:321.67, Y:7.59, Z:-3.16 [[ 9.86568169e-01 -1.63336404e-01 -2.11345539e-03 3.21670240e+02] [ 1.63336400e-01 9.86570418e-01 -1.75807381e-04 7.58825417e+00] [ 2.11378831e-03 -1.71758227e-04 9.99997751e-01 -3.16049262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.765898227 meters 0.08357834540530203 Centerline is valid? [True, True] Translation: X:321.70, Y:7.60, Z:-3.16 [[ 9.86310225e-01 -1.64894006e-01 -1.45160983e-03 3.21699677e+02] [ 1.64894006e-01 9.86311286e-01 -1.20756101e-04 7.59819943e+00] [ 1.45165111e-03 -1.20258782e-04 9.99998939e-01 -3.15970803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79589822699995 meters 0.0876312503785528 Centerline is valid? [True, True] Translation: X:321.73, Y:7.60, Z:-3.16 [[ 9.85934588e-01 -1.67130274e-01 -6.78748081e-04 3.21729679e+02] [ 1.67130274e-01 9.85934819e-01 -5.64932411e-05 7.59743796e+00] [ 6.78643098e-04 -5.77407125e-05 9.99999768e-01 -3.15974205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.825898227 meters 0.09776582741576705 Centerline is valid? [True, True] Translation: X:321.76, Y:7.59, Z:-3.16 [[ 9.84756586e-01 -1.73934076e-01 -1.18478613e-03 3.21760167e+02] [ 1.73934082e-01 9.84757293e-01 -9.85843992e-05 7.58916083e+00] [ 1.18387397e-03 -1.08993052e-04 9.99999293e-01 -3.16069747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85589822699995 meters 0.10392564804021645 Centerline is valid? [True, False] Translation: X:321.76, Y:7.59, Z:-3.16 [[ 9.86820124e-01 -1.61819346e-01 7.35665232e-04 3.21759100e+02] [ 1.61820782e-01 9.86800702e-01 -6.19756954e-03 7.58700785e+00] [ 2.76931685e-04 6.23493227e-03 9.99980524e-01 -3.16117500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.885898227 meters 0.10701290998779978 Centerline is valid? [False, False] Translation: X:321.76, Y:7.58, Z:-3.16 [[ 9.88796695e-01 -1.49262267e-01 1.36786498e-03 3.21760457e+02] [ 1.49267935e-01 9.88725242e-01 -1.18944989e-02 7.58430809e+00] [ 4.22957234e-04 1.19654196e-02 9.99928322e-01 -3.16286367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91589822699996 meters 0.10893792955312646 Centerline is valid? [False, False] Translation: X:321.76, Y:7.58, Z:-3.16 [[ 9.90759109e-01 -1.35631232e-01 7.46231475e-04 3.21760884e+02] [ 1.35625610e-01 9.90629524e-01 -1.60884803e-02 7.57903812e+00] [ 1.44286148e-03 1.60410165e-02 9.99870294e-01 -3.16321679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.945898227 meters 0.11464548806084965 Centerline is valid? [False, False] Translation: X:321.76, Y:7.57, Z:-3.16 [[ 9.92799971e-01 -1.19782799e-01 -5.46596844e-04 3.21760448e+02] [ 1.19752721e-01 9.92634356e-01 -1.83390657e-02 7.57428783e+00] [ 2.73927544e-03 1.81415675e-02 9.99831676e-01 -3.16263599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97589822699996 meters 0.11825235415801331 Centerline is valid? [False, False] Translation: X:321.76, Y:7.57, Z:-3.16 [[ 9.94681471e-01 -1.02982483e-01 -1.83858914e-03 3.21760749e+02] [ 1.02926646e-01 9.94493860e-01 -1.96994203e-02 7.56989195e+00] [ 3.85716083e-03 1.94054085e-02 9.99804257e-01 -3.16287715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.005898227 meters 0.09765323455106506 Centerline is valid? [False, True] Translation: X:321.76, Y:7.57, Z:-3.16 [[ 9.96284273e-01 -8.60661473e-02 -3.20397671e-03 3.21761530e+02] [ 8.59796030e-02 9.96071443e-01 -2.11940427e-02 7.56578920e+00] [ 5.01547931e-03 2.08398148e-02 9.99770247e-01 -3.16315166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03589822699996 meters 0.09879822018697373 Centerline is valid? [True, True] Translation: X:321.79, Y:7.55, Z:-3.17 [[ 9.96703036e-01 -8.09721059e-02 -5.15520458e-03 3.21790471e+02] [ 8.09735066e-02 9.96716252e-01 6.32160540e-05 7.55265959e+00] [ 5.13315745e-03 -4.80442624e-04 9.99986710e-01 -3.16774192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.065898227 meters 0.10018619318790473 Centerline is valid? [True, False] Translation: X:321.79, Y:7.55, Z:-3.17 [[ 9.97945324e-01 -6.39854992e-02 -3.31447390e-03 3.21788684e+02] [ 6.39155407e-02 9.97791326e-01 -1.80906802e-02 7.55354621e+00] [ 4.46469451e-03 1.78416633e-02 9.99830856e-01 -3.16714281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09589822699996 meters 0.10069969208789345 Centerline is valid? [False, False] Translation: X:321.79, Y:7.55, Z:-3.17 [[ 9.98714419e-01 -5.04503820e-02 -4.92631388e-03 3.21789893e+02] [ 5.03242360e-02 9.98467116e-01 -2.30410329e-02 7.55038987e+00] [ 6.08119132e-03 2.27634988e-02 9.99722383e-01 -3.16733163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.125898227 meters 0.09921130117908511 Centerline is valid? [False, True] Translation: X:321.79, Y:7.55, Z:-3.17 [[ 9.99305117e-01 -3.65464751e-02 -7.32377953e-03 3.21789337e+02] [ 3.63354692e-02 9.98971430e-01 -2.71259122e-02 7.54535543e+00] [ 8.30760298e-03 2.68409499e-02 9.99605196e-01 -3.16580337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15589822699997 meters 0.09907784329727566 Centerline is valid? [True, True] Translation: X:321.82, Y:7.53, Z:-3.17 [[ 9.99352538e-01 -3.56222588e-02 -5.05554133e-03 3.21818022e+02] [ 3.56241102e-02 9.99365222e-01 2.76614008e-04 7.53079621e+00] [ 5.04247856e-03 -4.56534073e-04 9.99987182e-01 -3.16651673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.18589822699994 meters 0.09834131207345989 Centerline is valid? [True, True] Translation: X:321.85, Y:7.53, Z:-3.16 [[ 9.99408294e-01 -3.41191059e-02 -4.35307351e-03 3.21848565e+02] [ 3.41204641e-02 9.99417699e-01 2.38121420e-04 7.52926932e+00] [ 4.34241423e-03 -3.86509411e-04 9.99990497e-01 -3.16488999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21589822699997 meters 0.09235691938703844 Centerline is valid? [True, True] Translation: X:321.88, Y:7.54, Z:-3.16 [[ 9.99499640e-01 -3.14245160e-02 -3.60134798e-03 3.21879321e+02] [ 3.14254282e-02 9.99506080e-01 1.96975708e-04 7.53522958e+00] [ 3.59337933e-03 -3.10051051e-04 9.99993496e-01 -3.16302064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.24589822699994 meters 0.08422163752247161 Centerline is valid? [True, True] Translation: X:321.91, Y:7.55, Z:-3.16 [[ 9.99745493e-01 -2.23500763e-02 -3.06972218e-03 3.21910399e+02] [ 2.23506965e-02 9.99750178e-01 1.67898848e-04 7.54854797e+00] [ 3.06520274e-03 -2.36466546e-04 9.99995274e-01 -3.16129753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.27589822699997 meters 0.08341716718456926 Centerline is valid? [True, True] Translation: X:321.94, Y:7.55, Z:-3.16 [[ 9.99854275e-01 -1.67566961e-02 -3.26222705e-03 3.21939939e+02] [ 1.67573669e-02 9.99859570e-01 1.78383568e-04 7.55177076e+00] [ 3.25877981e-03 -2.33023909e-04 9.99994663e-01 -3.16174720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.30589822699994 meters 0.07469320686085029 Centerline is valid? [True, True] Translation: X:321.97, Y:7.57, Z:-3.16 [[ 9.99930241e-01 -1.13236331e-02 -3.35991899e-03 3.21970981e+02] [ 1.13243141e-02 9.99935861e-01 1.83716114e-04 7.56553928e+00] [ 3.35762316e-03 -2.21752076e-04 9.99994339e-01 -3.16223760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.335898227 meters 0.0692297231115048 Centerline is valid? [True, True] Translation: X:322.00, Y:7.58, Z:-3.16 [[ 9.99994879e-01 -1.85170478e-03 -2.61034928e-03 3.22001552e+02] [ 1.85208366e-03 9.99998275e-01 1.42736716e-04 7.57787590e+00] [ 2.61008047e-03 -1.47570570e-04 9.99996583e-01 -3.16117780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.36589822699995 meters 0.06354362045849234 Centerline is valid? [True, True] Translation: X:322.03, Y:7.59, Z:-3.16 [[ 9.99996086e-01 1.69944258e-03 -2.22256327e-03 3.22032940e+02] [-1.69917667e-03 9.99998549e-01 1.21524645e-04 7.58650998e+00] [ 2.22276657e-03 -1.17747641e-04 9.99997523e-01 -3.16045573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.395898227 meters 0.054932440601184 Centerline is valid? [True, True] Translation: X:322.06, Y:7.60, Z:-3.16 [[ 9.99986607e-01 4.68463064e-03 -2.20016708e-03 3.22064437e+02] [-4.68437728e-03 9.99989021e-01 1.20294392e-04 7.59906639e+00] [ 2.20070645e-03 -1.09986368e-04 9.99997572e-01 -3.15983787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.42589822699995 meters 0.05643240117785961 Centerline is valid? [True, True] Translation: X:322.09, Y:7.60, Z:-3.16 [[ 9.99954074e-01 9.19899723e-03 -2.68867748e-03 3.22093751e+02] [-9.19863525e-03 9.99957681e-01 1.46969007e-04 7.60211144e+00] [ 2.68991566e-03 -1.22230093e-04 9.99996375e-01 -3.16108577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.455898227 meters 0.04923248734457212 Centerline is valid? [True, True] Translation: X:322.12, Y:7.61, Z:-3.16 [[ 9.99934142e-01 1.11415877e-02 -2.75271383e-03 3.22124507e+02] [-1.11412157e-02 9.99937923e-01 1.50438727e-04 7.61297016e+00] [ 2.75421908e-03 -1.19760241e-04 9.99996200e-01 -3.16032436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.48589822699995 meters 0.04771067748803074 Centerline is valid? [True, True] Translation: X:322.15, Y:7.62, Z:-3.16 [[ 9.99912436e-01 1.31088514e-02 -1.81035571e-03 3.22153315e+02] [-1.31086938e-02 9.99914072e-01 9.88790485e-05 7.61693830e+00] [ 1.81149634e-03 -7.51389917e-05 9.99998356e-01 -3.15911700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.515898227 meters 0.0497562986916259 Centerline is valid? [True, True] Translation: X:322.18, Y:7.62, Z:-3.16 [[ 9.99885733e-01 1.50769449e-02 -1.09825277e-03 3.22181708e+02] [-1.50768882e-02 9.99886335e-01 5.99493894e-05 7.61642834e+00] [ 1.09903179e-03 -4.33843050e-05 9.99999395e-01 -3.15816893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.54589822699995 meters 0.0344480599714982 Centerline is valid? [True, True] Translation: X:322.21, Y:7.64, Z:-3.16 [[ 9.99813887e-01 1.92689170e-02 -9.48886243e-04 3.22213381e+02] [-1.92688766e-02 9.99814337e-01 5.17901356e-05 7.64171110e+00] [ 9.49708010e-04 -3.34965248e-05 9.99999548e-01 -3.15800933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.575898227 meters 0.04364040381036135 Centerline is valid? [True, True] Translation: X:322.24, Y:7.63, Z:-3.16 [[ 9.99771388e-01 2.13258132e-02 -1.54333426e-03 3.22241299e+02] [-2.13257086e-02 9.99772578e-01 8.41628577e-05 7.63149372e+00] [ 1.54477812e-03 -5.12309202e-05 9.99998806e-01 -3.15965367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.60589822699995 meters 0.035570118638970534 Centerline is valid? [True, True] Translation: X:322.27, Y:7.64, Z:-3.16 [[ 9.99729677e-01 2.31670641e-02 -1.96472631e-03 3.22270790e+02] [-2.31668985e-02 9.99731606e-01 1.07053924e-04 7.64381464e+00] [ 1.96667911e-03 -6.15083701e-05 9.99998064e-01 -3.16010103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.635898227 meters 0.03576157914316022 Centerline is valid? [True, True] Translation: X:322.30, Y:7.65, Z:-3.16 [[ 9.99708335e-01 2.41075064e-02 -1.43973185e-03 3.22298994e+02] [-2.41074185e-02 9.99709371e-01 7.83683860e-05 7.64849014e+00] [ 1.44120268e-03 -4.36373105e-05 9.99998961e-01 -3.15934366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.66589822699996 meters 0.037272889018618416 Centerline is valid? [True, True] Translation: X:322.33, Y:7.65, Z:-3.16 [[ 9.99734488e-01 2.30295248e-02 -7.71465238e-04 3.22326609e+02] [-2.30294993e-02 9.99734785e-01 4.19517283e-05 7.64764926e+00] [ 7.72226762e-04 -2.41741315e-05 9.99999702e-01 -3.15819351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.695898227 meters 0.0384666668368815 Centerline is valid? [True, True] Translation: X:322.36, Y:7.65, Z:-3.16 [[ 9.99767579e-01 2.15569997e-02 -2.89210302e-04 3.22355686e+02] [-2.15569961e-02 9.99767621e-01 1.57153157e-05 7.64638783e+00] [ 2.89481871e-04 -9.47715775e-06 9.99999958e-01 -3.15765993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.72589822699996 meters 0.042153693196125275 Centerline is valid? [True, True] Translation: X:322.38, Y:7.64, Z:-3.16 [[ 9.99823625e-01 1.87794953e-02 -2.23315289e-04 3.22383803e+02] [-1.87794930e-02 9.99823650e-01 1.21283604e-05 7.64170820e+00] [ 2.23503672e-04 -7.93247333e-06 9.99999975e-01 -3.15866794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.755898227 meters 0.037489722813498064 Centerline is valid? [True, True] Translation: X:322.41, Y:7.65, Z:-3.16 [[ 9.99837535e-01 1.80188420e-02 -4.74054824e-04 3.22412913e+02] [-1.80188319e-02 9.99837647e-01 2.57236126e-05 7.64660633e+00] [ 4.74441370e-04 -1.71775193e-05 9.99999887e-01 -3.15884572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.78589822699996 meters 0.0432250665619305 Centerline is valid? [True, True] Translation: X:322.44, Y:7.64, Z:-3.16 [[ 9.99839270e-01 1.79181532e-02 -6.11034581e-04 3.22440698e+02] [-1.79181363e-02 9.99839457e-01 3.31211754e-05 7.63781273e+00] [ 6.11529954e-04 -2.21672510e-05 9.99999813e-01 -3.15922389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.815898227 meters 0.03674223616995376 Centerline is valid? [True, True] Translation: X:322.47, Y:7.65, Z:-3.16 [[ 9.99819791e-01 1.89381798e-02 -1.31554109e-03 3.22469798e+02] [-1.89381024e-02 9.99820656e-01 7.12448180e-05 7.64551030e+00] [ 1.31665440e-03 -4.63181271e-05 9.99999132e-01 -3.15979793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.84589822699996 meters 0.03674904051436156 Centerline is valid? [True, True] Translation: X:322.50, Y:7.64, Z:-3.16 [[ 9.99809858e-01 1.93476683e-02 -2.43214711e-03 3.22498508e+02] [-1.93474053e-02 9.99812813e-01 1.31602376e-04 7.64392271e+00] [ 2.43423804e-03 -8.45216173e-05 9.99997034e-01 -3.16218134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.875898227 meters 0.03682554365939116 Centerline is valid? [True, True] Translation: X:322.53, Y:7.64, Z:-3.16 [[ 9.99815924e-01 1.88868863e-02 -3.37687625e-03 3.22526758e+02] [-1.88863774e-02 9.99821620e-01 1.82525474e-04 7.64186064e+00] [ 3.37972122e-03 -1.18714916e-04 9.99994282e-01 -3.16438748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.90589822699997 meters 0.03923212729513974 Centerline is valid? [True, True] Translation: X:322.55, Y:7.64, Z:-3.17 [[ 9.99837065e-01 1.75385536e-02 -4.27116358e-03 3.22554517e+02] [-1.75377281e-02 9.99846176e-01 2.30665055e-04 7.63557148e+00] [ 4.27455210e-03 -1.55720966e-04 9.99990852e-01 -3.16677284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93589822699994 meters 0.03923212729513974 Centerline is valid? [True, True] Translation: X:322.58, Y:7.63, Z:-3.17 [[ 9.99837865e-01 1.74929044e-02 -4.27117410e-03 3.22582819e+02] [-1.74920792e-02 9.99846975e-01 2.30470036e-04 7.63412601e+00] [ 4.27455210e-03 -1.55720953e-04 9.99990852e-01 -3.16677163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.96589822699997 meters 0.04727720309660547 Centerline is valid? [True, True] Translation: X:322.61, Y:7.62, Z:-3.17 [[ 9.99905663e-01 1.30880691e-02 -4.16739350e-03 3.22611137e+02] [-1.30872456e-02 9.99914333e-01 2.24807772e-04 7.62147609e+00] [ 4.16997879e-03 -1.70246862e-04 9.99991291e-01 -3.16763560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99589822699994 meters 0.052826496971479855 Centerline is valid? [True, True] Translation: X:322.64, Y:7.61, Z:-3.17 [[ 9.99927782e-01 1.14673127e-02 -3.59613839e-03 3.22638418e+02] [-1.14666893e-02 9.99934237e-01 1.93918412e-04 7.60629760e+00] [ 3.59812562e-03 -1.52668606e-04 9.99993515e-01 -3.16648256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.02589822699997 meters 0.04878039106977243 Centerline is valid? [True, True] Translation: X:322.67, Y:7.60, Z:-3.16 [[ 9.99955500e-01 9.21066098e-03 -2.04008101e-03 3.22667632e+02] [-9.21045581e-03 9.99957577e-01 1.09940223e-04 7.60412768e+00] [ 2.04100708e-03 -9.11452545e-05 9.99997913e-01 -3.16330944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05589822699994 meters 0.05059193102677686 Centerline is valid? [True, True] Translation: X:322.70, Y:7.60, Z:-3.16 [[ 9.99958020e-01 9.00496796e-03 -1.69404101e-03 3.22695342e+02] [-9.00482636e-03 9.99959452e-01 9.11989374e-05 7.59702769e+00] [ 1.69479357e-03 -7.59405637e-05 9.99998561e-01 -3.16306358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.085898227 meters 0.04605052600386708 Centerline is valid? [True, True] Translation: X:322.72, Y:7.60, Z:-3.16 [[ 9.99955345e-01 9.27790772e-03 -1.79669500e-03 3.22723953e+02] [-9.27774902e-03 9.99956956e-01 9.66419731e-05 7.59826234e+00] [ 1.79751430e-03 -7.99683723e-05 9.99998381e-01 -3.16289766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11589822699995 meters 0.049280720542178566 Centerline is valid? [True, True] Translation: X:322.75, Y:7.59, Z:-3.16 [[ 9.99949783e-01 9.84952029e-03 -1.84876888e-03 3.22751659e+02] [-9.84935343e-03 9.99951489e-01 9.93375906e-05 7.58945772e+00] [ 1.84965763e-03 -8.11234240e-05 9.99998286e-01 -3.16332576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.145898227 meters 0.04507436341246118 Centerline is valid? [True, True] Translation: X:322.78, Y:7.59, Z:-3.16 [[ 9.99938145e-01 1.10521613e-02 -1.24705533e-03 3.22780433e+02] [-1.10520864e-02 9.99938922e-01 6.69496273e-05 7.58757060e+00] [ 1.24771910e-03 -5.31629230e-05 9.99999220e-01 -3.16171484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17589822699995 meters 0.04344882182498028 Centerline is valid? [True, True] Translation: X:322.81, Y:7.59, Z:-3.16 [[ 9.99930225e-01 1.18071482e-02 -3.68134949e-04 3.22810371e+02] [-1.18071417e-02 9.99930293e-01 1.97556378e-05 7.58560952e+00] [ 3.68342545e-04 -1.54076378e-05 9.99999932e-01 -3.16038855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.205898227 meters 0.043659388766154376 Centerline is valid? [True, True] Translation: X:322.84, Y:7.58, Z:-3.16 [[ 9.99915007e-01 1.30364362e-02 1.72464450e-04 3.22838838e+02] [-1.30364348e-02 9.99915022e-01 -9.24726051e-06 7.58164993e+00] [-1.72570346e-04 6.99815301e-06 9.99999985e-01 -3.15975555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23589822699995 meters 0.04229491932111249 Centerline is valid? [True, True] Translation: X:322.87, Y:7.58, Z:-3.16 [[ 9.99901874e-01 1.39999441e-02 -4.94789944e-04 3.22868516e+02] [-1.39999327e-02 9.99901996e-01 2.65237674e-05 7.58044696e+00] [ 4.95112784e-04 -1.95941388e-05 9.99999877e-01 -3.16046823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.265898227 meters 0.041907318812710266 Centerline is valid? [True, True] Translation: X:322.90, Y:7.58, Z:-3.16 [[ 9.99886189e-01 1.48585932e-02 -2.61357912e-03 3.22896961e+02] [-1.48582779e-02 9.99889600e-01 1.40011102e-04 7.57781200e+00] [ 2.61537095e-03 -1.01161883e-04 9.99996575e-01 -3.16295876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29589822699995 meters 0.04165251755338015 Centerline is valid? [True, True] Translation: X:322.93, Y:7.58, Z:-3.16 [[ 9.99893624e-01 1.42822423e-02 -2.95934820e-03 3.22925839e+02] [-1.42818360e-02 9.99897997e-01 1.58398434e-04 7.57603896e+00] [ 2.96130862e-03 -1.16116658e-04 9.99995609e-01 -3.16340045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.325898227 meters 0.04273332484944838 Centerline is valid? [True, True] Translation: X:322.95, Y:7.57, Z:-3.16 [[ 9.99915050e-01 1.28357038e-02 -2.26669171e-03 3.22954855e+02] [-1.28354619e-02 9.99917615e-01 1.21245557e-04 7.57240573e+00] [ 2.26806124e-03 -9.21412220e-05 9.99997424e-01 -3.16234502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35589822699995 meters 0.05137547485123838 Centerline is valid? [True, True] Translation: X:322.98, Y:7.56, Z:-3.16 [[ 9.99969956e-01 7.74540090e-03 3.10509072e-04 3.22983585e+02] [-7.74539611e-03 9.99970004e-01 -1.66050046e-05 7.55749495e+00] [-3.10628370e-04 1.41994899e-05 9.99999952e-01 -3.15828697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.385898227 meters 0.05582503610422237 Centerline is valid? [True, True] Translation: X:323.01, Y:7.55, Z:-3.16 [[ 9.99988753e-01 4.56231961e-03 1.29546798e-03 3.23014020e+02] [-4.56223368e-03 9.99989591e-01 -6.92747080e-05 7.55192389e+00] [-1.29577054e-03 6.33637013e-05 9.99999158e-01 -3.15759002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41589822699996 meters 0.05316626549491686 Centerline is valid? [True, True] Translation: X:323.04, Y:7.55, Z:-3.16 [[ 9.99995943e-01 2.26048308e-03 1.73318563e-03 3.23044642e+02] [-2.26032584e-03 9.99997441e-01 -9.26817103e-05 7.54967371e+00] [-1.73339071e-03 8.87637700e-05 9.99998494e-01 -3.15678476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.445898227 meters 0.05481452776672759 Centerline is valid? [True, True] Translation: X:323.07, Y:7.54, Z:-3.16 [[ 9.99998536e-01 5.61829889e-04 1.61635066e-03 3.23074780e+02] [-5.61690913e-04 9.99999839e-01 -8.64339866e-05 7.54496356e+00] [-1.61639896e-03 8.55259706e-05 9.99998690e-01 -3.15727237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47589822699996 meters 0.06123774637722755 Centerline is valid? [True, True] Translation: X:323.10, Y:7.53, Z:-3.16 [[ 9.99998699e-01 -1.58915022e-03 -2.76101774e-04 3.23104457e+02] [ 1.58915436e-03 9.99998737e-01 1.47763625e-05 7.53390254e+00] [ 2.76077944e-04 -1.52151117e-05 9.99999962e-01 -3.16104219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.505898227 meters 0.06140336254319752 Centerline is valid? [True, True] Translation: X:323.14, Y:7.53, Z:-3.16 [[ 9.99993868e-01 -2.77864692e-03 -2.13142457e-03 3.23135206e+02] [ 2.77889643e-03 9.99996132e-01 1.14109283e-04 7.53207486e+00] [ 2.13109926e-03 -1.20031592e-04 9.99997722e-01 -3.16315589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53589822699996 meters 0.0602320609022861 Centerline is valid? [True, True] Translation: X:323.17, Y:7.53, Z:-3.16 [[ 9.99985416e-01 -4.43674234e-03 -3.07931062e-03 3.23165885e+02] [ 4.43727096e-03 9.99990142e-01 1.64856595e-04 7.53173181e+00] [ 3.07854884e-03 -1.78517927e-04 9.99995245e-01 -3.16477551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.565898227 meters 0.06361958057264411 Centerline is valid? [True, True] Translation: X:323.20, Y:7.52, Z:-3.17 [[ 9.99949062e-01 -9.08458279e-03 -4.39824777e-03 3.23196011e+02] [ 9.08570605e-03 9.99958696e-01 2.35472662e-04 7.52410689e+00] [ 4.39592694e-03 -2.75421854e-04 9.99990300e-01 -3.16734342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59589822699996 meters 0.06734037785308136 Centerline is valid? [True, True] Translation: X:323.23, Y:7.52, Z:-3.17 [[ 9.99919597e-01 -1.18540906e-02 -4.50331863e-03 3.23225542e+02] [ 1.18552962e-02 9.99929694e-01 2.41103202e-04 7.51626871e+00] [ 4.50014396e-03 -2.94471993e-04 9.99989831e-01 -3.16753548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.625898227 meters 0.07744152738045332 Centerline is valid? [True, True] Translation: X:323.25, Y:7.50, Z:-3.17 [[ 9.99833841e-01 -1.75195738e-02 -5.03527169e-03 3.23253919e+02] [ 1.75211523e-02 9.99846457e-01 2.69529584e-04 7.49827553e+00] [ 5.02977652e-03 -3.57708562e-04 9.99987287e-01 -3.16943335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65589822699997 meters 0.0750560341569518 Centerline is valid? [True, True] Translation: X:323.28, Y:7.50, Z:-3.17 [[ 9.99782980e-01 -2.00253373e-02 -5.74268482e-03 3.23284272e+02] [ 2.00274315e-02 9.99799384e-01 3.07391428e-04 7.49777407e+00] [ 5.73537713e-03 -4.22335945e-04 9.99983463e-01 -3.16976182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.68589822699994 meters 0.07981793046348351 Centerline is valid? [True, True] Translation: X:323.31, Y:7.49, Z:-3.17 [[ 9.99743308e-01 -2.17814657e-02 -6.23582797e-03 3.23313354e+02] [ 2.17839686e-02 9.99762646e-01 3.33718324e-04 7.48765918e+00] [ 6.22707900e-03 -4.69473742e-04 9.99980501e-01 -3.17120981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71589822699997 meters 0.08255097240285558 Centerline is valid? [True, True] Translation: X:323.34, Y:7.48, Z:-3.17 [[ 9.99710943e-01 -2.30199253e-02 -6.93640518e-03 3.23341907e+02] [ 2.30230508e-02 9.99734866e-01 3.71058260e-04 7.48043484e+00] [ 6.92602436e-03 -5.30648212e-04 9.99975874e-01 -3.17206246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.74589822699994 meters 0.07743799167413813 Centerline is valid? [True, True] Translation: X:323.37, Y:7.48, Z:-3.17 [[ 9.99716080e-01 -2.25091669e-02 -7.81645676e-03 3.23370819e+02] [ 2.25131106e-02 9.99746461e-01 4.16907192e-04 7.48104868e+00] [ 7.80509074e-03 -5.92761579e-04 9.99969364e-01 -3.17238256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.77589822699997 meters 0.07707987260451626 Centerline is valid? [True, True] Translation: X:323.40, Y:7.48, Z:-3.17 [[ 9.99748971e-01 -2.10686699e-02 -7.62267251e-03 3.23399791e+02] [ 2.10723775e-02 9.99777870e-01 4.06394390e-04 7.47817755e+00] [ 7.61241710e-03 -5.66920207e-04 9.99970864e-01 -3.17181406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.80589822699994 meters 0.07615671117516659 Centerline is valid? [True, True] Translation: X:323.43, Y:7.48, Z:-3.17 [[ 9.99785979e-01 -1.92969211e-02 -7.45815466e-03 3.23429472e+02] [ 1.93004207e-02 9.99813650e-01 3.97539422e-04 7.47614708e+00] [ 7.44909355e-03 -5.41399863e-04 9.99972109e-01 -3.17133283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.835898227 meters 0.07025577908995013 Centerline is valid? [True, True] Translation: X:323.46, Y:7.48, Z:-3.17 [[ 9.99861233e-01 -1.54437320e-02 -6.24554199e-03 3.23459964e+02] [ 1.54461111e-02 9.99880646e-01 3.32872168e-04 7.47831362e+00] [ 6.23965577e-03 -4.29295312e-04 9.99980441e-01 -3.16843616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.86589822699995 meters 0.07217096808377277 Centerline is valid? [True, True] Translation: X:323.49, Y:7.47, Z:-3.17 [[ 9.99893775e-01 -1.35029528e-02 -5.48715084e-03 3.23488989e+02] [ 1.35047595e-02 9.99908764e-01 2.92328162e-04 7.47246124e+00] [ 5.48270292e-03 -3.66399762e-04 9.99984903e-01 -3.16756595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.895898227 meters 0.07200558962713433 Centerline is valid? [True, True] Translation: X:323.52, Y:7.47, Z:-3.17 [[ 9.99913114e-01 -1.23673808e-02 -4.56204747e-03 3.23517471e+02] [ 1.23686171e-02 9.99923476e-01 2.42892944e-04 7.46997407e+00] [ 4.55869441e-03 -2.99298059e-04 9.99989564e-01 -3.16563571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.92589822699995 meters 0.07123398174258579 Centerline is valid? [True, True] Translation: X:323.55, Y:7.47, Z:-3.16 [[ 9.99923726e-01 -1.18859295e-02 -3.35664427e-03 3.23547289e+02] [ 1.18865959e-02 9.99929336e-01 1.78640597e-04 7.46814629e+00] [ 3.35428377e-03 -2.18526045e-04 9.99994350e-01 -3.16352776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.955898227 meters 0.0745483968352463 Centerline is valid? [True, True] Translation: X:323.58, Y:7.46, Z:-3.16 [[ 9.99909746e-01 -1.33280937e-02 -1.69181935e-03 3.23575978e+02] [ 1.33282650e-02 9.99911171e-01 9.00344317e-05 7.46074755e+00] [ 1.69046908e-03 -1.12575323e-04 9.99998565e-01 -3.16080219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.98589822699995 meters 0.07732882832922955 Centerline is valid? [True, True] Translation: X:323.61, Y:7.45, Z:-3.16 [[ 9.99880250e-01 -1.53889057e-02 -1.63302088e-03 3.23605556e+02] [ 1.53890680e-02 9.99881578e-01 8.68928496e-05 7.45458229e+00] [ 1.63149031e-03 -1.12013114e-04 9.99998663e-01 -3.16087109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.015898227 meters 0.08067857571709303 Centerline is valid? [True, True] Translation: X:323.64, Y:7.45, Z:-3.16 [[ 9.99834297e-01 -1.80392329e-02 -2.44241967e-03 3.23635753e+02] [ 1.80396039e-02 9.99837265e-01 1.29959817e-04 7.44763303e+00] [ 2.43967782e-03 -1.73998565e-04 9.99997009e-01 -3.16179380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.04589822699995 meters 0.08858197080192455 Centerline is valid? [True, True] Translation: X:323.66, Y:7.43, Z:-3.16 [[ 9.99700615e-01 -2.41959267e-02 -3.63837216e-03 3.23664739e+02] [ 2.41967905e-02 9.99707196e-01 1.93585541e-04 7.43379610e+00] [ 3.63262285e-03 -2.81564514e-04 9.99993362e-01 -3.16312632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.075898227 meters 0.08029532918793572 Centerline is valid? [True, True] Translation: X:323.70, Y:7.44, Z:-3.16 [[ 9.99625364e-01 -2.71722876e-02 -3.28602074e-03 3.23695852e+02] [ 2.71730082e-02 9.99630730e-01 1.74840576e-04 7.44147518e+00] [ 3.28005650e-03 -2.64066143e-04 9.99994586e-01 -3.16191566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.10589822699995 meters 0.08333318108991596 Centerline is valid? [True, True] Translation: X:323.72, Y:7.43, Z:-3.16 [[ 9.99558449e-01 -2.95788766e-02 -2.82801867e-03 3.23724728e+02] [ 2.95794198e-02 9.99562422e-01 1.50439098e-04 7.43475332e+00] [ 2.82233137e-03 -2.34023823e-04 9.99995990e-01 -3.16140876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.135898227 meters 0.09750153349992068 Centerline is valid? [True, True] Translation: X:323.75, Y:7.41, Z:-3.16 [[ 9.99511979e-01 -3.11676234e-02 -2.09373060e-03 3.23753237e+02] [ 3.11679246e-02 9.99514156e-01 1.11354568e-04 7.41335098e+00] [ 2.08924271e-03 -1.76557462e-04 9.99997802e-01 -3.16080447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.16589822699996 meters 0.08727762811271642 Centerline is valid? [True, True] Translation: X:323.78, Y:7.42, Z:-3.16 [[ 9.99490359e-01 -3.18972303e-02 -1.26026960e-03 3.23783915e+02] [ 3.18973400e-02 9.99491148e-01 6.70132950e-05 7.42211755e+00] [ 1.25749077e-03 -1.07178390e-04 9.99999204e-01 -3.15937086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.195898227 meters 0.08587868607563309 Centerline is valid? [True, True] Translation: X:323.81, Y:7.42, Z:-3.16 [[ 9.99516029e-01 -3.10854235e-02 -1.18517301e-03 3.23813476e+02] [ 3.10855199e-02 9.99516726e-01 6.30068469e-05 7.42044479e+00] [ 1.18264166e-03 -9.98180727e-05 9.99999296e-01 -3.15981242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.22589822699996 meters 0.09836361836442663 Centerline is valid? [True, True] Translation: X:323.84, Y:7.40, Z:-3.16 [[ 9.99554549e-01 -2.97955960e-02 -1.71075345e-03 3.23841215e+02] [ 2.97957949e-02 9.99556003e-01 9.08911334e-05 7.40024895e+00] [ 1.70728572e-03 -1.41823905e-04 9.99998533e-01 -3.16151707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.255898227 meters 0.08977163011411378 Centerline is valid? [True, True] Translation: X:323.87, Y:7.40, Z:-3.17 [[ 9.99610439e-01 -2.75346809e-02 -4.56205552e-03 3.23871714e+02] [ 2.75360719e-02 9.99620781e-01 2.42366974e-04 7.40446248e+00] [ 4.55365201e-03 -3.67893646e-04 9.99989564e-01 -3.16663455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.28589822699996 meters 0.08079440817210407 Centerline is valid? [True, True] Translation: X:323.90, Y:7.41, Z:-3.17 [[ 9.99631928e-01 -2.62907708e-02 -6.69350447e-03 3.23901830e+02] [ 2.62937366e-02 9.99654197e-01 3.55453092e-04 7.41254738e+00] [ 6.68184470e-03 -5.31319503e-04 9.99977535e-01 -3.16900075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.315898227 meters 0.08432927304628607 Centerline is valid? [True, True] Translation: X:323.93, Y:7.40, Z:-3.17 [[ 9.99667046e-01 -2.45835290e-02 -7.83888207e-03 3.23930184e+02] [ 2.45875424e-02 9.99697594e-01 4.16013244e-04 7.40495414e+00] [ 7.82628448e-03 -6.08613576e-04 9.99969189e-01 -3.17111739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.34589822699996 meters 0.07832301437861085 Centerline is valid? [True, True] Translation: X:323.96, Y:7.41, Z:-3.17 [[ 9.99715696e-01 -2.21788038e-02 -8.75378309e-03 3.23960558e+02] [ 2.21837169e-02 9.99753803e-01 4.64547747e-04 7.40870671e+00] [ 8.74132482e-03 -6.58607120e-04 9.99961577e-01 -3.17168473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.375898227 meters 0.07388593881412409 Centerline is valid? [True, True] Translation: X:323.99, Y:7.41, Z:-3.17 [[ 9.99807467e-01 -1.70539142e-02 -9.70530093e-03 3.23989953e+02] [ 1.70597120e-02 9.99854340e-01 5.14908102e-04 7.40679555e+00] [ 9.69510606e-03 -6.80378604e-04 9.99952770e-01 -3.17279908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.40589822699997 meters 0.08718739303070443 Centerline is valid? [True, True] Translation: X:324.02, Y:7.39, Z:-3.18 [[ 9.99841934e-01 -1.45225145e-02 -1.02568698e-02 3.24018138e+02] [ 1.45288561e-02 9.99894303e-01 5.44034575e-04 7.38543504e+00] [ 1.02478850e-02 -6.92969167e-04 9.99947249e-01 -3.17694619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43589822699994 meters 0.06982655908096835 Centerline is valid? [True, True] Translation: X:324.05, Y:7.40, Z:-3.17 [[ 9.99884268e-01 -1.14438940e-02 -1.00243533e-02 3.24049261e+02] [ 1.14497973e-02 9.99934308e-01 5.31701467e-04 7.40366211e+00] [ 1.00176101e-02 -6.46416746e-04 9.99949614e-01 -3.17370090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.46589822699997 meters 0.06350039994599349 Centerline is valid? [True, True] Translation: X:324.08, Y:7.41, Z:-3.17 [[ 9.99960746e-01 -3.70131179e-03 -8.05026843e-03 3.24079257e+02] [ 3.70486812e-03 9.99993046e-01 4.26897088e-04 7.40554783e+00] [ 8.04863237e-03 -4.56705514e-04 9.99967505e-01 -3.16996133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49589822699994 meters 0.060629093547488494 Centerline is valid? [True, True] Translation: X:324.11, Y:7.40, Z:-3.17 [[ 9.99973559e-01 7.06052880e-04 -7.23763763e-03 3.24108131e+02] [-7.03294944e-04 9.99999679e-01 3.83592808e-04 7.40482969e+00] [ 7.23790615e-03 -3.78492471e-04 9.99973734e-01 -3.16824092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.52589822699997 meters 0.052511307177694755 Centerline is valid? [True, True] Translation: X:324.14, Y:7.41, Z:-3.17 [[ 9.99963617e-01 4.84101337e-03 -7.02351534e-03 3.24139343e+02] [-4.83851749e-03 9.99988225e-01 3.72308346e-04 7.41090840e+00] [ 7.02523499e-03 -3.38311398e-04 9.99975266e-01 -3.16705122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55589822699994 meters 0.05217990528574829 Centerline is valid? [True, True] Translation: X:324.17, Y:7.41, Z:-3.17 [[ 9.99937637e-01 8.86513271e-03 -6.79200291e-03 3.24168854e+02] [-8.86289191e-03 9.99960659e-01 3.59945605e-04 7.40685532e+00] [ 6.79492668e-03 -2.99726370e-04 9.99976869e-01 -3.16741520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.585898227 meters 0.044907927251907814 Centerline is valid? [True, True] Translation: X:324.20, Y:7.41, Z:-3.17 [[ 9.99852822e-01 1.61280150e-02 -5.84995488e-03 3.24197951e+02] [-1.61264772e-02 9.99869912e-01 3.09956452e-04 7.40905404e+00] [ 5.85419285e-03 -2.15571669e-04 9.99982841e-01 -3.16660091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61589822699995 meters 0.03874573383207749 Centerline is valid? [True, True] Translation: X:324.23, Y:7.41, Z:-3.16 [[ 9.99800581e-01 1.92365475e-02 -5.36227131e-03 3.24228402e+02] [-1.92353004e-02 9.99814944e-01 2.84055861e-04 7.41299501e+00] [ 5.36674324e-03 -1.80854316e-04 9.99985583e-01 -3.16445524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.645898227 meters 0.03468035126126348 Centerline is valid? [True, True] Translation: X:324.26, Y:7.41, Z:-3.16 [[ 9.99738455e-01 2.24441250e-02 -4.39133118e-03 3.24258107e+02] [-2.24433200e-02 9.99748090e-01 2.32521384e-04 7.41476578e+00] [ 4.39544370e-03 -1.33904518e-04 9.99990331e-01 -3.16268346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67589822699995 meters 0.02940158383419883 Centerline is valid? [True, True] Translation: X:324.29, Y:7.42, Z:-3.16 [[ 9.99591674e-01 2.84766794e-02 -2.35896254e-03 3.24288007e+02] [-2.84764639e-02 9.99594455e-01 1.24874013e-04 7.41785303e+00] [ 2.36156187e-03 -5.76481115e-05 9.99997210e-01 -3.15941397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.705898227 meters 0.024975852905544275 Centerline is valid? [True, True] Translation: X:324.32, Y:7.42, Z:-3.16 [[ 9.99490846e-01 3.18713111e-02 -1.50596425e-03 3.24317986e+02] [-3.18712272e-02 9.99491980e-01 7.96856203e-05 7.42199537e+00] [ 1.50773887e-03 -3.16481194e-05 9.99998863e-01 -3.15773108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73589822699995 meters 0.0215944835064529 Centerline is valid? [True, True] Translation: X:324.35, Y:7.42, Z:-3.16 [[ 9.99371416e-01 3.54207554e-02 -1.46378300e-03 3.24347562e+02] [-3.54206800e-02 9.99372488e-01 7.74042062e-05 7.42497130e+00] [ 1.46560618e-03 -2.55073618e-05 9.99998926e-01 -3.15764324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.765898227 meters 0.016431479421297326 Centerline is valid? [True, True] Translation: X:324.38, Y:7.43, Z:-3.16 [[ 9.99165142e-01 4.08145187e-02 -1.78700576e-03 3.24377579e+02] [-4.08144150e-02 9.99166740e-01 9.44540705e-05 7.43043262e+00] [ 1.78937182e-03 -2.14396200e-05 9.99998399e-01 -3.15851770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79589822699995 meters 0.015148480173506592 Centerline is valid? [True, True] Translation: X:324.41, Y:7.43, Z:-3.16 [[ 9.99103330e-01 4.23072312e-02 -1.62289577e-03 3.24406499e+02] [-4.23071478e-02 9.99104648e-01 8.57060940e-05 7.43121320e+00] [ 1.62506870e-03 -1.69691527e-05 9.99998679e-01 -3.15846557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.825898227 meters 0.01388260196655889 Centerline is valid? [True, True] Translation: X:324.44, Y:7.43, Z:-3.16 [[ 9.99068635e-01 4.31363566e-02 -1.05661202e-03 3.24435738e+02] [-4.31363218e-02 9.99069194e-01 5.57509202e-05 7.43247022e+00] [ 1.05803341e-03 -1.01206398e-05 9.99999440e-01 -3.15780276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85589822699995 meters 0.01388260196655889 Centerline is valid? [True, True] Translation: X:324.46, Y:7.43, Z:-3.16 [[ 9.99070680e-01 4.30889822e-02 -1.05661466e-03 3.24464029e+02] [-4.30889474e-02 9.99071238e-01 5.57008214e-05 7.43106434e+00] [ 1.05803341e-03 -1.01206440e-05 9.99999440e-01 -3.15780155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.885898227 meters 0.01759138942917712 Centerline is valid? [True, True] Translation: X:324.49, Y:7.43, Z:-3.16 [[ 9.99050836e-01 4.35246284e-02 -1.74160840e-03 3.24491485e+02] [-4.35245347e-02 9.99052354e-01 9.16948314e-05 7.43268344e+00] [ 1.74394895e-03 -1.58051028e-05 9.99998479e-01 -3.15910290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91589822699996 meters 0.014139803283681248 Centerline is valid? [True, True] Translation: X:324.52, Y:7.43, Z:-3.16 [[ 9.99051715e-01 4.34371253e-02 -2.98122656e-03 3.24519721e+02] [-4.34368508e-02 9.99056162e-01 1.56783069e-04 7.43114289e+00] [ 2.98522297e-03 -2.71393009e-05 9.99995544e-01 -3.16116881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.945898227 meters 0.014904853855742266 Centerline is valid? [True, True] Translation: X:324.55, Y:7.43, Z:-3.16 [[ 9.99074214e-01 4.27492766e-02 -4.81811852e-03 3.24548338e+02] [-4.27485527e-02 9.99085831e-01 2.53162643e-04 7.42937608e+00] [ 4.82453646e-03 -4.69606747e-05 9.99988361e-01 -3.16490993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97589822699996 meters 0.017553706853801965 Centerline is valid? [True, True] Translation: X:324.58, Y:7.43, Z:-3.17 [[ 9.99176123e-01 3.98835303e-02 -7.50857127e-03 3.24576961e+02] [-3.98816940e-02 9.99204331e-01 3.94182723e-04 7.42588016e+00] [ 7.51831834e-03 -9.44034233e-05 9.99971733e-01 -3.16877520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.005898227 meters 0.02056772817494341 Centerline is valid? [True, True] Translation: X:324.60, Y:7.42, Z:-3.17 [[ 9.99251912e-01 3.79618053e-02 -7.38355889e-03 3.24604691e+02] [-3.79599804e-02 9.99279185e-01 3.87197331e-04 7.42054854e+00] [ 7.39293542e-03 -1.06627922e-04 9.99972666e-01 -3.16911352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03589822699996 meters 0.02236406445556344 Centerline is valid? [True, True] Translation: X:324.63, Y:7.42, Z:-3.17 [[ 9.99350329e-01 3.53611255e-02 -6.96492065e-03 3.24633552e+02] [-3.53594407e-02 9.99374593e-01 3.64930754e-04 7.41691247e+00] [ 6.97346910e-03 -1.18417971e-04 9.99975678e-01 -3.16710312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.065898227 meters 0.025152093162046096 Centerline is valid? [True, True] Translation: X:324.66, Y:7.41, Z:-3.17 [[ 9.99450195e-01 3.25150942e-02 -6.48657518e-03 3.24662496e+02] [-3.25135744e-02 9.99471236e-01 3.39648944e-04 7.41140309e+00] [ 6.49418903e-03 -1.28560459e-04 9.99978904e-01 -3.16629123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09589822699996 meters 0.03003346718040198 Centerline is valid? [True, True] Translation: X:324.69, Y:7.40, Z:-3.17 [[ 9.99627579e-01 2.62393395e-02 -7.49670664e-03 3.24691828e+02] [-2.62371337e-02 9.99655670e-01 3.92453063e-04 7.40254682e+00] [ 7.50442300e-03 -1.95614811e-04 9.99971822e-01 -3.16741136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.125898227 meters 0.03634785798965931 Centerline is valid? [True, True] Translation: X:324.72, Y:7.39, Z:-3.17 [[ 9.99693397e-01 2.33314398e-02 -8.29192504e-03 3.24720012e+02] [-2.33286436e-02 9.99727756e-01 4.33796352e-04 7.39102142e+00] [ 8.29978871e-03 -2.40223985e-04 9.99965527e-01 -3.16958182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15589822699997 meters 0.03931339016619593 Centerline is valid? [True, True] Translation: X:324.75, Y:7.38, Z:-3.17 [[ 9.99745773e-01 2.10013285e-02 -8.20572507e-03 3.24747945e+02] [-2.09985147e-02 9.99779415e-01 4.28928962e-04 7.38284962e+00] [ 8.21292308e-03 -2.56511878e-04 9.99966240e-01 -3.17015345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.18589822699994 meters 0.03760204139134316 Centerline is valid? [True, True] Translation: X:324.78, Y:7.38, Z:-3.17 [[ 9.99798148e-01 1.86612080e-02 -7.44460676e-03 3.24776958e+02] [-1.86588291e-02 9.99825833e-01 3.88886372e-04 7.37661441e+00] [ 7.45056725e-03 -2.49900230e-04 9.99972213e-01 -3.16678908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21589822699997 meters 0.03736363291224011 Centerline is valid? [True, True] Translation: X:324.80, Y:7.37, Z:-3.17 [[ 9.99791511e-01 1.93037751e-02 -6.65565968e-03 3.24804298e+02] [-1.93018904e-02 9.99813641e-01 3.47294220e-04 7.37154257e+00] [ 6.66112343e-03 -2.18754999e-04 9.99977791e-01 -3.16501371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.24589822699994 meters 0.03496524438942733 Centerline is valid? [True, True] Translation: X:324.83, Y:7.37, Z:-3.16 [[ 9.99759071e-01 2.12215571e-02 -5.60761761e-03 3.24833420e+02] [-2.12202505e-02 9.99774782e-01 2.92412708e-04 7.36872785e+00] [ 5.61256013e-03 -1.73347207e-04 9.99984234e-01 -3.16276740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.27589822699997 meters 0.03933684426174535 Centerline is valid? [True, True] Translation: X:324.86, Y:7.36, Z:-3.16 [[ 9.99623346e-01 2.71078526e-02 -4.28142433e-03 3.24862386e+02] [-2.71071451e-02 9.99632509e-01 2.23196940e-04 7.35994280e+00] [ 4.28590133e-03 -1.07055681e-04 9.99990810e-01 -3.16100269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.30589822699994 meters 0.028526504621299433 Centerline is valid? [True, True] Translation: X:324.89, Y:7.36, Z:-3.16 [[ 9.99513259e-01 3.10229430e-02 -3.28958592e-03 3.24892648e+02] [-3.10225467e-02 9.99518670e-01 1.71455631e-04 7.35913301e+00] [ 3.29332160e-03 -6.93208436e-05 9.99994575e-01 -3.15986907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.335898227 meters 0.02419124758977969 Centerline is valid? [True, True] Translation: X:324.92, Y:7.36, Z:-3.16 [[ 9.99389045e-01 3.48872227e-02 -2.10211634e-03 3.24921982e+02] [-3.48870694e-02 9.99391255e-01 1.09519504e-04 7.35932277e+00] [ 2.10465752e-03 -3.61159134e-05 9.99997785e-01 -3.15778468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.36589822699995 meters 0.01376684310583954 Centerline is valid? [True, True] Translation: X:324.95, Y:7.37, Z:-3.16 [[ 9.99062063e-01 4.32941564e-02 -7.81848887e-04 3.24952339e+02] [-4.32941378e-02 9.99062368e-01 4.07252430e-05 7.36506273e+00] [ 7.82878965e-04 -6.83757183e-06 9.99999694e-01 -3.15504584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.395898227 meters 0.011234585581662616 Centerline is valid? [True, True] Translation: X:324.98, Y:7.36, Z:-3.16 [[ 9.98877850e-01 4.73532510e-02 -8.42464985e-04 3.24979870e+02] [-4.73532308e-02 9.98878206e-01 4.38365083e-05 7.36351592e+00] [ 8.43595714e-04 -3.89387822e-06 9.99999644e-01 -3.15568099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.42589822699995 meters 0.009466362688109868 Centerline is valid? [True, True] Translation: X:325.01, Y:7.36, Z:-3.16 [[ 9.98691752e-01 5.11202830e-02 -1.22498445e-03 3.25008993e+02] [-5.11202433e-02 9.98692504e-01 6.36817851e-05 7.36388173e+00] [ 1.22663822e-03 -9.76970173e-07 9.99999248e-01 -3.15621646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.455898227 meters 0.010163704045303855 Centerline is valid? [True, True] Translation: X:325.04, Y:7.36, Z:-3.16 [[ 9.98479335e-01 5.51072522e-02 -1.48623233e-03 3.25036354e+02] [-5.51071984e-02 9.98480441e-01 7.71599880e-05 7.36387913e+00] [ 1.48822599e-03 4.85944673e-06 9.99998893e-01 -3.15704535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.48589822699995 meters 0.02103260808581052 Centerline is valid? [True, True] Translation: X:325.07, Y:7.37, Z:-3.16 [[ 9.97979837e-01 6.35190645e-02 -1.25452160e-03 3.25066041e+02] [-6.35190329e-02 9.97980625e-01 6.50529774e-05 7.36790793e+00] [ 1.25612035e-03 1.47644390e-05 9.99999211e-01 -3.15698987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.515898227 meters 0.02186510568326395 Centerline is valid? [True, True] Translation: X:325.09, Y:7.37, Z:-3.16 [[ 9.97711430e-01 6.76070846e-02 -1.08832895e-03 3.25094850e+02] [-6.76070633e-02 9.97712023e-01 5.63885835e-05 7.37173709e+00] [ 1.08965115e-03 1.73191900e-05 9.99999406e-01 -3.15674935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.54589822699995 meters 0.023694208577717868 Centerline is valid? [True, True] Translation: X:325.12, Y:7.37, Z:-3.16 [[ 9.97461024e-01 7.12060535e-02 -1.09712140e-03 3.25124730e+02] [-7.12060340e-02 9.97461627e-01 5.68172268e-05 7.36970246e+00] [ 1.09838223e-03 2.14486947e-05 9.99999397e-01 -3.15683452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.575898227 meters 0.027753270606684366 Centerline is valid? [True, True] Translation: X:325.16, Y:7.37, Z:-3.16 [[ 9.97084081e-01 7.62904975e-02 -1.75954718e-03 3.25155401e+02] [-7.62904555e-02 9.97085632e-01 9.11209976e-05 7.36750832e+00] [ 1.76137088e-03 4.33813597e-05 9.99998448e-01 -3.15828873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.60589822699995 meters 0.03129810036948732 Centerline is valid? [True, True] Translation: X:325.18, Y:7.37, Z:-3.16 [[ 9.96985996e-01 7.75414384e-02 -2.49984706e-03 3.25182912e+02] [-7.75413578e-02 9.96989128e-01 1.29309615e-04 7.36790133e+00] [ 2.50234720e-03 6.49216603e-05 9.99996867e-01 -3.16001293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.635898227 meters 0.03502927314472229 Centerline is valid? [True, True] Translation: X:325.21, Y:7.37, Z:-3.16 [[ 9.96920978e-01 7.83519132e-02 -3.08892145e-03 3.25210585e+02] [-7.83517946e-02 9.96925760e-01 1.59577011e-04 7.36776864e+00] [ 3.09192853e-03 8.29368693e-05 9.99995217e-01 -3.16183370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.66589822699996 meters 0.0340567627638546 Centerline is valid? [True, True] Translation: X:325.24, Y:7.36, Z:-3.16 [[ 9.96877294e-01 7.88341914e-02 -4.56417511e-03 3.25238547e+02] [-7.88339384e-02 9.96887734e-01 2.35581136e-04 7.35594639e+00] [ 4.56854204e-03 1.24966414e-04 9.99989556e-01 -3.16492776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.695898227 meters 0.029916859548239323 Centerline is valid? [True, True] Translation: X:325.27, Y:7.34, Z:-3.17 [[ 9.96903399e-01 7.84533743e-02 -5.35538329e-03 3.25266956e+02] [-7.84530220e-02 9.96917773e-01 2.76160277e-04 7.34405302e+00] [ 5.36054249e-03 1.44840884e-04 9.99985622e-01 -3.16534883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.72589822699996 meters 0.029394648302313788 Centerline is valid? [True, True] Translation: X:325.29, Y:7.34, Z:-3.17 [[ 9.96923384e-01 7.81496775e-02 -6.03275429e-03 3.25294990e+02] [-7.81492266e-02 9.96941624e-01 3.10796160e-04 7.33715089e+00] [ 6.03859248e-03 1.61615122e-04 9.99981754e-01 -3.16628242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.755898227 meters 0.03328889953619646 Centerline is valid? [True, True] Translation: X:325.32, Y:7.33, Z:-3.17 [[ 9.96759764e-01 8.02414224e-02 -5.59339859e-03 3.25323598e+02] [-8.02410688e-02 9.96775445e-01 2.87957794e-04 7.33241135e+00] [ 5.59846851e-03 1.61795538e-04 9.99984315e-01 -3.16505574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.78589822699996 meters 0.03397718398626434 Centerline is valid? [True, True] Translation: X:325.35, Y:7.33, Z:-3.16 [[ 9.96537080e-01 8.30125447e-02 -4.77137726e-03 3.25353350e+02] [-8.30123197e-02 9.96548491e-01 2.45522410e-04 7.32821446e+00] [ 4.77529025e-03 1.51410909e-04 9.99988587e-01 -3.16261497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.815898227 meters 0.046549235445402674 Centerline is valid? [True, True] Translation: X:325.38, Y:7.34, Z:-3.16 [[ 9.95850619e-01 9.09012018e-02 -4.30315489e-03 3.25382821e+02] [-9.09010922e-02 9.95859901e-01 2.21452254e-04 7.33859632e+00] [ 4.30546968e-03 1.70628115e-04 9.99990717e-01 -3.16215853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.84589822699996 meters 0.04512935206174464 Centerline is valid? [True, True] Translation: X:325.41, Y:7.33, Z:-3.16 [[ 9.95506293e-01 9.45934901e-02 -4.39224620e-03 3.25413188e+02] [-9.45934117e-02 9.95515964e-01 2.26037389e-04 7.33397689e+00] [ 4.39393288e-03 1.90455910e-04 9.99990328e-01 -3.16207996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.875898227 meters 0.05866460244047568 Centerline is valid? [True, True] Translation: X:325.44, Y:7.35, Z:-3.16 [[ 9.95139521e-01 9.83607631e-02 -4.74271463e-03 3.25442851e+02] [-9.83607148e-02 9.95150798e-01 2.43996868e-04 7.34864523e+00] [ 4.74371597e-03 2.23685875e-04 9.99988723e-01 -3.16376149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.90589822699997 meters 0.057009744966538295 Centerline is valid? [True, True] Translation: X:325.47, Y:7.34, Z:-3.16 [[ 9.94807285e-01 1.01663582e-01 -4.79398077e-03 3.25473051e+02] [-1.01663571e-01 9.94818806e-01 2.46600394e-04 7.34440061e+00] [ 4.79421251e-03 2.42053335e-04 9.99988478e-01 -3.16270064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93589822699994 meters 0.0576636968850722 Centerline is valid? [True, True] Translation: X:325.50, Y:7.34, Z:-3.16 [[ 9.94529681e-01 1.04358136e-01 -4.48247173e-03 3.25503694e+02] [-1.04358154e-01 9.94539754e-01 2.30576217e-04 7.34344335e+00] [ 4.48205883e-03 2.38467584e-04 9.99989927e-01 -3.16201968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.96589822699997 meters 0.0645489214366599 Centerline is valid? [True, True] Translation: X:325.53, Y:7.35, Z:-3.16 [[ 9.94312248e-01 1.06460914e-01 -3.03778179e-03 3.25533845e+02] [-1.06460932e-01 9.94316874e-01 1.56223438e-04 7.35226140e+00] [ 3.03714938e-03 1.68070204e-04 9.99995374e-01 -3.16042201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99589822699994 meters 0.056212989584906066 Centerline is valid? [True, True] Translation: X:325.56, Y:7.34, Z:-3.16 [[ 9.94348413e-01 1.06145882e-01 -2.07031335e-03 3.25561753e+02] [-1.06145890e-01 9.94350561e-01 1.06372702e-04 7.34066570e+00] [ 2.06990826e-03 1.13983726e-04 9.99997851e-01 -3.15856456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.02589822699997 meters 0.057795130653183986 Centerline is valid? [True, True] Translation: X:325.59, Y:7.34, Z:-3.16 [[ 9.94476295e-01 1.04951608e-01 -1.43500759e-03 3.25589782e+02] [-1.04951611e-01 9.94477327e-01 7.36469854e-05 7.34124460e+00] [ 1.43481189e-03 7.73661769e-05 9.99998968e-01 -3.15816714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05589822699994 meters 0.054660574810961114 Centerline is valid? [True, True] Translation: X:325.62, Y:7.33, Z:-3.16 [[ 9.94884893e-01 1.01012831e-01 -6.76463154e-04 3.25619047e+02] [-1.01012831e-01 9.94885122e-01 3.47073523e-05 7.33330721e+00] [ 6.76509016e-04 3.38016377e-05 9.99999771e-01 -3.15753700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.085898227 meters 0.05351619484343468 Centerline is valid? [True, True] Translation: X:325.65, Y:7.33, Z:-3.16 [[ 9.95118644e-01 9.86857706e-02 -5.93299797e-05 3.25648275e+02] [-9.86857705e-02 9.95118646e-01 3.04361890e-06 7.32901533e+00] [ 5.93407309e-05 2.82626286e-06 9.99999998e-01 -3.15680803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11589822699995 meters 0.051099401852879686 Centerline is valid? [True, True] Translation: X:325.68, Y:7.32, Z:-3.16 [[ 9.95309932e-01 9.67359686e-02 5.39603667e-04 3.25677628e+02] [-9.67359677e-02 9.95310078e-01 -2.76592753e-05 7.32350394e+00] [-5.39748615e-04 -2.46695314e-05 9.99999854e-01 -3.15624844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.145898227 meters 0.04868033664510414 Centerline is valid? [True, True] Translation: X:325.71, Y:7.32, Z:-3.16 [[ 9.95605850e-01 9.36427738e-02 -1.52510675e-04 3.25706949e+02] [-9.36427737e-02 9.95605861e-01 7.81649059e-06 7.31533057e+00] [ 1.52572480e-04 6.49937886e-06 9.99999988e-01 -3.15743186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17589822699995 meters 0.04776177827436035 Centerline is valid? [True, True] Translation: X:325.73, Y:7.31, Z:-3.16 [[ 9.95706491e-01 9.25663234e-02 -2.43311792e-04 3.25734492e+02] [-9.25663231e-02 9.95706521e-01 1.24579678e-05 7.31005525e+00] [ 2.43420326e-04 1.01179986e-05 9.99999970e-01 -3.15833236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.205898227 meters 0.04665999723447823 Centerline is valid? [True, True] Translation: X:325.76, Y:7.30, Z:-3.16 [[ 9.95768450e-01 9.18961984e-02 -5.32535697e-04 3.25763315e+02] [-9.18961970e-02 9.95768592e-01 2.72388877e-05 7.30461810e+00] [ 5.32785472e-04 2.18143803e-05 9.99999858e-01 -3.15887096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23589822699995 meters 0.04324432879654926 Centerline is valid? [True, True] Translation: X:325.79, Y:7.29, Z:-3.16 [[ 9.95856582e-01 9.09207570e-02 -1.75620844e-03 3.25791868e+02] [-9.09207399e-02 9.95858128e-01 8.97417450e-05 7.29331077e+00] [ 1.75709383e-03 7.03058632e-05 9.99998454e-01 -3.16101103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.265898227 meters 0.04463482184666674 Centerline is valid? [True, True] Translation: X:325.82, Y:7.29, Z:-3.16 [[ 9.95857654e-01 9.08872155e-02 -2.65447071e-03 3.25819557e+02] [-9.08871767e-02 9.95861186e-01 1.35478580e-04 7.29006844e+00] [ 2.65579762e-03 1.06339968e-04 9.99996468e-01 -3.16259923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29589822699995 meters 0.04707570311333834 Centerline is valid? [True, True] Translation: X:325.85, Y:7.29, Z:-3.16 [[ 9.95829768e-01 9.11739123e-02 -3.22346674e-03 3.25847407e+02] [-9.11738572e-02 9.95834977e-01 1.64331539e-04 7.28746881e+00] [ 3.22502368e-03 1.30249658e-04 9.99994791e-01 -3.16391871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.325898227 meters 0.04791740627225424 Centerline is valid? [True, True] Translation: X:325.88, Y:7.28, Z:-3.16 [[ 9.95690047e-01 9.26613594e-02 -3.89898170e-03 3.25876766e+02] [-9.26612906e-02 9.95697668e-01 1.98677690e-04 7.27770574e+00] [ 3.90061673e-03 1.63463278e-04 9.99992379e-01 -3.16417039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35589822699995 meters 0.04890789725159523 Centerline is valid? [True, True] Translation: X:325.91, Y:7.27, Z:-3.16 [[ 9.95578555e-01 9.38341207e-02 -4.30108507e-03 3.25905754e+02] [-9.38340485e-02 9.95587828e-01 2.19019730e-04 7.27373422e+00] [ 4.30265947e-03 1.85536879e-04 9.99990726e-01 -3.16481897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.385898227 meters 0.04931019753376502 Centerline is valid? [True, True] Translation: X:325.94, Y:7.27, Z:-3.17 [[ 9.95407636e-01 9.56178300e-02 -4.56828830e-03 3.25935350e+02] [-9.56177678e-02 9.95418097e-01 2.32519583e-04 7.26875717e+00] [ 4.56958987e-03 2.05357761e-04 9.99989538e-01 -3.16509508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41589822699996 meters 0.0543338786166905 Centerline is valid? [True, True] Translation: X:325.97, Y:7.27, Z:-3.17 [[ 9.95178536e-01 9.79466287e-02 -5.11259954e-03 3.25965025e+02] [-9.79465818e-02 9.95191640e-01 2.60164685e-04 7.26997393e+00] [ 5.11349857e-03 2.41851339e-04 9.99986897e-01 -3.16593051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.445898227 meters 0.0590961601750762 Centerline is valid? [True, True] Translation: X:326.00, Y:7.27, Z:-3.17 [[ 9.94518528e-01 1.04423703e-01 -5.34670919e-03 3.25995708e+02] [-1.04423745e-01 9.94532859e-01 2.72106477e-04 7.26837073e+00] [ 5.34589234e-03 2.87708462e-04 9.99985669e-01 -3.16621313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47589822699996 meters 0.06437122446930249 Centerline is valid? [True, True] Translation: X:326.03, Y:7.27, Z:-3.17 [[ 9.94115373e-01 1.08184881e-01 -5.53681494e-03 3.26025354e+02] [-1.08184984e-01 9.94130741e-01 2.81719579e-04 7.27250802e+00] [ 5.53479574e-03 3.18938472e-04 9.99984632e-01 -3.16631049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.505898227 meters 0.06437417562803921 Centerline is valid? [True, True] Translation: X:326.06, Y:7.27, Z:-3.17 [[ 9.93386474e-01 1.14695591e-01 -5.31369920e-03 3.26055733e+02] [-1.14695779e-01 9.93400627e-01 2.70348565e-04 7.26950129e+00] [ 5.30963990e-03 3.40898262e-04 9.99985846e-01 -3.16510270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53589822699996 meters 0.07319915544278116 Centerline is valid? [True, True] Translation: X:326.09, Y:7.28, Z:-3.16 [[ 9.93099771e-01 1.17175000e-01 -4.78167510e-03 3.26085936e+02] [-1.17175181e-01 9.93111231e-01 2.43234353e-04 7.27904623e+00] [ 4.77723623e-03 3.18737664e-04 9.99988538e-01 -3.16430360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.565898227 meters 0.08037393390238888 Centerline is valid? [True, True] Translation: X:326.12, Y:7.28, Z:-3.16 [[ 9.92901871e-01 1.18876896e-01 -3.76270078e-03 3.26115164e+02] [-1.18877021e-01 9.92908967e-01 1.91317260e-04 7.28428672e+00] [ 3.75876254e-03 2.57339394e-04 9.99992903e-01 -3.16310150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59589822699996 meters 0.08185671659216125 Centerline is valid? [True, True] Translation: X:326.14, Y:7.29, Z:-3.16 [[ 9.92597439e-01 1.21430942e-01 -2.20226141e-03 3.26144703e+02] [-1.21430991e-01 9.92599870e-01 1.11977562e-04 7.28818774e+00] [ 2.19956193e-03 1.56274144e-04 9.99997569e-01 -3.16003565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.625898227 meters 0.07474749752616654 Centerline is valid? [True, True] Translation: X:326.17, Y:7.28, Z:-3.16 [[ 9.92521729e-01 1.22054323e-01 -1.83318022e-03 3.26173340e+02] [-1.22054358e-01 9.92523413e-01 9.31283496e-05 7.27925736e+00] [ 1.83084101e-03 1.31315724e-04 9.99998315e-01 -3.15978053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65589822699997 meters 0.08469960506465421 Centerline is valid? [True, True] Translation: X:326.20, Y:7.29, Z:-3.16 [[ 9.92495551e-01 1.22268721e-01 -1.71485550e-03 3.26202249e+02] [-1.22268752e-01 9.92497025e-01 8.70022359e-05 7.29238509e+00] [ 1.71262664e-03 1.23323910e-04 9.99998526e-01 -3.16042882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.68589822699994 meters 0.07463545149111238 Centerline is valid? [True, True] Translation: X:326.23, Y:7.28, Z:-3.16 [[ 9.92665703e-01 1.20891277e-01 -3.19545762e-04 3.26231436e+02] [-1.20891278e-01 9.92665754e-01 1.62050841e-05 7.28134862e+00] [ 3.19161188e-04 2.25440644e-05 9.99999949e-01 -3.15833296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71589822699997 meters 0.07294762725867107 Centerline is valid? [True, True] Translation: X:326.26, Y:7.28, Z:-3.16 [[ 9.92800153e-01 1.19782534e-01 9.25445670e-06 3.26260768e+02] [-1.19782534e-01 9.92800153e-01 -4.68091115e-07 7.27957835e+00] [-9.24389517e-06 -6.43801341e-07 1.00000000e+00 -3.15753897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.74589822699994 meters 0.07294762725867107 Centerline is valid? [True, True] Translation: X:326.29, Y:7.28, Z:-3.16 [[ 9.92808405e-01 1.19714123e-01 9.25458870e-06 3.26288298e+02] [-1.19714123e-01 9.92808405e-01 -4.65484459e-07 7.27830874e+00] [-9.24375851e-06 -6.45768085e-07 1.00000000e+00 -3.15753779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.77589822699997 meters 0.07030921306310402 Centerline is valid? [True, True] Translation: X:326.32, Y:7.28, Z:-3.16 [[ 9.92951695e-01 1.18519488e-01 -2.48907782e-04 3.26317968e+02] [-1.18519489e-01 9.92951726e-01 1.25943379e-05 7.27526655e+00] [ 2.48646087e-04 1.69948539e-05 9.99999969e-01 -3.15804823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.80589822699994 meters 0.06967910398313393 Centerline is valid? [True, True] Translation: X:326.35, Y:7.28, Z:-3.16 [[ 9.93217466e-01 1.16260116e-01 -1.62795357e-03 3.26347324e+02] [-1.16260137e-01 9.93218795e-01 8.23325731e-05 7.27549662e+00] [ 1.62648607e-03 1.07491954e-04 9.99998671e-01 -3.16096970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.835898227 meters 0.06770792021264296 Centerline is valid? [True, True] Translation: X:326.38, Y:7.27, Z:-3.16 [[ 9.93375447e-01 1.14879842e-01 -2.80072441e-03 3.26376619e+02] [-1.14879898e-01 9.93379378e-01 1.41579133e-04 7.27243967e+00] [ 2.79844646e-03 1.81105699e-04 9.99996068e-01 -3.16305838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.86589822699995 meters 0.06921278564896609 Centerline is valid? [True, True] Translation: X:326.41, Y:7.27, Z:-3.17 [[ 9.93550407e-01 1.13326910e-01 -3.82113836e-03 3.26405392e+02] [-1.13327002e-01 9.93557725e-01 1.93029349e-04 7.27362696e+00] [ 3.81839696e-03 2.41253767e-04 9.99992681e-01 -3.16534669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.895898227 meters 0.06420189013342995 Centerline is valid? [True, True] Translation: X:326.43, Y:7.27, Z:-3.17 [[ 9.93746943e-01 1.11577570e-01 -4.17842618e-03 3.26434943e+02] [-1.11577665e-01 9.93755694e-01 2.11028270e-04 7.26579783e+00] [ 4.17588083e-03 2.56510339e-04 9.99991248e-01 -3.16567674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.92589822699995 meters 0.0630523244299128 Centerline is valid? [True, True] Translation: X:326.46, Y:7.26, Z:-3.17 [[ 9.94140707e-01 1.08025573e-01 -3.83811194e-03 3.26464039e+02] [-1.08025627e-01 9.94148091e-01 1.93789275e-04 7.26186278e+00] [ 3.83658585e-03 2.21960643e-04 9.99992616e-01 -3.16541958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.955898227 meters 0.060608548117079095 Centerline is valid? [True, True] Translation: X:326.49, Y:7.26, Z:-3.17 [[ 9.94324520e-01 1.06315945e-01 -3.95842572e-03 3.26493192e+02] [-1.06315989e-01 9.94332374e-01 1.99772912e-04 7.25545020e+00] [ 3.95722989e-03 2.22204841e-04 9.99992145e-01 -3.16546062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.98589822699995 meters 0.05925184072394734 Centerline is valid? [True, True] Translation: X:326.52, Y:7.25, Z:-3.17 [[ 9.94481681e-01 1.04807202e-01 -4.65149901e-03 3.26522926e+02] [-1.04807247e-01 9.94492527e-01 2.34696589e-04 7.25027080e+00] [ 4.65047890e-03 2.54109349e-04 9.99989154e-01 -3.16712262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.015898227 meters 0.05852989909208579 Centerline is valid? [True, True] Translation: X:326.55, Y:7.24, Z:-3.17 [[ 9.94679842e-01 1.02803875e-01 -6.58603865e-03 3.26551001e+02] [-1.02803923e-01 9.94701585e-01 3.32155287e-04 7.24201282e+00] [ 6.58528993e-03 3.46682443e-04 9.99978257e-01 -3.16962568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.04589822699995 meters 0.06247683656377234 Centerline is valid? [True, True] Translation: X:326.58, Y:7.24, Z:-3.17 [[ 9.94691938e-01 1.02694584e-01 -6.46303653e-03 3.26579020e+02] [-1.02694630e-01 9.94712877e-01 3.25583157e-04 7.24226140e+00] [ 6.46230128e-03 3.39864202e-04 9.99979061e-01 -3.16947294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.075898227 meters 0.062270817347626656 Centerline is valid? [True, True] Translation: X:326.61, Y:7.24, Z:-3.17 [[ 9.94645555e-01 1.03195452e-01 -5.56036570e-03 3.26607766e+02] [-1.03195495e-01 9.94661054e-01 2.79861674e-04 7.23718672e+00] [ 5.55955966e-03 2.95441523e-04 9.99984502e-01 -3.16749084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.10589822699995 meters 0.06374775194412788 Centerline is valid? [True, True] Translation: X:326.64, Y:7.23, Z:-3.16 [[ 9.94300130e-01 1.06529099e-01 -4.33615795e-03 3.26637960e+02] [-1.06529157e-01 9.94309555e-01 2.18238144e-04 7.23104272e+00] [ 4.33473200e-03 2.44933038e-04 9.99990575e-01 -3.16485316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.135898227 meters 0.06614116843423876 Centerline is valid? [True, True] Translation: X:326.67, Y:7.23, Z:-3.17 [[ 9.94060479e-01 1.08752109e-01 -4.09192668e-03 3.26668134e+02] [-1.08752179e-01 9.94068871e-01 2.05900323e-04 7.22911698e+00] [ 4.09004903e-03 2.40328571e-04 9.99991607e-01 -3.16502393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.16589822699996 meters 0.06921376705414294 Centerline is valid? [True, True] Translation: X:326.70, Y:7.23, Z:-3.17 [[ 9.93774829e-01 1.11330272e-01 -4.14251590e-03 3.26698830e+02] [-1.11330367e-01 9.93783430e-01 2.08464907e-04 7.22717879e+00] [ 4.13997212e-03 2.54020638e-04 9.99991398e-01 -3.16526789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.195898227 meters 0.07517920540535517 Centerline is valid? [True, True] Translation: X:326.73, Y:7.22, Z:-3.16 [[ 9.93212241e-01 1.16271358e-01 -3.22736984e-03 3.26728970e+02] [-1.16271441e-01 9.93217461e-01 1.62389717e-04 7.22485832e+00] [ 3.22436135e-03 2.13963487e-04 9.99994779e-01 -3.16336461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.22589822699996 meters 0.0785191593350632 Centerline is valid? [True, True] Translation: X:326.76, Y:7.22, Z:-3.16 [[ 9.92941670e-01 1.18581803e-01 -2.27949156e-03 3.26757913e+02] [-1.18581850e-01 9.92944274e-01 1.14686999e-04 7.22355782e+00] [ 2.27700788e-03 1.56428826e-04 9.99997395e-01 -3.16203258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.255898227 meters 0.0859169842566642 Centerline is valid? [True, True] Translation: X:326.79, Y:7.22, Z:-3.16 [[ 9.92389600e-01 1.23126696e-01 -1.64254016e-03 3.26787705e+02] [-1.23126727e-01 9.92390952e-01 8.26167361e-05 7.22332639e+00] [ 1.64021432e-03 1.20252604e-04 9.99998648e-01 -3.16076845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.28589822699996 meters 0.07708603995815336 Centerline is valid? [True, True] Translation: X:326.82, Y:7.21, Z:-3.16 [[ 9.92139505e-01 1.25127824e-01 -1.49349256e-03 3.26817246e+02] [-1.25127852e-01 9.92140623e-01 7.51026043e-05 7.20612461e+00] [ 1.49115206e-03 1.12365255e-04 9.99998882e-01 -3.16038178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.315898227 meters 0.07940206978950949 Centerline is valid? [True, True] Translation: X:326.85, Y:7.20, Z:-3.16 [[ 9.91923546e-01 1.26831130e-01 -1.24233451e-03 3.26846223e+02] [-1.26831151e-01 9.91924319e-01 6.24447392e-05 7.20325812e+00] [ 1.24022175e-03 9.56263085e-05 9.99999226e-01 -3.16023054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.34589822699996 meters 0.0917736473618745 Centerline is valid? [True, True] Translation: X:326.88, Y:7.21, Z:-3.16 [[ 9.91704319e-01 1.28537446e-01 -8.17877015e-04 3.26876314e+02] [-1.28537456e-01 9.91704654e-01 4.10976285e-05 7.21384460e+00] [ 8.16375026e-04 6.43711348e-05 9.99999665e-01 -3.15925785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.375898227 meters 0.0908907169803695 Centerline is valid? [True, True] Translation: X:326.91, Y:7.20, Z:-3.16 [[ 9.91104263e-01 1.33085846e-01 -7.05435249e-04 3.26906155e+02] [-1.33085854e-01 9.91104512e-01 3.54445949e-05 7.20474210e+00] [ 7.03877232e-04 5.87541637e-05 9.99999751e-01 -3.15907403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.40589822699997 meters 0.08535611689595497 Centerline is valid? [True, True] Translation: X:326.94, Y:7.19, Z:-3.16 [[ 9.90739787e-01 1.35758243e-01 -2.09127571e-03 3.26936358e+02] [-1.35758322e-01 9.90741978e-01 1.05066553e-04 7.19426957e+00] [ 2.08617828e-03 1.79814466e-04 9.99997808e-01 -3.16092679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43589822699994 meters 0.10494850753405612 Centerline is valid? [True, False] Translation: X:326.94, Y:7.19, Z:-3.16 [[ 9.92220120e-01 1.24481213e-01 -1.91365474e-03 3.26938343e+02] [-1.24463402e-01 9.92195059e-01 7.60438939e-03 7.19462347e+00] [ 2.84532239e-03 -7.30704817e-03 9.99969255e-01 -3.16286521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.46589822699997 meters 0.1087144495759135 Centerline is valid? [False, False] Translation: X:326.94, Y:7.20, Z:-3.16 [[ 9.93749585e-01 1.11625463e-01 -1.23208231e-03 3.26938930e+02] [-1.11599518e-01 9.93664889e-01 1.32527692e-02 7.19613843e+00] [ 2.70362343e-03 -1.30324341e-02 9.99911419e-01 -3.16438163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49589822699994 meters 0.09755502970736096 Centerline is valid? [False, True] Translation: X:326.94, Y:7.20, Z:-3.16 [[ 9.95272363e-01 9.71011868e-02 -2.06959748e-03 3.26939296e+02] [-9.70519675e-02 9.95132376e-01 1.71017341e-02 7.19886084e+00] [ 3.72012213e-03 -1.68200248e-02 9.99851613e-01 -3.16482780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.52589822699997 meters 0.10360144853472383 Centerline is valid? [True, False] Translation: X:326.98, Y:7.20, Z:-3.17 [[ 9.96571795e-01 8.27152780e-02 1.68519322e-03 3.26981922e+02] [-8.27323438e-02 9.96395340e-01 1.87533056e-02 7.20099166e+00] [-1.27933790e-04 -1.88284354e-02 9.99822721e-01 -3.16810073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55589822699994 meters 0.10083111268873869 Centerline is valid? [False, False] Translation: X:326.98, Y:7.20, Z:-3.17 [[ 9.97746322e-01 6.70977658e-02 4.07595622e-04 3.26982233e+02] [-6.70905972e-02 9.97506760e-01 2.18887276e-02 7.20182062e+00] [ 1.06210533e-03 -2.18667433e-02 9.99760330e-01 -3.16800691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.585898227 meters 0.08987627395360209 Centerline is valid? [False, True] Translation: X:326.99, Y:7.20, Z:-3.17 [[ 9.98741276e-01 5.01477054e-02 -1.03545587e-03 3.26985011e+02] [-5.01084842e-02 9.98455552e-01 2.39927330e-02 7.20148574e+00] [ 2.23703717e-03 -2.39106476e-02 9.99711597e-01 -3.16998138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61589822699995 meters 0.10333166468188724 Centerline is valid? [True, False] Translation: X:327.03, Y:7.21, Z:-3.17 [[ 9.99299376e-01 3.73190773e-02 2.83594883e-03 3.27029202e+02] [-3.73826353e-02 9.98928807e-01 2.72722764e-02 7.20510830e+00] [-1.81513479e-03 -2.73591840e-02 9.99624019e-01 -3.17472810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.645898227 meters 0.09268251484760617 Centerline is valid? [False, True] Translation: X:327.03, Y:7.21, Z:-3.18 [[ 9.99596094e-01 2.82818406e-02 2.79055487e-03 3.27028860e+02] [-2.83260416e-02 9.99448524e-01 1.73287010e-02 7.21052673e+00] [-2.29892839e-03 -1.74007472e-02 9.99845953e-01 -3.17571947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67589822699995 meters 0.09711885576164113 Centerline is valid? [True, True] Translation: X:327.06, Y:7.22, Z:-3.18 [[ 9.99530136e-01 3.02223517e-02 5.11045892e-03 3.27057683e+02] [-3.02242793e-02 9.99543097e-01 3.00352192e-04 7.22455040e+00] [-5.09904659e-03 -4.54671005e-04 9.99986896e-01 -3.17503631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.705898227 meters 0.09443825193102763 Centerline is valid? [True, True] Translation: X:327.09, Y:7.22, Z:-3.18 [[ 9.99486911e-01 3.15891327e-02 5.29538410e-03 3.27089356e+02] [-3.15912208e-02 9.99500824e-01 3.11119339e-04 7.22300167e+00] [-5.28291278e-03 -4.78247355e-04 9.99985931e-01 -3.17501007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73589822699995 meters 0.09355684722802099 Centerline is valid? [True, True] Translation: X:327.12, Y:7.22, Z:-3.17 [[ 9.99453940e-01 3.26019872e-02 5.37895245e-03 3.27121134e+02] [-3.26041587e-02 9.99468293e-01 3.16497257e-04 7.22406553e+00] [-5.36577398e-03 -4.91700650e-04 9.99985483e-01 -3.17495003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.765898227 meters 0.09104103985244752 Centerline is valid? [True, True] Translation: X:327.15, Y:7.22, Z:-3.17 [[ 9.99472307e-01 3.19030673e-02 6.10747412e-03 3.27152453e+02] [-3.19058443e-02 9.99490815e-01 3.57772744e-04 7.22286904e+00] [-6.09295024e-03 -5.52448068e-04 9.99981285e-01 -3.17407763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79589822699995 meters 0.0978515629068536 Centerline is valid? [True, True] Translation: X:327.18, Y:7.23, Z:-3.17 [[ 9.99513924e-01 3.05554492e-02 6.18705220e-03 3.27181217e+02] [-3.05582717e-02 9.99532921e-01 3.62153599e-04 7.23359787e+00] [-6.17309660e-03 -5.51043188e-04 9.99980794e-01 -3.17448135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.825898227 meters 0.08737991708426827 Centerline is valid? [True, True] Translation: X:327.21, Y:7.22, Z:-3.17 [[ 9.99595740e-01 2.77638150e-02 6.12590448e-03 3.27212463e+02] [-2.77665306e-02 9.99614371e-01 3.58685279e-04 7.22138653e+00] [-6.11358368e-03 -5.28635391e-04 9.99981172e-01 -3.17440162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85589822699995 meters 0.09176689552896847 Centerline is valid? [True, True] Translation: X:327.24, Y:7.23, Z:-3.18 [[ 9.99676382e-01 2.47634277e-02 5.82268515e-03 3.27241597e+02] [-2.47658304e-02 9.99693222e-01 3.40885330e-04 7.22751394e+00] [-5.81245739e-03 -4.84978646e-04 9.99982990e-01 -3.17571764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.885898227 meters 0.08130107961169698 Centerline is valid? [True, True] Translation: X:327.27, Y:7.21, Z:-3.17 [[ 9.99798120e-01 1.91481736e-02 6.08818535e-03 3.27273530e+02] [-1.91506979e-02 9.99816545e-01 3.56595218e-04 7.21267264e+00] [-6.08024030e-03 -4.73116227e-04 9.99981403e-01 -3.17446946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91589822699996 meters 0.08885380728307443 Centerline is valid? [True, True] Translation: X:327.30, Y:7.22, Z:-3.17 [[ 9.99804811e-01 1.87095403e-02 6.34759861e-03 3.27304220e+02] [-1.87122786e-02 9.99824841e-01 3.72262723e-04 7.22488745e+00] [-6.33952190e-03 -4.90968095e-04 9.99979785e-01 -3.17401045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.945898227 meters 0.08805945154041499 Centerline is valid? [True, True] Translation: X:327.34, Y:7.23, Z:-3.17 [[ 9.99813639e-01 1.79811046e-02 7.02615696e-03 3.27335932e+02] [-1.79844311e-02 9.99838183e-01 4.10555090e-04 7.22566281e+00] [-7.01763777e-03 -5.36840015e-04 9.99975232e-01 -3.17301667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97589822699996 meters 0.08986434161699687 Centerline is valid? [True, True] Translation: X:327.37, Y:7.23, Z:-3.17 [[ 9.99811126e-01 1.81105157e-02 7.05137799e-03 3.27367408e+02] [-1.81138694e-02 9.99835846e-01 4.12024258e-04 7.22986931e+00] [-7.04275850e-03 -5.39674177e-04 9.99975054e-01 -3.17315358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.005898227 meters 0.08687018801403193 Centerline is valid? [True, True] Translation: X:327.40, Y:7.23, Z:-3.17 [[ 9.99809019e-01 1.82412967e-02 7.01286286e-03 3.27400106e+02] [-1.82446095e-02 9.99833470e-01 4.08689956e-04 7.22804417e+00] [-7.00423997e-03 -5.36558849e-04 9.99975326e-01 -3.17370069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03589822699996 meters 0.08239430253921558 Centerline is valid? [True, True] Translation: X:327.43, Y:7.22, Z:-3.17 [[ 9.99808985e-01 1.82313668e-02 7.04349062e-03 3.27432336e+02] [-1.82346992e-02 9.99833650e-01 4.09188222e-04 7.22423416e+00] [-7.03485888e-03 -5.37545994e-04 9.99975111e-01 -3.17391962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.065898227 meters 0.08189274813632837 Centerline is valid? [True, True] Translation: X:327.46, Y:7.23, Z:-3.17 [[ 9.99839581e-01 1.62518115e-02 7.52935612e-03 3.27461734e+02] [-1.62555508e-02 9.99867775e-01 4.35689579e-04 7.22542390e+00] [-7.52127980e-03 -5.58013517e-04 9.99971559e-01 -3.17287291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09589822699996 meters 0.0745816445538207 Centerline is valid? [True, True] Translation: X:327.49, Y:7.22, Z:-3.17 [[ 9.99860249e-01 1.46481409e-02 8.05695326e-03 3.27493289e+02] [-1.46523720e-02 9.99892539e-01 4.66378835e-04 7.21783838e+00] [-8.04925587e-03 -5.84367135e-04 9.99967433e-01 -3.17190168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.125898227 meters 0.07559751733176148 Centerline is valid? [True, True] Translation: X:327.52, Y:7.22, Z:-3.17 [[ 9.99912670e-01 1.06375930e-02 7.84177028e-03 3.27522672e+02] [-1.06414775e-02 9.99943275e-01 4.53807083e-04 7.22196798e+00] [-7.83649804e-03 -5.37215474e-04 9.99969150e-01 -3.17350176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15589822699997 meters 0.06453955308438117 Centerline is valid? [True, True] Translation: X:327.55, Y:7.21, Z:-3.17 [[ 9.99936809e-01 8.78192723e-03 7.01824686e-03 3.27553978e+02] [-8.78499328e-03 9.99961329e-01 4.06160045e-04 7.20984409e+00] [-7.01440859e-03 -4.67789631e-04 9.99975289e-01 -3.17455662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.18589822699994 meters 0.07035855060436057 Centerline is valid? [True, True] Translation: X:327.58, Y:7.22, Z:-3.18 [[ 9.99944609e-01 7.83497812e-03 7.02795791e-03 3.27583973e+02] [-7.83802964e-03 9.99969199e-01 4.06759251e-04 7.21955669e+00] [-7.02455450e-03 -4.61822063e-04 9.99975221e-01 -3.17544239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21589822699997 meters 0.06620336109482054 Centerline is valid? [True, True] Translation: X:327.62, Y:7.22, Z:-3.18 [[ 9.99947055e-01 7.93632568e-03 6.54988540e-03 3.27616829e+02] [-7.93898203e-03 9.99968414e-01 3.79655412e-04 7.21661671e+00] [-6.54666544e-03 -4.31634734e-04 9.99978477e-01 -3.17594994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.24589822699994 meters 0.06327688277013206 Centerline is valid? [True, True] Translation: X:327.65, Y:7.22, Z:-3.18 [[ 9.99944161e-01 8.71940332e-03 5.97050797e-03 3.27649421e+02] [-8.72161826e-03 9.99961906e-01 3.45044412e-04 7.21525782e+00] [-5.96727195e-03 -3.97097637e-04 9.99982117e-01 -3.17615449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.27589822699997 meters 0.07500971064702287 Centerline is valid? [True, True] Translation: X:327.68, Y:7.23, Z:-3.18 [[ 9.99933901e-01 9.91900464e-03 5.81434809e-03 3.27679565e+02] [-9.92111971e-03 9.99950728e-01 3.35036416e-04 7.23320574e+00] [-5.81073838e-03 -3.92699114e-04 9.99983040e-01 -3.17834283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.30589822699994 meters 0.07744661055736417 Centerline is valid? [True, True] Translation: X:327.71, Y:7.24, Z:-3.18 [[ 9.99923668e-01 1.11825778e-02 5.25436923e-03 3.27709021e+02] [-1.11843150e-02 9.99937408e-01 3.01347935e-04 7.23947054e+00] [-5.25067050e-03 -3.60091453e-04 9.99986150e-01 -3.17988070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.335898227 meters 0.08422121272413971 Centerline is valid? [True, True] Translation: X:327.74, Y:7.25, Z:-3.18 [[ 9.99907751e-01 1.24743408e-02 5.37413121e-03 3.27738527e+02] [-1.24761775e-02 9.99922122e-01 3.08368229e-04 7.25258568e+00] [-5.36986599e-03 -3.75388397e-04 9.99985512e-01 -3.18065272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.36589822699995 meters 0.07268278139608923 Centerline is valid? [True, True] Translation: X:327.77, Y:7.24, Z:-3.18 [[ 9.99907869e-01 1.25704853e-02 5.12210434e-03 3.27772792e+02] [-1.25721581e-02 9.99920924e-01 2.94529787e-04 7.24026722e+00] [-5.11799693e-03 -3.58898557e-04 9.99986839e-01 -3.18035676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.395898227 meters 0.0719609286779547 Centerline is valid? [True, True] Translation: X:327.80, Y:7.24, Z:-3.18 [[ 9.99920053e-01 1.16071114e-02 5.01619851e-03 3.27803965e+02] [-1.16086952e-02 9.99932576e-01 2.86727390e-04 7.24146172e+00] [-5.01253221e-03 -3.44935987e-04 9.99987378e-01 -3.18135783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.42589822699995 meters 0.0698693228943122 Centerline is valid? [True, True] Translation: X:327.83, Y:7.24, Z:-3.18 [[ 9.99946783e-01 8.67445598e-03 5.58434789e-03 3.27834433e+02] [-8.67637185e-03 9.99962309e-01 3.18942671e-04 7.24042199e+00] [-5.58137076e-03 -3.67377577e-04 9.99984357e-01 -3.18053431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.455898227 meters 0.0670153582496087 Centerline is valid? [True, True] Translation: X:327.87, Y:7.24, Z:-3.18 [[ 9.99951038e-01 7.74535271e-03 6.15877123e-03 3.27866259e+02] [-7.74766631e-03 9.99969924e-01 3.51889099e-04 7.23815981e+00] [-6.15586049e-03 -3.99587974e-04 9.99980973e-01 -3.17991255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.48589822699995 meters 0.07298085201984211 Centerline is valid? [True, True] Translation: X:327.90, Y:7.25, Z:-3.18 [[ 9.99947461e-01 7.58728248e-03 6.89262049e-03 3.27897311e+02] [-7.59017720e-03 9.99971117e-01 3.93912501e-04 7.24718047e+00] [-6.88943268e-03 -4.46208017e-04 9.99976168e-01 -3.17911230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.515898227 meters 0.07349645729171858 Centerline is valid? [True, True] Translation: X:327.93, Y:7.25, Z:-3.18 [[ 9.99921486e-01 1.00602655e-02 7.47079077e-03 3.27927450e+02] [-1.00637227e-02 9.99949269e-01 4.25321927e-04 7.24945720e+00] [-7.46613292e-03 -5.00472500e-04 9.99972003e-01 -3.17727140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.54589822699995 meters 0.07912333774360905 Centerline is valid? [True, True] Translation: X:327.96, Y:7.26, Z:-3.18 [[ 9.99889903e-01 1.26793437e-02 7.70824692e-03 3.27956826e+02] [-1.26831013e-02 9.99919470e-01 4.38793935e-04 7.25839189e+00] [-7.70206255e-03 -5.36510102e-04 9.99970195e-01 -3.17752278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.575898227 meters 0.08137122841875546 Centerline is valid? [True, True] Translation: X:327.99, Y:7.26, Z:-3.18 [[ 9.99853568e-01 1.51728222e-02 7.91377369e-03 3.27987504e+02] [-1.51768614e-02 9.99884723e-01 4.50595083e-04 7.26327794e+00] [-7.90602461e-03 -5.70635348e-04 9.99968584e-01 -3.17739500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.60589822699995 meters 0.07724554260197684 Centerline is valid? [True, True] Translation: X:328.02, Y:7.26, Z:-3.18 [[ 9.99770756e-01 1.95782945e-02 8.66749510e-03 3.28018063e+02] [-1.95833043e-02 9.99808107e-01 4.93491603e-04 7.25858655e+00] [-8.65617014e-03 -6.63116667e-04 9.99962315e-01 -3.17626632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.635898227 meters 0.08943858382872258 Centerline is valid? [True, True] Translation: X:328.05, Y:7.28, Z:-3.18 [[ 9.99736062e-01 2.11381791e-02 8.99914493e-03 3.28047125e+02] [-2.11436423e-02 9.99776317e-01 5.12364040e-04 7.27525448e+00] [-8.98630154e-03 -7.02503509e-04 9.99959376e-01 -3.17653853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.66589822699996 meters 0.08943858382872258 Centerline is valid? [True, True] Translation: X:328.08, Y:7.28, Z:-3.18 [[ 9.99732399e-01 2.13106917e-02 8.99913334e-03 3.28079693e+02] [-2.13161637e-02 9.99772653e-01 5.12568035e-04 7.27693454e+00] [-8.98616424e-03 -7.04257871e-04 9.99959376e-01 -3.17687111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.695898227 meters 0.09071676338924906 Centerline is valid? [True, True] Translation: X:328.11, Y:7.28, Z:-3.18 [[ 9.99714060e-01 2.22439406e-02 8.77522419e-03 3.28110977e+02] [-2.22491646e-02 9.99752333e-01 4.98126334e-04 7.27945291e+00] [-8.76197056e-03 -6.93225307e-04 9.99961373e-01 -3.17821874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.72589822699996 meters 0.09642464420245668 Centerline is valid? [True, True] Translation: X:328.14, Y:7.29, Z:-3.18 [[ 9.99726566e-01 2.19265150e-02 8.12532237e-03 3.28141844e+02] [-2.19309841e-02 9.99759381e-01 4.61318665e-04 7.28802482e+00] [-8.11325215e-03 -6.39388841e-04 9.99966883e-01 -3.18071445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.755898227 meters 0.08984877199316293 Centerline is valid? [True, True] Translation: X:328.17, Y:7.28, Z:-3.18 [[ 9.99746583e-01 2.08700865e-02 8.43857080e-03 3.28174316e+02] [-2.08748574e-02 9.99781982e-01 4.77679375e-04 7.28103024e+00] [-8.42676184e-03 -6.53712285e-04 9.99964281e-01 -3.18118634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.78589822699996 meters 0.080557200863494 Centerline is valid? [True, True] Translation: X:328.21, Y:7.27, Z:-3.18 [[ 9.99771105e-01 1.93914295e-02 9.03936143e-03 3.28205494e+02] [-1.93968407e-02 9.99811733e-01 5.11336359e-04 7.26986158e+00] [-9.02774407e-03 -6.86554370e-04 9.99959013e-01 -3.18030340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.815898227 meters 0.08001367339414557 Centerline is valid? [True, True] Translation: X:328.24, Y:7.27, Z:-3.18 [[ 9.99795703e-01 1.72575599e-02 1.05227685e-02 3.28235711e+02] [-1.72647755e-02 9.99850775e-01 5.95251644e-04 7.26965707e+00] [-1.05109257e-02 -7.76803273e-04 9.99944457e-01 -3.17828621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.84589822699996 meters 0.0802752795569363 Centerline is valid? [True, True] Translation: X:328.27, Y:7.27, Z:-3.18 [[ 9.99810640e-01 1.67454973e-02 9.91324445e-03 3.28267189e+02] [-1.67518772e-02 9.99859520e-01 5.60874927e-04 7.27097486e+00] [-9.90245971e-03 -7.26834173e-04 9.99950705e-01 -3.17913528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.875898227 meters 0.07569837332063326 Centerline is valid? [True, True] Translation: X:328.30, Y:7.27, Z:-3.18 [[ 9.99819831e-01 1.68564787e-02 8.72727705e-03 3.28300515e+02] [-1.68614186e-02 9.99857715e-01 4.92747054e-04 7.26634720e+00] [-8.71772931e-03 -6.39812548e-04 9.99961795e-01 -3.18163173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.90589822699997 meters 0.08090890875204734 Centerline is valid? [True, True] Translation: X:328.33, Y:7.27, Z:-3.18 [[ 9.99823574e-01 1.71358104e-02 7.69320412e-03 3.28330860e+02] [-1.71396474e-02 9.99853012e-01 4.33087782e-04 7.27411992e+00] [-7.68465200e-03 -5.64870180e-04 9.99970313e-01 -3.18337191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93589822699994 meters 0.08370234561967847 Centerline is valid? [True, True] Translation: X:328.36, Y:7.28, Z:-3.18 [[ 9.99803260e-01 1.85144143e-02 7.11739882e-03 3.28360339e+02] [-1.85177242e-02 9.99828452e-01 3.99426593e-04 7.27906126e+00] [-7.10878270e-03 -5.31146038e-04 9.99974591e-01 -3.18425448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.96589822699997 meters 0.08569204207199584 Centerline is valid? [True, True] Translation: X:328.39, Y:7.28, Z:-3.18 [[ 9.99782187e-01 1.95998382e-02 7.17116154e-03 3.28390112e+02] [-1.96032236e-02 9.99807757e-01 4.02096502e-04 7.28380870e+00] [-7.16190191e-03 -5.42586803e-04 9.99974206e-01 -3.18461199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99589822699994 meters 0.07973940235321914 Centerline is valid? [True, True] Translation: X:328.42, Y:7.28, Z:-3.19 [[ 9.99741263e-01 2.16183043e-02 7.07501719e-03 3.28421454e+02] [-2.16216461e-02 9.99766146e-01 3.96180616e-04 7.27862928e+00] [-7.06479792e-03 -5.49051627e-04 9.99974893e-01 -3.18500588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.02589822699997 meters 0.08541367295577776 Centerline is valid? [True, True] Translation: X:328.45, Y:7.29, Z:-3.19 [[ 9.99735418e-01 2.18212109e-02 7.27517406e-03 3.28451875e+02] [-2.18247510e-02 9.99761729e-01 4.07564006e-04 7.28648299e+00] [-7.26454706e-03 -5.66235035e-04 9.99973453e-01 -3.18519613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05589822699994 meters 0.0867618732937118 Centerline is valid? [True, True] Translation: X:328.48, Y:7.29, Z:-3.19 [[ 9.99722344e-01 2.22693442e-02 7.70136331e-03 3.28482554e+02] [-2.22733199e-02 9.99751826e-01 4.30849896e-04 7.29103143e+00] [-7.68985729e-03 -6.02265197e-04 9.99970251e-01 -3.18528472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.085898227 meters 0.07551309864896871 Centerline is valid? [True, True] Translation: X:328.52, Y:7.28, Z:-3.18 [[ 9.99720934e-01 2.21499935e-02 8.21164875e-03 3.28515914e+02] [-2.21544996e-02 9.99754454e-01 4.58168175e-04 7.27839473e+00] [-8.19948399e-03 -6.39965285e-04 9.99966179e-01 -3.18427423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11589822699995 meters 0.0739540942025227 Centerline is valid? [True, True] Translation: X:328.55, Y:7.28, Z:-3.18 [[ 9.99731479e-01 2.16040899e-02 8.38052896e-03 3.28548572e+02] [-2.16087513e-02 9.99766395e-01 4.66062266e-04 7.27900540e+00] [-8.36850238e-03 -6.47029885e-04 9.99964774e-01 -3.18460589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.145898227 meters 0.07557034964001612 Centerline is valid? [True, True] Translation: X:328.58, Y:7.29, Z:-3.19 [[ 9.99750789e-01 2.05123191e-02 8.80939947e-03 3.28579198e+02] [-2.05174191e-02 9.99789376e-01 4.88933839e-04 7.28510960e+00] [-8.79751483e-03 -6.69558132e-04 9.99961077e-01 -3.18568233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17589822699995 meters 0.08653571278597808 Centerline is valid? [True, True] Translation: X:328.61, Y:7.30, Z:-3.19 [[ 9.99752825e-01 2.04196841e-02 8.79352915e-03 3.28609147e+02] [-2.04247612e-02 9.99791274e-01 4.87941892e-04 7.30200572e+00] [-8.78173009e-03 -6.67427017e-04 9.99961217e-01 -3.18700550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.205898227 meters 0.07774972691388461 Centerline is valid? [True, True] Translation: X:328.64, Y:7.29, Z:-3.19 [[ 9.99756834e-01 2.00678451e-02 9.14083698e-03 3.28642269e+02] [-2.00733092e-02 9.99798383e-01 5.06406250e-04 7.29221175e+00] [-9.12883155e-03 -6.89769957e-04 9.99958093e-01 -3.18743832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23589822699995 meters 0.07864997851324049 Centerline is valid? [True, True] Translation: X:328.67, Y:7.30, Z:-3.19 [[ 9.99750959e-01 2.02641057e-02 9.34808795e-03 3.28673930e+02] [-2.02698148e-02 9.99794413e-01 5.16372592e-04 7.29754511e+00] [-9.33570228e-03 -7.05728006e-04 9.99956172e-01 -3.18714885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.265898227 meters 0.08100535398002155 Centerline is valid? [True, True] Translation: X:328.71, Y:7.30, Z:-3.19 [[ 9.99759206e-01 2.02168696e-02 8.53280599e-03 3.28705243e+02] [-2.02216122e-02 9.99795412e-01 4.69890334e-04 7.30350518e+00] [-8.52156057e-03 -6.42324280e-04 9.99963485e-01 -3.18857792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29589822699995 meters 0.07783292783178836 Centerline is valid? [True, True] Translation: X:328.74, Y:7.30, Z:-3.19 [[ 9.99768816e-01 2.00955687e-02 7.64739530e-03 3.28737352e+02] [-2.00993673e-02 9.99797899e-01 4.20190026e-04 7.30242877e+00] [-7.63740580e-03 -5.73800692e-04 9.99970670e-01 -3.19011530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.325898227 meters 0.07799008719452458 Centerline is valid? [True, True] Translation: X:328.77, Y:7.31, Z:-3.19 [[ 9.99780109e-01 1.96735535e-02 7.25846135e-03 3.28769735e+02] [-1.96769546e-02 9.99806311e-01 3.97451535e-04 7.30690558e+00] [-7.24923618e-03 -5.40188554e-04 9.99973578e-01 -3.19113697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.35589822699995 meters 0.08278441854361286 Centerline is valid? [True, True] Translation: X:328.80, Y:7.32, Z:-3.19 [[ 9.99776022e-01 1.95933648e-02 8.00036910e-03 3.28800835e+02] [-1.95974917e-02 9.99807855e-01 4.37760705e-04 7.31599510e+00] [-7.99025467e-03 -5.94449823e-04 9.99967901e-01 -3.19083414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.385898227 meters 0.07979675366051714 Centerline is valid? [True, True] Translation: X:328.83, Y:7.32, Z:-3.19 [[ 9.99767234e-01 1.95418099e-02 9.14305369e-03 3.28833468e+02] [-1.95471836e-02 9.99808811e-01 4.98741094e-04 7.31513028e+00] [-9.13155934e-03 -6.77345954e-04 9.99958077e-01 -3.18879022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41589822699996 meters 0.08057962325293919 Centerline is valid? [True, True] Translation: X:328.87, Y:7.32, Z:-3.19 [[ 9.99754967e-01 1.98884582e-02 9.71879094e-03 3.28865594e+02] [-1.98945306e-02 9.99801945e-01 5.28530203e-04 7.31920522e+00] [-9.70635443e-03 -7.21751480e-04 9.99952632e-01 -3.18803434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.445898227 meters 0.08560048522158817 Centerline is valid? [True, True] Translation: X:328.90, Y:7.33, Z:-3.19 [[ 9.99755824e-01 2.00146457e-02 9.36512997e-03 3.28897530e+02] [-2.00202768e-02 9.99799445e-01 5.07908356e-04 7.32979932e+00] [-9.35308614e-03 -6.95276831e-04 9.99956017e-01 -3.18822820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47589822699996 meters 0.0785601456978554 Centerline is valid? [True, True] Translation: X:328.93, Y:7.32, Z:-3.19 [[ 9.99761791e-01 1.99492040e-02 8.85380202e-03 3.28930116e+02] [-1.99542221e-02 9.99800780e-01 4.78789213e-04 7.32298730e+00] [-8.84248670e-03 -6.55345893e-04 9.99960690e-01 -3.18931229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.505898227 meters 0.07901346103281935 Centerline is valid? [True, True] Translation: X:328.96, Y:7.33, Z:-3.19 [[ 9.99765432e-01 1.99033222e-02 8.54041039e-03 3.28962277e+02] [-1.99079787e-02 9.99801710e-01 4.60557503e-04 7.32508749e+00] [-8.52955029e-03 -6.30471779e-04 9.99963424e-01 -3.19002222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53589822699996 meters 0.07684749079023792 Centerline is valid? [True, True] Translation: X:328.99, Y:7.32, Z:-3.19 [[ 9.99760707e-01 1.99917605e-02 8.88018138e-03 3.28994823e+02] [-1.99967854e-02 9.99799930e-01 4.77428124e-04 7.32336432e+00] [-8.86886010e-03 -6.54888961e-04 9.99960456e-01 -3.18875408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.565898227 meters 0.07693260347149784 Centerline is valid? [True, True] Translation: X:329.03, Y:7.32, Z:-3.19 [[ 9.99752843e-01 2.05479767e-02 8.48727384e-03 3.29027273e+02] [-2.05525760e-02 9.99788670e-01 4.55028436e-04 7.32465281e+00] [-8.47613031e-03 -6.29351313e-04 9.99963879e-01 -3.18880840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59589822699996 meters 0.08396665533709118 Centerline is valid? [True, True] Translation: X:329.06, Y:7.33, Z:-3.19 [[ 9.99732599e-01 2.15078509e-02 8.49371329e-03 3.29058031e+02] [-2.15124799e-02 9.99768477e-01 4.54001020e-04 7.33488030e+00] [-8.48198221e-03 -6.36600456e-04 9.99963825e-01 -3.18886155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.625898227 meters 0.08318243673538538 Centerline is valid? [True, True] Translation: X:329.09, Y:7.33, Z:-3.19 [[ 9.99619069e-01 2.59104279e-02 9.50609735e-03 3.29089140e+02] [-2.59164083e-02 9.99663985e-01 5.06443973e-04 7.33488863e+00] [-9.48978098e-03 -7.52614953e-04 9.99954688e-01 -3.18649230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65589822699997 meters 0.08499584853517275 Centerline is valid? [True, True] Translation: X:329.12, Y:7.34, Z:-3.19 [[ 9.99529006e-01 2.91223009e-02 9.67773214e-03 3.29119616e+02] [-2.91286484e-02 9.99575538e-01 5.15557319e-04 7.33918803e+00] [-9.65861009e-03 -7.97213751e-04 9.99953037e-01 -3.18664515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.68589822699994 meters 0.09285492382579624 Centerline is valid? [True, True] Translation: X:329.15, Y:7.35, Z:-3.19 [[ 9.99441305e-01 3.20933942e-02 9.33231929e-03 3.29148677e+02] [-3.20994236e-02 9.99484557e-01 4.96970719e-04 7.35206697e+00] [-9.31155953e-03 -7.96255133e-04 9.99956329e-01 -3.18789013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71589822699997 meters 0.08105748777733894 Centerline is valid? [True, True] Translation: X:329.18, Y:7.34, Z:-3.19 [[ 9.99324390e-01 3.58274719e-02 8.19485409e-03 3.29179550e+02] [-3.58322419e-02 9.99357724e-01 4.35944759e-04 7.34216939e+00] [-8.17397193e-03 -7.29290225e-04 9.99966327e-01 -3.18987210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.74589822699994 meters 0.09915281579837716 Centerline is valid? [True, True] Translation: X:329.21, Y:7.37, Z:-3.19 [[ 9.99298123e-01 3.65776325e-02 8.08318640e-03 3.29209688e+02] [-3.65823000e-02 9.99330551e-01 4.30278312e-04 7.36845871e+00] [-8.06203655e-03 -7.25677859e-04 9.99967238e-01 -3.19129502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.77589822699997 meters 0.09037556517231138 Centerline is valid? [True, True] Translation: X:329.24, Y:7.36, Z:-3.19 [[ 9.99305842e-01 3.63771026e-02 8.03368222e-03 3.29242205e+02] [-3.63816969e-02 9.99337876e-01 4.26422795e-04 7.35982799e+00] [-8.01285090e-03 -7.18405782e-04 9.99967639e-01 -3.19125718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.80589822699994 meters 0.08674665313855702 Centerline is valid? [True, True] Translation: X:329.27, Y:7.36, Z:-3.19 [[ 9.99417589e-01 3.29178791e-02 8.99417487e-03 3.29272859e+02] [-3.29234826e-02 9.99457762e-01 4.75616350e-04 7.35906245e+00] [-8.97364161e-03 -7.71458906e-04 9.99959438e-01 -3.18962838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.835898227 meters 0.09384838313741026 Centerline is valid? [True, True] Translation: X:329.30, Y:7.37, Z:-3.19 [[ 9.99487142e-01 3.07270330e-02 9.01678793e-03 3.29301919e+02] [-3.07325754e-02 9.99527529e-01 4.76729865e-04 7.37112103e+00] [-8.99787927e-03 -7.53594486e-04 9.99959234e-01 -3.18960556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.86589822699995 meters 0.08583962242171773 Centerline is valid? [True, True] Translation: X:329.33, Y:7.36, Z:-3.19 [[ 9.99554109e-01 2.84104235e-02 9.18862766e-03 3.29333349e+02] [-2.84160831e-02 9.99596063e-01 4.85934953e-04 7.36402964e+00] [-9.17111042e-03 -7.46823086e-04 9.99957666e-01 -3.19012927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.895898227 meters 0.0822560636888753 Centerline is valid? [True, True] Translation: X:329.36, Y:7.36, Z:-3.19 [[ 9.99688237e-01 2.31171424e-02 9.43539131e-03 3.29362806e+02] [-2.31228745e-02 9.99732506e-01 4.98863624e-04 7.36242963e+00] [-9.42133510e-03 -7.16881466e-04 9.99955361e-01 -3.19087592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.92589822699995 meters 0.08165488540854239 Centerline is valid? [True, True] Translation: X:329.39, Y:7.36, Z:-3.19 [[ 9.99736947e-01 2.04489370e-02 1.03863871e-02 3.29392557e+02] [-2.04557398e-02 9.99790609e-01 5.49151985e-04 7.36367009e+00] [-1.03729827e-02 -7.61468761e-04 9.99945909e-01 -3.19017441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.955898227 meters 0.08721443131793184 Centerline is valid? [True, True] Translation: X:329.42, Y:7.37, Z:-3.19 [[ 9.99765278e-01 1.84139788e-02 1.14155639e-02 3.29421581e+02] [-1.84220663e-02 9.99830117e-01 6.03705383e-04 7.37177999e+00] [-1.14025079e-02 -8.13861955e-04 9.99934658e-01 -3.18895620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.98589822699995 meters 0.07415489880462219 Centerline is valid? [True, True] Translation: X:329.45, Y:7.36, Z:-3.19 [[ 9.99792767e-01 1.65732062e-02 1.18216791e-02 3.29452853e+02] [-1.65817527e-02 9.99862318e-01 6.25300891e-04 7.35506178e+00] [-1.18096883e-02 -8.21195469e-04 9.99929926e-01 -3.18891140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.015898227 meters 0.07375902008495439 Centerline is valid? [True, True] Translation: X:329.48, Y:7.35, Z:-3.19 [[ 9.99855411e-01 1.36292627e-02 1.01685760e-02 3.29482968e+02] [-1.36354344e-02 9.99906888e-01 5.37861125e-04 7.35250896e+00] [-1.01602985e-02 -6.76436308e-04 9.99948154e-01 -3.19141601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.04589822699995 meters 0.06393904507308115 Centerline is valid? [True, True] Translation: X:329.51, Y:7.34, Z:-3.19 [[ 9.99881962e-01 1.25512673e-02 8.86154474e-03 3.29514995e+02] [-1.25559116e-02 9.99921062e-01 4.68657306e-04 7.33937980e+00] [-8.85496298e-03 -5.79866759e-04 9.99960626e-01 -3.19308513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.075898227 meters 0.07412801292412731 Centerline is valid? [True, True] Translation: X:329.55, Y:7.35, Z:-3.19 [[ 9.99888246e-01 1.21648071e-02 8.68976873e-03 3.29545743e+02] [-1.21692585e-02 9.99925846e-01 4.59562940e-04 7.35215712e+00] [-8.68353386e-03 -5.65259625e-04 9.99962138e-01 -3.19479500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.10589822699995 meters 0.07438302776885528 Centerline is valid? [True, True] Translation: X:329.58, Y:7.35, Z:-3.19 [[ 9.99856718e-01 1.31463048e-02 1.06638730e-02 3.29578116e+02] [-1.31530434e-02 9.99913337e-01 5.62022416e-04 7.35012007e+00] [-1.06555603e-02 -7.02204272e-04 9.99942981e-01 -3.19224760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.135898227 meters 0.06979796754031879 Centerline is valid? [True, True] Translation: X:329.61, Y:7.34, Z:-3.19 [[ 9.99830661e-01 1.42874872e-02 1.15981317e-02 3.29610350e+02] [-1.42955267e-02 9.99897627e-01 6.10558692e-04 7.34359215e+00] [-1.15882210e-02 -7.76256703e-04 9.99932553e-01 -3.19174603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.16589822699996 meters 0.07609909699677718 Centerline is valid? [True, True] Translation: X:329.64, Y:7.35, Z:-3.19 [[ 9.99814190e-01 1.53555581e-02 1.16530108e-02 3.29640620e+02] [-1.53637279e-02 9.99881784e-01 6.11888523e-04 7.35141832e+00] [-1.16422373e-02 -7.90808515e-04 9.99931914e-01 -3.19216301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.195898227 meters 0.07560613250173656 Centerline is valid? [True, True] Translation: X:329.67, Y:7.35, Z:-3.19 [[ 9.99803249e-01 1.64223574e-02 1.11251284e-02 3.29672815e+02] [-1.64298665e-02 9.99864850e-01 5.83904782e-04 7.34976311e+00] [-1.11140358e-02 -7.66574273e-04 9.99937943e-01 -3.19432021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.22589822699996 meters 0.07180014011242224 Centerline is valid? [True, True] Translation: X:329.71, Y:7.34, Z:-3.20 [[ 9.99821201e-01 1.62577313e-02 9.65673441e-03 3.29705951e+02] [-1.62633783e-02 9.99867614e-01 5.06526058e-04 7.33933269e+00] [-9.64722103e-03 -6.63486617e-04 9.99953244e-01 -3.19779664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.255898227 meters 0.07318749545665801 Centerline is valid? [True, True] Translation: X:329.74, Y:7.34, Z:-3.20 [[ 9.99841655e-01 1.49384036e-02 9.66997507e-03 3.29737006e+02] [-1.49439891e-02 9.99888205e-01 5.05612475e-04 7.33792248e+00] [-9.66134096e-03 -6.50040415e-04 9.99953117e-01 -3.19823740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.28589822699996 meters 0.0698259060795242 Centerline is valid? [True, True] Translation: X:329.77, Y:7.33, Z:-3.20 [[ 9.99853533e-01 1.36326145e-02 1.03472068e-02 3.29768912e+02] [-1.36389377e-02 9.99906839e-01 5.40772653e-04 7.33056186e+00] [-1.03388707e-02 -6.81818357e-04 9.99946320e-01 -3.19762197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.315898227 meters 0.06980842003792187 Centerline is valid? [True, True] Translation: X:329.80, Y:7.33, Z:-3.20 [[ 9.99857369e-01 1.26241431e-02 1.12193198e-02 3.29799197e+02] [-1.26315109e-02 9.99920048e-01 5.86088710e-04 7.32743957e+00] [-1.12110240e-02 -7.27722076e-04 9.99936890e-01 -3.19698540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.34589822699996 meters 0.07083160894174098 Centerline is valid? [True, True] Translation: X:329.83, Y:7.32, Z:-3.20 [[ 9.99842506e-01 1.38642176e-02 1.10790757e-02 3.29830488e+02] [-1.38714768e-02 9.99903619e-01 5.78638123e-04 7.32219580e+00] [-1.10699855e-02 -7.32230132e-04 9.99938458e-01 -3.19721437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.375898227 meters 0.07379992582221288 Centerline is valid? [True, True] Translation: X:329.86, Y:7.32, Z:-3.20 [[ 9.99821827e-01 1.59087568e-02 1.01599583e-02 3.29861601e+02] [-1.59149655e-02 9.99873208e-01 5.30529877e-04 7.32481549e+00] [-1.01502300e-02 -6.92130737e-04 9.99948246e-01 -3.19902565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.40589822699997 meters 0.07164935955348288 Centerline is valid? [True, True] Translation: X:329.89, Y:7.32, Z:-3.20 [[ 9.99791858e-01 1.84218754e-02 8.76787561e-03 3.29892230e+02] [-1.84265945e-02 9.99830111e-01 4.57743361e-04 7.32116736e+00] [-8.75795355e-03 -6.19210174e-04 9.99961457e-01 -3.20132267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43589822699994 meters 0.08706806250332069 Centerline is valid? [True, True] Translation: X:329.92, Y:7.34, Z:-3.21 [[ 9.99703516e-01 2.32227558e-02 7.32010125e-03 3.29920463e+02] [-2.32261731e-02 9.99730163e-01 3.82172296e-04 7.33841208e+00] [-7.30925092e-03 -5.52076927e-04 9.99973135e-01 -3.20537090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.46589822699997 meters 0.08805878338369848 Centerline is valid? [True, True] Translation: X:329.95, Y:7.34, Z:-3.20 [[ 9.99670115e-01 2.45761037e-02 7.46164261e-03 3.29951325e+02] [-2.45796914e-02 9.99697798e-01 3.89475775e-04 7.33897066e+00] [-7.44981589e-03 -5.72752165e-04 9.99972086e-01 -3.20494630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49589822699994 meters 0.07913810084826235 Centerline is valid? [True, True] Translation: X:329.98, Y:7.33, Z:-3.20 [[ 9.99645594e-01 2.53941872e-02 7.98888539e-03 3.29984328e+02] [-2.53983256e-02 9.99677324e-01 4.16978660e-04 7.32676135e+00] [-7.97571873e-03 -6.19735193e-04 9.99968001e-01 -3.20373980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.52589822699997 meters 0.07487693635995124 Centerline is valid? [True, True] Translation: X:330.02, Y:7.32, Z:-3.20 [[ 9.99643837e-01 2.52128038e-02 8.74725932e-03 3.30016675e+02] [-2.52177559e-02 9.99681878e-01 4.56288554e-04 7.32101897e+00] [-8.73297231e-03 -6.76712291e-04 9.99961638e-01 -3.20269514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55589822699994 meters 0.07487693635995124 Centerline is valid? [True, True] Translation: X:330.05, Y:7.32, Z:-3.20 [[ 9.99639144e-01 2.53981437e-02 8.74733127e-03 3.30049237e+02] [-2.54030909e-02 9.99677186e-01 4.54904711e-04 7.32256224e+00] [-8.73295377e-03 -6.76949807e-04 9.99961638e-01 -3.20302772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.585898227 meters 0.08776811728965173 Centerline is valid? [True, True] Translation: X:330.08, Y:7.34, Z:-3.20 [[ 9.99690019e-01 2.29697815e-02 9.60490783e-03 3.30077674e+02] [-2.29756149e-02 9.99735902e-01 4.97418160e-04 7.33674226e+00] [-9.59094561e-03 -7.17942633e-04 9.99953748e-01 -3.20240822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61589822699995 meters 0.07265822138850186 Centerline is valid? [True, True] Translation: X:330.11, Y:7.32, Z:-3.20 [[ 9.99719452e-01 2.11752822e-02 1.06124610e-02 3.30109142e+02] [-2.11823044e-02 9.99775479e-01 5.49713366e-04 7.31603134e+00] [-1.05984379e-02 -7.74355523e-04 9.99943535e-01 -3.20155817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.645898227 meters 0.07042099554139863 Centerline is valid? [True, True] Translation: X:330.14, Y:7.31, Z:-3.20 [[ 9.99758821e-01 1.88881076e-02 1.12044182e-02 3.30140067e+02] [-1.88957920e-02 9.99821290e-01 5.80370492e-04 7.31057707e+00] [-1.11914538e-02 -7.91946876e-04 9.99937060e-01 -3.20096165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67589822699995 meters 0.07756063421603748 Centerline is valid? [True, True] Translation: X:330.17, Y:7.32, Z:-3.20 [[ 9.99780341e-01 1.79980703e-02 1.07396061e-02 3.30170063e+02] [-1.80050787e-02 9.99837741e-01 5.56234135e-04 7.32028372e+00] [-1.07278524e-02 -7.49479406e-04 9.99942174e-01 -3.20098592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.705898227 meters 0.08596805630429706 Centerline is valid? [True, True] Translation: X:330.20, Y:7.33, Z:-3.20 [[ 9.99798221e-01 1.80215213e-02 8.87369738e-03 3.30201156e+02] [-1.80263069e-02 9.99837407e-01 4.59608804e-04 7.32918982e+00] [-8.86397173e-03 -6.19476057e-04 9.99960522e-01 -3.20337046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73589822699995 meters 0.08042179954931773 Centerline is valid? [True, True] Translation: X:330.23, Y:7.32, Z:-3.20 [[ 9.99780437e-01 1.90297298e-02 8.77194975e-03 3.30233772e+02] [-1.90344378e-02 9.99818726e-01 4.53533043e-04 7.32164522e+00] [-8.76172901e-03 -6.20402596e-04 9.99961423e-01 -3.20386272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.765898227 meters 0.08165303068639128 Centerline is valid? [True, True] Translation: X:330.27, Y:7.32, Z:-3.20 [[ 9.99716879e-01 2.20414794e-02 8.96302676e-03 3.30265257e+02] [-2.20465113e-02 9.99756839e-01 4.62981905e-04 7.32082770e+00] [-8.95064250e-03 -6.60454296e-04 9.99959724e-01 -3.20282498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79589822699995 meters 0.08524860607136026 Centerline is valid? [True, True] Translation: X:330.29, Y:7.33, Z:-3.20 [[ 9.99676713e-01 2.39428210e-02 8.55637773e-03 3.30294592e+02] [-2.39474745e-02 9.99713120e-01 4.41808206e-04 7.32584613e+00] [-8.54334494e-03 -6.46569013e-04 9.99963296e-01 -3.20345064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.825898227 meters 0.08200604196564525 Centerline is valid? [True, True] Translation: X:330.33, Y:7.32, Z:-3.20 [[ 9.99625484e-01 2.59733500e-02 8.61839418e-03 3.30325938e+02] [-2.59781471e-02 9.99662412e-01 4.45108203e-04 7.32279121e+00] [-8.60392376e-03 -6.68831415e-04 9.99962762e-01 -3.20375176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.85589822699995 meters 0.08150461406804871 Centerline is valid? [True, True] Translation: X:330.36, Y:7.32, Z:-3.20 [[ 9.99564234e-01 2.81565509e-02 8.86284833e-03 3.30356732e+02] [-2.81617079e-02 9.99603276e-01 4.57585696e-04 7.32329916e+00] [-8.84644818e-03 -7.06979242e-04 9.99960619e-01 -3.20332269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.885898227 meters 0.08401131119888984 Centerline is valid? [True, True] Translation: X:330.39, Y:7.33, Z:-3.20 [[ 9.99439552e-01 3.20129939e-02 9.78521656e-03 3.30387256e+02] [-3.20194636e-02 9.99487118e-01 5.05184420e-04 7.32763093e+00] [-9.76402543e-03 -8.18218675e-04 9.99951996e-01 -3.20155148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91589822699996 meters 0.0869237278463633 Centerline is valid? [True, True] Translation: X:330.42, Y:7.33, Z:-3.20 [[ 9.99380556e-01 3.38622082e-02 9.58412624e-03 3.30417200e+02] [-3.38684991e-02 9.99426175e-01 4.94802325e-04 7.33290412e+00] [-9.56187153e-03 -8.19095794e-04 9.99953949e-01 -3.20200567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.945898227 meters 0.09874650262846986 Centerline is valid? [True, True] Translation: X:330.45, Y:7.35, Z:-3.20 [[ 9.99327558e-01 3.55713544e-02 8.89440328e-03 3.30445818e+02] [-3.55768394e-02 9.99366838e-01 4.59174049e-04 7.35015031e+00] [-8.87243824e-03 -7.75300038e-04 9.99960339e-01 -3.20346713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97589822699996 meters 0.09303092373455663 Centerline is valid? [True, True] Translation: X:330.48, Y:7.34, Z:-3.20 [[ 9.99277633e-01 3.71176940e-02 8.15407881e-03 3.30476951e+02] [-3.71223530e-02 9.99310639e-01 4.20706529e-04 7.34491878e+00] [-8.13284205e-03 -7.23101216e-04 9.99966666e-01 -3.20469872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.005898227 meters 0.0951497599548491 Centerline is valid? [True, True] Translation: X:330.51, Y:7.35, Z:-3.20 [[ 9.99195600e-01 3.92404453e-02 8.26685522e-03 3.30506736e+02] [-3.92453053e-02 9.99229515e-01 4.26423705e-04 7.35090735e+00] [-8.24375268e-03 -7.50515947e-04 9.99965738e-01 -3.20451512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03589822699996 meters 0.09710684602855323 Centerline is valid? [True, True] Translation: X:330.54, Y:7.36, Z:-3.20 [[ 9.99172773e-01 3.95974279e-02 9.26357508e-03 3.30539052e+02] [-3.96035463e-02 9.99215358e-01 4.77905055e-04 7.35558764e+00] [-9.23738267e-03 -8.44380143e-04 9.99956978e-01 -3.20302110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.065898227 meters 0.09731057509095555 Centerline is valid? [True, True] Translation: X:330.57, Y:7.36, Z:-3.20 [[ 9.99189919e-01 3.89254979e-02 1.02133404e-02 3.30569702e+02] [-3.89328830e-02 9.99241690e-01 5.25181025e-04 7.35728163e+00] [-1.01851526e-02 -9.22390375e-04 9.99947705e-01 -3.20220508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09589822699996 meters 0.09233293400341192 Centerline is valid? [True, True] Translation: X:330.60, Y:7.35, Z:-3.20 [[ 9.99341949e-01 3.48057688e-02 1.02092193e-02 3.30600620e+02] [-3.48129323e-02 9.99393708e-01 5.24745509e-04 7.34920710e+00] [-1.01847654e-02 -8.79813060e-04 9.99947747e-01 -3.20235112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.125898227 meters 0.09071977432426429 Centerline is valid? [True, True] Translation: X:330.63, Y:7.35, Z:-3.20 [[ 9.99434944e-01 3.21034169e-02 9.95807185e-03 3.30630734e+02] [-3.21100988e-02 9.99484207e-01 5.11806056e-04 7.34637747e+00] [-9.93650482e-03 -8.31271528e-04 9.99950286e-01 -3.20360080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15589822699997 meters 0.09109863221963314 Centerline is valid? [True, True] Translation: X:330.66, Y:7.34, Z:-3.20 [[ 9.99529980e-01 2.90723074e-02 9.72730721e-03 3.30661996e+02] [-2.90785401e-02 9.99577005e-01 4.99898057e-04 7.34328893e+00] [-9.70865942e-03 -7.82518988e-04 9.99952564e-01 -3.20414548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.18589822699994 meters 0.08600030047435386 Centerline is valid? [True, True] Translation: X:330.69, Y:7.34, Z:-3.21 [[ 9.99589301e-01 2.71597141e-02 9.14219186e-03 3.30692902e+02] [-2.71651392e-02 9.99630849e-01 4.69739747e-04 7.33878722e+00] [-9.12605902e-03 -7.17895740e-04 9.99958099e-01 -3.20582801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21589822699997 meters 0.08267960963043802 Centerline is valid? [True, True] Translation: X:330.72, Y:7.33, Z:-3.21 [[ 9.99703025e-01 2.30174630e-02 8.00361749e-03 3.30722800e+02] [-2.30214885e-02 9.99734886e-01 4.11189399e-04 7.33206622e+00] [-7.99203108e-03 -5.95322474e-04 9.99967886e-01 -3.20890352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.24589822699994 meters 0.08151556666594298 Centerline is valid? [True, True] Translation: X:330.75, Y:7.33, Z:-3.21 [[ 9.99741946e-01 2.11718029e-02 8.23389095e-03 3.30753722e+02] [-2.11760011e-02 9.99775674e-01 4.23016416e-04 7.32983380e+00] [-8.22308785e-03 -5.97268139e-04 9.99966011e-01 -3.20922338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.27589822699997 meters 0.07980004977325691 Centerline is valid? [True, True] Translation: X:330.78, Y:7.33, Z:-3.21 [[ 9.99765680e-01 1.97097140e-02 8.95052519e-03 3.30784512e+02] [-1.97146155e-02 9.99805542e-01 4.59713617e-04 7.32638157e+00] [-8.93972387e-03 -6.36062059e-04 9.99959838e-01 -3.20839316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.30589822699994 meters 0.07624242888806622 Centerline is valid? [True, True] Translation: X:330.82, Y:7.32, Z:-3.20 [[ 9.99788810e-01 1.72257261e-02 1.12075332e-02 3.30815911e+02] [-1.72332561e-02 9.99851331e-01 5.75636045e-04 7.31728309e+00] [-1.11959512e-02 -7.68656766e-04 9.99937028e-01 -3.20486785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.335898227 meters 0.07953672003236689 Centerline is valid? [True, True] Translation: X:330.85, Y:7.32, Z:-3.20 [[ 9.99809522e-01 1.59496548e-02 1.12484761e-02 3.30846077e+02] [-1.59571593e-02 9.99872510e-01 5.77715293e-04 7.31948588e+00] [-1.12378276e-02 -7.57098976e-04 9.99936567e-01 -3.20456084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.36589822699995 meters 0.07291083826558291 Centerline is valid? [True, True] Translation: X:330.88, Y:7.31, Z:-3.21 [[ 9.99836772e-01 1.41519137e-02 1.12317777e-02 3.30877312e+02] [-1.41592816e-02 9.99899586e-01 5.76734296e-04 7.30875623e+00] [-1.12224880e-02 -7.35674060e-04 9.99936755e-01 -3.20545816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.395898227 meters 0.06335151811610165 Centerline is valid? [True, True] Translation: X:330.91, Y:7.29, Z:-3.21 [[ 9.99864832e-01 1.20339864e-02 1.12027207e-02 3.30908620e+02] [-1.20411826e-02 9.99927337e-01 5.75131363e-04 7.29391790e+00] [-1.11949856e-02 -7.09947629e-04 9.99937082e-01 -3.20668653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.42589822699995 meters 0.0660682000511863 Centerline is valid? [True, True] Translation: X:330.94, Y:7.29, Z:-3.21 [[ 9.99901819e-01 7.45711368e-03 1.18635637e-02 3.30938602e+02] [-7.46486306e-03 9.99971952e-01 6.09060105e-04 7.29056001e+00] [-1.18586891e-02 -6.97560186e-04 9.99929440e-01 -3.20551428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.455898227 meters 0.0638264203855132 Centerline is valid? [True, True] Translation: X:330.97, Y:7.29, Z:-3.21 [[ 9.99918300e-01 5.41969041e-03 1.15766768e-02 3.30969735e+02] [-5.42693319e-03 9.99985097e-01 5.94313103e-04 7.28511855e+00] [-1.15732833e-02 -6.57090400e-04 9.99932811e-01 -3.20551318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.48589822699995 meters 0.05642790503252642 Centerline is valid? [True, True] Translation: X:331.00, Y:7.27, Z:-3.21 [[ 9.99930853e-01 4.06689841e-03 1.10340563e-02 3.31002226e+02] [-4.07339331e-03 9.99991543e-01 5.66213855e-04 7.27296927e+00] [-1.10316602e-02 -6.11120753e-04 9.99938963e-01 -3.20653176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.515898227 meters 0.053578303752281474 Centerline is valid? [True, True] Translation: X:331.03, Y:7.27, Z:-3.21 [[ 9.99938141e-01 2.80947920e-03 1.07620225e-02 3.31033587e+02] [-2.81558133e-03 9.99995884e-01 5.51896654e-04 7.26660799e+00] [-1.07604277e-02 -5.82163864e-04 9.99941935e-01 -3.20733508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.54589822699995 meters 0.05243502785275236 Centerline is valid? [True, True] Translation: X:331.06, Y:7.26, Z:-3.21 [[ 9.99936258e-01 2.12091504e-04 1.12886978e-02 3.31063884e+02] [-2.18637669e-04 9.99999809e-01 5.78655742e-04 7.25755057e+00] [-1.12885729e-02 -5.81086992e-04 9.99936113e-01 -3.20587226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.575898227 meters 0.05138632662639405 Centerline is valid? [True, True] Translation: X:331.10, Y:7.25, Z:-3.20 [[ 9.99916969e-01 -7.42665136e-04 1.28648012e-02 3.31096559e+02] [ 7.34247649e-04 9.99999513e-01 6.59014544e-04 7.25306931e+00] [-1.28652843e-02 -6.49513876e-04 9.99917028e-01 -3.20384381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.60589822699995 meters 0.05589561726103862 Centerline is valid? [True, True] Translation: X:331.13, Y:7.26, Z:-3.20 [[ 9.99901392e-01 -1.71277511e-03 1.39381756e-02 3.31127554e+02] [ 1.70301785e-03 9.99998296e-01 7.11877459e-04 7.25589200e+00] [-1.39393711e-02 -6.88070300e-04 9.99902606e-01 -3.20193466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.635898227 meters 0.04797700636367325 Centerline is valid? [True, True] Translation: X:331.16, Y:7.24, Z:-3.20 [[ 9.99898314e-01 -4.36219232e-03 1.35768933e-02 3.31159058e+02] [ 4.35319144e-03 9.99990285e-01 6.92437692e-04 7.24079147e+00] [-1.35797820e-02 -6.33264466e-04 9.99907590e-01 -3.20322323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.66589822699996 meters 0.049031320013212434 Centerline is valid? [True, True] Translation: X:331.19, Y:7.24, Z:-3.20 [[ 9.99897012e-01 -6.14829394e-03 1.29677730e-02 3.31189531e+02] [ 6.14023585e-03 9.99980930e-01 6.61116322e-04 7.24181437e+00] [-1.29715905e-02 -5.81423050e-04 9.99915696e-01 -3.20434307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.695898227 meters 0.04454376036598861 Centerline is valid? [True, True] Translation: X:331.22, Y:7.24, Z:-3.21 [[ 9.99885392e-01 -8.36687039e-03 1.26173927e-02 3.31221589e+02] [ 8.35942070e-03 9.99964853e-01 6.43054663e-04 7.23594257e+00] [-1.26223296e-02 -5.37506870e-04 9.99920191e-01 -3.20565520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.72589822699996 meters 0.044259940779541075 Centerline is valid? [True, True] Translation: X:331.25, Y:7.24, Z:-3.21 [[ 9.99863258e-01 -1.05473204e-02 1.27365426e-02 3.31252467e+02] [ 1.05399112e-02 9.99944243e-01 6.48713923e-04 7.23524866e+00] [-1.27426746e-02 -5.14383189e-04 9.99918677e-01 -3.20534196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.755898227 meters 0.04089803328522582 Centerline is valid? [True, True] Translation: X:331.28, Y:7.23, Z:-3.20 [[ 9.99803966e-01 -1.46543603e-02 1.33146088e-02 3.31282485e+02] [ 1.46466299e-02 9.99892503e-01 6.77924996e-04 7.22940203e+00] [-1.33231121e-02 -4.82777951e-04 9.99911127e-01 -3.20373197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.78589822699996 meters 0.0384108417060234 Centerline is valid? [True, True] Translation: X:331.31, Y:7.23, Z:-3.20 [[ 9.99776170e-01 -1.66484183e-02 1.30552792e-02 3.31314096e+02] [ 1.66411562e-02 9.99861305e-01 6.64698351e-04 7.22621858e+00] [-1.30645346e-02 -4.47294632e-04 9.99914555e-01 -3.20395871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.815898227 meters 0.0364533141313951 Centerline is valid? [True, True] Translation: X:331.34, Y:7.22, Z:-3.20 [[ 9.99737582e-01 -1.91137199e-02 1.26266369e-02 3.31344627e+02] [ 1.91071261e-02 9.99817236e-01 6.42653590e-04 7.22380066e+00] [-1.26366127e-02 -4.01226202e-04 9.99920074e-01 -3.20493306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.84589822699996 meters 0.02979013012244692 Centerline is valid? [True, True] Translation: X:331.38, Y:7.21, Z:-3.21 [[ 9.99601651e-01 -2.54303552e-02 1.22407356e-02 3.31375288e+02] [ 2.54246314e-02 9.99676548e-01 6.23016718e-04 7.21319512e+00] [-1.22526198e-02 -3.11552351e-04 9.99924885e-01 -3.20611243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.875898227 meters 0.025932499129796546 Centerline is valid? [True, True] Translation: X:331.41, Y:7.21, Z:-3.21 [[ 9.99503283e-01 -2.91255993e-02 1.20369024e-02 3.31405812e+02] [ 2.91203318e-02 9.99575725e-01 6.12683561e-04 7.20762298e+00] [-1.20496402e-02 -2.61860639e-04 9.99927366e-01 -3.20667571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.90589822699997 meters 0.022668018134648714 Centerline is valid? [True, True] Translation: X:331.43, Y:7.20, Z:-3.21 [[ 9.99394238e-01 -3.28090496e-02 1.16070791e-02 3.31434146e+02] [ 3.28043977e-02 9.99461616e-01 5.90994616e-04 7.20247358e+00] [-1.16202200e-02 -2.09873374e-04 9.99932461e-01 -3.20772614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93589822699994 meters 0.018026991204845116 Centerline is valid? [True, True] Translation: X:331.46, Y:7.20, Z:-3.21 [[ 9.99282627e-01 -3.61754171e-02 1.12058609e-02 3.31463045e+02] [ 3.61712861e-02 9.99345442e-01 5.71159348e-04 7.19525792e+00] [-1.12191880e-02 -1.65419212e-04 9.99937049e-01 -3.20849396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.96589822699997 meters 0.02748068159852371 Centerline is valid? [True, True] Translation: X:331.49, Y:7.19, Z:-3.21 [[ 9.99032152e-01 -4.23101776e-02 1.20252894e-02 3.31491563e+02] [ 4.23058572e-02 9.99104518e-01 6.13540198e-04 7.18573475e+00] [-1.20404800e-02 -1.04206206e-04 9.99927505e-01 -3.20772864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99589822699994 meters 0.01884049274983548 Centerline is valid? [True, True] Translation: X:331.52, Y:7.18, Z:-3.21 [[ 9.98921239e-01 -4.48092230e-02 1.21857265e-02 3.31520985e+02] [ 4.48049613e-02 9.98995559e-01 6.22646661e-04 7.18218059e+00] [-1.22013870e-02 -7.59939697e-05 9.99925557e-01 -3.20748604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.02589822699997 meters 0.010819440411441353 Centerline is valid? [True, True] Translation: X:331.55, Y:7.18, Z:-3.21 [[ 9.98836755e-01 -4.66479257e-02 1.22110049e-02 3.31549765e+02] [ 4.66437595e-02 9.98911391e-01 6.25909156e-04 7.17939242e+00] [-1.22269093e-02 -5.56138918e-05 9.99925247e-01 -3.20724762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05589822699994 meters 0.010042876024266631 Centerline is valid? [True, True] Translation: X:331.58, Y:7.18, Z:-3.21 [[ 9.98748762e-01 -4.85082563e-02 1.21597097e-02 3.31578379e+02] [ 4.85042386e-02 9.98822781e-01 6.25273415e-04 7.17743432e+00] [-1.21757259e-02 -3.46935912e-05 9.99925872e-01 -3.20701947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.085898227 meters 0.009583832615732174 Centerline is valid? [True, True] Translation: X:331.61, Y:7.17, Z:-3.21 [[ 9.98586109e-01 -5.14528357e-02 1.33562458e-02 3.31605390e+02] [ 5.14482209e-02 9.98675426e-01 6.89111613e-04 7.17234650e+00] [-1.33740112e-02 -9.82201299e-07 9.99910564e-01 -3.20538782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11589822699995 meters 0.009784681092688667 Centerline is valid? [True, True] Translation: X:331.63, Y:7.17, Z:-3.21 [[ 9.98490765e-01 -5.32469944e-02 1.34517909e-02 3.31632732e+02] [ 5.32424615e-02 9.98581372e-01 6.95120809e-04 7.16998293e+00] [-1.34697209e-02 2.21347517e-05 9.99909279e-01 -3.20516448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.145898227 meters 0.01035829380633991 Centerline is valid? [True, True] Translation: X:331.66, Y:7.17, Z:-3.21 [[ 9.98384341e-01 -5.52975917e-02 1.30722531e-02 3.31660469e+02] [ 5.52934698e-02 9.98469916e-01 6.76809455e-04 7.16821860e+00] [-1.30896774e-02 4.70942682e-05 9.99914325e-01 -3.20668774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17589822699995 meters 0.012796105382261997 Centerline is valid? [True, True] Translation: X:331.69, Y:7.16, Z:-3.21 [[ 9.98164148e-01 -5.93880277e-02 1.18909979e-02 3.31689204e+02] [ 5.93848862e-02 9.98234969e-01 6.17415945e-04 7.16121203e+00] [-1.19066770e-02 8.98630956e-05 9.99929109e-01 -3.20917685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.205898227 meters 0.014295085077071805 Centerline is valid? [True, True] Translation: X:331.72, Y:7.16, Z:-3.21 [[ 9.98045270e-01 -6.12641141e-02 1.23428827e-02 3.31718014e+02] [ 6.12608612e-02 9.98121583e-01 6.41810404e-04 7.15833722e+00] [-1.23590176e-02 1.15579785e-04 9.99923618e-01 -3.20873889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23589822699995 meters 0.014571577286216487 Centerline is valid? [True, True] Translation: X:331.75, Y:7.16, Z:-3.21 [[ 9.97938585e-01 -6.28244082e-02 1.31024612e-02 3.31747177e+02] [ 6.28208485e-02 9.98024586e-01 6.83484058e-04 7.15796529e+00] [-1.31195179e-02 1.41032615e-04 9.99913925e-01 -3.20796720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.265898227 meters 0.016023073520150803 Centerline is valid? [True, True] Translation: X:331.78, Y:7.16, Z:-3.21 [[ 9.97884762e-01 -6.35995306e-02 1.34573693e-02 3.31775370e+02] [ 6.35958200e-02 9.97975489e-01 7.03914868e-04 7.15563023e+00] [-1.34748934e-02 1.53406518e-04 9.99909198e-01 -3.20728474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29589822699995 meters 0.015595002520841 Centerline is valid? [True, True] Translation: X:331.80, Y:7.16, Z:-3.21 [[ 9.97881537e-01 -6.39631677e-02 1.18806965e-02 3.31803262e+02] [ 6.39602915e-02 9.97952250e-01 6.22285564e-04 7.15555601e+00] [-1.18961711e-02 1.38925534e-04 9.99929228e-01 -3.21070626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.325898227 meters 0.01685407883847852 Centerline is valid? [True, True] Translation: X:331.83, Y:7.15, Z:-3.21 [[ 9.97889190e-01 -6.40260675e-02 1.08547969e-02 3.31830004e+02] [ 6.40236508e-02 9.97948219e-01 5.70343013e-04 7.15371833e+00] [-1.08690421e-02 1.25824599e-04 9.99940922e-01 -3.21251651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.35589822699995 meters 0.016092710981281573 Centerline is valid? [True, True] Translation: X:331.86, Y:7.16, Z:-3.21 [[ 9.97869280e-01 -6.45051895e-02 9.79698922e-03 3.31857944e+02] [ 6.45032374e-02 9.97917365e-01 5.15438614e-04 7.15532959e+00] [-9.80983413e-03 1.17597163e-04 9.99951876e-01 -3.21460275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.385898227 meters 0.01655221067639581 Centerline is valid? [True, True] Translation: X:331.89, Y:7.15, Z:-3.22 [[ 9.97859144e-01 -6.47619919e-02 9.11114063e-03 3.31886056e+02] [ 6.47602987e-02 9.97900733e-01 4.81047883e-04 7.15496154e+00] [-9.12316753e-03 1.10022161e-04 9.99958377e-01 -3.21600984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41589822699996 meters 0.019166227588641095 Centerline is valid? [True, True] Translation: X:331.91, Y:7.15, Z:-3.22 [[ 9.97810464e-01 -6.57910447e-02 6.76883721e-03 3.31914570e+02] [ 6.57901322e-02 9.97833418e-01 3.57620672e-04 7.14900793e+00] [-6.77770021e-03 8.84850464e-05 9.99977027e-01 -3.22058326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.445898227 meters 0.018176402466384935 Centerline is valid? [True, True] Translation: X:331.94, Y:7.15, Z:-3.22 [[ 9.97781008e-01 -6.62776759e-02 6.35050299e-03 3.31943575e+02] [ 6.62768830e-02 9.97801214e-01 3.35448893e-04 7.14958918e+00] [-6.35877236e-03 8.61870091e-05 9.99979779e-01 -3.22011310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47589822699996 meters 0.018176402466384935 Centerline is valid? [True, True] Translation: X:331.97, Y:7.15, Z:-3.22 [[ 9.97768948e-01 -6.64589975e-02 6.35045389e-03 3.31971075e+02] [ 6.64582024e-02 9.97789153e-01 3.36375057e-04 7.15123656e+00] [-6.35876916e-03 8.64151637e-05 9.99979779e-01 -3.22039347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.505898227 meters 0.018135457066777872 Centerline is valid? [True, True] Translation: X:332.00, Y:7.15, Z:-3.22 [[ 9.97754085e-01 -6.66135682e-02 7.02986635e-03 3.31999119e+02] [ 6.66125873e-02 9.97778845e-01 3.73843280e-04 7.15093695e+00] [-7.03915496e-03 9.52739256e-05 9.99975220e-01 -3.21937336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53589822699996 meters 0.016240440384668434 Centerline is valid? [True, True] Translation: X:332.03, Y:7.15, Z:-3.22 [[ 9.97858722e-01 -6.48879519e-02 8.21733482e-03 3.32027986e+02] [ 6.48865378e-02 9.97892552e-01 4.38845383e-04 7.15427260e+00] [-8.22849299e-03 9.52887135e-05 9.99966141e-01 -3.21720977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.565898227 meters 0.014483120140957007 Centerline is valid? [True, True] Translation: X:332.06, Y:7.16, Z:-3.22 [[ 9.97989491e-01 -6.28252554e-02 8.36444158e-03 3.32055954e+02] [ 6.28237050e-02 9.98024539e-01 4.48245466e-04 7.15911546e+00] [-8.37607909e-03 7.81409456e-05 9.99964917e-01 -3.21740392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59589822699996 meters 0.012455237241671524 Centerline is valid? [True, True] Translation: X:332.08, Y:7.17, Z:-3.22 [[ 9.98126816e-01 -6.05342467e-02 8.85798582e-03 3.32084218e+02] [ 6.05324141e-02 9.98166119e-01 4.75093072e-04 7.16520930e+00] [-8.87050073e-03 6.19921297e-05 9.99960654e-01 -3.21691917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.625898227 meters 0.01065150817711208 Centerline is valid? [True, True] Translation: X:332.11, Y:7.17, Z:-3.22 [[ 9.98270160e-01 -5.80214680e-02 9.49719300e-03 3.32112017e+02] [ 5.80192318e-02 9.98315335e-01 5.11039570e-04 7.17180160e+00] [-9.51084468e-03 4.08642887e-05 9.99954770e-01 -3.21527410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65589822699997 meters 0.009397396595247265 Centerline is valid? [True, True] Translation: X:332.14, Y:7.19, Z:-3.21 [[ 9.98506800e-01 -5.35594036e-02 1.07499124e-02 3.32138970e+02] [ 5.35562726e-02 9.98564665e-01 5.79116128e-04 7.18515615e+00] [-1.07654998e-02 -2.52615324e-06 9.99942050e-01 -3.21286050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.68589822699994 meters 0.00949606597428833 Centerline is valid? [True, True] Translation: X:332.17, Y:7.19, Z:-3.21 [[ 9.98525609e-01 -5.31552870e-02 1.10055818e-02 3.32166587e+02] [ 5.31519729e-02 9.98586258e-01 5.93605968e-04 7.19101703e+00] [-1.10215761e-02 -7.76237410e-06 9.99939261e-01 -3.21303731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71589822699997 meters 0.009507600092618022 Centerline is valid? [True, True] Translation: X:332.19, Y:7.19, Z:-3.21 [[ 9.98462917e-01 -5.42751984e-02 1.12252332e-02 3.32194923e+02] [ 5.42717990e-02 9.98526015e-01 6.07450880e-04 7.19470231e+00] [-1.12416569e-02 2.69642419e-06 9.99936811e-01 -3.21335554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.74589822699994 meters 0.01212975572614902 Centerline is valid? [True, True] Translation: X:332.22, Y:7.19, Z:-3.21 [[ 9.98121946e-01 -6.02519500e-02 1.10581452e-02 3.32223070e+02] [ 6.02489969e-02 9.98183199e-01 6.00286829e-04 7.19326116e+00] [-1.10742232e-02 6.70826964e-05 9.99938677e-01 -3.21380687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.77589822699997 meters 0.0159370419172889 Centerline is valid? [True, True] Translation: X:332.25, Y:7.19, Z:-3.21 [[ 9.97862705e-01 -6.44091635e-02 1.10218397e-02 3.32251680e+02] [ 6.44064658e-02 9.97923568e-01 5.99901846e-04 7.19120167e+00] [-1.10375927e-02 1.11258061e-04 9.99939078e-01 -3.21419745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.80589822699994 meters 0.02080635392506929 Centerline is valid? [True, True] Translation: X:332.28, Y:7.19, Z:-3.21 [[ 9.97564620e-01 -6.88634903e-02 1.10747077e-02 3.32281412e+02] [ 6.88610347e-02 9.97626079e-01 6.03350711e-04 7.18823364e+00] [-1.10899660e-02 1.60734507e-04 9.99938492e-01 -3.21405646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.835898227 meters 0.03093580508355978 Centerline is valid? [True, True] Translation: X:332.31, Y:7.18, Z:-3.21 [[ 9.96983714e-01 -7.68386318e-02 1.09223849e-02 3.32311189e+02] [ 7.68367190e-02 9.97043512e-01 5.95273907e-04 7.18186381e+00] [-1.09358330e-02 2.45761828e-04 9.99940172e-01 -3.21379334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.86589822699995 meters 0.03360421812430042 Centerline is valid? [True, True] Translation: X:332.34, Y:7.18, Z:-3.21 [[ 9.96800785e-01 -7.91588538e-02 1.10485893e-02 3.32340352e+02] [ 7.91570377e-02 9.96861977e-01 6.02259379e-04 7.18299641e+00] [-1.10615927e-02 2.74240975e-04 9.99938781e-01 -3.21398273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.895898227 meters 0.03487965251736654 Centerline is valid? [True, True] Translation: X:332.37, Y:7.19, Z:-3.21 [[ 9.96727105e-01 -8.00682369e-02 1.11425339e-02 3.32368432e+02] [ 8.00664423e-02 9.96789344e-01 6.07763771e-04 7.18610848e+00] [-1.11554217e-02 2.86368427e-04 9.99937735e-01 -3.21363284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.92589822699995 meters 0.034586369925930865 Centerline is valid? [True, True] Translation: X:332.40, Y:7.19, Z:-3.21 [[ 9.96756529e-01 -7.97014335e-02 1.11402054e-02 3.32397087e+02] [ 7.96996092e-02 9.96818741e-01 6.08324547e-04 7.19164185e+00] [-1.11532499e-02 2.81518554e-04 9.99937761e-01 -3.21325914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.955898227 meters 0.029308095432063447 Centerline is valid? [True, True] Translation: X:332.43, Y:7.21, Z:-3.21 [[ 9.97095024e-01 -7.53068373e-02 1.14190301e-02 3.32425619e+02] [ 7.53046142e-02 9.97160380e-01 6.25131582e-04 7.20836351e+00] [-1.14336811e-02 2.36590070e-04 9.99934605e-01 -3.21147368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.98589822699995 meters 0.02553526200922182 Centerline is valid? [True, True] Translation: X:332.45, Y:7.22, Z:-3.21 [[ 9.97323448e-01 -7.22008369e-02 1.15316651e-02 3.32453880e+02] [ 7.21983590e-02 9.97390093e-01 6.31572653e-04 7.22028169e+00] [-1.15471686e-02 2.02685080e-04 9.99933309e-01 -3.21055653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.015898227 meters 0.021557743697389133 Centerline is valid? [True, True] Translation: X:332.48, Y:7.23, Z:-3.21 [[ 9.97552478e-01 -6.89588449e-02 1.15642053e-02 3.32482282e+02] [ 6.89561295e-02 9.97619492e-01 6.33841985e-04 7.23351775e+00] [-1.15803856e-02 1.65132196e-04 9.99932931e-01 -3.21026124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.04589822699995 meters 0.018065115956230084 Centerline is valid? [True, True] Translation: X:332.51, Y:7.25, Z:-3.21 [[ 9.97749991e-01 -6.60610330e-02 1.14409929e-02 3.32509121e+02] [ 6.60581787e-02 9.97815576e-01 6.27607387e-04 7.24653301e+00] [-1.14574613e-02 1.29575888e-04 9.99934353e-01 -3.21034477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.075898227 meters 0.01243336842876684 Centerline is valid? [True, True] Translation: X:332.54, Y:7.27, Z:-3.21 [[ 9.97956478e-01 -6.30761510e-02 1.02111642e-02 3.32536328e+02] [ 6.30737139e-02 9.98008713e-01 5.60843582e-04 7.27013271e+00] [-1.02262067e-02 8.43585664e-05 9.99947707e-01 -3.21285439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.10589822699995 meters 0.014818073666253389 Centerline is valid? [True, True] Translation: X:332.56, Y:7.27, Z:-3.21 [[ 9.97936314e-01 -6.33661508e-02 1.03848045e-02 3.32563218e+02] [ 6.33636271e-02 9.97990342e-01 5.72185422e-04 7.27305509e+00] [-1.04001918e-02 8.70142704e-05 9.99945913e-01 -3.21302400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.135898227 meters 0.019207665550901525 Centerline is valid? [True, True] Translation: X:332.59, Y:7.28, Z:-3.21 [[ 9.97686512e-01 -6.70874717e-02 1.09952047e-02 3.32591676e+02] [ 6.70848514e-02 9.97747089e-01 6.07376724e-04 7.27832358e+00] [-1.10111809e-02 1.31640108e-04 9.99939366e-01 -3.21308386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.16589822699996 meters 0.019022530499641227 Centerline is valid? [True, True] Translation: X:332.62, Y:7.29, Z:-3.21 [[ 9.97513697e-01 -6.96313070e-02 1.08584337e-02 3.32619919e+02] [ 6.96288862e-02 9.97572783e-01 6.01282101e-04 7.28529714e+00] [-1.08739459e-02 1.56273510e-04 9.99940865e-01 -3.21381857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.195898227 meters 0.019832667279953083 Centerline is valid? [True, True] Translation: X:332.65, Y:7.29, Z:-3.22 [[ 9.97366672e-01 -7.18017984e-02 1.02090164e-02 3.32648160e+02] [ 7.17997563e-02 9.97418906e-01 5.66872339e-04 7.29057786e+00] [-1.02233684e-02 1.67625311e-04 9.99947726e-01 -3.21509467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.22589822699996 meters 0.02773968745070833 Centerline is valid? [True, True] Translation: X:332.68, Y:7.29, Z:-3.22 [[ 9.97240007e-01 -7.36283522e-02 9.55161130e-03 3.32675833e+02] [ 7.36266336e-02 9.97285734e-01 5.31924917e-04 7.28592921e+00] [-9.56485045e-03 1.72796177e-04 9.99954241e-01 -3.21697902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.255898227 meters 0.024706109000559466 Centerline is valid? [True, True] Translation: X:332.70, Y:7.30, Z:-3.22 [[ 9.97041036e-01 -7.65340030e-02 7.19155390e-03 3.32704737e+02] [ 7.65331018e-02 9.97066960e-01 4.00831856e-04 7.30177254e+00] [-7.20113805e-03 1.50746117e-04 9.99974060e-01 -3.22079806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.28589822699996 meters 0.033812714984137134 Centerline is valid? [True, True] Translation: X:332.73, Y:7.30, Z:-3.22 [[ 9.96964686e-01 -7.75709727e-02 6.64520505e-03 3.32733221e+02] [ 7.75702240e-02 9.96986822e-01 3.70724627e-04 7.29524482e+00] [-6.65393934e-03 1.45870683e-04 9.99977852e-01 -3.22416627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.315898227 meters 0.027063016091724384 Centerline is valid? [True, True] Translation: X:332.76, Y:7.31, Z:-3.22 [[ 9.96874922e-01 -7.87299956e-02 6.47894234e-03 3.32761555e+02] [ 7.87293065e-02 9.96895965e-01 3.61723415e-04 7.30873771e+00] [-6.48730996e-03 1.49489636e-04 9.99978946e-01 -3.22312172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.34589822699996 meters 0.029679512667819697 Centerline is valid? [True, True] Translation: X:332.79, Y:7.31, Z:-3.22 [[ 9.96824919e-01 -7.93043961e-02 7.13393928e-03 3.32789332e+02] [ 7.93035633e-02 9.96850433e-01 3.99985022e-04 7.30819279e+00] [-7.14319103e-03 1.67031768e-04 9.99974473e-01 -3.22284833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.375898227 meters 0.02845902516889407 Centerline is valid? [True, True] Translation: X:332.82, Y:7.31, Z:-3.22 [[ 9.96807817e-01 -7.94636482e-02 7.72681665e-03 3.32817438e+02] [ 7.94626745e-02 9.96837748e-01 4.33420757e-04 7.31308937e+00] [-7.73682371e-03 1.81956318e-04 9.99970054e-01 -3.22148042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.40589822699997 meters 0.02651457323521626 Centerline is valid? [True, True] Translation: X:332.85, Y:7.32, Z:-3.22 [[ 9.96867817e-01 -7.87390621e-02 7.39700328e-03 3.32845676e+02] [ 7.87381397e-02 9.96895246e-01 4.16280173e-04 7.31871778e+00] [-7.40681492e-03 1.67449970e-04 9.99972555e-01 -3.22132173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43589822699994 meters 0.0253250987367755 Centerline is valid? [True, True] Translation: X:332.87, Y:7.32, Z:-3.22 [[ 9.96996129e-01 -7.71075779e-02 7.28976672e-03 3.32873116e+02] [ 7.71066275e-02 9.97022767e-01 4.11753815e-04 7.32308793e+00] [-7.29981273e-03 1.51572367e-04 9.99973345e-01 -3.22187151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.46589822699997 meters 0.021238458420908338 Centerline is valid? [True, True] Translation: X:332.90, Y:7.33, Z:-3.22 [[ 9.97377423e-01 -7.19092253e-02 8.20603420e-03 3.32901680e+02] [ 7.19078398e-02 9.97411173e-01 4.64142981e-04 7.33131392e+00] [-8.21816635e-03 1.27152462e-04 9.99966222e-01 -3.22071731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49589822699994 meters 0.01760540209854515 Centerline is valid? [True, True] Translation: X:332.93, Y:7.34, Z:-3.22 [[ 9.97547121e-01 -6.94587445e-02 8.67318264e-03 3.32930193e+02] [ 6.94571040e-02 9.97584818e-01 4.90572448e-04 7.33894721e+00] [-8.68630988e-03 1.13045015e-04 9.99962267e-01 -3.21997081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.52589822699997 meters 0.014948284176269849 Centerline is valid? [True, True] Translation: X:332.96, Y:7.34, Z:-3.22 [[ 9.97735200e-01 -6.66661393e-02 8.94962529e-03 3.32957723e+02] [ 6.66642659e-02 9.97775334e-01 5.07813103e-04 7.34455460e+00] [-8.96356930e-03 8.99571917e-05 9.99959822e-01 -3.21991592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55589822699994 meters 0.012486001238546394 Centerline is valid? [True, True] Translation: X:332.99, Y:7.35, Z:-3.22 [[ 9.97886003e-01 -6.43717752e-02 8.93311556e-03 3.32986217e+02] [ 6.43698109e-02 9.97925984e-01 5.07529138e-04 7.35038410e+00] [-8.94725869e-03 6.85667372e-05 9.99959970e-01 -3.22027379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.585898227 meters 0.009759481873514829 Centerline is valid? [True, True] Translation: X:333.01, Y:7.36, Z:-3.22 [[ 9.98160698e-01 -5.99608220e-02 8.93984623e-03 3.33014566e+02] [ 5.99586645e-02 9.98200731e-01 5.09393398e-04 7.35578343e+00] [-8.95430469e-03 2.75647714e-05 9.99959909e-01 -3.22024170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61589822699995 meters 0.009274321524811831 Centerline is valid? [True, True] Translation: X:333.04, Y:7.36, Z:-3.22 [[ 9.98250427e-01 -5.82652670e-02 1.00619638e-02 3.33042685e+02] [ 5.82624289e-02 9.98301136e-01 5.75212415e-04 7.35894828e+00] [-1.00783848e-02 1.20284138e-05 9.99949212e-01 -3.21869228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.645898227 meters 0.009331209067803404 Centerline is valid? [True, True] Translation: X:333.07, Y:7.36, Z:-3.22 [[ 9.98338243e-01 -5.64130007e-02 1.17612187e-02 3.33070185e+02] [ 5.64089640e-02 9.98407519e-01 6.74928345e-04 7.36270273e+00] [-1.17805640e-02 -1.03686135e-05 9.99930607e-01 -3.21657908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67589822699995 meters 0.02748876225557237 Centerline is valid? [True, True] Translation: X:333.10, Y:7.37, Z:-3.21 [[ 9.98469905e-01 -5.35322562e-02 1.38617162e-02 3.33097232e+02] [ 5.35263357e-02 9.98566119e-01 7.98025800e-04 7.36926793e+00] [-1.38845602e-02 -5.48378710e-05 9.99903603e-01 -3.21414501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.705898227 meters 0.011444753514199232 Centerline is valid? [True, True] Translation: X:333.13, Y:7.37, Z:-3.21 [[ 9.98563899e-01 -5.18074489e-02 1.36428918e-02 3.33125066e+02] [ 5.18015403e-02 9.98657089e-01 7.86345335e-04 7.37279973e+00] [-1.36653091e-02 -7.84932546e-05 9.99906622e-01 -3.21420203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73589822699995 meters 0.012016860881036014 Centerline is valid? [True, True] Translation: X:333.15, Y:7.38, Z:-3.22 [[ 9.98618424e-01 -5.09058584e-02 1.30321771e-02 3.33153228e+02] [ 5.09003758e-02 9.98703452e-01 7.52251044e-04 7.37617060e+00] [-1.30535742e-02 -8.78690406e-05 9.99914795e-01 -3.21602442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.765898227 meters 0.012600927643480007 Centerline is valid? [True, True] Translation: X:333.18, Y:7.38, Z:-3.22 [[ 9.98665811e-01 -5.00291595e-02 1.27937578e-02 3.33181716e+02] [ 5.00237742e-02 9.98747753e-01 7.40799554e-04 7.37934399e+00] [-1.28147984e-02 -9.98191375e-05 9.99917882e-01 -3.21742048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79589822699995 meters 0.013381678254892709 Centerline is valid? [True, True] Translation: X:333.21, Y:7.38, Z:-3.22 [[ 9.98706311e-01 -4.92874692e-02 1.25080116e-02 3.33209225e+02] [ 4.92822402e-02 9.98784628e-01 7.26120219e-04 7.38192031e+00] [-1.25285984e-02 -1.08758013e-04 9.99921508e-01 -3.21970052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.825898227 meters 0.026477389469362685 Centerline is valid? [True, True] Translation: X:333.24, Y:7.38, Z:-3.22 [[ 9.98677291e-01 -4.99866888e-02 1.20415477e-02 3.33237364e+02] [ 4.99818783e-02 9.98749879e-01 7.00293261e-04 7.38265197e+00] [-1.20614997e-02 -9.75078043e-05 9.99927253e-01 -3.22199240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.85589822699995 meters 0.012427411702553237 Centerline is valid? [True, True] Translation: X:333.27, Y:7.38, Z:-3.22 [[ 9.98654936e-01 -5.06608627e-02 1.10361227e-02 3.33265474e+02] [ 5.06568422e-02 9.98715911e-01 6.43716409e-04 7.38147225e+00] [-1.10545625e-02 -8.37954451e-05 9.99938893e-01 -3.22309304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.885898227 meters 0.011839657292842731 Centerline is valid? [True, True] Translation: X:333.29, Y:7.38, Z:-3.23 [[ 9.98596328e-01 -5.20551814e-02 9.77918733e-03 3.33293202e+02] [ 5.20520748e-02 9.98644208e-01 5.72091848e-04 7.38093442e+00] [-9.79570913e-03 -6.22618281e-05 9.99952019e-01 -3.22507481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91589822699996 meters 0.010176816923179085 Centerline is valid? [True, True] Translation: X:333.32, Y:7.38, Z:-3.23 [[ 9.98421654e-01 -5.55754159e-02 8.09781162e-03 3.33321488e+02] [ 5.55733989e-02 9.98454492e-01 4.74057216e-04 7.37809375e+00] [-8.11164231e-03 -2.32860747e-05 9.99967100e-01 -3.22731362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.945898227 meters 0.009615538618179953 Centerline is valid? [True, True] Translation: X:333.35, Y:7.38, Z:-3.23 [[ 9.98305162e-01 -5.75637368e-02 8.55680527e-03 3.33349655e+02] [ 5.75615527e-02 9.98341833e-01 5.01518028e-04 7.37759909e+00] [-8.57148592e-03 -8.12503927e-06 9.99963264e-01 -3.22682222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97589822699996 meters 0.00964433831179113 Centerline is valid? [True, True] Translation: X:333.38, Y:7.38, Z:-3.23 [[ 9.98187248e-01 -5.94778974e-02 9.19773474e-03 3.33376885e+02] [ 5.94754373e-02 9.98229623e-01 5.40998141e-04 7.37663601e+00] [-9.21362871e-03 7.02185118e-06 9.99957554e-01 -3.22552437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.005898227 meters 0.011449286866976672 Centerline is valid? [True, True] Translation: X:333.41, Y:7.37, Z:-3.22 [[ 9.97868192e-01 -6.45582436e-02 9.55538092e-03 3.33405739e+02] [ 6.45558140e-02 9.97913939e-01 5.62811177e-04 7.37208553e+00] [-9.57178192e-03 5.52440223e-05 9.99954188e-01 -3.22487009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03589822699996 meters 0.01329425162630092 Centerline is valid? [True, True] Translation: X:333.43, Y:7.37, Z:-3.23 [[ 9.97675601e-01 -6.74882762e-02 9.41959002e-03 3.33434524e+02] [ 6.74860379e-02 9.97720064e-01 5.55635387e-04 7.36998588e+00] [-9.43561283e-03 8.13469409e-05 9.99955480e-01 -3.22527758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.065898227 meters 0.015861624563553407 Centerline is valid? [True, True] Translation: X:333.46, Y:7.37, Z:-3.23 [[ 9.97431963e-01 -7.09694838e-02 9.63387494e-03 3.33463905e+02] [ 7.09672889e-02 9.97478481e-01 5.69922751e-04 7.36698904e+00] [-9.65003006e-03 1.15230818e-04 9.99953431e-01 -3.22538274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09589822699996 meters 0.020370808722899057 Centerline is valid? [True, True] Translation: X:333.49, Y:7.36, Z:-3.22 [[ 9.97176393e-01 -7.43907462e-02 1.02595835e-02 3.33492069e+02] [ 7.43884192e-02 9.97229157e-01 6.08763113e-04 7.36158843e+00] [-1.02764421e-02 1.56149992e-04 9.99947184e-01 -3.22411522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.125898227 meters 0.024410920243181044 Centerline is valid? [True, True] Translation: X:333.52, Y:7.36, Z:-3.22 [[ 9.96751115e-01 -7.96510563e-02 1.19551185e-02 3.33522012e+02] [ 7.96482657e-02 9.96822777e-01 7.10119356e-04 7.35718958e+00] [-1.19736962e-02 2.44392194e-04 9.99928283e-01 -3.22104525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15589822699997 meters 0.03524965309496052 Centerline is valid? [True, True] Translation: X:333.55, Y:7.36, Z:-3.22 [[ 9.96623204e-01 -8.12436321e-02 1.19021410e-02 3.33550534e+02] [ 8.12409733e-02 9.96694238e-01 7.07504323e-04 7.35814573e+00] [-1.19202756e-02 2.61826296e-04 9.99928917e-01 -3.22140234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.18589822699994 meters 0.02605632398043292 Centerline is valid? [True, True] Translation: X:333.58, Y:7.36, Z:-3.22 [[ 9.96635810e-01 -8.10767716e-02 1.19841291e-02 3.33578353e+02] [ 8.10740420e-02 9.96707826e-01 7.14214617e-04 7.35805721e+00] [-1.20025815e-02 2.59789924e-04 9.99927933e-01 -3.22060215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21589822699997 meters 0.026707579706029497 Centerline is valid? [True, True] Translation: X:333.61, Y:7.36, Z:-3.22 [[ 9.96713772e-01 -7.98493218e-02 1.36287618e-02 3.33606529e+02] [ 7.98456646e-02 9.96806906e-01 8.13125121e-04 7.35991906e+00] [-1.36501713e-02 2.77744535e-04 9.99906793e-01 -3.21775877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.24589822699994 meters 0.0249828440275539 Centerline is valid? [True, True] Translation: X:333.64, Y:7.37, Z:-3.22 [[ 9.96766656e-01 -7.89558821e-02 1.49064295e-02 3.33635034e+02] [ 7.89513863e-02 9.96878069e-01 8.90758675e-04 7.36502480e+00] [-1.49302233e-02 2.89004724e-04 9.99888496e-01 -3.21664520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.27589822699997 meters 0.023232159819351568 Centerline is valid? [True, True] Translation: X:333.66, Y:7.37, Z:-3.22 [[ 9.96814919e-01 -7.81585370e-02 1.58511966e-02 3.33663426e+02] [ 7.81533104e-02 9.96940900e-01 9.49857049e-04 7.37017969e+00] [-1.58769457e-02 2.91991814e-04 9.99873911e-01 -3.21545280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.30589822699994 meters 0.02302307486875823 Centerline is valid? [True, True] Translation: X:333.69, Y:7.37, Z:-3.22 [[ 9.96870867e-01 -7.74736922e-02 1.56939674e-02 3.33691348e+02] [ 7.74684533e-02 9.96994358e-01 9.42385706e-04 7.37309637e+00] [-1.57198070e-02 2.76350521e-04 9.99876398e-01 -3.21668247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.335898227 meters 0.021574414522797812 Centerline is valid? [True, True] Translation: X:333.72, Y:7.38, Z:-3.22 [[ 9.96820686e-01 -7.83037059e-02 1.47326019e-02 3.33719615e+02] [ 7.82991604e-02 9.96929514e-01 8.85980058e-04 7.37827342e+00] [-1.47567412e-02 2.70387109e-04 9.99891077e-01 -3.22014750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.36589822699995 meters 0.021574414522797812 Centerline is valid? [True, True] Translation: X:333.75, Y:7.38, Z:-3.22 [[ 9.96805525e-01 -7.84965038e-02 1.47324451e-02 3.33747086e+02] [ 7.84919408e-02 9.96914352e-01 8.88581697e-04 7.38011249e+00] [-1.47567365e-02 2.70635059e-04 9.99891077e-01 -3.22042787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.395898227 meters 0.023440571913711166 Centerline is valid? [True, True] Translation: X:333.78, Y:7.38, Z:-3.22 [[ 9.96720406e-01 -7.97779644e-02 1.35613177e-02 3.33775099e+02] [ 7.97741891e-02 9.96812624e-01 8.19968134e-04 7.38053857e+00] [-1.35835080e-02 2.64564150e-04 9.99907705e-01 -3.22328327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.42589822699995 meters 0.026386688647779134 Centerline is valid? [True, True] Translation: X:333.80, Y:7.38, Z:-3.23 [[ 9.96490794e-01 -8.28469256e-02 1.19366911e-02 3.33804330e+02] [ 8.28442108e-02 9.96562248e-01 7.22570079e-04 7.38060335e+00] [-1.19555185e-02 2.68851326e-04 9.99928494e-01 -3.22622257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.455898227 meters 0.02748747638202889 Centerline is valid? [True, True] Translation: X:333.83, Y:7.38, Z:-3.23 [[ 9.96384656e-01 -8.41708780e-02 1.15274054e-02 3.33833034e+02] [ 8.41684131e-02 9.96451298e-01 6.99659953e-04 7.38278616e+00] [-1.15453891e-02 2.73112980e-04 9.99933312e-01 -3.22715428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.48589822699995 meters 0.027986704592021187 Centerline is valid? [True, True] Translation: X:333.86, Y:7.39, Z:-3.23 [[ 9.96333472e-01 -8.48426592e-02 1.10152472e-02 3.33861975e+02] [ 8.48404299e-02 9.96394326e-01 6.70348439e-04 7.38651765e+00] [-1.10324039e-02 2.66647720e-04 9.99939106e-01 -3.22828444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.515898227 meters 0.027908556566417463 Centerline is valid? [True, True] Translation: X:333.89, Y:7.40, Z:-3.23 [[ 9.96347490e-01 -8.47704408e-02 1.02786976e-02 3.33889534e+02] [ 8.47684791e-02 9.96400478e-01 6.27145914e-04 7.39654009e+00] [-1.02948627e-02 2.46454307e-04 9.99946976e-01 -3.22954778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.54589822699995 meters 0.02759579507642197 Centerline is valid? [True, True] Translation: X:333.92, Y:7.40, Z:-3.23 [[ 9.96364740e-01 -8.46045994e-02 9.96825041e-03 3.33918316e+02] [ 8.46027276e-02 9.96414576e-01 6.10066929e-04 7.40373496e+00] [-9.98412446e-03 2.35491996e-04 9.99950130e-01 -3.23007841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.575898227 meters 0.02919841820114812 Centerline is valid? [True, True] Translation: X:333.95, Y:7.41, Z:-3.23 [[ 9.96374518e-01 -8.44314215e-02 1.04477250e-02 3.33945639e+02] [ 8.44293367e-02 9.96429263e-01 6.41227829e-04 7.40871987e+00] [-1.04645587e-02 2.43191421e-04 9.99945215e-01 -3.22966494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.60589822699995 meters 0.028338848459899424 Centerline is valid? [True, True] Translation: X:333.97, Y:7.42, Z:-3.23 [[ 9.96329687e-01 -8.49428832e-02 1.05764496e-02 3.33973094e+02] [ 8.49407654e-02 9.96385791e-01 6.50079940e-04 7.42380420e+00] [-1.05934437e-02 2.50677778e-04 9.99943856e-01 -3.22938478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.635898227 meters 0.03267425731993607 Centerline is valid? [True, True] Translation: X:334.00, Y:7.43, Z:-3.23 [[ 9.96209930e-01 -8.63060797e-02 1.08183203e-02 3.34000754e+02] [ 8.63039373e-02 9.96268632e-01 6.65600528e-04 7.42578700e+00] [-1.08353986e-02 2.70585782e-04 9.99941259e-01 -3.22909115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.66589822699996 meters 0.03267909626809994 Centerline is valid? [True, True] Translation: X:334.03, Y:7.43, Z:-3.23 [[ 9.96024691e-01 -8.84266903e-02 1.07486953e-02 3.34028742e+02] [ 8.84246919e-02 9.96082645e-01 6.61945389e-04 7.43358659e+00] [-1.07651225e-02 2.91136117e-04 9.99942012e-01 -3.22993432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.695898227 meters 0.03879684917885829 Centerline is valid? [True, True] Translation: X:334.06, Y:7.43, Z:-3.23 [[ 9.95799050e-01 -9.09272222e-02 1.07931718e-02 3.34056884e+02] [ 9.09253473e-02 9.95857489e-01 6.65308687e-04 7.43292224e+00] [-1.08089556e-02 3.18859132e-04 9.99941531e-01 -3.23035767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.72589822699996 meters 0.03989494915277798 Centerline is valid? [True, True] Translation: X:334.09, Y:7.44, Z:-3.23 [[ 9.95259631e-01 -9.66953274e-02 1.04057966e-02 3.34086443e+02] [ 9.66938946e-02 9.95313960e-01 6.41888373e-04 7.44355269e+00] [-1.04191023e-02 3.67331419e-04 9.99945652e-01 -3.23072707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.755898227 meters 0.043968147792480726 Centerline is valid? [True, True] Translation: X:334.11, Y:7.44, Z:-3.23 [[ 9.95015831e-01 -9.91208843e-02 1.08879403e-02 3.34114694e+02] [ 9.91194597e-02 9.95075314e-01 6.71717739e-04 7.44478611e+00] [-1.09009019e-02 4.10836979e-04 9.99940499e-01 -3.22953848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.78589822699996 meters 0.04639049214838433 Centerline is valid? [True, True] Translation: X:334.14, Y:7.45, Z:-3.23 [[ 9.94827517e-01 -1.00931729e-01 1.14453822e-02 3.34143250e+02] [ 1.00930267e-01 9.94893251e-01 7.06762729e-04 7.44841327e+00] [-1.14582683e-02 4.52078473e-04 9.99934250e-01 -3.22859567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.815898227 meters 0.052696257164621986 Centerline is valid? [True, True] Translation: X:334.17, Y:7.45, Z:-3.23 [[ 9.94679237e-01 -1.02328348e-01 1.19215724e-02 3.34171931e+02] [ 1.02326853e-01 9.94750558e-01 7.36964793e-04 7.45396817e+00] [-1.19344032e-02 4.86853407e-04 9.99928664e-01 -3.22917088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.84589822699996 meters 0.04858250529016518 Centerline is valid? [True, True] Translation: X:334.20, Y:7.47, Z:-3.23 [[ 9.94577971e-01 -1.03251811e-01 1.23984957e-02 3.34199907e+02] [ 1.03250239e-01 9.94655115e-01 7.68489165e-04 7.46502763e+00] [-1.24115751e-02 5.15825254e-04 9.99922840e-01 -3.22829514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.875898227 meters 0.05099600106334431 Centerline is valid? [True, True] Translation: X:334.23, Y:7.47, Z:-3.23 [[ 9.94494393e-01 -1.03988940e-01 1.29307199e-02 3.34227291e+02] [ 1.03987265e-01 9.94578304e-01 8.03600709e-04 7.46961747e+00] [-1.29441790e-02 5.45453801e-04 9.99916072e-01 -3.22752110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.90589822699997 meters 0.05116552645612564 Centerline is valid? [True, True] Translation: X:334.26, Y:7.48, Z:-3.23 [[ 9.94408886e-01 -1.04757072e-01 1.33012743e-02 3.34255814e+02] [ 1.04755340e-01 9.94497678e-01 8.28771753e-04 7.47718159e+00] [-1.33149061e-02 5.69241518e-04 9.99911191e-01 -3.22701089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93589822699994 meters 0.052970332653708506 Centerline is valid? [True, True] Translation: X:334.28, Y:7.49, Z:-3.23 [[ 9.94342340e-01 -1.05355837e-01 1.35446983e-02 3.34282492e+02] [ 1.05354071e-01 9.94434414e-01 8.45892923e-04 7.48871342e+00] [-1.35584339e-02 5.85881952e-04 9.99907909e-01 -3.22630927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.96589822699997 meters 0.04901607947481322 Centerline is valid? [True, True] Translation: X:334.31, Y:7.50, Z:-3.23 [[ 9.94353226e-01 -1.05299556e-01 1.31782224e-02 3.34310310e+02] [ 1.05297860e-01 9.94440386e-01 8.24446838e-04 7.50193059e+00] [-1.31917705e-02 5.67847246e-04 9.99912824e-01 -3.22708493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99589822699994 meters 0.050951576349954786 Centerline is valid? [True, True] Translation: X:334.34, Y:7.51, Z:-3.23 [[ 9.94361245e-01 -1.05254665e-01 1.29294496e-02 3.34337790e+02] [ 1.05253006e-01 9.94445146e-01 8.10642233e-04 7.50748887e+00] [-1.29429523e-02 5.54792217e-04 9.99916083e-01 -3.22826101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.02589822699997 meters 0.05356807849013108 Centerline is valid? [True, True] Translation: X:334.36, Y:7.52, Z:-3.23 [[ 9.94344911e-01 -1.05371676e-01 1.32290236e-02 3.34363735e+02] [ 1.05369937e-01 9.94432746e-01 8.30389806e-04 7.51869434e+00] [-1.32428739e-02 5.68247504e-04 9.99912148e-01 -3.22709986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05589822699994 meters 0.04775457128491861 Centerline is valid? [True, True] Translation: X:334.39, Y:7.53, Z:-3.23 [[ 9.94308292e-01 -1.05698016e-01 1.33772127e-02 3.34391828e+02] [ 1.05696243e-01 9.94398107e-01 8.41472286e-04 7.53467992e+00] [-1.33912169e-02 5.77238251e-04 9.99910167e-01 -3.22782542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.085898227 meters 0.05437970256781936 Centerline is valid? [True, True] Translation: X:334.42, Y:7.53, Z:-3.23 [[ 9.94276011e-01 -1.06063949e-01 1.28706000e-02 3.34420148e+02] [ 1.06062315e-01 9.94359154e-01 8.11357044e-04 7.53396426e+00] [-1.28840547e-02 5.58372794e-04 9.99916841e-01 -3.22820046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11589822699995 meters 0.055991356152834154 Centerline is valid? [True, True] Translation: X:334.45, Y:7.54, Z:-3.23 [[ 9.94203201e-01 -1.06811464e-01 1.23006386e-02 3.34447956e+02] [ 1.06810020e-01 9.94279145e-01 7.76101154e-04 7.53941806e+00] [-1.23131650e-02 5.42229210e-04 9.99924043e-01 -3.23010414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.145898227 meters 0.05913343229371463 Centerline is valid? [True, True] Translation: X:334.48, Y:7.55, Z:-3.24 [[ 9.94013955e-01 -1.08769440e-01 1.02696649e-02 3.34477374e+02] [ 1.08768534e-01 9.94066892e-01 6.48416634e-04 7.54739808e+00] [-1.02792618e-02 4.72481213e-04 9.99947055e-01 -3.23569196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17589822699995 meters 0.05244931227827941 Centerline is valid? [True, True] Translation: X:334.51, Y:7.56, Z:-3.24 [[ 9.93902720e-01 -1.09865019e-01 9.33062963e-03 3.34505545e+02] [ 1.09864318e-01 9.93946419e-01 5.89188448e-04 7.56223246e+00] [-9.33887711e-03 4.39507260e-04 9.99956295e-01 -3.23772132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.205898227 meters 0.05175058279836541 Centerline is valid? [True, True] Translation: X:334.53, Y:7.57, Z:-3.24 [[ 9.93804266e-01 -1.10792044e-01 8.84327560e-03 3.34533544e+02] [ 1.10791438e-01 9.93843521e-01 5.59850919e-04 7.56855731e+00] [-8.85085919e-03 4.23376991e-04 9.99960741e-01 -3.23844546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23589822699995 meters 0.0536724028416077 Centerline is valid? [True, True] Translation: X:334.56, Y:7.57, Z:-3.24 [[ 9.93853049e-01 -1.10371263e-01 8.61986532e-03 3.34561472e+02] [ 1.10370665e-01 9.93890345e-01 5.46489151e-04 7.57447153e+00] [-8.62751761e-03 4.08250363e-04 9.99962699e-01 -3.23777679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.265898227 meters 0.050475701420260574 Centerline is valid? [True, True] Translation: X:334.59, Y:7.58, Z:-3.24 [[ 9.93977727e-01 -1.09235102e-01 8.71606963e-03 3.34590337e+02] [ 1.09234444e-01 9.94015860e-01 5.52963890e-04 7.58417803e+00] [-8.72431452e-03 4.02461232e-04 9.99961861e-01 -3.23748714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29589822699995 meters 0.051588333497782426 Centerline is valid? [True, True] Translation: X:334.62, Y:7.59, Z:-3.24 [[ 9.94117075e-01 -1.07965664e-01 8.64035385e-03 3.34618876e+02] [ 1.07964958e-01 9.94154548e-01 5.49445884e-04 7.59128039e+00] [-8.64916837e-03 3.86641908e-04 9.99962520e-01 -3.23792510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.325898227 meters 0.047850216867538986 Centerline is valid? [True, True] Translation: X:334.65, Y:7.60, Z:-3.24 [[ 9.94317231e-01 -1.06090035e-01 8.84014550e-03 3.34647996e+02] [ 1.06089209e-01 9.94356456e-01 5.63681872e-04 7.59859212e+00] [-8.85005678e-03 3.77365442e-04 9.99960766e-01 -3.23848061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.35589822699995 meters 0.043442892865333246 Centerline is valid? [True, True] Translation: X:334.68, Y:7.61, Z:-3.24 [[ 9.94696582e-01 -1.02368964e-01 9.96520839e-03 3.34676954e+02] [ 1.02367725e-01 9.94746422e-01 6.35681751e-04 7.61227851e+00] [-9.97792948e-03 3.87805243e-04 9.99950144e-01 -3.23688871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.385898227 meters 0.04575485264288494 Centerline is valid? [True, True] Translation: X:334.70, Y:7.61, Z:-3.24 [[ 9.94822875e-01 -1.01019339e-01 1.10697915e-02 3.34704828e+02] [ 1.01017724e-01 9.94884375e-01 7.06387720e-04 7.61379005e+00] [-1.10845215e-02 4.15514484e-04 9.99938478e-01 -3.23545554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41589822699996 meters 0.04164381082484663 Centerline is valid? [True, True] Translation: X:334.73, Y:7.62, Z:-3.23 [[ 9.94875275e-01 -1.00415409e-01 1.18293118e-02 3.34732837e+02] [ 1.00413511e-01 9.94945504e-01 7.55748967e-04 7.62396787e+00] [-1.18454094e-02 4.35946775e-04 9.99929746e-01 -3.23427739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.445898227 meters 0.041577355729423185 Centerline is valid? [True, True] Translation: X:334.76, Y:7.63, Z:-3.23 [[ 9.94912552e-01 -9.99647396e-02 1.24926208e-02 3.34760656e+02] [ 9.99625614e-02 9.94990877e-01 8.00227350e-04 7.63277062e+00] [-1.25100382e-02 4.52638136e-04 9.99921644e-01 -3.23364954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47589822699996 meters 0.03877918408483116 Centerline is valid? [True, True] Translation: X:334.79, Y:7.64, Z:-3.23 [[ 9.94910103e-01 -9.99857447e-02 1.25195032e-02 3.34787867e+02] [ 9.99835328e-02 9.94988767e-01 8.04021336e-04 7.64160466e+00] [-1.25371558e-02 4.51815212e-04 9.99921305e-01 -3.23416548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.505898227 meters 0.04083284318092373 Centerline is valid? [True, True] Translation: X:334.81, Y:7.64, Z:-3.23 [[ 9.94900730e-01 -1.00069565e-01 1.25944124e-02 3.34814587e+02] [ 1.00067306e-01 9.94980340e-01 8.10956893e-04 7.64383745e+00] [-1.26123448e-02 4.53467315e-04 9.99920358e-01 -3.23452269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53589822699996 meters 0.03969031626170171 Centerline is valid? [True, True] Translation: X:334.84, Y:7.65, Z:-3.23 [[ 9.94888331e-01 -1.00141422e-01 1.29963565e-02 3.34841832e+02] [ 1.00139006e-01 9.94973104e-01 8.38221875e-04 7.65072061e+00] [-1.30149659e-02 4.67505060e-04 9.99915192e-01 -3.23386952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.565898227 meters 0.0396294397610753 Centerline is valid? [True, True] Translation: X:334.87, Y:7.66, Z:-3.23 [[ 9.94925355e-01 -9.96332378e-02 1.40269972e-02 3.34869738e+02] [ 9.96303346e-02 9.95024107e-01 9.07352306e-04 7.66061504e+00] [-1.40476028e-02 4.94766606e-04 9.99901205e-01 -3.23089763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59589822699996 meters 0.03950228954352524 Centerline is valid? [True, True] Translation: X:334.90, Y:7.67, Z:-3.23 [[ 9.94930563e-01 -9.94785054e-02 1.47377331e-02 3.34897770e+02] [ 9.94752474e-02 9.95039578e-01 9.55783653e-04 7.66672955e+00] [-1.47597077e-02 5.15101280e-04 9.99890937e-01 -3.23069023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.625898227 meters 0.04246974327900379 Centerline is valid? [True, True] Translation: X:334.93, Y:7.67, Z:-3.23 [[ 9.94956499e-01 -9.91158153e-02 1.54149439e-02 3.34925201e+02] [ 9.91121764e-02 9.95075762e-01 1.00171650e-03 7.66842184e+00] [-1.54383230e-02 5.31144302e-04 9.99880681e-01 -3.22853859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65589822699997 meters 0.035954860166264216 Centerline is valid? [True, True] Translation: X:334.95, Y:7.69, Z:-3.23 [[ 9.94868041e-01 -9.97971757e-02 1.66764959e-02 3.34952424e+02] [ 9.97929837e-02 9.95007629e-01 1.08542369e-03 7.68610649e+00] [-1.67015629e-02 5.84343940e-04 9.99860348e-01 -3.22851205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.68589822699994 meters 0.040399181174605905 Centerline is valid? [True, True] Translation: X:334.98, Y:7.69, Z:-3.23 [[ 9.94765018e-01 -1.00859612e-01 1.64285674e-02 3.34980451e+02] [ 1.00855655e-01 9.94900492e-01 1.07135704e-03 7.68542287e+00] [-1.64528465e-02 5.91165416e-04 9.99864468e-01 -3.22867755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71589822699997 meters 0.04480671167652139 Centerline is valid? [True, True] Translation: X:335.01, Y:7.68, Z:-3.23 [[ 9.94620630e-01 -1.02302878e-01 1.62457041e-02 3.35008286e+02] [ 1.02299185e-01 9.94753111e-01 1.06038662e-03 7.68467637e+00] [-1.62689454e-02 6.07239879e-04 9.99867468e-01 -3.22910695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.74589822699994 meters 0.04397988501277873 Centerline is valid? [True, True] Translation: X:335.04, Y:7.69, Z:-3.23 [[ 9.94318029e-01 -1.05225710e-01 1.60998917e-02 3.35038405e+02] [ 1.05222456e-01 9.94448153e-01 1.05144722e-03 7.69339173e+00] [-1.61211468e-02 6.48597219e-04 9.99869836e-01 -3.23088652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.77589822699997 meters 0.04688364815938538 Centerline is valid? [True, True] Translation: X:335.07, Y:7.69, Z:-3.23 [[ 9.94174704e-01 -1.06479876e-01 1.66941043e-02 3.35067325e+02] [ 1.06476550e-01 9.94314616e-01 1.09047839e-03 7.69369714e+00] [-1.67153059e-02 6.93404596e-04 9.99860049e-01 -3.23032571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.80589822699994 meters 0.04337057271995178 Centerline is valid? [True, True] Translation: X:335.10, Y:7.70, Z:-3.23 [[ 9.94020373e-01 -1.07829482e-01 1.72133691e-02 3.35095330e+02] [ 1.07826121e-01 9.94169130e-01 1.12593528e-03 7.70199660e+00] [-1.72344092e-02 7.36848212e-04 9.99851205e-01 -3.23090217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.835898227 meters 0.04571843505877588 Centerline is valid? [True, True] Translation: X:335.12, Y:7.70, Z:-3.23 [[ 9.93822571e-01 -1.09569250e-01 1.76430630e-02 3.35123423e+02] [ 1.09565955e-01 9.93978855e-01 1.15618014e-03 7.70281746e+00] [-1.76635133e-02 7.84041127e-04 9.99843681e-01 -3.23173694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.86589822699995 meters 0.04874100151081574 Centerline is valid? [True, True] Translation: X:335.15, Y:7.70, Z:-3.23 [[ 9.93793295e-01 -1.09914225e-01 1.71391332e-02 3.35151670e+02] [ 1.09911151e-01 9.93940781e-01 1.12409004e-03 7.70166881e+00] [-1.71588370e-02 7.66668721e-04 9.99852482e-01 -3.23316243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.895898227 meters 0.04909022314963419 Centerline is valid? [True, True] Translation: X:335.18, Y:7.70, Z:-3.24 [[ 9.93808855e-01 -1.09901235e-01 1.62996417e-02 3.35180351e+02] [ 1.09898428e-01 9.93942247e-01 1.07058115e-03 7.70351723e+00] [-1.63185606e-02 7.27351964e-04 9.99866579e-01 -3.23507521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.92589822699995 meters 0.04832246180681567 Centerline is valid? [True, True] Translation: X:335.21, Y:7.71, Z:-3.24 [[ 9.93864519e-01 -1.09530553e-01 1.53744963e-02 3.35209130e+02] [ 1.09527974e-01 9.93983198e-01 1.01218435e-03 7.70704168e+00] [-1.53928561e-02 6.77963326e-04 9.99881293e-01 -3.23723620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.955898227 meters 0.041829061211558764 Centerline is valid? [True, True] Translation: X:335.24, Y:7.72, Z:-3.24 [[ 9.94143388e-01 -1.07027193e-01 1.49700994e-02 3.35238112e+02] [ 1.07024440e-01 9.94255900e-01 9.87262512e-04 7.71807985e+00] [-1.49897735e-02 6.20685997e-04 9.99887454e-01 -3.23897874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.98589822699995 meters 0.04448109843352035 Centerline is valid? [True, True] Translation: X:335.27, Y:7.72, Z:-3.24 [[ 9.94286926e-01 -1.05662765e-01 1.51290539e-02 3.35265991e+02] [ 1.05659786e-01 9.94401837e-01 9.98284410e-04 7.71735760e+00] [-1.51498405e-02 6.05951465e-04 9.99885051e-01 -3.23843180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.015898227 meters 0.04225147145775599 Centerline is valid? [True, True] Translation: X:335.29, Y:7.72, Z:-3.24 [[ 9.94419549e-01 -1.04364462e-01 1.54214234e-02 3.35294397e+02] [ 1.04361198e-01 9.94538940e-01 1.01843315e-03 7.72285053e+00] [-1.54434943e-02 5.96648385e-04 9.99880564e-01 -3.23842216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.04589822699995 meters 0.041523885841899 Centerline is valid? [True, True] Translation: X:335.32, Y:7.73, Z:-3.24 [[ 9.94478226e-01 -1.03737383e-01 1.58623379e-02 3.35323403e+02] [ 1.03733828e-01 9.94604541e-01 1.04894820e-03 7.72668003e+00] [-1.58855684e-02 6.02304880e-04 9.99873635e-01 -3.23810348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.075898227 meters 0.044271399988262884 Centerline is valid? [True, True] Translation: X:335.35, Y:7.73, Z:-3.24 [[ 9.94483919e-01 -1.03697233e-01 1.57676311e-02 3.35351409e+02] [ 1.03693685e-01 9.94608731e-01 1.04463321e-03 7.72525549e+00] [-1.57909491e-02 5.96132843e-04 9.99875137e-01 -3.23959038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.10589822699995 meters 0.04301852723560837 Centerline is valid? [True, True] Translation: X:335.38, Y:7.73, Z:-3.24 [[ 9.94407302e-01 -1.04469863e-01 1.54972433e-02 3.35380429e+02] [ 1.04466507e-01 9.94527874e-01 1.02814453e-03 7.72811047e+00] [-1.55198506e-02 5.96548450e-04 9.99879382e-01 -3.24144036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.135898227 meters 0.042643356325600526 Centerline is valid? [True, True] Translation: X:335.41, Y:7.73, Z:-3.24 [[ 9.94306899e-01 -1.05436703e-01 1.53912871e-02 3.35408686e+02] [ 1.05433479e-01 9.94425832e-01 1.02303905e-03 7.72946425e+00] [-1.54133594e-02 6.05542154e-04 9.99881024e-01 -3.24266774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.16589822699996 meters 0.044390146763702586 Centerline is valid? [True, True] Translation: X:335.44, Y:7.73, Z:-3.24 [[ 9.94233153e-01 -1.06148955e-01 1.52590103e-02 3.35436172e+02] [ 1.06145853e-01 9.94350053e-01 1.01534498e-03 7.72781839e+00] [-1.52805755e-02 6.10191018e-04 9.99883059e-01 -3.24316639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.195898227 meters 0.04779686854167904 Centerline is valid? [True, True] Translation: X:335.46, Y:7.72, Z:-3.24 [[ 9.94154828e-01 -1.06944461e-01 1.48007076e-02 3.35464466e+02] [ 1.06941612e-01 9.94264813e-01 9.86107323e-04 7.72383241e+00] [-1.48212815e-02 6.02468167e-04 9.99889977e-01 -3.24375856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.22589822699996 meters 0.04509278792746217 Centerline is valid? [True, True] Translation: X:335.49, Y:7.73, Z:-3.25 [[ 9.94176425e-01 -1.06812481e-01 1.42944290e-02 3.35493152e+02] [ 1.06809792e-01 9.94279015e-01 9.53596350e-04 7.72883760e+00] [-1.43145067e-02 5.78741971e-04 9.99897375e-01 -3.24541100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.255898227 meters 0.0426065492570694 Centerline is valid? [True, True] Translation: X:335.52, Y:7.73, Z:-3.25 [[ 9.94217397e-01 -1.06446414e-01 1.41749267e-02 3.35521841e+02] [ 1.06443701e-01 9.94318279e-01 9.47887348e-04 7.73343024e+00] [-1.41952880e-02 5.66425565e-04 9.99899081e-01 -3.24648924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.28589822699996 meters 0.0426065492570694 Centerline is valid? [True, True] Translation: X:335.55, Y:7.74, Z:-3.25 [[ 9.94197608e-01 -1.06631108e-01 1.41747660e-02 3.35549272e+02] [ 1.06628379e-01 9.94298489e-01 9.50285272e-04 7.73543745e+00] [-1.41952784e-02 5.66660989e-04 9.99899081e-01 -3.24676973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.315898227 meters 0.041870713327424695 Centerline is valid? [True, True] Translation: X:335.58, Y:7.74, Z:-3.25 [[ 9.94253672e-01 -1.06032254e-01 1.47239983e-02 3.35577711e+02] [ 1.06029204e-01 9.94362523e-01 9.89822945e-04 7.73817003e+00] [-1.47459452e-02 5.77038720e-04 9.99891106e-01 -3.24666450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.34589822699996 meters 0.04233032609749396 Centerline is valid? [True, True] Translation: X:335.61, Y:7.74, Z:-3.24 [[ 9.94501599e-01 -1.03404412e-01 1.65558757e-02 3.35606546e+02] [ 1.03400159e-01 9.94639213e-01 1.11499270e-03 7.74045491e+00] [-1.65824183e-02 6.03018155e-04 9.99862320e-01 -3.24369743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.375898227 meters 0.03924843921703928 Centerline is valid? [True, True] Translation: X:335.64, Y:7.75, Z:-3.24 [[ 9.94616526e-01 -1.02132941e-01 1.75165481e-02 3.35635424e+02] [ 1.02127960e-01 9.94770569e-01 1.18104418e-03 7.74778340e+00] [-1.75455700e-02 6.14243258e-04 9.99845876e-01 -3.24353905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.40589822699997 meters 0.03776494883856112 Centerline is valid? [True, True] Translation: X:335.66, Y:7.75, Z:-3.24 [[ 9.94689649e-01 -1.01362065e-01 1.78391077e-02 3.35663798e+02] [ 1.01356724e-01 9.94849416e-01 1.20559348e-03 7.75303654e+00] [-1.78694273e-02 6.08922166e-04 9.99840144e-01 -3.24395095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43589822699994 meters 0.034922618982222556 Centerline is valid? [True, True] Translation: X:335.69, Y:7.76, Z:-3.25 [[ 9.94780997e-01 -1.00530343e-01 1.74475734e-02 3.35692126e+02] [ 1.00525057e-01 9.94933825e-01 1.18196367e-03 7.76307344e+00] [-1.74780041e-02 5.78123306e-04 9.99847081e-01 -3.24530507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.46589822699997 meters 0.03477201034768993 Centerline is valid? [True, True] Translation: X:335.72, Y:7.77, Z:-3.25 [[ 9.94800253e-01 -1.00325864e-01 1.75264733e-02 3.35720902e+02] [ 1.00320447e-01 9.94954467e-01 1.19023212e-03 7.76821793e+00] [-1.75574539e-02 5.74220421e-04 9.99845691e-01 -3.24602557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49589822699994 meters 0.036819848988349196 Centerline is valid? [True, True] Translation: X:335.75, Y:7.77, Z:-3.25 [[ 9.94868061e-01 -9.96665971e-02 1.74387493e-02 3.35749085e+02] [ 9.96610991e-02 9.95020733e-01 1.18620861e-03 7.77081810e+00] [-1.74701425e-02 5.57843862e-04 9.99847230e-01 -3.24571920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.52589822699997 meters 0.03356605837787814 Centerline is valid? [True, True] Translation: X:335.78, Y:7.78, Z:-3.25 [[ 9.95089309e-01 -9.74477856e-02 1.73550079e-02 3.35777442e+02] [ 9.74419869e-02 9.95240505e-01 1.18144500e-03 7.78485666e+00] [-1.73875360e-02 5.15463160e-04 9.99848692e-01 -3.24659436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55589822699994 meters 0.03256656305445691 Centerline is valid? [True, True] Translation: X:335.81, Y:7.79, Z:-3.25 [[ 9.95146612e-01 -9.67541536e-02 1.79402946e-02 3.35806936e+02] [ 9.67478262e-02 9.95308175e-01 1.22231119e-03 7.79244056e+00] [-1.79743855e-02 5.19305658e-04 9.99838313e-01 -3.24657376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.585898227 meters 0.0334908536613107 Centerline is valid? [True, True] Translation: X:335.84, Y:7.80, Z:-3.25 [[ 9.95129442e-01 -9.68398118e-02 1.84240238e-02 3.35836508e+02] [ 9.68331471e-02 9.95299837e-01 1.25560564e-03 7.79696282e+00] [-1.84590205e-02 5.34566073e-04 9.99829475e-01 -3.24600009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61589822699995 meters 0.03457547170521297 Centerline is valid? [True, True] Translation: X:335.87, Y:7.80, Z:-3.25 [[ 9.94956255e-01 -9.85117713e-02 1.89071872e-02 3.35867040e+02] [ 9.85050517e-02 9.95135716e-01 1.28865373e-03 7.80083947e+00] [-1.89421648e-02 5.80299363e-04 9.99820413e-01 -3.24661018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.645898227 meters 0.042155617687645947 Centerline is valid? [True, True] Translation: X:335.90, Y:7.79, Z:-3.25 [[ 9.94217061e-01 -1.05617486e-01 1.94263149e-02 3.35896810e+02] [ 1.05611746e-01 9.94406560e-01 1.32401548e-03 7.79473256e+00] [-1.94574942e-02 7.35288269e-04 9.99810415e-01 -3.24685110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67589822699995 meters 0.05194011946232528 Centerline is valid? [True, True] Translation: X:335.93, Y:7.79, Z:-3.25 [[ 9.93701817e-01 -1.10440585e-01 1.89624913e-02 3.35927856e+02] [ 1.10435993e-01 9.93882398e-01 1.29238574e-03 7.78993156e+00] [-1.89892182e-02 8.09895487e-04 9.99819361e-01 -3.24756660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.705898227 meters 0.055022832021334005 Centerline is valid? [True, True] Translation: X:335.96, Y:7.78, Z:-3.25 [[ 9.93206280e-01 -1.14917628e-01 1.83091127e-02 3.35958522e+02] [ 1.14914103e-01 9.93374648e-01 1.24795195e-03 7.77984267e+00] [-1.83312200e-02 8.64501545e-04 9.99831595e-01 -3.24893923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73589822699995 meters 0.06166594448142343 Centerline is valid? [True, True] Translation: X:335.99, Y:7.77, Z:-3.25 [[ 9.92431991e-01 -1.21634576e-01 1.68455553e-02 3.35989697e+02] [ 1.21632554e-01 9.92574533e-01 1.14832110e-03 7.76844587e+00] [-1.68601447e-02 9.09337319e-04 9.99857444e-01 -3.25170850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.765898227 meters 0.05780986678520059 Centerline is valid? [True, True] Translation: X:336.02, Y:7.77, Z:-3.25 [[ 9.92294013e-01 -1.22772353e-01 1.67195037e-02 3.36018782e+02] [ 1.22770518e-01 9.92434431e-01 1.13998240e-03 7.77221996e+00] [-1.67329695e-02 9.21464426e-04 9.99859569e-01 -3.25284722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79589822699995 meters 0.06292974806667687 Centerline is valid? [True, True] Translation: X:336.05, Y:7.76, Z:-3.25 [[ 9.92310947e-01 -1.22614850e-01 1.68695921e-02 3.36047522e+02] [ 1.22612947e-01 9.92453898e-01 1.15094752e-03 7.76477855e+00] [-1.68834157e-02 9.26332587e-04 9.99857036e-01 -3.25172118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.825898227 meters 0.05627884378184341 Centerline is valid? [True, True] Translation: X:336.08, Y:7.77, Z:-3.25 [[ 9.92728812e-01 -1.19128579e-01 1.72594193e-02 3.36077642e+02] [ 1.19126052e-01 9.92878440e-01 1.17814660e-03 7.76968436e+00] [-1.72768563e-02 8.86466409e-04 9.99850351e-01 -3.25032907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.85589822699995 meters 0.0539563841526914 Centerline is valid? [True, True] Translation: X:336.11, Y:7.77, Z:-3.25 [[ 9.93032685e-01 -1.16469235e-01 1.79165854e-02 3.36107552e+02] [ 1.16466078e-01 9.93193917e-01 1.22311240e-03 7.77192765e+00] [-1.79370986e-02 8.72083846e-04 9.99838737e-01 -3.24909701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.885898227 meters 0.04908502768520144 Centerline is valid? [True, True] Translation: X:336.14, Y:7.78, Z:-3.25 [[ 9.93349398e-01 -1.13573947e-01 1.89190760e-02 3.36136767e+02] [ 1.13569896e-01 9.93529169e-01 1.29187215e-03 7.77761074e+00] [-1.89433769e-02 8.65357079e-04 9.99820184e-01 -3.24830401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91589822699996 meters 0.05046723843575432 Centerline is valid? [True, True] Translation: X:336.17, Y:7.78, Z:-3.25 [[ 9.93634208e-01 -1.10859634e-01 2.00300353e-02 3.36165999e+02] [ 1.10854534e-01 9.93835701e-01 1.36820680e-03 7.77545158e+00] [-2.00582431e-02 8.60923148e-04 9.99798443e-01 -3.24630448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.945898227 meters 0.04496080867280117 Centerline is valid? [True, True] Translation: X:336.20, Y:7.78, Z:-3.25 [[ 9.93899756e-01 -1.08166405e-01 2.15245079e-02 3.36195291e+02] [ 1.08159874e-01 9.94132425e-01 1.47079980e-03 7.78127236e+00] [-2.15573024e-02 8.66260502e-04 9.99767239e-01 -3.24603401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97589822699996 meters 0.044297997564578064 Centerline is valid? [True, True] Translation: X:336.22, Y:7.78, Z:-3.25 [[ 9.93847593e-01 -1.08626614e-01 2.16153080e-02 3.36224157e+02] [ 1.08620091e-01 9.94082234e-01 1.47907933e-03 7.78203779e+00] [-2.16480610e-02 8.77877296e-04 9.99765268e-01 -3.24720752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.005898227 meters 0.04389350030344642 Centerline is valid? [True, True] Translation: X:336.25, Y:7.78, Z:-3.25 [[ 9.93678296e-01 -1.10235417e-01 2.12507893e-02 3.36253440e+02] [ 1.10229437e-01 9.93905102e-01 1.45613855e-03 7.78234253e+00] [-2.12817859e-02 8.95529263e-04 9.99773116e-01 -3.24905204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03589822699996 meters 0.05177890717603828 Centerline is valid? [True, True] Translation: X:336.28, Y:7.77, Z:-3.25 [[ 9.93245784e-01 -1.14254248e-01 2.02182934e-02 3.36283890e+02] [ 1.14249658e-01 9.93451104e-01 1.38575065e-03 7.76977958e+00] [-2.02442138e-02 9.33542120e-04 9.99794629e-01 -3.25021156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.065898227 meters 0.052875294726025236 Centerline is valid? [True, True] Translation: X:336.31, Y:7.77, Z:-3.25 [[ 9.93068317e-01 -1.15799770e-01 2.01427439e-02 3.36313833e+02] [ 1.15795526e-01 9.93272112e-01 1.38081730e-03 7.76890615e+00] [-2.01671241e-02 9.61193722e-04 9.99796161e-01 -3.25105849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09589822699996 meters 0.05505646416543651 Centerline is valid? [True, True] Translation: X:336.34, Y:7.77, Z:-3.25 [[ 9.92913653e-01 -1.17084820e-01 2.03377301e-02 3.36342889e+02] [ 1.17080751e-01 9.93121419e-01 1.39476267e-03 7.76681183e+00] [-2.03611409e-02 9.96277819e-04 9.99792194e-01 -3.25131635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.125898227 meters 0.057646567194008305 Centerline is valid? [True, True] Translation: X:336.37, Y:7.76, Z:-3.25 [[ 9.92768018e-01 -1.18335044e-01 2.02108846e-02 3.36371711e+02] [ 1.18331270e-01 9.92973206e-01 1.38674227e-03 7.76400854e+00] [-2.02329671e-02 1.01486627e-03 9.99794777e-01 -3.25234860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15589822699997 meters 0.05564313010968628 Centerline is valid? [True, True] Translation: X:336.40, Y:7.77, Z:-3.26 [[ 9.92606801e-01 -1.19908480e-01 1.88067570e-02 3.36401440e+02] [ 1.19905484e-01 9.92784472e-01 1.29091413e-03 7.76753239e+00] [-1.88258479e-02 9.73663162e-04 9.99822304e-01 -3.25646626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.18589822699994 meters 0.056541015723790757 Centerline is valid? [True, True] Translation: X:336.43, Y:7.77, Z:-3.26 [[ 9.92620883e-01 -1.19911667e-01 1.80270709e-02 3.36430229e+02] [ 1.19908890e-01 9.92784127e-01 1.23878286e-03 7.76840512e+00] [-1.80455344e-02 9.31964331e-04 9.99836732e-01 -3.25821050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21589822699997 meters 0.05597370923477697 Centerline is valid? [True, True] Translation: X:336.46, Y:7.77, Z:-3.26 [[ 9.92672286e-01 -1.19534914e-01 1.76956571e-02 3.36458638e+02] [ 1.19532131e-01 9.92829585e-01 1.21869186e-03 7.77095659e+00] [-1.77144482e-02 9.05437964e-04 9.99842677e-01 -3.25993051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.24589822699994 meters 0.05513544266691756 Centerline is valid? [True, True] Translation: X:336.49, Y:7.77, Z:-3.26 [[ 9.92756849e-01 -1.18779325e-01 1.80363873e-02 3.36487810e+02] [ 1.18776258e-01 9.92920264e-01 1.24497579e-03 7.77319520e+00] [-1.80565718e-02 9.06336356e-04 9.99836556e-01 -3.26023801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.27589822699997 meters 0.05571935190662334 Centerline is valid? [True, True] Translation: X:336.52, Y:7.77, Z:-3.26 [[ 9.92806807e-01 -1.18374244e-01 1.79494480e-02 3.36515813e+02] [ 1.18371106e-01 9.92968651e-01 1.24090373e-03 7.77408712e+00] [-1.79701302e-02 8.92718346e-04 9.99838126e-01 -3.26092020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.30589822699994 meters 0.05700330018720469 Centerline is valid? [True, True] Translation: X:336.54, Y:7.78, Z:-3.26 [[ 9.92771007e-01 -1.18774544e-01 1.72723988e-02 3.36543674e+02] [ 1.18771682e-01 9.92920873e-01 1.19504258e-03 7.77523438e+00] [-1.72920659e-02 8.65068229e-04 9.99850107e-01 -3.26219739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.335898227 meters 0.05702463681175184 Centerline is valid? [True, True] Translation: X:336.57, Y:7.78, Z:-3.26 [[ 9.92686232e-01 -1.19548233e-01 1.68007576e-02 3.36572281e+02] [ 1.19545609e-01 9.92828028e-01 1.16400118e-03 7.77809576e+00] [-1.68194173e-02 8.52968864e-04 9.99858180e-01 -3.26311546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.36589822699995 meters 0.05906134795885516 Centerline is valid? [True, True] Translation: X:336.60, Y:7.78, Z:-3.26 [[ 9.92557180e-01 -1.20635206e-01 1.66550557e-02 3.36600156e+02] [ 1.20632744e-01 9.92696532e-01 1.15603247e-03 7.77833429e+00] [-1.66728743e-02 8.61716754e-04 9.99860627e-01 -3.26370249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.395898227 meters 0.06177816420040551 Centerline is valid? [True, True] Translation: X:336.63, Y:7.78, Z:-3.26 [[ 9.92308427e-01 -1.22550391e-01 1.74753485e-02 3.36629033e+02] [ 1.22547961e-01 9.92461850e-01 1.21389647e-03 7.77843592e+00] [-1.74923802e-02 9.37008635e-04 9.99846558e-01 -3.26205636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.42589822699995 meters 0.06409463620831447 Centerline is valid? [True, True] Translation: X:336.66, Y:7.78, Z:-3.26 [[ 9.92161647e-01 -1.23624202e-01 1.82297349e-02 3.36657865e+02] [ 1.23621733e-01 9.92328606e-01 1.26660579e-03 7.77928337e+00] [-1.82464705e-02 9.96913726e-04 9.99833022e-01 -3.26122558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.455898227 meters 0.0653775024271293 Centerline is valid? [True, True] Translation: X:336.69, Y:7.78, Z:-3.26 [[ 9.92045398e-01 -1.24546830e-01 1.82760861e-02 3.36685567e+02] [ 1.24544490e-01 9.92213211e-01 1.27060227e-03 7.78191798e+00] [-1.82920236e-02 1.01569069e-03 9.99832171e-01 -3.26160567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.48589822699995 meters 0.0664084464269896 Centerline is valid? [True, True] Translation: X:336.71, Y:7.78, Z:-3.26 [[ 9.92010818e-01 -1.24864591e-01 1.79825109e-02 3.36713012e+02] [ 1.24862360e-01 9.92173284e-01 1.25116049e-03 7.78438386e+00] [-1.79979926e-02 1.00417402e-03 9.99837519e-01 -3.26264364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.515898227 meters 0.06655308050367016 Centerline is valid? [True, True] Translation: X:336.74, Y:7.79, Z:-3.26 [[ 9.92009966e-01 -1.24991460e-01 1.71278456e-02 3.36741114e+02] [ 1.24989429e-01 9.92157356e-01 1.19327018e-03 7.79144908e+00] [-1.71426666e-02 9.57063724e-04 9.99852596e-01 -3.26390770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.54589822699995 meters 0.0669911501671839 Centerline is valid? [True, True] Translation: X:336.77, Y:7.80, Z:-3.27 [[ 9.92022359e-01 -1.24930410e-01 1.68532322e-02 3.36769874e+02] [ 1.24928391e-01 9.92165063e-01 1.17665614e-03 7.79637478e+00] [-1.68681883e-02 9.38177987e-04 9.99857282e-01 -3.26509078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.575898227 meters 0.06719545257995455 Centerline is valid? [True, True] Translation: X:336.80, Y:7.80, Z:-3.27 [[ 9.92009260e-01 -1.25049980e-01 1.67370873e-02 3.36797708e+02] [ 1.25047962e-01 9.92150007e-01 1.17120374e-03 7.80183705e+00] [-1.67521603e-02 9.31093699e-04 9.99859239e-01 -3.26537300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.60589822699995 meters 0.06777402913147691 Centerline is valid? [True, True] Translation: X:336.83, Y:7.81, Z:-3.27 [[ 9.91962893e-01 -1.25547742e-01 1.57284058e-02 3.36825195e+02] [ 1.25545992e-01 9.92087188e-01 1.10256939e-03 7.80973306e+00] [-1.57423749e-02 8.80930376e-04 9.99875693e-01 -3.26852262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.635898227 meters 0.060603153770368505 Centerline is valid? [True, True] Translation: X:336.85, Y:7.82, Z:-3.27 [[ 9.91901464e-01 -1.26128432e-01 1.49366902e-02 3.36853198e+02] [ 1.26126899e-01 9.92013562e-01 1.04834449e-03 7.82446378e+00] [-1.49496253e-02 8.44063991e-04 9.99887892e-01 -3.27162368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.66589822699996 meters 0.07060596920876941 Centerline is valid? [True, True] Translation: X:336.88, Y:7.82, Z:-3.27 [[ 9.91837340e-01 -1.26684279e-01 1.44839065e-02 3.36881397e+02] [ 1.26682871e-01 9.91942747e-01 1.01837481e-03 7.81720193e+00] [-1.44962181e-02 8.24800688e-04 9.99894584e-01 -3.27193930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.695898227 meters 0.062085968345494534 Centerline is valid? [True, True] Translation: X:336.91, Y:7.83, Z:-3.27 [[ 9.91747188e-01 -1.27395912e-01 1.44151305e-02 3.36908827e+02] [ 1.27394574e-01 9.91851598e-01 1.01478078e-03 7.83406016e+00] [-1.44269492e-02 8.30003427e-04 9.99895582e-01 -3.27339544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.72589822699996 meters 0.06296482344945907 Centerline is valid? [True, True] Translation: X:336.94, Y:7.84, Z:-3.27 [[ 9.91718719e-01 -1.27609133e-01 1.44876323e-02 3.36936379e+02] [ 1.27607770e-01 9.91824184e-01 1.02227003e-03 7.84333692e+00] [-1.44996351e-02 8.34930125e-04 9.99894526e-01 -3.27380262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.755898227 meters 0.06621760883718295 Centerline is valid? [True, True] Translation: X:336.96, Y:7.85, Z:-3.27 [[ 9.91743796e-01 -1.27413652e-01 1.44915148e-02 3.36963638e+02] [ 1.27412237e-01 9.91849319e-01 1.02460716e-03 7.84596428e+00] [-1.45039481e-02 8.30248524e-04 9.99894468e-01 -3.27380501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.78589822699996 meters 0.06121409600927313 Centerline is valid? [True, True] Translation: X:336.99, Y:7.86, Z:-3.27 [[ 9.91802562e-01 -1.26938853e-01 1.46357320e-02 3.36991386e+02] [ 1.26937340e-01 9.91910197e-01 1.03608168e-03 7.85914771e+00] [-1.46488508e-02 8.30232419e-04 9.99892355e-01 -3.27413255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.815898227 meters 0.0705890300131604 Centerline is valid? [True, True] Translation: X:337.02, Y:7.86, Z:-3.27 [[ 9.92087035e-01 -1.24572903e-01 1.56494839e-02 3.37020352e+02] [ 1.24570850e-01 9.92210095e-01 1.10968756e-03 7.85918029e+00] [-1.56658129e-02 8.48562871e-04 9.99876924e-01 -3.27107288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.84589822699996 meters 0.05352440020197052 Centerline is valid? [True, True] Translation: X:337.05, Y:7.89, Z:-3.27 [[ 9.92274598e-01 -1.22976185e-01 1.63700715e-02 3.37048202e+02] [ 1.22973717e-01 9.92409249e-01 1.16116571e-03 7.88851801e+00] [-1.63886061e-02 8.60893297e-04 9.99865327e-01 -3.27249882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.875898227 meters 0.056098015011589564 Centerline is valid? [True, True] Translation: X:337.08, Y:7.89, Z:-3.27 [[ 9.92426037e-01 -1.21655782e-01 1.70420330e-02 3.37075937e+02] [ 1.21652901e-01 9.92571967e-01 1.20947378e-03 7.89292854e+00] [-1.70625837e-02 8.72899491e-04 9.99854042e-01 -3.27119757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.90589822699997 meters 0.05426455603673103 Centerline is valid? [True, True] Translation: X:337.10, Y:7.90, Z:-3.27 [[ 9.92483699e-01 -1.21032843e-01 1.80874919e-02 3.37104443e+02] [ 1.21029461e-01 9.92648083e-01 1.28554907e-03 7.90354772e+00] [-1.81101078e-02 9.13232896e-04 9.99835581e-01 -3.26988817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93589822699994 meters 0.058135062290322066 Centerline is valid? [True, True] Translation: X:337.13, Y:7.91, Z:-3.27 [[ 9.92349621e-01 -1.21938533e-01 1.93189872e-02 3.37132506e+02] [ 1.21934805e-01 9.92537159e-01 1.37523967e-03 7.91267413e+00] [-1.93425074e-02 9.90938365e-04 9.99812425e-01 -3.26865160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.96589822699997 meters 0.055562601286616005 Centerline is valid? [True, True] Translation: X:337.16, Y:7.92, Z:-3.27 [[ 9.92146204e-01 -1.23553453e-01 1.95052358e-02 3.37161984e+02] [ 1.23549951e-01 9.92337382e-01 1.38910167e-03 7.92370195e+00] [-1.95274030e-02 1.03167899e-03 9.99808790e-01 -3.26985055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99589822699994 meters 0.061238456282477954 Centerline is valid? [True, True] Translation: X:337.19, Y:7.92, Z:-3.27 [[ 9.91890340e-01 -1.25632193e-01 1.92381029e-02 3.37191003e+02] [ 1.25629172e-01 9.92076324e-01 1.37028317e-03 7.92412087e+00] [-1.92578181e-02 1.05769630e-03 9.99813992e-01 -3.27035419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.02589822699997 meters 0.0646072022103319 Centerline is valid? [True, True] Translation: X:337.22, Y:7.93, Z:-3.27 [[ 9.91621540e-01 -1.27837951e-01 1.85520601e-02 3.37219998e+02] [ 1.27835521e-01 9.91794501e-01 1.32169985e-03 7.92710092e+00] [-1.85687946e-02 1.06098623e-03 9.99827022e-01 -3.27150477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05589822699994 meters 0.07022349325033045 Centerline is valid? [True, True] Translation: X:337.25, Y:7.93, Z:-3.27 [[ 9.91073635e-01 -1.32141371e-01 1.76552744e-02 3.37248722e+02] [ 1.32139847e-01 9.91230285e-01 1.25799319e-03 7.93341890e+00] [-1.76666756e-02 1.08620138e-03 9.99843342e-01 -3.27389250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.085898227 meters 0.06357502498868182 Centerline is valid? [True, True] Translation: X:337.28, Y:7.95, Z:-3.28 [[ 9.90875023e-01 -1.33679503e-01 1.72185767e-02 3.37277761e+02] [ 1.33678284e-01 9.91024021e-01 1.22691868e-03 7.94963296e+00] [-1.72280370e-02 1.08602672e-03 9.99850997e-01 -3.27638846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11589822699995 meters 0.0659834018250803 Centerline is valid? [True, True] Translation: X:337.31, Y:7.95, Z:-3.28 [[ 9.90786753e-01 -1.34450195e-01 1.62713238e-02 3.37307147e+02] [ 1.34449207e-01 9.90919808e-01 1.15960027e-03 7.95361422e+00] [-1.62794855e-02 1.03875000e-03 9.99866941e-01 -3.27841757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.145898227 meters 0.0661479750980191 Centerline is valid? [True, True] Translation: X:337.34, Y:7.97, Z:-3.28 [[ 9.90755927e-01 -1.34871826e-01 1.45699354e-02 3.37337131e+02] [ 1.34871077e-01 9.90862611e-01 1.03845140e-03 7.96500278e+00] [-1.45768621e-02 9.36211005e-04 9.99893314e-01 -3.28155842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17589822699995 meters 0.0661479750980191 Centerline is valid? [True, True] Translation: X:337.37, Y:7.97, Z:-3.28 [[ 9.90755927e-01 -1.34871826e-01 1.45699354e-02 3.37367115e+02] [ 1.34871077e-01 9.90862611e-01 1.03845140e-03 7.96713988e+00] [-1.45768621e-02 9.36211005e-04 9.99893314e-01 -3.28186498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.205898227 meters 0.06768890543253418 Centerline is valid? [True, True] Translation: X:337.40, Y:7.97, Z:-3.28 [[ 9.90788504e-01 -1.34616788e-01 1.47125921e-02 3.37396871e+02] [ 1.34615997e-01 9.90897287e-01 1.04861905e-03 7.97166071e+00] [-1.47198294e-02 9.41590550e-04 9.99891214e-01 -3.28224665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23589822699995 meters 0.06568006517071874 Centerline is valid? [True, True] Translation: X:337.43, Y:7.98, Z:-3.28 [[ 9.90829991e-01 -1.34274814e-01 1.50400470e-02 3.37427106e+02] [ 1.34273948e-01 9.90943670e-01 1.07195793e-03 7.98024250e+00] [-1.50477764e-02 9.57358432e-04 9.99886317e-01 -3.28287623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.265898227 meters 0.07002913151963733 Centerline is valid? [True, True] Translation: X:337.46, Y:7.98, Z:-3.28 [[ 9.90831632e-01 -1.34233035e-01 1.53026139e-02 3.37456426e+02] [ 1.34232133e-01 9.90949315e-01 1.09072985e-03 7.98068294e+00] [-1.53105267e-02 9.73372861e-04 9.99882313e-01 -3.28226900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29589822699995 meters 0.0691335161848258 Centerline is valid? [True, True] Translation: X:337.49, Y:7.99, Z:-3.28 [[ 9.90784852e-01 -1.34638177e-01 1.47627113e-02 3.37486311e+02] [ 1.34637381e-01 9.90894378e-01 1.05235765e-03 7.98937362e+00] [-1.47699752e-02 9.44952763e-04 9.99890471e-01 -3.28308270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.325898227 meters 0.06905161519933108 Centerline is valid? [True, True] Translation: X:337.52, Y:7.99, Z:-3.28 [[ 9.90790340e-01 -1.34691274e-01 1.38839265e-02 3.37516492e+02] [ 1.34690575e-01 9.90887213e-01 9.89713609e-04 7.99271581e+00] [-1.38907111e-02 8.89435360e-04 9.99903124e-01 -3.28471268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.35589822699995 meters 0.0698184728839443 Centerline is valid? [True, True] Translation: X:337.55, Y:7.99, Z:-3.29 [[ 9.90819696e-01 -1.34559931e-01 1.30367046e-02 3.37545690e+02] [ 1.34559303e-01 9.90905107e-01 9.29306862e-04 7.99377322e+00] [-1.30431846e-02 8.33434345e-04 9.99914587e-01 -3.28674578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.385898227 meters 0.06944744287173653 Centerline is valid? [True, True] Translation: X:337.58, Y:8.00, Z:-3.29 [[ 9.90917791e-01 -1.33934855e-01 1.19744346e-02 3.37576179e+02] [ 1.33934280e-01 9.90989849e-01 8.53542857e-04 7.99601328e+00] [-1.19808623e-02 7.57996470e-04 9.99927940e-01 -3.28848888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41589822699996 meters 0.06134275729318237 Centerline is valid? [True, True] Translation: X:337.61, Y:8.01, Z:-3.29 [[ 9.91253184e-01 -1.31483576e-01 1.13663705e-02 3.37606122e+02] [ 1.31482898e-01 9.91318108e-01 8.10186630e-04 8.00922205e+00] [-1.13742152e-02 6.91383257e-04 9.99935073e-01 -3.29050181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.445898227 meters 0.06637700528743662 Centerline is valid? [True, True] Translation: X:337.64, Y:8.00, Z:-3.29 [[ 9.91530812e-01 -1.29377789e-01 1.13153621e-02 3.37635864e+02] [ 1.29376982e-01 9.91595152e-01 8.06394608e-04 8.00477935e+00] [-1.13245877e-02 6.64382289e-04 9.99935654e-01 -3.29034002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47589822699996 meters 0.06302636199263989 Centerline is valid? [True, True] Translation: X:337.67, Y:8.01, Z:-3.29 [[ 9.91827269e-01 -1.27054308e-01 1.16563479e-02 3.37665766e+02] [ 1.27053296e-01 9.91895544e-01 8.30289748e-04 8.01071204e+00] [-1.16673714e-02 6.57473405e-04 9.99931718e-01 -3.29002297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.505898227 meters 0.05880949535410322 Centerline is valid? [True, True] Translation: X:337.69, Y:8.02, Z:-3.29 [[ 9.92409983e-01 -1.22262162e-01 1.32056933e-02 3.37694601e+02] [ 1.22260439e-01 9.92497607e-01 9.40714713e-04 8.01722225e+00] [-1.32216328e-02 6.80959192e-04 9.99912359e-01 -3.28741817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53589822699996 meters 0.05677259591674361 Centerline is valid? [True, True] Translation: X:337.73, Y:8.02, Z:-3.29 [[ 9.92717920e-01 -1.19693460e-01 1.35870183e-02 3.37725024e+02] [ 1.19691395e-01 9.92810673e-01 9.67930335e-04 8.02230158e+00] [-1.36051917e-02 6.65367381e-04 9.99907224e-01 -3.28654166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.565898227 meters 0.049464571273185716 Centerline is valid? [True, True] Translation: X:337.76, Y:8.03, Z:-3.29 [[ 9.93025007e-01 -1.17113256e-01 1.36316383e-02 3.37755178e+02] [ 1.17110939e-01 9.93118364e-01 9.70848467e-04 8.03433965e+00] [-1.36515296e-02 6.32337153e-04 9.99906614e-01 -3.28742652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59589822699996 meters 0.05095853090697364 Centerline is valid? [True, True] Translation: X:337.79, Y:8.03, Z:-3.29 [[ 9.93468061e-01 -1.13476671e-01 1.20106881e-02 3.37785212e+02] [ 1.13474608e-01 9.93540528e-01 8.55318094e-04 8.03433317e+00] [-1.20301641e-02 5.13176919e-04 9.99927503e-01 -3.28973975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.625898227 meters 0.042873135954009406 Centerline is valid? [True, True] Translation: X:337.82, Y:8.05, Z:-3.29 [[ 9.93557745e-01 -1.12732489e-01 1.15927986e-02 3.37817025e+02] [ 1.12730517e-01 9.93625256e-01 8.25561403e-04 8.04630353e+00] [-1.16119650e-02 4.86619248e-04 9.99932460e-01 -3.29126702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65589822699997 meters 0.04491424640937774 Centerline is valid? [True, True] Translation: X:337.85, Y:8.05, Z:-3.29 [[ 9.93569824e-01 -1.12604108e-01 1.18033782e-02 3.37848015e+02] [ 1.12602062e-01 9.93639809e-01 8.39899427e-04 8.04546016e+00] [-1.18228825e-02 4.94585993e-04 9.99929985e-01 -3.29128031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.68589822699994 meters 0.047786222951632346 Centerline is valid? [True, True] Translation: X:337.88, Y:8.04, Z:-3.29 [[ 9.93525937e-01 -1.12925670e-01 1.24099115e-02 3.37878878e+02] [ 1.12923439e-01 9.93603300e-01 8.82636345e-04 8.04399259e+00] [-1.24302013e-02 5.24447782e-04 9.99922605e-01 -3.29032449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71589822699997 meters 0.04911451741003609 Centerline is valid? [True, True] Translation: X:337.91, Y:8.05, Z:-3.29 [[ 9.93341093e-01 -1.14298310e-01 1.44696253e-02 3.37910644e+02] [ 1.14295428e-01 9.93446273e-01 1.02872308e-03 8.04667568e+00] [-1.44923766e-02 6.31939105e-04 9.99894780e-01 -3.28754605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.74589822699994 meters 0.05432743209621956 Centerline is valid? [True, True] Translation: X:337.94, Y:8.04, Z:-3.29 [[ 9.93222093e-01 -1.15304791e-01 1.46519003e-02 3.37942207e+02] [ 1.15301952e-01 9.93329943e-01 1.04119959e-03 8.04318295e+00] [-1.46742265e-02 6.55250268e-04 9.99892113e-01 -3.28686732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.77589822699997 meters 0.04984017793890653 Centerline is valid? [True, True] Translation: X:337.97, Y:8.05, Z:-3.29 [[ 9.93119584e-01 -1.16208377e-01 1.44604725e-02 3.37973834e+02] [ 1.16205714e-01 9.93224636e-01 1.02707155e-03 8.05181034e+00] [-1.44818519e-02 6.60384670e-04 9.99894914e-01 -3.28845348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.80589822699994 meters 0.051078943841216286 Centerline is valid? [True, True] Translation: X:338.01, Y:8.05, Z:-3.29 [[ 9.93018393e-01 -1.17093592e-01 1.42675231e-02 3.38005818e+02] [ 1.17091100e-01 9.93120662e-01 1.01273481e-03 8.05421768e+00] [-1.42879567e-02 6.64935681e-04 9.99897701e-01 -3.28928804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.835898227 meters 0.050958245487676274 Centerline is valid? [True, True] Translation: X:338.04, Y:8.06, Z:-3.29 [[ 9.92820085e-01 -1.18804461e-01 1.39204146e-02 3.38036163e+02] [ 1.18802263e-01 9.92917442e-01 9.87611652e-04 8.06024109e+00] [-1.39391551e-02 6.73256076e-04 9.99902619e-01 -3.29064523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.86589822699995 meters 0.05682035149089322 Centerline is valid? [True, True] Translation: X:338.07, Y:8.06, Z:-3.29 [[ 9.92698196e-01 -1.19858309e-01 1.35748487e-02 3.38067172e+02] [ 1.19856323e-01 9.92790781e-01 9.62712051e-04 8.05587304e+00] [-1.35923736e-02 6.71348926e-04 9.99907394e-01 -3.29197167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.895898227 meters 0.05990462215276053 Centerline is valid? [True, True] Translation: X:338.10, Y:8.05, Z:-3.30 [[ 9.92215945e-01 -1.23877418e-01 1.27241161e-02 3.38097691e+02] [ 1.23876012e-01 9.92297295e-01 9.01617711e-04 8.05475588e+00] [-1.27377960e-02 6.81613283e-04 9.99918639e-01 -3.29516650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.92589822699995 meters 0.06199507404114464 Centerline is valid? [True, True] Translation: X:338.13, Y:8.05, Z:-3.30 [[ 9.91893729e-01 -1.26503171e-01 1.19907444e-02 3.38128308e+02] [ 1.26502114e-01 9.91965974e-01 8.49614401e-04 8.05480850e+00] [-1.20018894e-02 6.74127324e-04 9.99927747e-01 -3.29608103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.955898227 meters 0.06113818577859113 Centerline is valid? [True, True] Translation: X:338.16, Y:8.06, Z:-3.30 [[ 9.91579346e-01 -1.28965027e-01 1.17652905e-02 3.38158999e+02] [ 1.28964184e-01 9.91648902e-01 8.33507883e-04 8.05837742e+00] [-1.17745308e-02 6.90811892e-04 9.99930439e-01 -3.29653978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.98589822699995 meters 0.06692532291467246 Centerline is valid? [True, True] Translation: X:338.19, Y:8.05, Z:-3.30 [[ 9.91264254e-01 -1.31332346e-01 1.21240571e-02 3.38189049e+02] [ 1.31331628e-01 9.91338119e-01 8.58813689e-04 8.05269721e+00] [-1.21318300e-02 7.40960850e-04 9.99926132e-01 -3.29671409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.015898227 meters 0.07227676389977708 Centerline is valid? [True, True] Translation: X:338.22, Y:8.05, Z:-3.29 [[ 9.90720918e-01 -1.35196666e-01 1.39256657e-02 3.38220239e+02] [ 1.35196099e-01 9.90818370e-01 9.86450103e-04 8.04559941e+00] [-1.39311701e-02 9.05398916e-04 9.99902547e-01 -3.29492029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.04589822699995 meters 0.06904181686840617 Centerline is valid? [True, True] Translation: X:338.25, Y:8.05, Z:-3.30 [[ 9.90599229e-01 -1.36105471e-01 1.37283769e-02 3.38250793e+02] [ 1.36105008e-01 9.90693939e-01 9.72383541e-04 8.05408287e+00] [-1.37329665e-02 9.05258454e-04 9.99905289e-01 -3.29659572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.075898227 meters 0.0669966956695795 Centerline is valid? [True, True] Translation: X:338.28, Y:8.06, Z:-3.30 [[ 9.90588920e-01 -1.36319084e-01 1.22759437e-02 3.38281617e+02] [ 1.36318734e-01 9.90664649e-01 8.69252895e-04 8.05571522e+00] [-1.22798392e-02 8.12368808e-04 9.99924270e-01 -3.29905275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.10589822699995 meters 0.066685522462568 Centerline is valid? [True, True] Translation: X:338.31, Y:8.06, Z:-3.30 [[ 9.90719976e-01 -1.35502063e-01 1.06358292e-02 3.38312832e+02] [ 1.35501755e-01 9.90776820e-01 7.52907201e-04 8.05816883e+00] [-1.06397536e-02 6.95253324e-04 9.99943155e-01 -3.30135304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.135898227 meters 0.0674180307010591 Centerline is valid? [True, True] Translation: X:338.34, Y:8.06, Z:-3.30 [[ 9.91160723e-01 -1.32329235e-01 9.45488368e-03 3.38342259e+02] [ 1.32328850e-01 9.91205644e-01 6.69094530e-04 8.05928641e+00] [-9.46027483e-03 5.87973664e-04 9.99955078e-01 -3.30382912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.16589822699996 meters 0.06774053232465586 Centerline is valid? [True, True] Translation: X:338.37, Y:8.06, Z:-3.30 [[ 9.91376234e-01 -1.30683608e-01 9.74459996e-03 3.38371575e+02] [ 1.30683118e-01 9.91423949e-01 6.89714002e-04 8.06177567e+00] [-9.75116409e-03 5.89688639e-04 9.99952282e-01 -3.30365440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.195898227 meters 0.0675130343196699 Centerline is valid? [True, True] Translation: X:338.40, Y:8.06, Z:-3.30 [[ 9.91569892e-01 -1.29181692e-01 1.00618111e-02 3.38401623e+02] [ 1.29181092e-01 9.91620763e-01 7.12281318e-04 8.06400820e+00] [-1.00695145e-02 5.93519036e-04 9.99949125e-01 -3.30311994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.22589822699996 meters 0.059694546799607916 Centerline is valid? [True, True] Translation: X:338.43, Y:8.08, Z:-3.30 [[ 9.92058953e-01 -1.25302982e-01 1.08718243e-02 3.38431066e+02] [ 1.25302049e-01 9.92118342e-01 7.69622936e-04 8.07596196e+00] [-1.08825724e-02 5.98750536e-04 9.99940604e-01 -3.30234834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.255898227 meters 0.06033413781312969 Centerline is valid? [True, True] Translation: X:338.46, Y:8.08, Z:-3.30 [[ 9.92279229e-01 -1.23561714e-01 1.06973694e-02 3.38461552e+02] [ 1.23560710e-01 9.92336726e-01 7.57243125e-04 8.07712810e+00] [-1.07089588e-02 5.70377937e-04 9.99942495e-01 -3.30387459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.28589822699996 meters 0.058399582957531414 Centerline is valid? [True, True] Translation: X:338.49, Y:8.08, Z:-3.31 [[ 9.92444715e-01 -1.22249779e-01 1.04153046e-02 3.38492852e+02] [ 1.22248763e-01 9.92499218e-01 7.36616765e-04 8.08204944e+00] [-1.04272329e-02 5.42206677e-04 9.99945488e-01 -3.30505424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.315898227 meters 0.052760879227741704 Centerline is valid? [True, True] Translation: X:338.52, Y:8.09, Z:-3.31 [[ 9.92560255e-01 -1.21336548e-01 1.00788385e-02 3.38523507e+02] [ 1.21335551e-01 9.92611292e-01 7.12604971e-04 8.09247410e+00] [-1.00908339e-02 5.15618046e-04 9.99948953e-01 -3.30581797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.34589822699996 meters 0.05161939673020567 Centerline is valid? [True, True] Translation: X:338.55, Y:8.10, Z:-3.31 [[ 9.92811101e-01 -1.19322932e-01 9.38911092e-03 3.38553495e+02] [ 1.19321978e-01 9.92855390e-01 6.63640203e-04 8.10113765e+00] [-9.40121688e-03 4.61457930e-04 9.99955701e-01 -3.30675535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.375898227 meters 0.05196155064978048 Centerline is valid? [True, True] Translation: X:338.58, Y:8.11, Z:-3.31 [[ 9.92966744e-01 -1.18071638e-01 8.72544657e-03 3.38583867e+02] [ 1.18070768e-01 9.93004992e-01 6.16550234e-04 8.10583712e+00] [-8.73720910e-03 4.18006302e-04 9.99961742e-01 -3.30760408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.40589822699997 meters 0.05195361579587252 Centerline is valid? [True, True] Translation: X:338.61, Y:8.11, Z:-3.31 [[ 9.93098070e-01 -1.16990880e-01 8.32807509e-03 3.38613642e+02] [ 1.16990051e-01 9.93132913e-01 5.88272299e-04 8.11081833e+00] [-8.33970796e-03 3.90089844e-04 9.99965148e-01 -3.30859854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43589822699994 meters 0.050394141573151974 Centerline is valid? [True, True] Translation: X:338.64, Y:8.12, Z:-3.31 [[ 9.93228292e-01 -1.15840914e-01 8.85679436e-03 3.38644482e+02] [ 1.15839932e-01 9.93267697e-01 6.25527459e-04 8.11977080e+00] [-8.86962941e-03 4.04678890e-04 9.99960582e-01 -3.30890443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.46589822699997 meters 0.0520793990402848 Centerline is valid? [True, True] Translation: X:338.68, Y:8.12, Z:-3.31 [[ 9.93125333e-01 -1.16670638e-01 9.48871062e-03 3.38676473e+02] [ 1.16669551e-01 9.93170563e-01 6.69944494e-04 8.12184016e+00] [-9.50207092e-03 4.41704756e-04 9.99954757e-01 -3.30849264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49589822699994 meters 0.05435669501289764 Centerline is valid? [True, True] Translation: X:338.71, Y:8.12, Z:-3.31 [[ 9.92919226e-01 -1.18376628e-01 9.91889273e-03 3.38706975e+02] [ 1.18375530e-01 9.92968652e-01 6.99849117e-04 8.12325864e+00] [-9.93199533e-03 4.79260540e-04 9.99950562e-01 -3.30814251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.52589822699997 meters 0.06035075758897926 Centerline is valid? [True, True] Translation: X:338.74, Y:8.12, Z:-3.31 [[ 9.92184508e-01 -1.24416516e-01 9.50957165e-03 3.38737590e+02] [ 1.24415783e-01 9.92229945e-01 6.70864003e-04 8.12048714e+00] [-9.51914832e-03 5.17519934e-04 9.99954558e-01 -3.30990682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55589822699994 meters 0.060157172553751366 Centerline is valid? [True, True] Translation: X:338.77, Y:8.12, Z:-3.31 [[ 9.91744426e-01 -1.27932196e-01 8.73763211e-03 3.38767700e+02] [ 1.27931714e-01 9.91782787e-01 6.16367842e-04 8.12366818e+00] [-8.74468641e-03 5.06540877e-04 9.99961636e-01 -3.31141680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.585898227 meters 0.06690112073663336 Centerline is valid? [True, True] Translation: X:338.80, Y:8.12, Z:-3.31 [[ 9.91286378e-01 -1.31478867e-01 8.03890046e-03 3.38798072e+02] [ 1.31478576e-01 9.91318850e-01 5.67039148e-04 8.11770867e+00] [-8.04366723e-03 4.94844999e-04 9.99967527e-01 -3.31263951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61589822699995 meters 0.07318807598262247 Centerline is valid? [True, True] Translation: X:338.83, Y:8.11, Z:-3.31 [[ 9.90552904e-01 -1.36953446e-01 6.97843140e-03 3.38829436e+02] [ 1.36953361e-01 9.90577374e-01 4.92327905e-04 8.11260095e+00] [-6.98010225e-03 4.68042798e-04 9.99975529e-01 -3.31495663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.645898227 meters 0.07066314452032078 Centerline is valid? [True, True] Translation: X:338.86, Y:8.12, Z:-3.32 [[ 9.90347993e-01 -1.38434575e-01 6.83521997e-03 3.38860078e+02] [ 1.38434529e-01 9.90371470e-01 4.82237525e-04 8.11824191e+00] [-6.83616520e-03 4.68647489e-04 9.99976523e-01 -3.31565511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67589822699995 meters 0.07431787063414587 Centerline is valid? [True, True] Translation: X:338.89, Y:8.12, Z:-3.32 [[ 9.90255575e-01 -1.39085155e-01 7.01545028e-03 3.38890016e+02] [ 1.39085122e-01 9.90280306e-01 4.95012193e-04 8.11644018e+00] [-7.01611110e-03 4.85556173e-04 9.99975269e-01 -3.31549710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.705898227 meters 0.07001219295737195 Centerline is valid? [True, True] Translation: X:338.92, Y:8.12, Z:-3.32 [[ 9.90254050e-01 -1.39096137e-01 7.01298981e-03 3.38920819e+02] [ 1.39096108e-01 9.90278763e-01 4.94342559e-04 8.12470433e+00] [-7.01357601e-03 4.85954865e-04 9.99975286e-01 -3.31537481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73589822699995 meters 0.06973260527766759 Centerline is valid? [True, True] Translation: X:338.95, Y:8.13, Z:-3.32 [[ 9.90283108e-01 -1.38890282e-01 6.98964705e-03 3.38952298e+02] [ 1.38890249e-01 9.90307657e-01 4.92539437e-04 8.12667836e+00] [-6.99030994e-03 4.83040334e-04 9.99975451e-01 -3.31640466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.765898227 meters 0.06800590644992058 Centerline is valid? [True, True] Translation: X:338.98, Y:8.13, Z:-3.32 [[ 9.90247361e-01 -1.39138068e-01 7.12478584e-03 3.38983981e+02] [ 1.39138041e-01 9.90272868e-01 5.01967913e-04 8.12987218e+00] [-7.12532495e-03 4.94256342e-04 9.99974492e-01 -3.31736310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79589822699995 meters 0.07526390408988334 Centerline is valid? [True, True] Translation: X:339.02, Y:8.12, Z:-3.32 [[ 9.90190786e-01 -1.39503531e-01 7.80841684e-03 3.39015034e+02] [ 1.39503513e-01 9.90221424e-01 5.49645930e-04 8.12113193e+00] [-7.80873919e-03 5.45047242e-04 9.99969363e-01 -3.31755956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.825898227 meters 0.07023637585168008 Centerline is valid? [True, True] Translation: X:339.05, Y:8.13, Z:-3.32 [[ 9.90084892e-01 -1.40177936e-01 9.05829238e-03 3.39045677e+02] [ 1.40177941e-01 9.90126123e-01 6.37504093e-04 8.12599241e+00] [-9.05821592e-03 6.38589601e-04 9.99958770e-01 -3.31561147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.85589822699995 meters 0.0745167483614529 Centerline is valid? [True, True] Translation: X:339.08, Y:8.12, Z:-3.32 [[ 9.90076536e-01 -1.40221297e-01 9.29732192e-03 3.39076162e+02] [ 1.40221305e-01 9.90119971e-01 6.54240023e-04 8.12057778e+00] [-9.29720250e-03 6.55934914e-04 9.99956565e-01 -3.31597335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.885898227 meters 0.07558280752090872 Centerline is valid? [True, True] Translation: X:339.11, Y:8.12, Z:-3.32 [[ 9.90131697e-01 -1.39837093e-01 9.20918768e-03 3.39105966e+02] [ 1.39837088e-01 9.90174313e-01 6.47656001e-04 8.11900449e+00] [-9.20926741e-03 6.46521251e-04 9.99957385e-01 -3.31595663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91589822699996 meters 0.07342253929385688 Centerline is valid? [True, True] Translation: X:339.14, Y:8.12, Z:-3.32 [[ 9.90420510e-01 -1.37824064e-01 8.46995416e-03 3.39135838e+02] [ 1.37823985e-01 9.90456558e-01 5.95748839e-04 8.12077844e+00] [-8.47123018e-03 5.77320970e-04 9.99963952e-01 -3.31698961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.945898227 meters 0.07063592996560027 Centerline is valid? [True, True] Translation: X:339.17, Y:8.13, Z:-3.32 [[ 9.90669981e-01 -1.36016113e-01 8.52092425e-03 3.39166890e+02] [ 1.36015966e-01 9.90706464e-01 5.99480891e-04 8.12500212e+00] [-8.52327380e-03 5.65094017e-04 9.99963517e-01 -3.31719671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97589822699996 meters 0.06841829485330984 Centerline is valid? [True, True] Translation: X:339.20, Y:8.13, Z:-3.32 [[ 9.90927694e-01 -1.34088096e-01 9.09325095e-03 3.39197925e+02] [ 1.34087848e-01 9.90969243e-01 6.39638078e-04 8.12891806e+00] [-9.09689986e-03 5.85459367e-04 9.99958451e-01 -3.31667800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.005898227 meters 0.06873714664304728 Centerline is valid? [True, True] Translation: X:339.23, Y:8.13, Z:-3.32 [[ 9.91195919e-01 -1.32038183e-01 9.82692595e-03 3.39227633e+02] [ 1.32037795e-01 9.91244442e-01 6.91124540e-04 8.12908853e+00] [-9.83214056e-03 6.12485808e-04 9.99951476e-01 -3.31628839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03589822699996 meters 0.06286890250053913 Centerline is valid? [True, True] Translation: X:339.26, Y:8.14, Z:-3.32 [[ 9.91605455e-01 -1.28916826e-01 9.95357025e-03 3.39258066e+02] [ 1.28916271e-01 9.91655235e-01 7.00033875e-04 8.13753636e+00] [-9.96075619e-03 5.89019748e-04 9.99950217e-01 -3.31605687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.065898227 meters 0.05998525256273505 Centerline is valid? [True, True] Translation: X:339.29, Y:8.14, Z:-3.32 [[ 9.91761550e-01 -1.27750247e-01 9.42881949e-03 3.39289201e+02] [ 1.27749697e-01 9.91806219e-01 6.63035817e-04 8.14369331e+00] [-9.43626479e-03 5.46955402e-04 9.99955328e-01 -3.31744283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09589822699996 meters 0.05998525256273505 Centerline is valid? [True, True] Translation: X:339.32, Y:8.15, Z:-3.32 [[ 9.91767309e-01 -1.27705531e-01 9.42883326e-03 3.39320857e+02] [ 1.27704981e-01 9.91811977e-01 6.62839943e-04 8.14583791e+00] [-9.43627808e-03 5.46725983e-04 9.99955328e-01 -3.31776637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.125898227 meters 0.0625036691468555 Centerline is valid? [True, True] Translation: X:339.35, Y:8.15, Z:-3.32 [[ 9.91900314e-01 -1.26737476e-01 8.44859061e-03 3.39351129e+02] [ 1.26737003e-01 9.91936177e-01 5.93536008e-04 8.14538075e+00] [-8.45568593e-03 4.82020498e-04 9.99964134e-01 -3.32003102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15589822699997 meters 0.058068385165957644 Centerline is valid? [True, True] Translation: X:339.38, Y:8.15, Z:-3.32 [[ 9.91990124e-01 -1.26100237e-01 7.37048873e-03 3.39382761e+02] [ 1.26099860e-01 9.92017418e-01 5.17824259e-04 8.15408481e+00] [-7.37695096e-03 4.15741043e-04 9.99972704e-01 -3.32251541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.18589822699994 meters 0.06361940435706182 Centerline is valid? [True, True] Translation: X:339.41, Y:8.15, Z:-3.32 [[ 9.91915172e-01 -1.26695069e-01 7.25616161e-03 3.39413752e+02] [ 1.26694722e-01 9.91941625e-01 5.09368871e-04 8.14965758e+00] [-7.26222327e-03 4.14066667e-04 9.99973544e-01 -3.32427037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21589822699997 meters 0.06421009544414213 Centerline is valid? [True, True] Translation: X:339.44, Y:8.15, Z:-3.32 [[ 9.91791179e-01 -1.27677257e-01 6.98398995e-03 3.39444718e+02] [ 1.27676960e-01 9.91815685e-01 4.90187366e-04 8.15151509e+00] [-6.98941656e-03 4.05531101e-04 9.99975491e-01 -3.32421285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.24589822699994 meters 0.06676472499036239 Centerline is valid? [True, True] Translation: X:339.47, Y:8.15, Z:-3.33 [[ 9.91629154e-01 -1.28945120e-01 6.69148404e-03 3.39474294e+02] [ 1.28944878e-01 9.91651652e-01 4.69505958e-04 8.15101904e+00] [-6.69616170e-03 3.97256794e-04 9.99977502e-01 -3.32563173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.27589822699997 meters 0.07036315511929055 Centerline is valid? [True, True] Translation: X:339.50, Y:8.15, Z:-3.33 [[ 9.91267453e-01 -1.31694847e-01 6.73086985e-03 3.39503749e+02] [ 1.31694664e-01 9.91290216e-01 4.72354967e-04 8.15031690e+00] [-6.73445214e-03 4.18189536e-04 9.99977236e-01 -3.32631965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.30589822699994 meters 0.0678947084847972 Centerline is valid? [True, True] Translation: X:339.53, Y:8.16, Z:-3.33 [[ 9.91009891e-01 -1.33617899e-01 6.75665500e-03 3.39533815e+02] [ 1.33617758e-01 9.91032830e-01 4.74320033e-04 8.15624866e+00] [-6.75944457e-03 4.32753248e-04 9.99977061e-01 -3.32640988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.335898227 meters 0.0733095749953143 Centerline is valid? [True, True] Translation: X:339.56, Y:8.15, Z:-3.33 [[ 9.90742022e-01 -1.35593387e-01 6.68419275e-03 3.39563770e+02] [ 1.35593295e-01 9.90764472e-01 4.69119969e-04 8.15184894e+00] [-6.68607026e-03 4.41554851e-04 9.99977550e-01 -3.32717447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.36589822699995 meters 0.0774717673262257 Centerline is valid? [True, True] Translation: X:339.59, Y:8.15, Z:-3.33 [[ 9.90215537e-01 -1.39419565e-01 5.94762705e-03 3.39594504e+02] [ 1.39419560e-01 9.90233312e-01 4.17530281e-04 8.14957470e+00] [-5.94775032e-03 4.15770575e-04 9.99982226e-01 -3.32826410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.395898227 meters 0.07950634006375876 Centerline is valid? [True, True] Translation: X:339.63, Y:8.15, Z:-3.33 [[ 9.89990944e-01 -1.41010826e-01 5.82054912e-03 3.39625207e+02] [ 1.41010848e-01 9.90007967e-01 4.08597846e-04 8.14996680e+00] [-5.82000671e-03 4.16252400e-04 9.99982977e-01 -3.32879017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.42589822699995 meters 0.07937171631264824 Centerline is valid? [True, True] Translation: X:339.65, Y:8.15, Z:-3.33 [[ 9.89796175e-01 -1.42375884e-01 5.71308114e-03 3.39654945e+02] [ 1.42375928e-01 9.89812575e-01 4.01004988e-04 8.15315318e+00] [-5.71197299e-03 4.16492027e-04 9.99983600e-01 -3.32924476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.455898227 meters 0.07071208398260331 Centerline is valid? [True, True] Translation: X:339.69, Y:8.17, Z:-3.33 [[ 9.89479655e-01 -1.44512402e-01 6.79541577e-03 3.39685079e+02] [ 1.44512514e-01 9.89502858e-01 4.77118349e-04 8.16602117e+00] [-6.79303285e-03 5.09923716e-04 9.99976797e-01 -3.32763188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.48589822699995 meters 0.08077408571275703 Centerline is valid? [True, True] Translation: X:339.72, Y:8.15, Z:-3.33 [[ 9.89289584e-01 -1.45768070e-01 7.60192825e-03 3.39715718e+02] [ 1.45768248e-01 9.89318621e-01 5.33676998e-04 8.15468277e+00] [-7.59852224e-03 5.80158667e-04 9.99970963e-01 -3.32781777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.515898227 meters 0.07749525501967716 Centerline is valid? [True, True] Translation: X:339.75, Y:8.16, Z:-3.33 [[ 9.89131266e-01 -1.46829857e-01 7.76730204e-03 3.39746040e+02] [ 1.46830074e-01 9.89161580e-01 5.45405797e-04 8.16055767e+00] [-7.76319862e-03 6.00995611e-04 9.99969685e-01 -3.32771751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.54589822699995 meters 0.08452591519517016 Centerline is valid? [True, True] Translation: X:339.78, Y:8.15, Z:-3.33 [[ 9.88865882e-01 -1.48657656e-01 6.72071426e-03 3.39775831e+02] [ 1.48657861e-01 9.88888577e-01 4.71838651e-04 8.15053910e+00] [-6.71617999e-03 5.32501859e-04 9.99977304e-01 -3.32969781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.575898227 meters 0.0794308016456891 Centerline is valid? [True, True] Translation: X:339.80, Y:8.16, Z:-3.33 [[ 9.88829960e-01 -1.48893434e-01 6.78638591e-03 3.39804948e+02] [ 1.48893648e-01 9.88853101e-01 4.76604257e-04 8.15629093e+00] [-6.78170199e-03 5.39169184e-04 9.99976859e-01 -3.33047070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.60589822699995 meters 0.08245723250901989 Centerline is valid? [True, True] Translation: X:339.83, Y:8.15, Z:-3.33 [[ 9.88874628e-01 -1.48585417e-01 7.02455925e-03 3.39833300e+02] [ 1.48585637e-01 9.88899421e-01 4.93390985e-04 8.15121510e+00] [-7.01989328e-03 5.55846788e-04 9.99975206e-01 -3.33046244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.635898227 meters 0.07584564443293836 Centerline is valid? [True, True] Translation: X:339.86, Y:8.16, Z:-3.33 [[ 9.89009731e-01 -1.47686028e-01 6.97055060e-03 3.39862910e+02] [ 1.47686219e-01 9.89034145e-01 4.90127457e-04 8.15947157e+00] [-6.96649753e-03 5.44713440e-04 9.99975585e-01 -3.33052895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.66589822699996 meters 0.08161376994983556 Centerline is valid? [True, True] Translation: X:339.89, Y:8.15, Z:-3.33 [[ 9.89383550e-01 -1.45184644e-01 6.45062296e-03 3.39892853e+02] [ 1.45184755e-01 9.89404458e-01 4.53625951e-04 8.15253587e+00] [-6.44813463e-03 4.87722058e-04 9.99979092e-01 -3.33079363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.695898227 meters 0.07494358470024433 Centerline is valid? [True, True] Translation: X:339.92, Y:8.16, Z:-3.33 [[ 9.89677676e-01 -1.43158497e-01 6.61383681e-03 3.39923067e+02] [ 1.43158568e-01 9.89699656e-01 4.65221003e-04 8.16252739e+00] [-6.61231235e-03 4.86408562e-04 9.99978020e-01 -3.33025793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.72589822699996 meters 0.07631320641965422 Centerline is valid? [True, True] Translation: X:339.95, Y:8.16, Z:-3.33 [[ 9.90082928e-01 -1.40343442e-01 6.28604651e-03 3.39952640e+02] [ 1.40343449e-01 9.90102783e-01 4.42176614e-04 8.16128273e+00] [-6.28588873e-03 4.44413930e-04 9.99980145e-01 -3.33133726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.755898227 meters 0.07159887987244366 Centerline is valid? [True, True] Translation: X:339.98, Y:8.17, Z:-3.33 [[ 9.90984833e-01 -1.33823228e-01 6.35650227e-03 3.39981509e+02] [ 1.33823101e-01 9.91005135e-01 4.47193577e-04 8.16772252e+00] [-6.35917128e-03 4.07484796e-04 9.99979697e-01 -3.33183709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.78589822699996 meters 0.06553938251656279 Centerline is valid? [True, True] Translation: X:340.01, Y:8.18, Z:-3.33 [[ 9.91460390e-01 -1.30254365e-01 6.33203089e-03 3.40010843e+02] [ 1.30254166e-01 9.91480536e-01 4.45604203e-04 8.17911912e+00] [-6.33612728e-03 3.82974483e-04 9.99979853e-01 -3.33172784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.815898227 meters 0.05880763158592038 Centerline is valid? [True, True] Translation: X:340.04, Y:8.19, Z:-3.33 [[ 9.91867875e-01 -1.27078788e-01 7.00716122e-03 3.40040467e+02] [ 1.27078464e-01 9.91892545e-01 4.93305960e-04 8.19227163e+00] [-7.01303970e-03 4.01164950e-04 9.99975328e-01 -3.33105363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.84589822699996 meters 0.06163239767995505 Centerline is valid? [True, True] Translation: X:340.07, Y:8.19, Z:-3.33 [[ 9.92117986e-01 -1.25052000e-01 7.99367876e-03 3.40070107e+02] [ 1.25051512e-01 9.92150091e-01 5.62749686e-04 8.19300342e+00] [-8.00130208e-03 4.41307530e-04 9.99967892e-01 -3.33041811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.875898227 meters 0.06711467460392767 Centerline is valid? [True, True] Translation: X:340.10, Y:8.19, Z:-3.33 [[ 9.91983212e-01 -1.26013295e-01 9.48453379e-03 3.40099664e+02] [ 1.26012652e-01 9.92028410e-01 6.67697390e-04 8.19083657e+00] [-9.49306572e-03 5.32826656e-04 9.99954798e-01 -3.32894359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.90589822699997 meters 0.0636668515318157 Centerline is valid? [True, True] Translation: X:340.13, Y:8.20, Z:-3.33 [[ 9.91656009e-01 -1.28567833e-01 9.41653513e-03 3.40130427e+02] [ 1.28567314e-01 9.91700563e-01 6.63031853e-04 8.19789516e+00] [-9.42362775e-03 5.53159102e-04 9.99955444e-01 -3.32982595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93589822699994 meters 0.06723242023851442 Centerline is valid? [True, True] Translation: X:340.16, Y:8.20, Z:-3.33 [[ 9.91145665e-01 -1.32461957e-01 9.17063552e-03 3.40161263e+02] [ 1.32461632e-01 9.91187923e-01 6.45575688e-04 8.19573085e+00] [-9.17533740e-03 5.74897799e-04 9.99957740e-01 -3.33056619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.96589822699997 meters 0.07364387595160096 Centerline is valid? [True, True] Translation: X:340.19, Y:8.19, Z:-3.33 [[ 9.90581770e-01 -1.36640180e-01 8.78737313e-03 3.40191583e+02] [ 1.36640046e-01 9.90620571e-01 6.18510151e-04 8.18897704e+00] [-8.78946593e-03 5.88022186e-04 9.99961199e-01 -3.33212601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99589822699994 meters 0.07445394874906174 Centerline is valid? [True, True] Translation: X:340.22, Y:8.19, Z:-3.33 [[ 9.89424137e-01 -1.44839982e-01 7.82672039e-03 3.40222393e+02] [ 1.44840129e-01 9.89454917e-01 5.51014215e-04 8.18883274e+00] [-7.82399586e-03 5.88436424e-04 9.99969219e-01 -3.33398482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.02589822699997 meters 0.08321269781678128 Centerline is valid? [True, True] Translation: X:340.25, Y:8.18, Z:-3.33 [[ 9.88981169e-01 -1.47856408e-01 7.39800306e-03 3.40252912e+02] [ 1.47856623e-01 9.89008669e-01 5.20865516e-04 8.17952508e+00] [-7.39370246e-03 5.78717562e-04 9.99972499e-01 -3.33468967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05589822699994 meters 0.08691658463229195 Centerline is valid? [True, True] Translation: X:340.28, Y:8.18, Z:-3.33 [[ 9.88752376e-01 -1.49387429e-01 7.22050970e-03 3.40282128e+02] [ 1.49387674e-01 9.88778572e-01 5.08445179e-04 8.17735186e+00] [-7.21544059e-03 5.75928768e-04 9.99973803e-01 -3.33475390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.085898227 meters 0.08619096176005225 Centerline is valid? [True, True] Translation: X:340.31, Y:8.18, Z:-3.33 [[ 9.88701982e-01 -1.49709421e-01 7.44853842e-03 3.40310757e+02] [ 1.49709693e-01 9.88729858e-01 5.24189994e-04 8.18155863e+00] [-7.44306851e-03 5.96850713e-04 9.99972122e-01 -3.33437923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11589822699995 meters 0.0839589014119936 Centerline is valid? [True, True] Translation: X:340.34, Y:8.19, Z:-3.33 [[ 9.89176241e-01 -1.46484380e-01 8.52590468e-03 3.40338893e+02] [ 1.46484603e-01 9.89212767e-01 6.01741291e-04 8.18875775e+00] [-8.52207947e-03 6.53685572e-04 9.99963473e-01 -3.33303048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.145898227 meters 0.08170448913109289 Centerline is valid? [True, True] Translation: X:340.37, Y:8.20, Z:-3.33 [[ 9.89479642e-01 -1.44347294e-01 9.69005576e-03 3.40369343e+02] [ 1.44347477e-01 9.89526825e-01 6.84244296e-04 8.19504744e+00] [-9.68733892e-03 7.21689297e-04 9.99952816e-01 -3.33230737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17589822699995 meters 0.07147629697970027 Centerline is valid? [True, True] Translation: X:340.40, Y:8.21, Z:-3.33 [[ 9.89810555e-01 -1.41967266e-01 1.09708532e-02 3.40398522e+02] [ 1.41967355e-01 9.89871037e-01 7.74708342e-04 8.21229148e+00] [-1.09697130e-02 7.90688508e-04 9.99939518e-01 -3.33121241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.205898227 meters 0.0698752445586115 Centerline is valid? [True, True] Translation: X:340.43, Y:8.22, Z:-3.33 [[ 9.90334287e-01 -1.38236376e-01 1.13448083e-02 3.40427848e+02] [ 1.38236227e-01 9.90398962e-01 8.01097501e-04 8.22231942e+00] [-1.13466272e-02 7.74909177e-04 9.99935325e-01 -3.33065136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23589822699995 meters 0.06972082064812592 Centerline is valid? [True, True] Translation: X:340.46, Y:8.23, Z:-3.33 [[ 9.90482510e-01 -1.37240029e-01 1.04676572e-02 3.40459306e+02] [ 1.37239846e-01 9.90537570e-01 7.39158011e-04 8.22802505e+00] [-1.04700498e-02 7.04456584e-04 9.99944939e-01 -3.33232543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.265898227 meters 0.07012483063401631 Centerline is valid? [True, True] Translation: X:340.49, Y:8.23, Z:-3.33 [[ 9.90593147e-01 -1.36511006e-01 9.48484817e-03 3.40489360e+02] [ 1.36510826e-01 9.90638353e-01 6.69456089e-04 8.23260553e+00] [-9.48744249e-03 6.31625844e-04 9.99954794e-01 -3.33441541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29589822699995 meters 0.07064571341541746 Centerline is valid? [True, True] Translation: X:340.52, Y:8.24, Z:-3.34 [[ 9.90614474e-01 -1.36387999e-01 9.01541362e-03 3.40520056e+02] [ 1.36387832e-01 9.90655316e-01 6.36240582e-04 8.23720500e+00] [-9.01794301e-03 5.99323586e-04 9.99959158e-01 -3.33590025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.325898227 meters 0.07564249283131581 Centerline is valid? [True, True] Translation: X:340.55, Y:8.24, Z:-3.34 [[ 9.90356077e-01 -1.38207197e-01 9.67534279e-03 3.40549931e+02] [ 1.38207093e-01 9.90403117e-01 6.82571551e-04 8.23943828e+00] [-9.67682595e-03 6.61212115e-04 9.99952960e-01 -3.33569938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.35589822699995 meters 0.07494939607009098 Centerline is valid? [True, True] Translation: X:340.58, Y:8.24, Z:-3.34 [[ 9.90118728e-01 -1.39884690e-01 9.85789191e-03 3.40580816e+02] [ 1.39884665e-01 9.90167560e-01 6.95453401e-04 8.24467957e+00] [-9.85824806e-03 6.90386474e-04 9.99951168e-01 -3.33625386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.385898227 meters 0.07694819731495188 Centerline is valid? [True, True] Translation: X:340.61, Y:8.25, Z:-3.34 [[ 9.89812912e-01 -1.42053802e-01 9.54548435e-03 3.40611856e+02] [ 1.42053880e-01 9.89858698e-01 6.73306784e-04 8.24545076e+00] [-9.54432650e-03 6.89525343e-04 9.99954214e-01 -3.33812952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41589822699996 meters 0.08163696517817075 Centerline is valid? [True, True] Translation: X:340.64, Y:8.24, Z:-3.34 [[ 9.89443197e-01 -1.44647162e-01 8.90836232e-03 3.40641278e+02] [ 1.44647334e-01 9.89483074e-01 6.28388377e-04 8.24254468e+00] [-8.90556833e-03 6.66816251e-04 9.99960122e-01 -3.34014505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.445898227 meters 0.08741085876498957 Centerline is valid? [True, True] Translation: X:340.67, Y:8.24, Z:-3.34 [[ 9.88782880e-01 -1.49202142e-01 6.86562362e-03 3.40670710e+02] [ 1.49202355e-01 9.88806565e-01 4.84079165e-04 8.23955112e+00] [-6.86099936e-03 5.45718020e-04 9.99976314e-01 -3.34332654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47589822699996 meters 0.08834980941595304 Centerline is valid? [True, True] Translation: X:340.70, Y:8.24, Z:-3.34 [[ 9.88617427e-01 -1.50329263e-01 6.05764019e-03 3.40699793e+02] [ 1.50329451e-01 9.88635865e-01 4.26828883e-04 8.24233468e+00] [-6.05296522e-03 4.88671252e-04 9.99981561e-01 -3.34426086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.505898227 meters 0.0902268563330589 Centerline is valid? [True, True] Translation: X:340.73, Y:8.24, Z:-3.34 [[ 9.88591607e-01 -1.50501979e-01 5.98236261e-03 3.40728259e+02] [ 1.50502165e-01 9.88609590e-01 4.21713360e-04 8.24355868e+00] [-5.97768974e-03 4.83456236e-04 9.99982017e-01 -3.34447487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53589822699996 meters 0.07804178456388856 Centerline is valid? [True, True] Translation: X:340.76, Y:8.26, Z:-3.34 [[ 9.88841669e-01 -1.48739382e-01 8.29157916e-03 3.40758086e+02] [ 1.48739673e-01 9.88876214e-01 5.84964192e-04 8.26474006e+00] [-8.28635262e-03 6.54849808e-04 9.99965453e-01 -3.34030658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.565898227 meters 0.08755392855564766 Centerline is valid? [True, True] Translation: X:340.79, Y:8.26, Z:-3.34 [[ 9.89000100e-01 -1.47593834e-01 9.73974284e-03 3.40788813e+02] [ 1.47594182e-01 9.89047767e-01 6.87024618e-04 8.25646122e+00] [-9.73447150e-03 7.58061958e-04 9.99952332e-01 -3.33860802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59589822699996 meters 0.08290229668018051 Centerline is valid? [True, True] Translation: X:340.82, Y:8.27, Z:-3.34 [[ 9.89130176e-01 -1.46670635e-01 1.04508517e-02 3.40819682e+02] [ 1.46670984e-01 9.89185058e-01 7.37178998e-04 8.26633298e+00] [-1.04459489e-02 8.03670721e-04 9.99945117e-01 -3.33786135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.625898227 meters 0.09003959183074361 Centerline is valid? [True, True] Translation: X:340.85, Y:8.26, Z:-3.34 [[ 9.89083000e-01 -1.46952587e-01 1.09432991e-02 3.40850349e+02] [ 1.46952989e-01 9.89143176e-01 7.71676781e-04 8.26079758e+00] [-1.09378895e-02 8.44898126e-04 9.99939823e-01 -3.33802227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65589822699997 meters 0.08453812517090384 Centerline is valid? [True, True] Translation: X:340.88, Y:8.27, Z:-3.34 [[ 9.88614426e-01 -1.50036776e-01 1.14229030e-02 3.40880218e+02] [ 1.50037421e-01 9.88679991e-01 8.05356879e-04 8.27161222e+00] [-1.14144288e-02 9.17675480e-04 9.99934432e-01 -3.33814817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.68589822699994 meters 0.08783333023471429 Centerline is valid? [True, True] Translation: X:340.91, Y:8.27, Z:-3.34 [[ 9.88219066e-01 -1.52633799e-01 1.12249771e-02 3.40910523e+02] [ 1.52634590e-01 9.88282377e-01 7.91190949e-04 8.27066614e+00] [-1.12142095e-02 9.31449801e-04 9.99936685e-01 -3.33799551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71589822699997 meters 0.0994263939184207 Centerline is valid? [True, True] Translation: X:340.94, Y:8.26, Z:-3.34 [[ 9.87814154e-01 -1.55291546e-01 1.03794285e-02 3.40940410e+02] [ 1.55292369e-01 9.87868283e-01 7.31542629e-04 8.25928582e+00] [-1.03671106e-02 8.89217884e-04 9.99945865e-01 -3.33897346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.74589822699994 meters 0.09899566922336252 Centerline is valid? [True, True] Translation: X:340.97, Y:8.26, Z:-3.34 [[ 9.87049698e-01 -1.60221522e-01 7.87130400e-03 3.40970615e+02] [ 1.60222152e-01 9.87080825e-01 5.54624257e-04 8.26302556e+00] [-7.85847599e-03 7.13715561e-04 9.99968867e-01 -3.34340352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.77589822699997 meters 0.09958966888249873 Centerline is valid? [True, True] Translation: X:341.00, Y:8.26, Z:-3.35 [[ 9.86717834e-01 -1.62288391e-01 7.09892210e-03 3.41000765e+02] [ 1.62288956e-01 9.86743150e-01 5.00272238e-04 8.26335323e+00] [-7.08600113e-03 6.58449115e-04 9.99974677e-01 -3.34543576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.80589822699994 meters 0.10064300339306266 Centerline is valid? [True, False] Translation: X:341.00, Y:8.26, Z:-3.35 [[ 9.88673192e-01 -1.49854679e-01 8.30023420e-03 3.40999578e+02] [ 1.49903188e-01 9.88685021e-01 -5.56455406e-03 8.26035366e+00] [-7.37244276e-03 6.74575700e-03 9.99950070e-01 -3.34517712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.835898227 meters 0.10418899897391377 Centerline is valid? [False, False] Translation: X:341.00, Y:8.26, Z:-3.34 [[ 9.90709156e-01 -1.35786577e-01 7.57450512e-03 3.40999651e+02] [ 1.35857538e-01 9.90679846e-01 -9.80673127e-03 8.25657993e+00] [-6.17228710e-03 1.07446721e-02 9.99923224e-01 -3.34460032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.86589822699995 meters 0.104213870979692 Centerline is valid? [False, False] Translation: X:341.00, Y:8.25, Z:-3.34 [[ 9.92542005e-01 -1.21728512e-01 6.52216025e-03 3.40999355e+02] [ 1.21808198e-01 9.92459588e-01 -1.36648724e-02 8.25130308e+00] [-4.80957589e-03 1.43574124e-02 9.99885360e-01 -3.34373096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.895898227 meters 0.10286484243242511 Centerline is valid? [False, False] Translation: X:341.00, Y:8.25, Z:-3.34 [[ 9.94306754e-01 -1.06392391e-01 5.89396991e-03 3.41000488e+02] [ 1.06475837e-01 9.94180857e-01 -1.63499167e-02 8.24644029e+00] [-4.12016533e-03 1.68843979e-02 9.99848959e-01 -3.34478046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.92589822699995 meters 0.1016287179426956 Centerline is valid? [False, False] Translation: X:341.00, Y:8.24, Z:-3.35 [[ 9.95916128e-01 -9.00901061e-02 5.90250347e-03 3.41002526e+02] [ 9.01837051e-02 9.95759001e-01 -1.81909772e-02 8.24140653e+00] [-4.23864390e-03 1.86489972e-02 9.99817108e-01 -3.34709180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.955898227 meters 0.10544637653340276 Centerline is valid? [False, False] Translation: X:341.01, Y:8.23, Z:-3.35 [[ 9.97294229e-01 -7.32890361e-02 5.73914991e-03 3.41005477e+02] [ 7.33876620e-02 9.97114011e-01 -1.94396554e-02 8.23465168e+00] [-4.29787318e-03 1.98082389e-02 9.99794560e-01 -3.35036905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.98589822699995 meters 0.10544637653340276 Centerline is valid? [False, False] Translation: X:341.01, Y:8.23, Z:-3.35 [[ 9.98188041e-01 -5.99621459e-02 5.01757925e-03 3.41006408e+02] [ 6.00681488e-02 9.97889827e-01 -2.46518028e-02 8.23343953e+00] [-3.52881629e-03 2.49085314e-02 9.99683506e-01 -3.35094376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.015898227 meters 0.10709102852769846 Centerline is valid? [False, False] Translation: X:341.01, Y:8.23, Z:-3.35 [[ 9.99002136e-01 -4.44889830e-02 3.93219018e-03 3.41007577e+02] [ 4.45803474e-02 9.98629084e-01 -2.74325495e-02 8.22868149e+00] [-2.70635326e-03 2.75804740e-02 9.99615923e-01 -3.35186458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.04589822699995 meters 0.10684272206647326 Centerline is valid? [False, False] Translation: X:341.01, Y:8.22, Z:-3.36 [[ 9.99526662e-01 -3.05691854e-02 3.46062496e-03 3.41009171e+02] [ 3.06069932e-02 9.99465828e-01 -1.14573327e-02 8.21699633e+00] [-3.10853506e-03 1.15578288e-02 9.99928374e-01 -3.35553012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.075898227 meters 0.10522067902196251 Centerline is valid? [False, False] Translation: X:341.01, Y:8.21, Z:-3.36 [[ 9.99816445e-01 -1.90604915e-02 1.94283895e-03 3.41009873e+02] [ 1.90939331e-02 9.99637876e-01 -1.89615022e-02 8.21442768e+00] [-1.58071985e-03 1.89951182e-02 9.99818327e-01 -3.35503406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.10589822699995 meters 0.0901741470299484 Centerline is valid? [False, True] Translation: X:341.01, Y:8.20, Z:-3.36 [[ 9.99953476e-01 -9.42504703e-03 2.05285567e-03 3.41010375e+02] [ 9.44048353e-03 9.99926218e-01 -7.64432093e-03 8.20373995e+00] [-1.98065612e-03 7.66334523e-03 9.99968675e-01 -3.35759016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.135898227 meters 0.0897253324626139 Centerline is valid? [True, True] Translation: X:341.04, Y:8.20, Z:-3.36 [[ 9.99963720e-01 -8.03274613e-03 2.83434691e-03 3.41040236e+02] [ 8.03339289e-03 9.99967708e-01 -2.16877485e-04 8.19620848e+00] [-2.83251326e-03 2.39639039e-04 9.99995960e-01 -3.35832826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.16589822699996 meters 0.09007803545452508 Centerline is valid? [True, True] Translation: X:341.07, Y:8.19, Z:-3.36 [[ 9.99972404e-01 -6.79230702e-03 3.00921006e-03 3.41069449e+02] [ 6.79303059e-03 9.99976901e-01 -2.30296804e-04 8.19072609e+00] [-3.00757631e-03 2.50732105e-04 9.99995446e-01 -3.35904794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.195898227 meters 0.07872507986780408 Centerline is valid? [True, True] Translation: X:341.10, Y:8.20, Z:-3.36 [[ 9.99978171e-01 -5.78066084e-03 3.20021884e-03 3.41101847e+02] [ 5.78147342e-03 9.99983257e-01 -2.44721016e-04 8.19995049e+00] [-3.19875061e-03 2.63217654e-04 9.99994849e-01 -3.35911806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.22589822699996 meters 0.07892845766795728 Centerline is valid? [True, True] Translation: X:341.13, Y:8.19, Z:-3.36 [[ 9.99983076e-01 -5.55779298e-03 1.72008598e-03 3.41133847e+02] [ 5.55802723e-03 9.99984545e-01 -1.31432887e-04 8.19064508e+00] [-1.71932892e-03 1.40990947e-04 9.99998512e-01 -3.36099046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.255898227 meters 0.08843570915861687 Centerline is valid? [True, True] Translation: X:341.16, Y:8.18, Z:-3.36 [[ 9.99978554e-01 -6.52339187e-03 5.80228179e-04 3.41162776e+02] [ 6.52341860e-03 9.99978721e-01 -4.41783639e-05 8.17572213e+00] [-5.79927640e-04 4.79624878e-05 9.99999831e-01 -3.36348504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.28589822699996 meters 0.08923659372231887 Centerline is valid? [True, True] Translation: X:341.19, Y:8.16, Z:-3.36 [[ 9.99972979e-01 -7.35111843e-03 4.58526618e-05 3.41192281e+02] [ 7.35111859e-03 9.99972980e-01 -3.44160644e-06 8.16496535e+00] [-4.58261232e-05 3.77858180e-06 9.99999999e-01 -3.36490994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.315898227 meters 0.09683508071960241 Centerline is valid? [True, True] Translation: X:341.22, Y:8.14, Z:-3.37 [[ 9.99964414e-01 -8.43591587e-03 -7.39466325e-05 3.41221040e+02] [ 8.43591632e-03 9.99964417e-01 5.74008104e-06 8.14456877e+00] [ 7.38955785e-05 -6.36368438e-06 9.99999997e-01 -3.36622062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.34589822699996 meters 0.09813485124334442 Centerline is valid? [True, True] Translation: X:341.25, Y:8.14, Z:-3.37 [[ 9.99965857e-01 -8.25304037e-03 4.15986146e-04 3.41250662e+02] [ 8.25305424e-03 9.99965942e-01 -3.16387449e-05 8.13640228e+00] [-4.15710863e-04 3.50708209e-05 9.99999913e-01 -3.36581862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.375898227 meters 0.09067868189199992 Centerline is valid? [True, True] Translation: X:341.28, Y:8.14, Z:-3.36 [[ 9.99968316e-01 -7.85589132e-03 1.28500096e-03 3.41282074e+02] [ 7.85602425e-03 9.99969136e-01 -9.84307974e-05 8.13963686e+00] [-1.28418804e-03 1.08522677e-04 9.99999170e-01 -3.36396216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.40589822699997 meters 0.08382254875816098 Centerline is valid? [True, True] Translation: X:341.31, Y:8.14, Z:-3.36 [[ 9.99973894e-01 -6.47949809e-03 3.19812491e-03 3.41313288e+02] [ 6.48031552e-03 9.99978972e-01 -2.45298644e-04 8.14034164e+00] [-3.19646825e-03 2.66017099e-04 9.99994856e-01 -3.36043650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43589822699994 meters 0.08277285926879588 Centerline is valid? [True, True] Translation: X:341.34, Y:8.14, Z:-3.36 [[ 9.99978290e-01 -5.38861291e-03 3.79232148e-03 3.41344885e+02] [ 5.38975449e-03 9.99985433e-01 -2.90869611e-04 8.13708334e+00] [-3.79069885e-03 3.11302978e-04 9.99992767e-01 -3.35932442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.46589822699997 meters 0.0840897603612279 Centerline is valid? [True, True] Translation: X:341.37, Y:8.13, Z:-3.36 [[ 9.99981655e-01 -4.01685442e-03 4.53361046e-03 3.41374482e+02] [ 4.01847309e-03 9.99991865e-01 -3.47985242e-04 8.13080266e+00] [-4.53217578e-03 3.66197050e-04 9.99989663e-01 -3.35841658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49589822699994 meters 0.08497203388878552 Centerline is valid? [True, True] Translation: X:341.40, Y:8.13, Z:-3.36 [[ 9.99989534e-01 -1.73855904e-03 4.23188789e-03 3.41404196e+02] [ 1.73994914e-03 9.99998434e-01 -3.24823864e-04 8.12550877e+00] [-4.23131653e-03 3.32183734e-04 9.99990993e-01 -3.35997848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.52589822699997 meters 0.08764801945909546 Centerline is valid? [True, True] Translation: X:341.43, Y:8.12, Z:-3.36 [[ 9.99994048e-01 -9.57090451e-04 3.31492470e-03 3.41434250e+02] [ 9.57938910e-04 9.99999509e-01 -2.54372905e-04 8.11683812e+00] [-3.31467962e-03 2.57546886e-04 9.99994473e-01 -3.36255393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55589822699994 meters 0.08449081168319954 Centerline is valid? [True, True] Translation: X:341.47, Y:8.12, Z:-3.36 [[ 9.99996001e-01 -9.54091994e-04 2.66224293e-03 3.41466469e+02] [ 9.54639072e-04 9.99999523e-01 -2.04232194e-04 8.11749277e+00] [-2.66204681e-03 2.06772859e-04 9.99996435e-01 -3.36355661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.585898227 meters 0.08654141845285003 Centerline is valid? [True, True] Translation: X:341.50, Y:8.11, Z:-3.36 [[ 9.99994487e-01 -2.20134472e-03 2.48596922e-03 3.41497515e+02] [ 2.20182603e-03 9.99997558e-01 -1.90889991e-04 8.10938386e+00] [-2.48554293e-03 1.96362611e-04 9.99996892e-01 -3.36354982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61589822699995 meters 0.0879182357714687 Centerline is valid? [True, True] Translation: X:341.53, Y:8.10, Z:-3.36 [[ 9.99990514e-01 -3.20736581e-03 2.94712504e-03 3.41527025e+02] [ 3.20804710e-03 9.99994829e-01 -2.26472132e-04 8.10297882e+00] [-2.94638342e-03 2.35924500e-04 9.99995632e-01 -3.36224136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.645898227 meters 0.08916722128271673 Centerline is valid? [True, True] Translation: X:341.56, Y:8.10, Z:-3.36 [[ 9.99985722e-01 -3.75925969e-03 3.79773383e-03 3.41558306e+02] [ 3.76039473e-03 9.99992887e-01 -2.91776220e-04 8.09671744e+00] [-3.79660995e-03 3.06053033e-04 9.99992746e-01 -3.36071787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67589822699995 meters 0.08902036351615569 Centerline is valid? [True, True] Translation: X:341.59, Y:8.09, Z:-3.36 [[ 9.99984971e-01 -3.55874482e-03 4.17044976e-03 3.41590166e+02] [ 3.56011206e-03 9.99993611e-01 -3.20461723e-04 8.09239935e+00] [-4.16928268e-03 3.35304175e-04 9.99991252e-01 -3.35953299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.705898227 meters 0.08804310025643758 Centerline is valid? [True, True] Translation: X:341.62, Y:8.09, Z:-3.36 [[ 9.99991852e-01 -1.58229152e-03 3.71389726e-03 3.41619931e+02] [ 1.58336327e-03 9.99998706e-01 -2.85657000e-04 8.08777484e+00] [-3.71344046e-03 2.91535120e-04 9.99993063e-01 -3.35979878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73589822699995 meters 0.08746226894747698 Centerline is valid? [True, True] Translation: X:341.65, Y:8.08, Z:-3.36 [[ 9.99994372e-01 1.58054055e-04 3.35119161e-03 3.41650226e+02] [-1.57191398e-04 9.99999954e-01 -2.57679628e-04 8.08448816e+00] [-3.35123219e-03 2.57151400e-04 9.99994352e-01 -3.36087735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.765898227 meters 0.08613194574895539 Centerline is valid? [True, True] Translation: X:341.68, Y:8.08, Z:-3.36 [[ 9.99993351e-01 2.04893464e-03 3.01650849e-03 3.41680558e+02] [-2.04824405e-03 9.99997875e-01 -2.32009899e-04 8.08170786e+00] [-3.01697746e-03 2.25829811e-04 9.99995423e-01 -3.36183981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79589822699995 meters 0.07214866936968639 Centerline is valid? [True, True] Translation: X:341.71, Y:8.09, Z:-3.36 [[ 9.99979649e-01 5.42741118e-03 3.35345946e-03 3.41712516e+02] [-5.42657670e-03 9.99985243e-01 -2.57888770e-04 8.09112873e+00] [-3.35480964e-03 2.39685717e-04 9.99994344e-01 -3.36112756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.825898227 meters 0.07126652633567078 Centerline is valid? [True, True] Translation: X:341.74, Y:8.09, Z:-3.36 [[ 9.99969044e-01 6.94314110e-03 3.70199945e-03 3.41742728e+02] [-6.94213493e-03 9.99975863e-01 -2.84572277e-04 8.08657464e+00] [-3.70388592e-03 2.58863688e-04 9.99993107e-01 -3.36026856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.85589822699995 meters 0.08274050296899496 Centerline is valid? [True, True] Translation: X:341.77, Y:8.07, Z:-3.36 [[ 9.99954878e-01 8.53664846e-03 4.16755250e-03 3.41771221e+02] [-8.53538497e-03 9.99963521e-01 -3.20864610e-04 8.06673205e+00] [-4.17013958e-03 2.85278467e-04 9.99991264e-01 -3.36003828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.885898227 meters 0.06864225493798819 Centerline is valid? [True, True] Translation: X:341.80, Y:8.08, Z:-3.36 [[ 9.99918172e-01 1.25463781e-02 2.49746670e-03 3.41803265e+02] [-1.25459370e-02 9.99921278e-01 -1.92239665e-04 8.08154265e+00] [-2.49968201e-03 1.60890874e-04 9.99996863e-01 -3.36021770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91589822699996 meters 0.07500670288891624 Centerline is valid? [True, True] Translation: X:341.83, Y:8.07, Z:-3.36 [[ 9.99878101e-01 1.55439447e-02 1.47286246e-03 3.41831555e+02] [-1.55437943e-02 9.99879181e-01 -1.13467523e-04 8.06598996e+00] [-1.47444825e-03 9.05598206e-05 9.99998909e-01 -3.36399883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.945898227 meters 0.06163514029029578 Centerline is valid? [True, True] Translation: X:341.86, Y:8.08, Z:-3.36 [[ 9.99830069e-01 1.84153198e-02 8.41535582e-04 3.41862707e+02] [-1.84152717e-02 9.99830422e-01 -6.48023555e-05 8.07979894e+00] [-8.42586233e-04 4.92942371e-05 9.99999644e-01 -3.36413084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97589822699996 meters 0.058243686794456205 Centerline is valid? [True, True] Translation: X:341.89, Y:8.08, Z:-3.36 [[ 9.99775144e-01 2.11824505e-02 9.82386676e-04 3.41893407e+02] [-2.11823863e-02 9.99775625e-01 -7.56489497e-05 8.08138225e+00] [-9.83768684e-04 5.48226455e-05 9.99999515e-01 -3.36384966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.005898227 meters 0.05500236782558087 Centerline is valid? [True, True] Translation: X:341.92, Y:8.08, Z:-3.36 [[ 9.99671488e-01 2.55957666e-02 1.33130693e-03 3.41922737e+02] [-2.55956526e-02 9.99672372e-01 -1.02571956e-04 8.08087235e+00] [-1.33349616e-03 6.84625906e-05 9.99999109e-01 -3.36454802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03589822699996 meters 0.0571408341696983 Centerline is valid? [True, True] Translation: X:341.95, Y:8.07, Z:-3.37 [[ 9.99642813e-01 2.67004215e-02 1.15496833e-03 3.41951509e+02] [-2.67003367e-02 9.99643479e-01 -8.87546683e-05 8.07391263e+00] [-1.15692635e-03 5.78849229e-05 9.99999329e-01 -3.36644466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.065898227 meters 0.057557182166568056 Centerline is valid? [True, True] Translation: X:341.98, Y:8.07, Z:-3.37 [[ 9.99626171e-01 2.73286733e-02 8.13150622e-04 3.41979810e+02] [-2.73286312e-02 9.99626501e-01 -6.28026125e-05 8.06863327e+00] [-8.14563223e-04 4.05568416e-05 9.99999667e-01 -3.36756298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09589822699996 meters 0.053996209305292905 Centerline is valid? [True, True] Translation: X:342.01, Y:8.07, Z:-3.37 [[ 9.99626153e-01 2.73358510e-02 5.52014698e-04 3.42009534e+02] [-2.73358316e-02 9.99626305e-01 -4.26227351e-05 8.06855805e+00] [-5.52973542e-04 2.75170199e-05 9.99999847e-01 -3.36703471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.125898227 meters 0.0532820288128584 Centerline is valid? [True, True] Translation: X:342.04, Y:8.06, Z:-3.37 [[ 9.99588209e-01 2.86895694e-02 5.66247828e-04 3.42039097e+02] [-2.86895492e-02 9.99588369e-01 -4.37041497e-05 8.06261382e+00] [-5.67268596e-04 2.74407578e-05 9.99999839e-01 -3.36675114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15589822699997 meters 0.04846082204842793 Centerline is valid? [True, True] Translation: X:342.07, Y:8.06, Z:-3.37 [[ 9.99534617e-01 3.05039878e-02 2.35435440e-04 3.42068719e+02] [-3.05039843e-02 9.99534645e-01 -1.82575631e-05 8.06469133e+00] [-2.35882807e-04 1.10673474e-05 9.99999972e-01 -3.36606563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.18589822699994 meters 0.04887005327580403 Centerline is valid? [True, True] Translation: X:342.10, Y:8.06, Z:-3.37 [[ 9.99400735e-01 3.45878059e-02 1.36209168e-03 3.42097743e+02] [-3.45876951e-02 9.99401661e-01 -1.04811358e-04 8.05946671e+00] [-1.36490188e-03 5.76369365e-05 9.99999067e-01 -3.36613846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21589822699997 meters 0.04281719315216317 Centerline is valid? [True, True] Translation: X:342.13, Y:8.06, Z:-3.37 [[ 9.99348147e-01 3.60772854e-02 1.30792063e-03 3.42127483e+02] [-3.60771844e-02 9.99349001e-01 -1.00680566e-04 8.06381573e+00] [-1.31070146e-03 5.34288426e-05 9.99999140e-01 -3.36508807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.24589822699994 meters 0.042760113291238515 Centerline is valid? [True, True] Translation: X:342.16, Y:8.06, Z:-3.37 [[ 9.99290638e-01 3.76143618e-02 1.83857825e-03 3.42156511e+02] [-3.76141651e-02 9.99292327e-01 -1.41423064e-04 8.06019002e+00] [-1.84259668e-03 7.21661573e-05 9.99998300e-01 -3.36590966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.27589822699997 meters 0.041972376580715544 Centerline is valid? [True, True] Translation: X:342.19, Y:8.06, Z:-3.37 [[ 9.99251921e-01 3.86020749e-02 2.34063559e-03 3.42185769e+02] [-3.86017592e-02 9.99254658e-01 -1.79943532e-04 8.05683876e+00] [-2.34583721e-03 8.94562680e-05 9.99997245e-01 -3.36547667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.30589822699994 meters 0.040070752606803026 Centerline is valid? [True, True] Translation: X:342.21, Y:8.05, Z:-3.36 [[ 9.99202400e-01 3.97486041e-02 3.82266830e-03 3.42214736e+02] [-3.97477710e-02 9.99209702e-01 -2.93697371e-04 8.05065503e+00] [-3.83132131e-03 1.41520574e-04 9.99992650e-01 -3.36364468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.335898227 meters 0.043181816766074195 Centerline is valid? [True, True] Translation: X:342.24, Y:8.04, Z:-3.36 [[ 9.99186079e-01 4.02178813e-02 3.11472224e-03 3.42243761e+02] [-4.02173311e-02 9.99190927e-01 -2.39125257e-04 8.04143671e+00] [-3.12181932e-03 1.13664812e-04 9.99995121e-01 -3.36499783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.36589822699995 meters 0.03942319354251871 Centerline is valid? [True, True] Translation: X:342.27, Y:8.04, Z:-3.37 [[ 9.99161155e-01 4.09022610e-02 1.99765711e-03 3.42273190e+02] [-4.09020357e-02 9.99163150e-01 -1.53539081e-04 8.04212542e+00] [-2.00226547e-03 7.17020434e-05 9.99997993e-01 -3.36621439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.395898227 meters 0.040697878181912304 Centerline is valid? [True, True] Translation: X:342.30, Y:8.04, Z:-3.37 [[ 9.99118742e-01 4.19627135e-02 9.33090818e-04 3.42301563e+02] [-4.19626647e-02 9.99119177e-01 -7.18407815e-05 8.03656233e+00] [-9.35283564e-04 3.26224942e-05 9.99999562e-01 -3.36839091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.42589822699995 meters 0.038100421417141525 Centerline is valid? [True, True] Translation: X:342.33, Y:8.03, Z:-3.37 [[ 9.99066953e-01 4.31876868e-02 2.18522486e-04 3.42330873e+02] [-4.31876842e-02 9.99066977e-01 -1.69165774e-05 8.03292776e+00] [-2.19049187e-04 7.46331331e-06 9.99999976e-01 -3.37035925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.455898227 meters 0.03918464844013467 Centerline is valid? [True, True] Translation: X:342.36, Y:8.03, Z:-3.37 [[ 9.99079200e-01 4.28997962e-02 6.00231359e-04 3.42359444e+02] [-4.28997761e-02 9.99079380e-01 -4.62581508e-05 8.02672045e+00] [-6.01663239e-04 2.04657654e-05 9.99999819e-01 -3.36944394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.48589822699995 meters 0.04068387695388948 Centerline is valid? [True, True] Translation: X:342.39, Y:8.02, Z:-3.37 [[ 9.99095862e-01 4.24650700e-02 2.04365933e-03 3.42387964e+02] [-4.24648378e-02 9.99097950e-01 -1.56887511e-04 8.02114746e+00] [-2.04847809e-03 6.99620011e-05 9.99997899e-01 -3.36720290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.515898227 meters 0.039509441246839985 Centerline is valid? [True, True] Translation: X:342.42, Y:8.02, Z:-3.36 [[ 9.99058940e-01 4.31010898e-02 4.85077580e-03 3.42417163e+02] [-4.30997916e-02 9.99070703e-01 -3.71897253e-04 8.01880748e+00] [-4.86229716e-03 1.62479849e-04 9.99988166e-01 -3.36181186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.54589822699995 meters 0.03888588237956765 Centerline is valid? [True, True] Translation: X:342.45, Y:8.02, Z:-3.36 [[ 9.99017635e-01 4.40406498e-02 4.91795190e-03 3.42446386e+02] [-4.40393276e-02 9.99029727e-01 -3.76864522e-04 8.01620623e+00] [-4.92977751e-03 1.59911008e-04 9.99987836e-01 -3.36176743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.575898227 meters 0.03871441399715423 Centerline is valid? [True, True] Translation: X:342.48, Y:8.01, Z:-3.36 [[ 9.99002559e-01 4.44733698e-02 4.00081090e-03 3.42475775e+02] [-4.44724976e-02 9.99010562e-01 -3.06745124e-04 8.01274783e+00] [-4.01049434e-03 1.28513110e-04 9.99991950e-01 -3.36421846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.60589822699995 meters 0.03704015123032124 Centerline is valid? [True, True] Translation: X:342.50, Y:8.01, Z:-3.37 [[ 9.99007488e-01 4.44781503e-02 2.39436955e-03 3.42504933e+02] [-4.44778379e-02 9.99010354e-01 -1.83596955e-04 8.01161735e+00] [-2.40016603e-03 7.69183525e-05 9.99997117e-01 -3.36709862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.635898227 meters 0.04085081846678848 Centerline is valid? [True, True] Translation: X:342.53, Y:8.00, Z:-3.37 [[ 9.99039924e-01 4.38076873e-02 3.41818854e-04 3.42533897e+02] [-4.38076809e-02 9.99039982e-01 -2.62577067e-05 8.00418245e+00] [-3.42640991e-04 1.12582060e-05 9.99999941e-01 -3.37205981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.66589822699996 meters 0.041255305953262836 Centerline is valid? [True, True] Translation: X:342.56, Y:8.00, Z:-3.37 [[ 9.99067640e-01 4.31722572e-02 -8.30117590e-05 3.42563476e+02] [-4.31722568e-02 9.99067643e-01 6.21161107e-06 8.00136719e+00] [ 8.32025317e-05 -2.62201463e-06 9.99999997e-01 -3.37280199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.695898227 meters 0.03996693674555661 Centerline is valid? [True, True] Translation: X:342.59, Y:8.00, Z:-3.37 [[ 9.99109229e-01 4.21986769e-02 -1.44710154e-04 3.42592616e+02] [-4.21986758e-02 9.99109239e-01 1.08514153e-05 8.00080322e+00] [ 1.45039167e-04 -4.73517228e-06 9.99999989e-01 -3.37236991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.72589822699996 meters 0.04570568668066725 Centerline is valid? [True, True] Translation: X:342.62, Y:7.99, Z:-3.37 [[ 9.99202005e-01 3.99411893e-02 2.31720572e-04 3.42620983e+02] [-3.99411862e-02 9.99202032e-01 -1.79532040e-05 7.99261491e+00] [-2.32252739e-04 8.68368292e-06 9.99999973e-01 -3.37263354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.755898227 meters 0.04107789750075574 Centerline is valid? [True, True] Translation: X:342.65, Y:8.00, Z:-3.37 [[ 9.99216042e-01 3.95842409e-02 6.23670876e-04 3.42650841e+02] [-3.95842187e-02 9.99216237e-01 -4.78541720e-05 7.99699904e+00] [-6.25076336e-04 2.31291320e-05 9.99999804e-01 -3.37160845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.78589822699996 meters 0.04239741484361584 Centerline is valid? [True, True] Translation: X:342.68, Y:7.99, Z:-3.37 [[ 9.99227930e-01 3.92739926e-02 1.04799762e-03 3.42679616e+02] [-3.92739299e-02 9.99228478e-01 -8.03490366e-05 7.99373810e+00] [-1.05034469e-03 3.91280166e-05 9.99999448e-01 -3.37176613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.815898227 meters 0.04032882338126244 Centerline is valid? [True, True] Translation: X:342.71, Y:7.99, Z:-3.37 [[ 9.99241023e-01 3.89288494e-02 1.38633006e-03 3.42709388e+02] [-3.89287396e-02 9.99241984e-01 -1.06107586e-04 7.99460695e+00] [-1.38940985e-03 5.20589705e-05 9.99999033e-01 -3.37104516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.84589822699996 meters 0.04243127859272151 Centerline is valid? [True, True] Translation: X:342.74, Y:7.99, Z:-3.37 [[ 9.99270552e-01 3.80882825e-02 2.76525787e-03 3.42738355e+02] [-3.80878429e-02 9.99274372e-01 -2.11456499e-04 7.99208618e+00] [-2.77130534e-03 1.05979545e-04 9.99996154e-01 -3.36953689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.875898227 meters 0.04155265438782766 Centerline is valid? [True, True] Translation: X:342.77, Y:7.99, Z:-3.37 [[ 9.99274710e-01 3.79755946e-02 2.81219847e-03 3.42768194e+02] [-3.79751399e-02 9.99278661e-01 -2.14932845e-04 7.99215594e+00] [-2.81833212e-03 1.07983326e-04 9.99996023e-01 -3.36869948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.90589822699997 meters 0.04155265438782766 Centerline is valid? [True, True] Translation: X:342.80, Y:7.99, Z:-3.37 [[ 9.99275579e-01 3.79527294e-02 2.81220339e-03 3.42797297e+02] [-3.79522748e-02 9.99279530e-01 -2.14868405e-04 7.98997528e+00] [-2.81833212e-03 1.07983234e-04 9.99996023e-01 -3.36889373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93589822699994 meters 0.0407731020600457 Centerline is valid? [True, True] Translation: X:342.83, Y:7.99, Z:-3.37 [[ 9.99296198e-01 3.74302401e-02 2.46684473e-03 3.42827262e+02] [-3.74298888e-02 9.99299238e-01 -1.88444546e-04 7.99033695e+00] [-2.47216958e-03 9.59781946e-05 9.99996940e-01 -3.36951099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.96589822699997 meters 0.0465309747830017 Centerline is valid? [True, True] Translation: X:342.86, Y:7.98, Z:-3.37 [[ 9.99328959e-01 3.65633870e-02 2.17950804e-03 3.42855951e+02] [-3.65631109e-02 9.99331332e-01 -1.66409377e-04 7.98219871e+00] [-2.18413517e-03 8.66081151e-05 9.99997611e-01 -3.37136191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99589822699994 meters 0.05075975792312582 Centerline is valid? [True, True] Translation: X:342.88, Y:7.98, Z:-3.37 [[ 9.99440093e-01 3.34336155e-02 1.30160620e-03 3.42884808e+02] [-3.34335142e-02 9.99440939e-01 -9.94512207e-05 7.97720603e+00] [-1.30420354e-03 5.58782679e-05 9.99999148e-01 -3.37218275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.02589822699997 meters 0.046608848686809826 Centerline is valid? [True, True] Translation: X:342.91, Y:7.98, Z:-3.37 [[ 9.99520916e-01 3.09108349e-02 1.56796230e-03 3.42914992e+02] [-3.09106851e-02 9.99522143e-01 -1.19686193e-04 7.98104651e+00] [-1.57091264e-03 7.11620641e-05 9.99998764e-01 -3.37084229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05589822699994 meters 0.05605702288365542 Centerline is valid? [True, True] Translation: X:342.94, Y:7.97, Z:-3.37 [[ 9.99601915e-01 2.81596920e-02 1.74443266e-03 3.42943485e+02] [-2.81595025e-02 9.99603434e-01 -1.33127048e-04 7.96634863e+00] [-1.74748969e-03 8.39516962e-05 9.99998470e-01 -3.37151793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.085898227 meters 0.06236932782935449 Centerline is valid? [True, True] Translation: X:342.97, Y:7.95, Z:-3.37 [[ 9.99755020e-01 2.20833019e-02 1.49238987e-03 3.42972999e+02] [-2.20831566e-02 9.99756131e-01 -1.13801187e-04 7.95281912e+00] [-1.49453903e-03 8.08166289e-05 9.99998880e-01 -3.37255330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11589822699995 meters 0.0655865002311809 Centerline is valid? [True, True] Translation: X:343.00, Y:7.94, Z:-3.37 [[ 9.99808690e-01 1.94826059e-02 1.73562190e-03 3.43003037e+02] [-1.94824054e-02 9.99810191e-01 -1.32365208e-04 7.94461045e+00] [-1.73787128e-03 9.85257954e-05 9.99998485e-01 -3.37174279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.145898227 meters 0.06704336841450075 Centerline is valid? [True, True] Translation: X:343.03, Y:7.94, Z:-3.37 [[ 9.99838070e-01 1.78650114e-02 2.16217881e-03 3.43033163e+02] [-1.78646964e-02 9.99840400e-01 -1.64931122e-04 7.93908325e+00] [-2.16478022e-03 1.26277747e-04 9.99997649e-01 -3.37083787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17589822699995 meters 0.06738247346890493 Centerline is valid? [True, True] Translation: X:343.06, Y:7.94, Z:-3.37 [[ 9.99845461e-01 1.74528649e-02 2.10994209e-03 3.43063360e+02] [-1.74525640e-02 9.99847679e-01 -1.60946502e-04 7.93528558e+00] [-2.11242968e-03 1.24097730e-04 9.99997761e-01 -3.37003715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.205898227 meters 0.06420066338197142 Centerline is valid? [True, True] Translation: X:343.09, Y:7.93, Z:-3.37 [[ 9.99790845e-01 2.02808201e-02 2.63728131e-03 3.43093922e+02] [-2.02803598e-02 9.99794312e-01 -2.01154731e-04 7.93472196e+00] [-2.64081844e-03 1.47627644e-04 9.99996502e-01 -3.36823919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23589822699995 meters 0.060451971910548914 Centerline is valid? [True, True] Translation: X:343.12, Y:7.94, Z:-3.37 [[ 9.99749211e-01 2.21778721e-02 3.10761340e-03 3.43124711e+02] [-2.21772420e-02 9.99754027e-01 -2.37062319e-04 7.93636062e+00] [-3.11210654e-03 1.68084572e-04 9.99995143e-01 -3.36775444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.265898227 meters 0.060316067247505406 Centerline is valid? [True, True] Translation: X:343.15, Y:7.93, Z:-3.37 [[ 9.99704473e-01 2.40957380e-02 3.21895482e-03 3.43154053e+02] [-2.40950719e-02 9.99709641e-01 -2.45555929e-04 7.93298899e+00] [-3.22393702e-03 1.67922413e-04 9.99994789e-01 -3.36782000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.29589822699995 meters 0.05637724978237439 Centerline is valid? [True, True] Translation: X:343.19, Y:7.93, Z:-3.37 [[ 9.99672828e-01 2.53643451e-02 3.29955919e-03 3.43185142e+02] [-2.53636523e-02 9.99678259e-01 -2.51667206e-04 7.93425312e+00] [-3.30488096e-03 1.67895995e-04 9.99994525e-01 -3.36732308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.325898227 meters 0.058632072033225464 Centerline is valid? [True, True] Translation: X:343.22, Y:7.93, Z:-3.37 [[ 9.99648700e-01 2.64285854e-02 2.00169274e-03 3.43215259e+02] [-2.64283325e-02 9.99650699e-01 -1.52668436e-04 7.92648264e+00] [-2.00502836e-03 9.97134026e-05 9.99997985e-01 -3.36909094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.35589822699995 meters 0.05773239205824601 Centerline is valid? [True, True] Translation: X:343.25, Y:7.92, Z:-3.37 [[ 9.99665991e-01 2.58306688e-02 8.26392636e-04 3.43245823e+02] [-2.58306255e-02 9.99666332e-01 -6.30594111e-05 7.92480037e+00] [-8.27745762e-04 4.16921100e-05 9.99999657e-01 -3.37153847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.385898227 meters 0.05838064298652598 Centerline is valid? [True, True] Translation: X:343.28, Y:7.92, Z:-3.37 [[ 9.99690540e-01 2.48750697e-02 -2.35116442e-04 3.43275756e+02] [-2.48750662e-02 9.99690568e-01 1.79453478e-05 7.92186091e+00] [ 2.35490081e-04 -1.20912574e-05 9.99999972e-01 -3.37335862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41589822699996 meters 0.0559586315918435 Centerline is valid? [True, True] Translation: X:343.31, Y:7.92, Z:-3.37 [[ 9.99724977e-01 2.34465020e-02 -4.81438656e-04 3.43306097e+02] [-2.34464870e-02 9.99725093e-01 3.66557199e-05 7.92440189e+00] [ 4.82165754e-04 -2.53575935e-05 9.99999883e-01 -3.37322143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.445898227 meters 0.0609083197748116 Centerline is valid? [True, True] Translation: X:343.34, Y:7.92, Z:-3.37 [[ 9.99726538e-01 2.33829556e-02 -2.93404500e-04 3.43335418e+02] [-2.33829500e-02 9.99726581e-01 2.24519418e-05 7.91680259e+00] [ 2.93849270e-04 -1.55851393e-05 9.99999957e-01 -3.37379718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47589822699996 meters 0.05951908937253325 Centerline is valid? [True, True] Translation: X:343.37, Y:7.92, Z:-3.37 [[ 9.99725982e-01 2.34027591e-02 -5.21403018e-04 3.43365838e+02] [-2.34027415e-02 9.99726118e-01 3.97859587e-05 7.91709000e+00] [ 5.22191316e-04 -2.75727965e-05 9.99999863e-01 -3.37417305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.505898227 meters 0.061518517348960494 Centerline is valid? [True, True] Translation: X:343.40, Y:7.91, Z:-3.38 [[ 9.99741365e-01 2.27304697e-02 -7.27211848e-04 3.43395055e+02] [-2.27304354e-02 9.99741629e-01 5.54085390e-05 7.91368380e+00] [ 7.28283420e-04 -3.88643665e-05 9.99999734e-01 -3.37577550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53589822699996 meters 0.060149824419033014 Centerline is valid? [True, True] Translation: X:343.42, Y:7.91, Z:-3.38 [[ 9.99750910e-01 2.23005573e-02 -8.95793126e-04 3.43424578e+02] [-2.23005050e-02 9.99751310e-01 6.82592842e-05 7.91456459e+00] [ 8.97092572e-04 -4.82656424e-05 9.99999596e-01 -3.37598183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.565898227 meters 0.06455658119713698 Centerline is valid? [True, True] Translation: X:343.45, Y:7.91, Z:-3.38 [[ 9.99763439e-01 2.17276533e-02 -9.87703397e-04 3.43453644e+02] [-2.17275895e-02 9.99763925e-01 7.52593361e-05 7.90745910e+00] [ 9.89105434e-04 -5.37811187e-05 9.99999509e-01 -3.37732558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59589822699996 meters 0.0568879173467768 Centerline is valid? [True, True] Translation: X:343.48, Y:7.92, Z:-3.38 [[ 9.99785088e-01 2.06825867e-02 -1.41721060e-03 3.43483961e+02] [-2.06824545e-02 9.99786089e-01 1.07905457e-04 7.91522516e+00] [ 1.41913920e-03 -7.85708735e-05 9.99998990e-01 -3.37697169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.625898227 meters 0.06551477417990768 Centerline is valid? [True, True] Translation: X:343.51, Y:7.90, Z:-3.38 [[ 9.99826566e-01 1.84268378e-02 -2.70002475e-03 3.43511966e+02] [-1.84263489e-02 9.99830199e-01 2.05838473e-04 7.90035110e+00] [ 2.70335924e-03 -1.56051176e-04 9.99996334e-01 -3.38049182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65589822699997 meters 0.05986396491213369 Centerline is valid? [True, True] Translation: X:343.54, Y:7.90, Z:-3.38 [[ 9.99850380e-01 1.71377461e-02 -2.34830818e-03 3.43541795e+02] [-1.71373732e-02 9.99853128e-01 1.78836329e-04 7.90418887e+00] [ 2.35102813e-03 -1.38565738e-04 9.99997227e-01 -3.37878649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.68589822699994 meters 0.06581167557711061 Centerline is valid? [True, True] Translation: X:343.57, Y:7.89, Z:-3.38 [[ 9.99878412e-01 1.54630736e-02 -2.01344518e-03 3.43569918e+02] [-1.54627962e-02 9.99880432e-01 1.53267409e-04 7.89339141e+00] [ 2.01557442e-03 -1.22115281e-04 9.99997961e-01 -3.37868452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71589822699997 meters 0.07402581398456329 Centerline is valid? [True, True] Translation: X:343.60, Y:7.88, Z:-3.38 [[ 9.99917399e-01 1.24916606e-02 -3.02541366e-03 3.43598341e+02] [-1.24910204e-02 9.99921958e-01 2.30435809e-04 7.87700633e+00] [ 3.02805608e-03 -1.92626271e-04 9.99995397e-01 -3.38212829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.74589822699994 meters 0.0680793719033662 Centerline is valid? [True, True] Translation: X:343.63, Y:7.88, Z:-3.38 [[ 9.99929188e-01 1.14548488e-02 -3.22587990e-03 3.43628288e+02] [-1.14541160e-02 9.99934369e-01 2.45549925e-04 7.87950263e+00] [ 3.22848092e-03 -2.08582935e-04 9.99994767e-01 -3.38134641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.77589822699997 meters 0.07397818609027748 Centerline is valid? [True, True] Translation: X:343.66, Y:7.87, Z:-3.38 [[ 9.99937478e-01 1.07932904e-02 -2.92314357e-03 3.43656322e+02] [-1.07926864e-02 9.99941733e-01 2.22318377e-04 7.86672876e+00] [ 2.92537279e-03 -1.90755905e-04 9.99995703e-01 -3.38207604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.80589822699994 meters 0.07664013791789376 Centerline is valid? [True, True] Translation: X:343.68, Y:7.86, Z:-3.38 [[ 9.99945798e-01 1.02735451e-02 -1.69003477e-03 3.43684684e+02] [-1.02733428e-02 9.99947220e-01 1.28391970e-04 7.85604442e+00] [ 1.69126461e-03 -1.11022704e-04 9.99998564e-01 -3.37934718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.835898227 meters 0.07570462239692459 Centerline is valid? [True, True] Translation: X:343.71, Y:7.85, Z:-3.38 [[ 9.99940926e-01 1.08098741e-02 -1.13607027e-03 3.43714790e+02] [-1.08097829e-02 9.99941569e-01 8.63693389e-05 7.85317042e+00] [ 1.13693753e-03 -7.40835639e-05 9.99999351e-01 -3.37858852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.86589822699995 meters 0.07544108888480326 Centerline is valid? [True, True] Translation: X:343.74, Y:7.85, Z:-3.38 [[ 9.99926006e-01 1.20543031e-02 -1.63602352e-03 3.43744280e+02] [-1.20541156e-02 9.99927339e-01 1.24392289e-04 7.84956102e+00] [ 1.63740411e-03 -1.04662268e-04 9.99998654e-01 -3.37901295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.895898227 meters 0.06742861812242201 Centerline is valid? [True, True] Translation: X:343.78, Y:7.86, Z:-3.38 [[ 9.99903012e-01 1.35832348e-02 -3.07608366e-03 3.43775183e+02] [-1.35825793e-02 9.99907725e-01 2.33910458e-04 7.85677537e+00] [ 3.07897708e-03 -1.92106621e-04 9.99995241e-01 -3.37996225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.92589822699995 meters 0.0631258701230592 Centerline is valid? [True, True] Translation: X:343.81, Y:7.86, Z:-3.38 [[ 9.99853889e-01 1.63393515e-02 -5.02266279e-03 3.43805766e+02] [-1.63376381e-02 9.99866459e-01 3.81967334e-04 7.85929072e+00] [ 5.02823316e-03 -2.99853078e-04 9.99987313e-01 -3.38271866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.955898227 meters 0.06182852020607464 Centerline is valid? [True, True] Translation: X:343.84, Y:7.86, Z:-3.38 [[ 9.99841783e-01 1.71919053e-02 -4.56578856e-03 3.43835441e+02] [-1.71904993e-02 9.99852172e-01 3.47010240e-04 7.85909989e+00] [ 4.57107938e-03 -2.68467152e-04 9.99989517e-01 -3.38183166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.98589822699995 meters 0.06245258093620209 Centerline is valid? [True, True] Translation: X:343.86, Y:7.86, Z:-3.38 [[ 9.99835491e-01 1.76943634e-02 -3.98744501e-03 3.43864694e+02] [-1.76932949e-02 9.99843415e-01 3.03066470e-04 7.85646698e+00] [ 3.99218320e-03 -2.32465573e-04 9.99992004e-01 -3.38149343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.015898227 meters 0.0718155841358538 Centerline is valid? [True, True] Translation: X:343.89, Y:7.84, Z:-3.38 [[ 9.99854735e-01 1.68448691e-02 -2.59982772e-03 3.43892582e+02] [-1.68444128e-02 9.99858103e-01 1.97333238e-04 7.84224633e+00] [ 2.60278286e-03 -1.53512001e-04 9.99996601e-01 -3.38183068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.04589822699995 meters 0.06410249309434148 Centerline is valid? [True, True] Translation: X:343.92, Y:7.85, Z:-3.38 [[ 9.99865483e-01 1.62814601e-02 -1.98239561e-03 3.43923293e+02] [-1.62811937e-02 9.99867441e-01 1.50446502e-04 7.84983213e+00] [ 1.98458232e-03 -1.18150498e-04 9.99998024e-01 -3.37905190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.075898227 meters 0.06931075444301947 Centerline is valid? [True, True] Translation: X:343.95, Y:7.84, Z:-3.38 [[ 9.99871347e-01 1.59733520e-02 -1.46331381e-03 3.43952025e+02] [-1.59732065e-02 9.99872414e-01 1.11072039e-04 7.84153086e+00] [ 1.46490131e-03 -8.76839359e-05 9.99998923e-01 -3.37901421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.10589822699995 meters 0.06773304249280407 Centerline is valid? [True, True] Translation: X:343.98, Y:7.84, Z:-3.38 [[ 9.99871394e-01 1.59860978e-02 -1.28096963e-03 3.43981510e+02] [-1.59859864e-02 9.99872211e-01 9.71222039e-05 7.84218085e+00] [ 1.28235854e-03 -7.66321502e-05 9.99999175e-01 -3.37886309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.135898227 meters 0.06641445354564256 Centerline is valid? [True, True] Translation: X:344.01, Y:7.84, Z:-3.38 [[ 9.99882860e-01 1.52394466e-02 -1.42318206e-03 3.44011916e+02] [-1.52393082e-02 9.99883869e-01 1.08067595e-04 7.84287896e+00] [ 1.42466368e-03 -8.63666259e-05 9.99998981e-01 -3.37921603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.16589822699996 meters 0.059176833340428094 Centerline is valid? [True, True] Translation: X:344.04, Y:7.85, Z:-3.38 [[ 9.99901347e-01 1.39449766e-02 -1.68354252e-03 3.44043192e+02] [-1.39447811e-02 9.99902759e-01 1.27837749e-04 7.85161440e+00] [ 1.68516151e-03 -1.04348505e-04 9.99998575e-01 -3.37850489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.195898227 meters 0.07991049403763452 Centerline is valid? [True, True] Translation: X:344.07, Y:7.83, Z:-3.38 [[ 9.99949780e-01 9.64846701e-03 -2.71001250e-03 3.44070396e+02] [-9.64794431e-03 9.99953436e-01 2.05883073e-04 7.82619903e+00] [ 2.71187277e-03 -1.79726683e-04 9.99996307e-01 -3.38386981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.22589822699996 meters 0.07162047756911988 Centerline is valid? [True, True] Translation: X:344.10, Y:7.84, Z:-3.38 [[ 9.99969942e-01 7.06571362e-03 -3.19244883e-03 3.44101849e+02] [-7.06497548e-03 9.99975013e-01 2.42433443e-04 7.83506559e+00] [ 3.19408202e-03 -2.19871583e-04 9.99994875e-01 -3.38304413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.255898227 meters 0.07605522389512531 Centerline is valid? [True, True] Translation: X:344.13, Y:7.83, Z:-3.38 [[ 9.99982721e-01 5.13506958e-03 -2.86163781e-03 3.44130888e+02] [-5.13446890e-03 9.99986795e-01 2.17213426e-04 7.82801905e+00] [ 2.86271543e-03 -2.02516683e-04 9.99995882e-01 -3.38312663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.28589822699996 meters 0.08062008524154095 Centerline is valid? [True, True] Translation: X:344.16, Y:7.82, Z:-3.38 [[ 9.99993405e-01 3.60312183e-03 -4.55029911e-04 3.44159641e+02] [-3.60310642e-03 9.99993508e-01 3.46685707e-05 7.82327904e+00] [ 4.55151872e-04 -3.30288209e-05 9.99999896e-01 -3.37871751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.315898227 meters 0.08021821976730469 Centerline is valid? [True, True] Translation: X:344.19, Y:7.82, Z:-3.38 [[ 9.99994448e-01 3.30002451e-03 4.62160567e-04 3.44189888e+02] [-3.30000864e-03 9.99994554e-01 -3.51002670e-05 7.82390114e+00] [-4.62273882e-04 3.35749382e-05 9.99999893e-01 -3.37752792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.34589822699996 meters 0.09070455418174993 Centerline is valid? [True, True] Translation: X:344.22, Y:7.81, Z:-3.38 [[ 9.99997125e-01 2.35578224e-03 4.47197407e-04 3.44219225e+02] [-2.35576732e-03 9.99997225e-01 -3.38958929e-05 7.81098672e+00] [-4.47276017e-04 3.28423024e-05 9.99999899e-01 -3.37898911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.375898227 meters 0.0783646646778296 Centerline is valid? [True, True] Translation: X:344.25, Y:7.83, Z:-3.38 [[ 9.99999575e-01 8.88136412e-04 -2.46901159e-04 3.44251012e+02] [-8.88131808e-04 9.99999605e-01 1.87544112e-05 7.82675434e+00] [ 2.46917718e-04 -1.85351225e-05 9.99999969e-01 -3.37906488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.40589822699997 meters 0.08310139304855647 Centerline is valid? [True, True] Translation: X:344.28, Y:7.82, Z:-3.38 [[ 9.99995072e-01 -2.86653671e-03 -1.27998569e-03 3.44279933e+02] [ 2.86666333e-03 9.99995886e-01 9.70967399e-05 7.82306995e+00] [ 1.27970209e-03 -1.00765549e-04 9.99999176e-01 -3.38082085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43589822699994 meters 0.08550739511522465 Centerline is valid? [True, True] Translation: X:344.31, Y:7.82, Z:-3.38 [[ 9.99991449e-01 -3.98460592e-03 -1.10714139e-03 3.44310131e+02] [ 3.98470143e-03 9.99992058e-01 8.40793881e-05 7.81983759e+00] [ 1.10679757e-03 -8.84902969e-05 9.99999384e-01 -3.38014492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.46589822699997 meters 0.08909069987518142 Centerline is valid? [True, True] Translation: X:344.34, Y:7.81, Z:-3.38 [[ 9.99989922e-01 -4.48302070e-03 -2.41135303e-04 3.44338811e+02] [ 4.48302521e-03 9.99989951e-01 1.81598115e-05 7.81486377e+00] [ 2.41051469e-04 -1.92406441e-05 9.99999971e-01 -3.37944816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49589822699994 meters 0.08910438526163542 Centerline is valid? [True, True] Translation: X:344.37, Y:7.81, Z:-3.38 [[ 9.99988746e-01 -4.70282582e-03 6.26012514e-04 3.44369732e+02] [ 4.70285649e-03 9.99988940e-01 -4.75272301e-05 7.81495754e+00] [-6.25782078e-04 5.04707423e-05 9.99999803e-01 -3.37816092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.52589822699997 meters 0.08477117259818943 Centerline is valid? [True, True] Translation: X:344.40, Y:7.82, Z:-3.38 [[ 9.99986836e-01 -5.04472821e-03 9.37075997e-04 3.44400212e+02] [ 5.04479708e-03 9.99987272e-01 -7.11433487e-05 7.81882742e+00] [-9.36705172e-04 7.58697704e-05 9.99999558e-01 -3.37760163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55589822699994 meters 0.09133159614875835 Centerline is valid? [True, True] Translation: X:344.43, Y:7.81, Z:-3.38 [[ 9.99983769e-01 -5.57634300e-03 1.16884986e-03 3.44429632e+02] [ 5.57645043e-03 9.99984448e-01 -8.86784855e-05 7.80881036e+00] [-1.16833718e-03 9.51950795e-05 9.99999313e-01 -3.37771435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.585898227 meters 0.08277400508701166 Centerline is valid? [True, True] Translation: X:344.46, Y:7.82, Z:-3.38 [[ 9.99979512e-01 -6.34203072e-03 8.68772539e-04 3.44461186e+02] [ 6.34209041e-03 9.99979887e-01 -6.59674460e-05 7.81723249e+00] [-8.68336697e-04 7.14759284e-05 9.99999620e-01 -3.37757632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61589822699995 meters 0.0958886744011924 Centerline is valid? [True, True] Translation: X:344.49, Y:7.80, Z:-3.38 [[ 9.99959685e-01 -8.83102688e-03 -1.62538199e-03 3.44489675e+02] [ 8.83123914e-03 9.99960996e-01 1.23463203e-04 7.79689242e+00] [ 1.62422829e-03 -1.37812363e-04 9.99998671e-01 -3.38400380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.645898227 meters 0.08257871235470753 Centerline is valid? [True, True] Translation: X:344.52, Y:7.81, Z:-3.38 [[ 9.99952667e-01 -9.26145373e-03 -2.98158339e-03 3.44520440e+02] [ 9.26216905e-03 9.99957080e-01 2.26191540e-04 7.81077648e+00] [ 2.97936056e-03 -2.53796763e-04 9.99995529e-01 -3.38422847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67589822699995 meters 0.09166008439168429 Centerline is valid? [True, True] Translation: X:344.55, Y:7.80, Z:-3.39 [[ 9.99957677e-01 -8.52198695e-03 -3.46697594e-03 3.44548362e+02] [ 8.52294953e-03 9.99963644e-01 2.62961704e-04 7.79669722e+00] [ 3.46460894e-03 -2.92499435e-04 9.99993955e-01 -3.38635792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.705898227 meters 0.08790292248139447 Centerline is valid? [True, True] Translation: X:344.58, Y:7.80, Z:-3.39 [[ 9.99981378e-01 -4.82096338e-03 -3.74191473e-03 3.44579447e+02] [ 4.82205938e-03 9.99988333e-01 2.83931354e-04 7.80033547e+00] [ 3.74050225e-03 -3.01969802e-04 9.99992959e-01 -3.38643226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73589822699995 meters 0.07966125317679011 Centerline is valid? [True, True] Translation: X:344.61, Y:7.81, Z:-3.39 [[ 9.99988180e-01 -2.24500142e-03 -4.31272763e-03 3.44610915e+02] [ 2.24643356e-03 9.99997423e-01 3.27257907e-04 7.80960591e+00] [ 4.31198182e-03 -3.36942294e-04 9.99990647e-01 -3.38594101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.765898227 meters 0.07825937735823954 Centerline is valid? [True, True] Translation: X:344.64, Y:7.81, Z:-3.39 [[ 9.99989652e-01 2.59860700e-04 -4.54189551e-03 3.44640939e+02] [-2.58298619e-04 9.99999907e-01 3.44510355e-04 7.81085521e+00] [ 4.54198461e-03 -3.43333624e-04 9.99989626e-01 -3.38678083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.79589822699995 meters 0.07825937735823954 Centerline is valid? [True, True] Translation: X:344.67, Y:7.81, Z:-3.39 [[ 9.99989662e-01 2.14767542e-04 -4.54192699e-03 3.44669274e+02] [-2.13206874e-04 9.99999918e-01 3.44095195e-04 7.80878713e+00] [ 4.54200052e-03 -3.43123267e-04 9.99989626e-01 -3.38696993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.825898227 meters 0.07847846211505223 Centerline is valid? [True, True] Translation: X:344.70, Y:7.81, Z:-3.39 [[ 9.99986932e-01 2.77436857e-03 -4.29412168e-03 3.44699190e+02] [-2.77299590e-03 9.99996102e-01 3.25584402e-04 7.80738428e+00] [ 4.29500823e-03 -3.13672565e-04 9.99990727e-01 -3.38738277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.85589822699995 meters 0.07196760428223362 Centerline is valid? [True, True] Translation: X:344.73, Y:7.81, Z:-3.39 [[ 9.99979905e-01 5.67859232e-03 -2.81837154e-03 3.44729394e+02] [-5.67801291e-03 9.99983857e-01 2.13543823e-04 7.81408814e+00] [ 2.81953867e-03 -1.97536782e-04 9.99996006e-01 -3.38534708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.885898227 meters 0.07617116859351301 Centerline is valid? [True, True] Translation: X:344.76, Y:7.81, Z:-3.38 [[ 9.99984201e-01 5.29254921e-03 -1.89406109e-03 3.44757717e+02] [-5.29228725e-03 9.99985985e-01 1.43293658e-04 7.80580717e+00] [ 1.89479293e-03 -1.33267478e-04 9.99998196e-01 -3.38477980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91589822699996 meters 0.07447615262106791 Centerline is valid? [True, True] Translation: X:344.79, Y:7.80, Z:-3.38 [[ 9.99990587e-01 4.08341159e-03 -1.46661678e-03 3.44788487e+02] [-4.08325297e-03 9.99991657e-01 1.11130598e-04 7.80428174e+00] [ 1.46705833e-03 -1.05140985e-04 9.99998918e-01 -3.38327969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.945898227 meters 0.08488726722089769 Centerline is valid? [True, True] Translation: X:344.82, Y:7.78, Z:-3.39 [[ 9.99996639e-01 -2.37530977e-04 -2.58167636e-03 3.44817007e+02] [ 2.38036817e-04 9.99999953e-01 1.95629240e-04 7.78446488e+00] [ 2.58162977e-03 -1.96243117e-04 9.99996648e-01 -3.38514684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97589822699996 meters 0.0882488142480605 Centerline is valid? [True, True] Translation: X:344.85, Y:7.77, Z:-3.39 [[ 9.99993158e-01 -2.58181002e-03 -2.64931076e-03 3.44845560e+02] [ 2.58235094e-03 9.99996646e-01 2.00771011e-04 7.77415094e+00] [ 2.64878352e-03 -2.07611087e-04 9.99996470e-01 -3.38540546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.005898227 meters 0.08428588123619996 Centerline is valid? [True, True] Translation: X:344.88, Y:7.77, Z:-3.38 [[ 9.99988649e-01 -4.50611304e-03 -1.54826442e-03 3.44875790e+02] [ 4.50629991e-03 9.99989840e-01 1.17230243e-04 7.77193194e+00] [ 1.54772043e-03 -1.24205856e-04 9.99998795e-01 -3.38348573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03589822699996 meters 0.08137080101216522 Centerline is valid? [True, True] Translation: X:344.91, Y:7.77, Z:-3.38 [[ 9.99979838e-01 -6.34772925e-03 -1.73216989e-04 3.44905980e+02] [ 6.34773161e-03 9.99979853e-01 1.30454999e-05 7.76939874e+00] [ 1.73130690e-04 -1.41447718e-05 9.99999985e-01 -3.38063642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.065898227 meters 0.08892653375256752 Centerline is valid? [True, True] Translation: X:344.93, Y:7.75, Z:-3.38 [[ 9.99961323e-01 -8.78249408e-03 4.69713832e-04 3.44934579e+02] [ 8.78251178e-03 9.99961432e-01 -3.56406059e-05 7.75422850e+00] [-4.69382703e-04 3.97644947e-05 9.99999889e-01 -3.37813759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09589822699996 meters 0.0934237029790086 Centerline is valid? [True, True] Translation: X:344.96, Y:7.74, Z:-3.38 [[ 9.99958296e-01 -9.13084319e-03 1.84143149e-04 3.44962936e+02] [ 9.13084593e-03 9.99958313e-01 -1.40201175e-05 7.74066904e+00] [-1.84007457e-04 1.57009155e-05 9.99999983e-01 -3.37971544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.125898227 meters 0.08733503497186261 Centerline is valid? [True, True] Translation: X:344.99, Y:7.74, Z:-3.38 [[ 9.99956003e-01 -9.33663295e-03 -9.05311429e-04 3.44993354e+02] [ 9.33669882e-03 9.99956410e-01 6.85621058e-05 7.74366599e+00] [ 9.04631827e-04 -7.70117094e-05 9.99999588e-01 -3.38108722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15589822699997 meters 0.0892371082677511 Centerline is valid? [True, True] Translation: X:345.02, Y:7.73, Z:-3.38 [[ 9.99969708e-01 -7.32933379e-03 -2.62009008e-03 3.45022470e+02] [ 7.32987835e-03 9.99973116e-01 1.98297597e-04 7.73460287e+00] [ 2.61856625e-03 -2.17496532e-04 9.99996548e-01 -3.38431088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.18589822699994 meters 0.0852858713717751 Centerline is valid? [True, True] Translation: X:345.05, Y:7.74, Z:-3.38 [[ 9.99984768e-01 -4.76633440e-03 -2.78310616e-03 3.45053097e+02] [ 4.76693925e-03 9.99988616e-01 2.10733730e-04 7.73607722e+00] [ 2.78207005e-03 -2.23997418e-04 9.99996105e-01 -3.38396606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21589822699997 meters 0.0761964251511053 Centerline is valid? [True, True] Translation: X:345.08, Y:7.75, Z:-3.38 [[ 9.99996763e-01 -1.58171701e-03 -1.99306915e-03 3.45083736e+02] [ 1.58202059e-03 9.99998737e-01 1.50747883e-04 7.74501052e+00] [ 1.99282819e-03 -1.53900472e-04 9.99998002e-01 -3.38219003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.24589822699994 meters 0.07658288681602482 Centerline is valid? [True, True] Translation: X:345.11, Y:7.74, Z:-3.38 [[ 9.99979193e-01 6.45025622e-03 8.74286712e-05 3.45113102e+02] [-6.45025565e-03 9.99979197e-01 -6.72093900e-06 7.74181858e+00] [-8.74702041e-05 6.15686188e-06 9.99999996e-01 -3.38014261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.27589822699997 meters 0.069558050309332 Centerline is valid? [True, True] Translation: X:345.14, Y:7.75, Z:-3.38 [[ 9.99950013e-01 9.99151167e-03 3.75063244e-04 3.45143913e+02] [-9.99150172e-03 9.99950083e-01 -2.83937371e-05 7.74802195e+00] [-3.75328218e-04 2.46448727e-05 9.99999929e-01 -3.37995926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.30589822699994 meters 0.06824877145820012 Centerline is valid? [True, True] Translation: X:345.17, Y:7.75, Z:-3.38 [[ 9.99918580e-01 1.27603942e-02 -7.14098134e-05 3.45173062e+02] [-1.27603939e-02 9.99918583e-01 5.33823584e-06 7.74703808e+00] [ 7.14721175e-05 -4.42658385e-06 9.99999997e-01 -3.38112660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.335898227 meters 0.06290273497400597 Centerline is valid? [True, True] Translation: X:345.20, Y:7.75, Z:-3.38 [[ 9.99864710e-01 1.64178623e-02 -1.00733647e-03 3.45203739e+02] [-1.64177938e-02 9.99865216e-01 7.62222556e-05 7.75063611e+00] [ 1.00845211e-03 -5.96737011e-05 9.99999490e-01 -3.38268328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.36589822699995 meters 0.05735690565378188 Centerline is valid? [True, True] Translation: X:345.23, Y:7.75, Z:-3.38 [[ 9.99843082e-01 1.77064703e-02 -5.39996150e-04 3.45233963e+02] [-1.77064509e-02 9.99843228e-01 4.06932429e-05 7.75469553e+00] [ 5.40632027e-04 -3.11254421e-05 9.99999853e-01 -3.38132305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.395898227 meters 0.06055116195238158 Centerline is valid? [True, True] Translation: X:345.26, Y:7.75, Z:-3.38 [[ 9.99828723e-01 1.85050402e-02 2.96230090e-04 3.45263021e+02] [-1.85050344e-02 9.99828767e-01 -2.22530522e-05 7.74700074e+00] [-2.96591159e-04 1.67674928e-05 9.99999956e-01 -3.37998688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.42589822699995 meters 0.06080505073191308 Centerline is valid? [True, True] Translation: X:345.29, Y:7.74, Z:-3.38 [[ 9.99803735e-01 1.97081135e-02 2.02044823e-03 3.45292585e+02] [-1.97078447e-02 9.99805770e-01 -1.52894192e-04 7.73961905e+00] [-2.02306906e-03 1.13045504e-04 9.99997947e-01 -3.37773465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.455898227 meters 0.0620865222964297 Centerline is valid? [True, True] Translation: X:345.32, Y:7.73, Z:-3.38 [[ 9.99805852e-01 1.96242326e-02 1.77404914e-03 3.45323589e+02] [-1.96240254e-02 9.99807421e-01 -1.34138190e-04 7.73322592e+00] [-1.77633986e-03 9.92981619e-05 9.99998417e-01 -3.37862441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.48589822699995 meters 0.06338371497049645 Centerline is valid? [True, True] Translation: X:345.35, Y:7.73, Z:-3.38 [[ 9.99809195e-01 1.95169881e-02 8.12793312e-04 3.45353774e+02] [-1.95169448e-02 9.99809524e-01 -6.12202811e-05 7.72642365e+00] [-8.13833331e-04 4.53453577e-05 9.99999668e-01 -3.38118311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.515898227 meters 0.0635241621932766 Centerline is valid? [True, True] Translation: X:345.38, Y:7.72, Z:-3.38 [[ 9.99810526e-01 1.94651865e-02 -1.35829574e-04 3.45383521e+02] [-1.94651853e-02 9.99810535e-01 1.02888754e-05 7.72030753e+00] [ 1.36004114e-04 -7.64297813e-06 9.99999991e-01 -3.38300984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.54589822699995 meters 0.06110016887446621 Centerline is valid? [True, True] Translation: X:345.41, Y:7.71, Z:-3.38 [[ 9.99796816e-01 2.01569472e-02 -1.55757979e-04 3.45413740e+02] [-2.01569456e-02 9.99796828e-01 1.17984206e-05 7.71238824e+00] [ 1.55964154e-04 -8.65641823e-06 9.99999988e-01 -3.38257394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.575898227 meters 0.05894709242444267 Centerline is valid? [True, True] Translation: X:345.44, Y:7.71, Z:-3.38 [[ 9.99765246e-01 2.16626480e-02 4.26240361e-04 3.45444579e+02] [-2.16626363e-02 9.99765337e-01 -3.22162744e-05 7.70878915e+00] [-4.26838228e-04 2.29752216e-05 9.99999909e-01 -3.38131611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.60589822699995 meters 0.05804450745589084 Centerline is valid? [True, True] Translation: X:345.47, Y:7.70, Z:-3.38 [[ 9.99704227e-01 2.42987993e-02 1.01305265e-03 3.45474623e+02] [-2.42987340e-02 9.99704739e-01 -7.67486784e-05 7.70418062e+00] [-1.01461843e-03 5.21100814e-05 9.99999484e-01 -3.37982043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.635898227 meters 0.051307707281707554 Centerline is valid? [True, True] Translation: X:345.51, Y:7.71, Z:-3.38 [[ 9.99601626e-01 2.81923414e-02 1.33470872e-03 3.45505848e+02] [-2.81922314e-02 9.99602515e-01 -1.01114148e-04 7.70802471e+00] [-1.33702884e-03 6.34454495e-05 9.99999104e-01 -3.37863322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.66589822699996 meters 0.04268531629026149 Centerline is valid? [True, True] Translation: X:345.54, Y:7.71, Z:-3.38 [[ 9.99275067e-01 3.80645615e-02 -6.55372126e-04 3.45535912e+02] [-3.80645371e-02 9.99275282e-01 4.95608085e-05 7.71301315e+00] [ 6.56783676e-04 -2.45784437e-05 9.99999784e-01 -3.38123842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.695898227 meters 0.037639917970685374 Centerline is valid? [True, True] Translation: X:345.57, Y:7.72, Z:-3.38 [[ 9.99065610e-01 4.31811815e-02 -1.81454341e-03 3.45566725e+02] [-4.31810030e-02 9.99067256e-01 1.37428221e-04 7.71648519e+00] [ 1.81878522e-03 -5.89460046e-05 9.99998344e-01 -3.38321647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.72589822699996 meters 0.029054162953492214 Centerline is valid? [True, True] Translation: X:345.60, Y:7.73, Z:-3.38 [[ 9.98580034e-01 5.32362271e-02 -1.95437910e-03 3.45597231e+02] [-5.32360391e-02 9.98581946e-01 1.48114614e-04 7.72682293e+00] [ 1.95949275e-03 -4.38608942e-05 9.99998079e-01 -3.38400014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.755898227 meters 0.022437229456646272 Centerline is valid? [True, True] Translation: X:345.63, Y:7.73, Z:-3.38 [[ 9.98335758e-01 5.76587321e-02 -1.08878841e-03 3.45628182e+02] [-5.76586765e-02 9.98336351e-01 8.23915177e-05 7.73418881e+00] [ 1.09172763e-03 -1.94762997e-05 9.99999404e-01 -3.38236123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.78589822699996 meters 0.018641704028774398 Centerline is valid? [True, True] Translation: X:345.66, Y:7.74, Z:-3.38 [[ 9.98126896e-01 6.11766695e-02 3.37956553e-04 3.45658632e+02] [-6.11766643e-02 9.98126953e-01 -2.56713999e-05 7.73744696e+00] [-3.38894035e-04 4.94826016e-06 9.99999943e-01 -3.38060868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.815898227 meters 0.017309013341766138 Centerline is valid? [True, True] Translation: X:345.69, Y:7.74, Z:-3.38 [[ 9.97967466e-01 6.37127587e-02 1.27287603e-03 3.45687812e+02] [-6.37126874e-02 9.97968278e-01 -9.64592685e-05 7.73745114e+00] [-1.27643559e-03 1.51648589e-05 9.99999185e-01 -3.38060431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.84589822699996 meters 0.013797997425511657 Centerline is valid? [True, True] Translation: X:345.72, Y:7.74, Z:-3.38 [[ 9.97727544e-01 6.73489306e-02 1.96696461e-03 3.45717696e+02] [-6.73487676e-02 9.97729483e-01 -1.49043818e-04 7.74395976e+00] [-1.97253653e-03 1.62324796e-05 9.99998054e-01 -3.38062955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.875898227 meters 0.011997171349640649 Centerline is valid? [True, True] Translation: X:345.75, Y:7.75, Z:-3.38 [[ 9.97614799e-01 6.90019918e-02 1.85440700e-03 3.45747384e+02] [-6.90018498e-02 9.97616522e-01 -1.40540877e-04 7.74774835e+00] [-1.85968467e-03 1.22481451e-05 9.99998271e-01 -3.38067373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.90589822699997 meters 0.011184595345479992 Centerline is valid? [True, True] Translation: X:345.78, Y:7.75, Z:-3.38 [[ 9.97513385e-01 7.04623498e-02 1.45047022e-03 3.45776127e+02] [-7.04622644e-02 9.97514440e-01 -1.09988119e-04 7.75104986e+00] [-1.45461501e-03 7.51120447e-06 9.99998942e-01 -3.38112932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93589822699994 meters 0.010466131712645942 Centerline is valid? [True, True] Translation: X:345.80, Y:7.75, Z:-3.38 [[ 9.97408703e-01 7.19350434e-02 1.10820699e-03 3.45804791e+02] [-7.19349944e-02 9.97409319e-01 -8.40567291e-05 7.75435951e+00] [-1.11138261e-03 4.12004935e-06 9.99999382e-01 -3.38199134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.96589822699997 meters 0.010181748590246651 Centerline is valid? [True, True] Translation: X:345.83, Y:7.76, Z:-3.38 [[ 9.97301479e-01 7.34144256e-02 -2.86911055e-04 3.45833275e+02] [-7.34144226e-02 9.97301520e-01 2.12790465e-05 7.76134320e+00] [ 2.87699020e-04 -1.58215148e-07 9.99999959e-01 -3.38417811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99589822699994 meters 0.010298078666940033 Centerline is valid? [True, True] Translation: X:345.86, Y:7.76, Z:-3.39 [[ 9.97305654e-01 7.33548037e-02 -7.10779348e-04 3.45861402e+02] [-7.33547844e-02 9.97305907e-01 5.32495877e-05 7.76187799e+00] [ 7.12770556e-04 -9.67049068e-07 9.99999746e-01 -3.38565573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.02589822699997 meters 0.010484892500644862 Centerline is valid? [True, True] Translation: X:345.89, Y:7.76, Z:-3.39 [[ 9.97369462e-01 7.24850649e-02 -2.65862899e-04 3.45889792e+02] [-7.24850622e-02 9.97369498e-01 1.97429670e-05 7.76002109e+00] [ 2.66594616e-04 -4.19943618e-07 9.99999964e-01 -3.38562351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05589822699994 meters 0.011052538255391898 Centerline is valid? [True, True] Translation: X:345.92, Y:7.76, Z:-3.38 [[ 9.97501298e-01 7.06468489e-02 4.28374854e-04 3.45918227e+02] [-7.06468414e-02 9.97501390e-01 -3.25920296e-05 7.75581760e+00] [-4.29607036e-04 2.24726145e-06 9.99999908e-01 -3.38383303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.085898227 meters 0.014964392630400104 Centerline is valid? [True, True] Translation: X:345.95, Y:7.75, Z:-3.38 [[ 9.97843602e-01 6.55838057e-02 2.62883113e-03 3.45945433e+02] [-6.55835107e-02 9.97847064e-01 -1.98342415e-04 7.74600547e+00] [-2.63617948e-03 2.55067352e-05 9.99996525e-01 -3.38234191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11589822699995 meters 0.01680001616810375 Centerline is valid? [True, True] Translation: X:345.97, Y:7.74, Z:-3.38 [[ 9.97974994e-01 6.35566174e-02 2.54316043e-03 3.45974418e+02] [-6.35563355e-02 9.97978234e-01 -1.91599884e-04 7.74123145e+00] [-2.55019620e-03 2.95779359e-05 9.99996748e-01 -3.38243755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.145898227 meters 0.018532215784424245 Centerline is valid? [True, True] Translation: X:346.00, Y:7.74, Z:-3.38 [[ 9.98075855e-01 6.19699400e-02 2.07686658e-03 3.46004245e+02] [-6.19697486e-02 9.98078016e-01 -1.56449581e-04 7.73656207e+00] [-2.08257005e-03 2.74456497e-05 9.99997831e-01 -3.38326694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17589822699995 meters 0.02010846524519133 Centerline is valid? [True, True] Translation: X:346.03, Y:7.73, Z:-3.38 [[ 9.98156617e-01 6.06590249e-02 1.96248561e-03 3.46032156e+02] [-6.06588514e-02 9.98158545e-01 -1.47900898e-04 7.73180175e+00] [-1.96784331e-03 2.85861365e-05 9.99998063e-01 -3.38411732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.205898227 meters 0.020417370933629695 Centerline is valid? [True, True] Translation: X:346.06, Y:7.73, Z:-3.39 [[ 9.98220482e-01 5.96278729e-02 6.22030242e-04 3.46061496e+02] [-5.96278552e-02 9.98220675e-01 -4.69226201e-05 7.72696277e+00] [-6.23721345e-04 9.74879122e-06 9.99999805e-01 -3.38551052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23589822699995 meters 0.02003475905488839 Centerline is valid? [True, True] Translation: X:346.09, Y:7.72, Z:-3.39 [[ 9.98181003e-01 6.02877610e-02 -2.65167043e-04 3.46090416e+02] [-6.02877579e-02 9.98181039e-01 1.97812336e-05 7.72386283e+00] [ 2.65877280e-04 -3.75892516e-06 9.99999965e-01 -3.38790576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.265898227 meters 0.018803466342378707 Centerline is valid? [True, True] Translation: X:346.12, Y:7.72, Z:-3.39 [[ 9.98081609e-01 6.18866770e-02 -1.77231013e-03 3.46120009e+02] [-6.18865383e-02 9.98083182e-01 1.33032422e-04 7.72238280e+00] [ 1.77714587e-03 -2.30950752e-05 9.99998421e-01 -3.39036120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.29589822699995 meters 0.026194779544631414 Centerline is valid? [True, True] Translation: X:346.15, Y:7.72, Z:-3.39 [[ 9.97915192e-01 6.44769245e-02 -2.82761030e-03 3.46148936e+02] [-6.44765824e-02 9.97919198e-01 2.12057396e-04 7.72271482e+00] [ 2.83539941e-03 -2.93006482e-05 9.99995980e-01 -3.39188468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.325898227 meters 0.01198033575901351 Centerline is valid? [True, True] Translation: X:346.18, Y:7.73, Z:-3.39 [[ 9.97523255e-01 7.02947456e-02 -2.45036538e-03 3.46178481e+02] [-7.02945070e-02 9.97526265e-01 1.83454429e-04 7.72575213e+00] [ 2.45719971e-03 -1.07528325e-05 9.99996981e-01 -3.39205630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.35589822699995 meters 0.025055608987526998 Centerline is valid? [True, True] Translation: X:346.21, Y:7.72, Z:-3.39 [[ 9.97383715e-01 7.22827203e-02 -9.66132928e-04 3.46206077e+02] [-7.22826844e-02 9.97384183e-01 7.20718564e-05 7.72450654e+00] [ 9.68815251e-04 -2.04861441e-06 9.99999531e-01 -3.38861978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.385898227 meters 0.00995966964077708 Centerline is valid? [True, True] Translation: X:346.23, Y:7.72, Z:-3.39 [[ 9.97278179e-01 7.37270975e-02 7.40880839e-04 3.46234953e+02] [-7.37270764e-02 9.97278454e-01 -5.58162155e-05 7.72227919e+00] [-7.42979665e-04 1.04131551e-06 9.99999724e-01 -3.38546733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41589822699996 meters 0.009986279235506686 Centerline is valid? [True, True] Translation: X:346.26, Y:7.72, Z:-3.39 [[ 9.97135769e-01 7.56303974e-02 5.49629388e-04 3.46262818e+02] [-7.56303860e-02 9.97135920e-01 -4.15268489e-05 7.71761690e+00] [-5.51195898e-04 -1.60776436e-07 9.99999848e-01 -3.38513168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.445898227 meters 0.010254491377808863 Centerline is valid? [True, True] Translation: X:346.29, Y:7.71, Z:-3.38 [[ 9.97036030e-01 7.69352035e-02 3.58962868e-04 3.46291269e+02] [-7.69351987e-02 9.97036095e-01 -2.71740666e-05 7.71448317e+00] [-3.59989578e-04 -5.23356028e-07 9.99999935e-01 -3.38439523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47589822699996 meters 0.012256675446793116 Centerline is valid? [True, True] Translation: X:346.32, Y:7.71, Z:-3.39 [[ 9.96844380e-01 7.93803254e-02 2.15615060e-04 3.46318993e+02] [-7.93803237e-02 9.96844403e-01 -1.65104338e-05 7.71446899e+00] [-2.16245270e-04 -6.57260107e-07 9.99999977e-01 -3.38676465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.505898227 meters 0.015674947007098733 Centerline is valid? [True, True] Translation: X:346.35, Y:7.72, Z:-3.39 [[ 9.96544782e-01 8.30571040e-02 1.24173090e-04 3.46347816e+02] [-8.30571034e-02 9.96544789e-01 -9.56296645e-06 7.71640805e+00] [-1.24538318e-04 -7.83532854e-07 9.99999992e-01 -3.38620597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53589822699996 meters 0.02455363577121529 Centerline is valid? [True, True] Translation: X:346.38, Y:7.73, Z:-3.38 [[ 9.95585811e-01 9.38529307e-02 7.21761797e-04 3.46378764e+02] [-9.38529162e-02 9.95586072e-01 -5.40095055e-05 7.72600403e+00] [-7.23644943e-04 -1.39683521e-05 9.99999738e-01 -3.38230277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.565898227 meters 0.030239148182666365 Centerline is valid? [True, True] Translation: X:346.41, Y:7.73, Z:-3.38 [[ 9.95023601e-01 9.96393152e-02 2.02637864e-04 3.46409224e+02] [-9.96393142e-02 9.95023621e-01 -1.52176240e-05 7.73223335e+00] [-2.03145735e-04 -5.04880275e-06 9.99999979e-01 -3.38263954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59589822699996 meters 0.041566568199058185 Centerline is valid? [True, True] Translation: X:346.44, Y:7.75, Z:-3.39 [[ 9.94501873e-01 1.04717860e-01 -4.41401160e-04 3.46439259e+02] [-1.04717856e-01 9.94501971e-01 3.28113006e-05 7.74632136e+00] [ 4.42410253e-04 1.35916831e-05 9.99999902e-01 -3.38607845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.625898227 meters 0.04458762399260182 Centerline is valid? [True, True] Translation: X:346.47, Y:7.75, Z:-3.39 [[ 9.93831827e-01 1.10897692e-01 4.79304505e-05 3.46470324e+02] [-1.10897692e-01 9.93831828e-01 -3.57856158e-06 7.75146665e+00] [-4.80316614e-05 -1.75888795e-06 9.99999999e-01 -3.38641612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65589822699997 meters 0.047585490679653265 Centerline is valid? [True, True] Translation: X:346.50, Y:7.75, Z:-3.39 [[ 9.93740017e-01 1.11712880e-01 1.00523421e-03 3.46497897e+02] [-1.11712860e-01 9.93740525e-01 -7.54610762e-05 7.75383988e+00] [-1.00737195e-03 -3.73088980e-05 9.99999492e-01 -3.38509308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.68589822699994 meters 0.04186942120362078 Centerline is valid? [True, True] Translation: X:346.53, Y:7.74, Z:-3.38 [[ 9.93836068e-01 1.10845811e-01 1.75390682e-03 3.46525815e+02] [-1.10845752e-01 9.93837614e-01 -1.31104814e-04 7.74391759e+00] [-1.75763099e-03 -6.41164275e-05 9.99998453e-01 -3.38308258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71589822699997 meters 0.04186942120362078 Centerline is valid? [True, True] Translation: X:346.55, Y:7.74, Z:-3.38 [[ 9.93843817e-01 1.10776310e-01 1.75390451e-03 3.46553254e+02] [-1.10776251e-01 9.93845363e-01 -1.31136058e-04 7.74200429e+00] [-1.75763663e-03 -6.39622056e-05 9.99998453e-01 -3.38326568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.74589822699994 meters 0.038275684984052524 Centerline is valid? [True, True] Translation: X:346.58, Y:7.73, Z:-3.39 [[ 9.94476580e-01 1.04954685e-01 9.19313517e-04 3.46581866e+02] [-1.04954666e-01 9.94477005e-01 -6.85692316e-05 7.73398238e+00] [-9.21432816e-04 -2.82957482e-05 9.99999575e-01 -3.38570066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.77589822699997 meters 0.03224843150217384 Centerline is valid? [True, True] Translation: X:346.61, Y:7.72, Z:-3.39 [[ 9.94850562e-01 1.01351063e-01 5.66820410e-04 3.46610757e+02] [-1.01351055e-01 9.94850723e-01 -4.23635592e-05 7.72218031e+00] [-5.68195287e-04 -1.53024360e-05 9.99999838e-01 -3.38653323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.80589822699994 meters 0.028986082596876645 Centerline is valid? [True, True] Translation: X:346.64, Y:7.71, Z:-3.39 [[ 9.95195620e-01 9.79027165e-02 8.57693662e-04 3.46638708e+02] [-9.79026977e-02 9.95195990e-01 -6.40704799e-05 7.71368361e+00] [-8.59845967e-04 -2.02078623e-05 9.99999630e-01 -3.38626356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.835898227 meters 0.02460861811945731 Centerline is valid? [True, True] Translation: X:346.67, Y:7.70, Z:-3.38 [[ 9.95570469e-01 9.39928426e-02 2.18773600e-03 3.46667422e+02] [-9.39927114e-02 9.95572872e-01 -1.62937130e-04 7.70125228e+00] [-2.19336554e-03 -4.34158439e-05 9.99997594e-01 -3.38388163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.86589822699995 meters 0.02561251420310355 Centerline is valid? [True, True] Translation: X:346.69, Y:7.70, Z:-3.38 [[ 9.95531016e-01 9.44115372e-02 2.11140813e-03 3.46694792e+02] [-9.44114157e-02 9.95533254e-01 -1.57366649e-04 7.69944033e+00] [-2.11683423e-03 -4.26776503e-05 9.99997759e-01 -3.38392148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.895898227 meters 0.02781679276953095 Centerline is valid? [True, True] Translation: X:346.72, Y:7.70, Z:-3.38 [[ 9.95345997e-01 9.63568657e-02 1.30377853e-03 3.46723652e+02] [-9.63568211e-02 9.95346851e-01 -9.71810673e-05 7.69986859e+00] [-1.30707592e-03 -2.88991682e-05 9.99999145e-01 -3.38458689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.92589822699995 meters 0.031068766376540023 Centerline is valid? [True, True] Translation: X:346.75, Y:7.70, Z:-3.39 [[ 9.95057812e-01 9.92972859e-02 -8.36050719e-06 3.46752907e+02] [-9.92972859e-02 9.95057812e-01 3.90011240e-07 7.70224037e+00] [ 8.35791505e-06 4.42091942e-07 1.00000000e+00 -3.38677762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.955898227 meters 0.03606276407312703 Centerline is valid? [True, True] Translation: X:346.78, Y:7.71, Z:-3.39 [[ 9.94422314e-01 1.05450779e-01 -2.09623723e-03 3.46784131e+02] [-1.05450685e-01 9.94424521e-01 1.55650765e-04 7.70708253e+00] [ 2.10096319e-03 6.62670569e-05 9.99997791e-01 -3.39039650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.98589822699995 meters 0.04181919116544235 Centerline is valid? [True, True] Translation: X:346.81, Y:7.71, Z:-3.39 [[ 9.94231133e-01 1.07233483e-01 -2.33135443e-03 3.46813195e+02] [-1.07233372e-01 9.94233863e-01 1.72710087e-04 7.71263851e+00] [ 2.33643183e-03 7.82852524e-05 9.99997267e-01 -3.39263637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.015898227 meters 0.0395791609446446 Centerline is valid? [True, True] Translation: X:346.84, Y:7.71, Z:-3.39 [[ 9.94154012e-01 1.07949529e-01 -2.16779503e-03 3.46841885e+02] [-1.07949436e-01 9.94156373e-01 1.60472911e-04 7.70743564e+00] [ 2.17245022e-03 7.44774625e-05 9.99997637e-01 -3.39233771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.04589822699995 meters 0.036527998409764645 Centerline is valid? [True, True] Translation: X:346.87, Y:7.70, Z:-3.39 [[ 9.94450850e-01 1.05164035e-01 -2.83415921e-03 3.46871567e+02] [-1.05163864e-01 9.94454885e-01 2.09881482e-04 7.69827099e+00] [ 2.84051546e-03 8.93343148e-05 9.99995962e-01 -3.39416847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.075898227 meters 0.03472022410007016 Centerline is valid? [True, True] Translation: X:346.90, Y:7.69, Z:-3.40 [[ 9.94778462e-01 1.02012070e-01 -3.05774624e-03 3.46899789e+02] [-1.02011856e-01 9.94783157e-01 2.26344524e-04 7.69100596e+00] [ 3.06488433e-03 8.67637109e-05 9.99995299e-01 -3.39609118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.10589822699995 meters 0.03277340370460877 Centerline is valid? [True, True] Translation: X:346.93, Y:7.68, Z:-3.40 [[ 9.95113555e-01 9.86675675e-02 -3.70465483e-03 3.46928412e+02] [-9.86672297e-02 9.95120446e-01 2.74276012e-04 7.68302891e+00] [ 3.71363991e-03 9.25922513e-05 9.99993100e-01 -3.39805962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.135898227 meters 0.027235182663092973 Centerline is valid? [True, True] Translation: X:346.96, Y:7.67, Z:-3.40 [[ 9.95383013e-01 9.58853248e-02 -4.31995264e-03 3.46956191e+02] [-9.58848408e-02 9.95392383e-01 3.19488146e-04 7.67006858e+00] [ 4.33068218e-03 9.62048985e-05 9.99990618e-01 -3.39743791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.16589822699996 meters 0.026451517314430087 Centerline is valid? [True, True] Translation: X:346.98, Y:7.66, Z:-3.40 [[ 9.95669269e-01 9.28933880e-02 -3.67779821e-03 3.46983883e+02] [-9.28930176e-02 9.95676058e-01 2.71777035e-04 7.66033439e+00] [ 3.68714192e-03 7.10417318e-05 9.99993200e-01 -3.39740106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.195898227 meters 0.027619295594089415 Centerline is valid? [True, True] Translation: X:347.01, Y:7.66, Z:-3.40 [[ 9.95559076e-01 9.40853498e-02 -3.17387859e-03 3.47012657e+02] [-9.40850805e-02 9.95564133e-01 2.34368016e-04 7.65767976e+00] [ 3.18185029e-03 6.52874177e-05 9.99994936e-01 -3.39559038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.22589822699996 meters 0.02928825776525247 Centerline is valid? [True, True] Translation: X:347.04, Y:7.66, Z:-3.39 [[ 9.95217684e-01 9.76401874e-02 -2.85559030e-03 3.47041735e+02] [-9.76399843e-02 9.95221779e-01 2.10798193e-04 7.65653687e+00] [ 2.86252803e-03 6.90297022e-05 9.99995901e-01 -3.39361894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.255898227 meters 0.0362389076771693 Centerline is valid? [True, True] Translation: X:347.07, Y:7.66, Z:-3.39 [[ 9.94714061e-01 1.02658345e-01 -2.28057651e-03 3.47071670e+02] [-1.02658228e-01 9.94716673e-01 1.68454652e-04 7.66293824e+00] [ 2.28582075e-03 6.65557321e-05 9.99997385e-01 -3.39342415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.28589822699996 meters 0.044866577352116584 Centerline is valid? [True, True] Translation: X:347.10, Y:7.67, Z:-3.39 [[ 9.93383880e-01 1.14840541e-01 -3.42822032e-04 3.47102787e+02] [-1.14840539e-01 9.93383939e-01 2.53045833e-05 7.67227409e+00] [ 3.43459893e-04 1.42327019e-05 9.99999941e-01 -3.38886297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.315898227 meters 0.059228542056588514 Centerline is valid? [True, True] Translation: X:347.13, Y:7.68, Z:-3.39 [[ 9.92675044e-01 1.20808998e-01 1.20158046e-03 3.47133430e+02] [-1.20808979e-01 9.92675769e-01 -8.88430364e-05 7.68377625e+00] [-1.20351285e-03 -5.69694439e-05 9.99999274e-01 -3.38680232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.34589822699996 meters 0.0635260948455687 Centerline is valid? [True, True] Translation: X:347.16, Y:7.70, Z:-3.38 [[ 9.91487920e-01 1.30162167e-01 3.08468258e-03 3.47164994e+02] [-1.30162086e-01 9.91492703e-01 -2.27919506e-04 7.69700167e+00] [-3.08810676e-03 -1.75529282e-04 9.99995216e-01 -3.38474961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.375898227 meters 0.07144299350972787 Centerline is valid? [True, True] Translation: X:347.19, Y:7.71, Z:-3.39 [[ 9.91151937e-01 1.32706797e-01 2.59683241e-03 3.47194754e+02] [-1.32706748e-01 9.91155327e-01 -1.91880096e-04 7.70618948e+00] [-2.59932807e-03 -1.54434857e-04 9.99996610e-01 -3.38617407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.40589822699997 meters 0.06752545963556184 Centerline is valid? [True, True] Translation: X:347.22, Y:7.70, Z:-3.39 [[ 9.90967160e-01 1.34097894e-01 1.35753417e-03 3.47223603e+02] [-1.34097881e-01 9.90968086e-01 -1.00441059e-04 7.69969957e+00] [-1.35874198e-03 -8.25086658e-05 9.99999074e-01 -3.38808866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43589822699994 meters 0.06693736350601247 Centerline is valid? [True, True] Translation: X:347.25, Y:7.70, Z:-3.39 [[ 9.90900247e-01 1.34597914e-01 -3.19410845e-04 3.47251828e+02] [-1.34597913e-01 9.90900298e-01 2.31780725e-05 7.69750480e+00] [ 3.19624021e-04 2.00248753e-05 9.99999949e-01 -3.39066553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.46589822699997 meters 0.06779605673910936 Centerline is valid? [True, True] Translation: X:347.28, Y:7.70, Z:-3.40 [[ 9.90955143e-01 1.34176196e-01 -2.15692172e-03 3.47280351e+02] [-1.34176167e-01 9.90957482e-01 1.58697043e-04 7.69923626e+00] [ 2.15871109e-03 1.32145839e-04 9.99997661e-01 -3.39518475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49589822699994 meters 0.06803377318905919 Centerline is valid? [True, True] Translation: X:347.31, Y:7.70, Z:-3.40 [[ 9.91113955e-01 1.32995732e-01 -2.29407471e-03 3.47308016e+02] [-1.32995697e-01 9.91116601e-01 1.68600955e-04 7.69977903e+00] [ 2.29611874e-03 1.37999306e-04 9.99997354e-01 -3.39633821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.52589822699997 meters 0.06387609313918068 Centerline is valid? [True, True] Translation: X:347.34, Y:7.69, Z:-3.40 [[ 9.91282680e-01 1.31736733e-01 -2.02009779e-03 3.47336474e+02] [-1.31736703e-01 9.91284732e-01 1.48399975e-04 7.69410937e+00] [ 2.02204182e-03 1.19014697e-04 9.99997949e-01 -3.39545311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55589822699994 meters 0.06317563947476569 Centerline is valid? [True, True] Translation: X:347.37, Y:7.69, Z:-3.39 [[ 9.91481874e-01 1.30234093e-01 -1.66552869e-03 3.47366471e+02] [-1.30234070e-01 9.91483269e-01 1.22509141e-04 7.69262435e+00] [ 1.66729870e-03 9.54429869e-05 9.99998606e-01 -3.39475455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.585898227 meters 0.05940991831985401 Centerline is valid? [True, True] Translation: X:347.40, Y:7.69, Z:-3.39 [[ 9.92083401e-01 1.25580717e-01 9.50854722e-05 3.47395180e+02] [-1.25580717e-01 9.92083405e-01 -7.20323715e-06 7.68816224e+00] [-9.52373067e-05 -4.79468980e-06 9.99999995e-01 -3.39213201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61589822699995 meters 0.05594035451298919 Centerline is valid? [True, True] Translation: X:347.42, Y:7.68, Z:-3.39 [[ 9.92373653e-01 1.23265576e-01 3.60719483e-04 3.47424361e+02] [-1.23265575e-01 9.92373719e-01 -2.66838120e-05 7.68238109e+00] [-3.61257730e-04 -1.79839824e-05 9.99999935e-01 -3.39230629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.645898227 meters 0.051974149278642676 Centerline is valid? [True, True] Translation: X:347.45, Y:7.68, Z:-3.39 [[ 9.92650934e-01 1.21012895e-01 -3.98016879e-05 3.47453448e+02] [-1.21012895e-01 9.92650935e-01 2.76983451e-06 7.67550552e+00] [ 3.98443685e-05 2.06703866e-06 9.99999999e-01 -3.39330579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67589822699995 meters 0.056227692921844916 Centerline is valid? [True, True] Translation: X:347.48, Y:7.68, Z:-3.40 [[ 9.92795797e-01 1.19813603e-01 -1.09839245e-03 3.47481336e+02] [-1.19813588e-01 9.92796403e-01 8.03038283e-05 7.67884803e+00] [ 1.10010157e-03 5.18770370e-05 9.99999394e-01 -3.39632841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.705898227 meters 0.05392772975678565 Centerline is valid? [True, True] Translation: X:347.51, Y:7.67, Z:-3.40 [[ 9.92775229e-01 1.19936806e-01 -3.53658286e-03 3.47509920e+02] [-1.19936641e-01 9.92781514e-01 2.59345624e-04 7.67387607e+00] [ 3.54215918e-03 1.66693960e-04 9.99993713e-01 -3.40007954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73589822699995 meters 0.05071130587275148 Centerline is valid? [True, True] Translation: X:347.54, Y:7.67, Z:-3.40 [[ 9.92614625e-01 1.21248140e-01 -3.88516214e-03 3.47539212e+02] [-1.21247951e-01 9.92622211e-01 2.84990069e-04 7.66833081e+00] [ 3.89105274e-03 1.88182637e-04 9.99992412e-01 -3.39985606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.765898227 meters 0.060920638538061796 Centerline is valid? [True, True] Translation: X:347.57, Y:7.68, Z:-3.40 [[ 9.92417680e-01 1.22858823e-01 -3.58591260e-03 3.47568637e+02] [-1.22858674e-01 9.92424142e-01 2.62662849e-04 7.68118810e+00] [ 3.59101669e-03 1.79889211e-04 9.99993536e-01 -3.40100694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.79589822699995 meters 0.05934848229992403 Centerline is valid? [True, True] Translation: X:347.60, Y:7.68, Z:-3.40 [[ 9.91973239e-01 1.26437053e-01 -1.66278791e-03 3.47598634e+02] [-1.26437026e-01 9.91974629e-01 1.21917137e-04 7.68101236e+00] [ 1.66485826e-03 8.92994206e-05 9.99998610e-01 -3.39563885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.825898227 meters 0.060815057447909666 Centerline is valid? [True, True] Translation: X:347.63, Y:7.68, Z:-3.40 [[ 9.91796360e-01 1.27818304e-01 -1.56873129e-03 3.47628167e+02] [-1.27818282e-01 9.91797597e-01 1.14762975e-04 7.68238525e+00] [ 1.57053273e-03 8.66910370e-05 9.99998763e-01 -3.39610820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.85589822699995 meters 0.06251210640604389 Centerline is valid? [True, True] Translation: X:347.66, Y:7.68, Z:-3.40 [[ 9.91719274e-01 1.28405374e-01 -2.22277697e-03 3.47656102e+02] [-1.28405331e-01 9.91721758e-01 1.62428396e-04 7.68417441e+00] [ 2.22523296e-03 1.24333043e-04 9.99997516e-01 -3.39790407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.885898227 meters 0.062179393620515874 Centerline is valid? [True, True] Translation: X:347.68, Y:7.68, Z:-3.40 [[ 9.91705655e-01 1.28501536e-01 -2.69253971e-03 3.47684602e+02] [-1.28501474e-01 9.91709298e-01 1.96786386e-04 7.68432229e+00] [ 2.69550402e-03 1.50841148e-04 9.99996356e-01 -3.39901679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91589822699996 meters 0.05696545397032995 Centerline is valid? [True, True] Translation: X:347.71, Y:7.68, Z:-3.40 [[ 9.91791998e-01 1.27841894e-01 -2.25460160e-03 3.47713018e+02] [-1.27841850e-01 9.91794553e-01 1.64608203e-04 7.67638884e+00] [ 2.25714541e-03 1.24975340e-04 9.99997445e-01 -3.39783885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.945898227 meters 0.06136341914960577 Centerline is valid? [True, True] Translation: X:347.74, Y:7.68, Z:-3.40 [[ 9.91877090e-01 1.27183067e-01 -2.07484859e-03 3.47741536e+02] [-1.27183028e-01 9.91879254e-01 1.51257164e-04 7.68009439e+00] [ 2.07723662e-03 1.13857012e-04 9.99997836e-01 -3.39794488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97589822699996 meters 0.06028842388555519 Centerline is valid? [True, True] Translation: X:347.77, Y:7.68, Z:-3.40 [[ 9.92122617e-01 1.25260634e-01 -1.57669801e-03 3.47770026e+02] [-1.25260609e-01 9.92123867e-01 1.14961347e-04 7.67591259e+00] [ 1.57867986e-03 8.34423999e-05 9.99998750e-01 -3.39702471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.005898227 meters 0.059899058511292125 Centerline is valid? [True, True] Translation: X:347.80, Y:7.67, Z:-3.40 [[ 9.92243565e-01 1.24296846e-01 -1.73269981e-03 3.47798297e+02] [-1.24296814e-01 9.92245074e-01 1.26196393e-04 7.66960843e+00] [ 1.73494867e-03 9.01515077e-05 9.99998491e-01 -3.39582816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03589822699996 meters 0.05586268230895357 Centerline is valid? [True, True] Translation: X:347.83, Y:7.66, Z:-3.40 [[ 9.92318631e-01 1.23697588e-01 -1.62542025e-03 3.47826843e+02] [-1.23697560e-01 9.92319958e-01 1.18284094e-04 7.66273829e+00] [ 1.62756841e-03 8.36850081e-05 9.99998672e-01 -3.39552333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.065898227 meters 0.05776301442781002 Centerline is valid? [True, True] Translation: X:347.85, Y:7.66, Z:-3.40 [[ 9.92211138e-01 1.24558150e-01 -1.52504630e-03 3.47854976e+02] [-1.24558127e-01 9.92212306e-01 1.10794539e-04 7.66178031e+00] [ 1.52697007e-03 8.00253349e-05 9.99998831e-01 -3.39583316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09589822699996 meters 0.06476482455137565 Centerline is valid? [True, True] Translation: X:347.88, Y:7.67, Z:-3.40 [[ 9.92079305e-01 1.25597251e-01 -1.99591921e-03 3.47883689e+02] [-1.25597213e-01 9.92081307e-01 1.45099161e-04 7.66719830e+00] [ 1.99833819e-03 1.06732014e-04 9.99997998e-01 -3.39768448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.125898227 meters 0.060648865033723534 Centerline is valid? [True, True] Translation: X:347.91, Y:7.66, Z:-3.40 [[ 9.91909709e-01 1.26915533e-01 -2.75243423e-03 3.47912692e+02] [-1.26915464e-01 9.91913517e-01 2.00316383e-04 7.65867333e+00] [ 2.75559997e-03 1.50630703e-04 9.99996192e-01 -3.39790886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15589822699997 meters 0.06254566550284586 Centerline is valid? [True, True] Translation: X:347.94, Y:7.66, Z:-3.40 [[ 9.91728035e-01 1.28324074e-01 -2.90447932e-03 3.47941287e+02] [-1.28324004e-01 9.91732275e-01 2.11214143e-04 7.65775878e+00] [ 2.90756974e-03 1.63247428e-04 9.99995760e-01 -3.39870135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.18589822699994 meters 0.06259731374263806 Centerline is valid? [True, True] Translation: X:347.97, Y:7.66, Z:-3.40 [[ 9.91814703e-01 1.27675894e-01 -1.56863923e-03 3.47970227e+02] [-1.27675873e-01 9.91815940e-01 1.13819330e-04 7.65572559e+00] [ 1.57033338e-03 8.73896981e-05 9.99998763e-01 -3.39590185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21589822699997 meters 0.06193161911096218 Centerline is valid? [True, True] Translation: X:348.00, Y:7.65, Z:-3.39 [[ 9.91978728e-01 1.26404912e-01 2.74264680e-05 3.48000337e+02] [-1.26404912e-01 9.91978729e-01 -2.07109857e-06 7.65161723e+00] [-2.74682699e-05 -1.41235456e-06 1.00000000e+00 -3.39363914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.24589822699994 meters 0.06125198913639942 Centerline is valid? [True, True] Translation: X:348.03, Y:7.65, Z:-3.39 [[ 9.92320098e-01 1.23694367e-01 7.25859875e-04 3.48029165e+02] [-1.23694361e-01 9.92320363e-01 -5.29242474e-05 7.64569330e+00] [-7.26831966e-04 -3.72669789e-05 9.99999735e-01 -3.39244868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.27589822699997 meters 0.06133903211384255 Centerline is valid? [True, True] Translation: X:348.06, Y:7.64, Z:-3.39 [[ 9.92393627e-01 1.23105064e-01 1.81736962e-04 3.48056803e+02] [-1.23105063e-01 9.92393643e-01 -1.35760648e-05 7.64241782e+00] [-1.82025888e-04 -8.89993998e-06 9.99999983e-01 -3.39349618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.30589822699994 meters 0.05970570084251812 Centerline is valid? [True, True] Translation: X:348.09, Y:7.64, Z:-3.40 [[ 9.92412492e-01 1.22948555e-01 -1.04759322e-03 3.48085354e+02] [-1.22948544e-01 9.92413044e-01 7.57771873e-05 7.63744553e+00] [ 1.04896187e-03 5.35978330e-05 9.99999448e-01 -3.39522952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.335898227 meters 0.06093966083179945 Centerline is valid? [True, True] Translation: X:348.11, Y:7.64, Z:-3.40 [[ 9.92421637e-01 1.22861932e-01 -2.05899984e-03 3.48112672e+02] [-1.22861887e-01 9.92423768e-01 1.48939203e-04 7.63674399e+00] [ 2.06169933e-03 1.05162117e-04 9.99997869e-01 -3.39675377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.36589822699995 meters 0.06070842891794262 Centerline is valid? [True, True] Translation: X:348.14, Y:7.63, Z:-3.40 [[ 9.92432675e-01 1.22775823e-01 -1.86640554e-03 3.48141077e+02] [-1.22775786e-01 9.92434425e-01 1.35031500e-04 7.63412667e+00] [ 1.86886371e-03 9.51397350e-05 9.99998249e-01 -3.39709210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.395898227 meters 0.060134920362535614 Centerline is valid? [True, True] Translation: X:348.17, Y:7.63, Z:-3.39 [[ 9.92571008e-01 1.21666722e-01 -5.54519198e-05 3.48168960e+02] [-1.21666722e-01 9.92571009e-01 3.64847776e-06 7.63000471e+00] [ 5.54838664e-05 3.12528008e-06 9.99999998e-01 -3.39403382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.42589822699995 meters 0.0596784989892786 Centerline is valid? [True, True] Translation: X:348.20, Y:7.63, Z:-3.39 [[ 9.92667107e-01 1.20875883e-01 1.01752531e-03 3.48197354e+02] [-1.20875871e-01 9.92667627e-01 -7.39710643e-05 7.62654038e+00] [-1.01900575e-03 -4.95656153e-05 9.99999480e-01 -3.39265174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.455898227 meters 0.058947447916320374 Centerline is valid? [True, True] Translation: X:348.23, Y:7.62, Z:-3.39 [[ 9.92790129e-01 1.19861188e-01 1.02716174e-03 3.48225833e+02] [-1.19861174e-01 9.92790659e-01 -7.46229126e-05 7.62251111e+00] [-1.02870097e-03 -4.90319216e-05 9.99999470e-01 -3.39275450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.48589822699995 meters 0.057880831406261865 Centerline is valid? [True, True] Translation: X:348.25, Y:7.62, Z:-3.39 [[ 9.92952071e-01 1.18516000e-01 3.77114141e-04 3.48254993e+02] [-1.18515998e-01 9.92952143e-01 -2.74967068e-05 7.61774412e+00] [-3.77715094e-04 -1.73911467e-05 9.99999929e-01 -3.39428159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.515898227 meters 0.05630951308423519 Centerline is valid? [True, True] Translation: X:348.28, Y:7.61, Z:-3.40 [[ 9.93114342e-01 1.17148227e-01 -4.44426059e-04 3.48283314e+02] [-1.17148224e-01 9.93114441e-01 3.18331597e-05 7.61215949e+00] [ 4.45095135e-04 2.04497563e-05 9.99999901e-01 -3.39668742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.54589822699995 meters 0.05435826112203329 Centerline is valid? [True, True] Translation: X:348.31, Y:7.60, Z:-3.40 [[ 9.93358402e-01 1.15048247e-01 -1.72811569e-03 3.48312799e+02] [-1.15048204e-01 9.93359902e-01 1.24828082e-04 7.60469702e+00] [ 1.73100208e-03 7.48175808e-05 9.99998499e-01 -3.39969747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.575898227 meters 0.05389815372219349 Centerline is valid? [True, True] Translation: X:348.34, Y:7.60, Z:-3.40 [[ 9.93470486e-01 1.14076001e-01 -1.74886330e-03 3.48341885e+02] [-1.14075956e-01 9.93472023e-01 1.25744629e-04 7.60031223e+00] [ 1.75179121e-03 7.45796759e-05 9.99998463e-01 -3.39975561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.60589822699995 meters 0.05389815372219349 Centerline is valid? [True, True] Translation: X:348.37, Y:7.60, Z:-3.40 [[ 9.93477923e-01 1.14011219e-01 -1.74886550e-03 3.48369338e+02] [-1.14011174e-01 9.93479459e-01 1.25714023e-04 7.59846791e+00] [ 1.75179476e-03 7.44961013e-05 9.99998463e-01 -3.39993878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.635898227 meters 0.053605675615478826 Centerline is valid? [True, True] Translation: X:348.40, Y:7.59, Z:-3.40 [[ 9.93564269e-01 1.13261148e-01 -1.39855484e-03 3.48397267e+02] [-1.13261118e-01 9.93565252e-01 1.00443604e-04 7.59391651e+00] [ 1.40093185e-03 5.86047090e-05 9.99999017e-01 -3.40032268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.66589822699996 meters 0.05330680575645317 Centerline is valid? [True, True] Translation: X:348.42, Y:7.59, Z:-3.40 [[ 9.93666157e-01 1.12371987e-01 -3.22609152e-04 3.48424828e+02] [-1.12371985e-01 9.93666210e-01 2.28763293e-05 7.58787388e+00] [ 3.23136472e-04 1.35207966e-05 9.99999948e-01 -3.39885864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.695898227 meters 0.05408550264713317 Centerline is valid? [True, True] Translation: X:348.45, Y:7.59, Z:-3.40 [[ 9.93665640e-01 1.12376646e-01 -2.93371846e-04 3.48452734e+02] [-1.12376644e-01 9.93665683e-01 2.07585372e-05 7.58502750e+00] [ 2.93846311e-04 1.23410985e-05 9.99999957e-01 -3.39913805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.72589822699996 meters 0.05535100364060174 Centerline is valid? [True, True] Translation: X:348.48, Y:7.58, Z:-3.40 [[ 9.93553476e-01 1.13361989e-01 -7.41745256e-04 3.48481697e+02] [-1.13361980e-01 9.93553752e-01 5.30679044e-05 7.58246655e+00] [ 7.42979665e-04 3.13599103e-05 9.99999723e-01 -3.39999895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.755898227 meters 0.05725188729213118 Centerline is valid? [True, True] Translation: X:348.51, Y:7.58, Z:-3.40 [[ 9.93381815e-01 1.14847925e-01 -1.58836332e-03 3.48510852e+02] [-1.14847889e-01 9.93383083e-01 1.13982730e-04 7.58041404e+00] [ 1.59094393e-03 6.91918029e-05 9.99998732e-01 -3.40156847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.78589822699996 meters 0.06251611438390416 Centerline is valid? [True, True] Translation: X:348.54, Y:7.58, Z:-3.40 [[ 9.92980467e-01 1.18240382e-01 -3.00069509e-03 3.48540758e+02] [-1.18240269e-01 9.92984991e-01 2.15749493e-04 7.57990514e+00] [ 3.00515549e-03 1.40567962e-04 9.99995475e-01 -3.40467407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.815898227 meters 0.06550404435491534 Centerline is valid? [True, True] Translation: X:348.57, Y:7.58, Z:-3.41 [[ 9.92823064e-01 1.19535112e-01 -3.70400880e-03 3.48568869e+02] [-1.19534950e-01 9.92829958e-01 2.65870638e-04 7.57933582e+00] [ 3.70923178e-03 1.78796007e-04 9.99993105e-01 -3.40632325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.84589822699996 meters 0.06681719139936698 Centerline is valid? [True, True] Translation: X:348.60, Y:7.58, Z:-3.41 [[ 9.92730709e-01 1.20283929e-01 -4.18524411e-03 3.48597506e+02] [-1.20283729e-01 9.92739510e-01 3.00275475e-04 7.57692026e+00] [ 4.19097550e-03 2.05324083e-04 9.99991197e-01 -3.40759522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.875898227 meters 0.06725686160164307 Centerline is valid? [True, True] Translation: X:348.63, Y:7.57, Z:-3.41 [[ 9.92639145e-01 1.21030560e-01 -4.37392069e-03 3.48625931e+02] [-1.21030350e-01 9.92648758e-01 3.13640535e-04 7.57322778e+00] [ 4.37972702e-03 2.18045279e-04 9.99990385e-01 -3.40802970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.90589822699997 meters 0.05793828981610518 Centerline is valid? [True, True] Translation: X:348.65, Y:7.55, Z:-3.41 [[ 9.92426603e-01 1.22737224e-01 -5.00114764e-03 3.48653624e+02] [-1.22736972e-01 9.92439171e-01 3.58357014e-04 7.55310040e+00] [ 5.00731856e-03 2.58182685e-04 9.99987430e-01 -3.40543277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93589822699994 meters 0.05948260747231511 Centerline is valid? [True, True] Translation: X:348.68, Y:7.55, Z:-3.41 [[ 9.92291807e-01 1.23839645e-01 -4.55110630e-03 3.48682942e+02] [-1.23839448e-01 9.92302214e-01 3.26153081e-04 7.54937523e+00] [ 4.55646354e-03 2.39967461e-04 9.99989590e-01 -3.40504844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.96589822699997 meters 0.05885234259602541 Centerline is valid? [True, True] Translation: X:348.71, Y:7.54, Z:-3.40 [[ 9.92120766e-01 1.25237144e-01 -3.47045513e-03 3.48712074e+02] [-1.25237038e-01 9.92126818e-01 2.48588780e-04 7.54368679e+00] [ 3.47426415e-03 1.87999431e-04 9.99993947e-01 -3.40302489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99589822699994 meters 0.0614808446521362 Centerline is valid? [True, True] Translation: X:348.74, Y:7.54, Z:-3.40 [[ 9.91885095e-01 1.27116919e-01 -2.29051098e-03 3.48741024e+02] [-1.27116878e-01 9.91887732e-01 1.63860588e-04 7.54316751e+00] [ 2.29275919e-03 1.28631730e-04 9.99997363e-01 -3.40074162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.02589822699997 meters 0.07016238543094219 Centerline is valid? [True, True] Translation: X:348.77, Y:7.55, Z:-3.40 [[ 9.91568984e-01 1.29579082e-01 -4.59309408e-04 3.48771315e+02] [-1.29579081e-01 9.91569090e-01 3.28232261e-05 7.55119794e+00] [ 4.59690215e-04 2.69703981e-05 9.99999894e-01 -3.39917944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05589822699994 meters 0.07261279830678352 Centerline is valid? [True, True] Translation: X:348.80, Y:7.55, Z:-3.40 [[ 9.91175790e-01 1.32553306e-01 4.17259015e-04 3.48802225e+02] [-1.32553305e-01 9.91175878e-01 -2.98966123e-05 7.55138580e+00] [-4.17539965e-04 -2.56762634e-05 9.99999913e-01 -3.39711708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.085898227 meters 0.07267085427817858 Centerline is valid? [True, True] Translation: X:348.83, Y:7.55, Z:-3.40 [[ 9.90353918e-01 1.38560541e-01 3.05710008e-04 3.48832685e+02] [-1.38560541e-01 9.90353965e-01 -2.19209979e-05 7.54730210e+00] [-3.05798504e-04 -2.06497979e-05 9.99999953e-01 -3.39605375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11589822699995 meters 0.07684775861068571 Centerline is valid? [True, True] Translation: X:348.86, Y:7.55, Z:-3.40 [[ 9.90061495e-01 1.40635101e-01 6.32423405e-05 3.48861837e+02] [-1.40635101e-01 9.90061497e-01 -4.67978779e-06 7.55000425e+00] [-6.32719487e-05 -4.26081524e-06 9.99999998e-01 -3.39684056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.145898227 meters 0.08234764460039666 Centerline is valid? [True, True] Translation: X:348.89, Y:7.55, Z:-3.40 [[ 9.89898692e-01 1.41776482e-01 -9.64750475e-05 3.48890647e+02] [-1.41776482e-01 9.89898696e-01 6.55531439e-06 7.55463601e+00] [ 9.64299132e-05 7.18879571e-06 9.99999995e-01 -3.39839021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17589822699995 meters 0.0790087034273125 Centerline is valid? [True, True] Translation: X:348.92, Y:7.55, Z:-3.40 [[ 9.89796794e-01 1.42486031e-01 1.92086078e-04 3.48919105e+02] [-1.42486031e-01 9.89796813e-01 -1.40310504e-05 7.54726975e+00] [-1.92125416e-04 -1.34816941e-05 9.99999981e-01 -3.39799594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.205898227 meters 0.07612745139794967 Centerline is valid? [True, True] Translation: X:348.95, Y:7.54, Z:-3.40 [[ 9.89760083e-01 1.42734733e-01 1.33192032e-03 3.48947340e+02] [-1.42734733e-01 9.89760975e-01 -9.54816817e-05 7.54134153e+00] [-1.33191130e-03 -9.56073336e-05 9.99999108e-01 -3.39635421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23589822699995 meters 0.0767418567636734 Centerline is valid? [True, True] Translation: X:348.98, Y:7.54, Z:-3.39 [[ 9.89738717e-01 1.42870777e-01 2.28319054e-03 3.48976017e+02] [-1.42870779e-01 9.89741337e-01 -1.63351039e-04 7.54018016e+00] [-2.28310614e-03 -1.64526362e-04 9.99997380e-01 -3.39491743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.265898227 meters 0.08362434658085836 Centerline is valid? [True, True] Translation: X:349.00, Y:7.55, Z:-3.40 [[ 9.89780002e-01 1.42595837e-01 1.40494365e-03 3.49003938e+02] [-1.42595837e-01 9.89780994e-01 -1.00628459e-04 7.54725162e+00] [-1.40493572e-03 -1.00739080e-04 9.99999008e-01 -3.39649121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.29589822699995 meters 0.07749500110561941 Centerline is valid? [True, True] Translation: X:349.03, Y:7.54, Z:-3.40 [[ 9.89814330e-01 1.42364208e-01 1.55669051e-04 3.49032238e+02] [-1.42364208e-01 9.89814342e-01 -1.14036123e-05 7.53804110e+00] [-1.55706926e-04 -1.08742423e-05 9.99999988e-01 -3.39828269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.325898227 meters 0.07970627568469117 Centerline is valid? [True, True] Translation: X:349.06, Y:7.54, Z:-3.40 [[ 9.89848656e-01 1.42123912e-01 -6.57825293e-04 3.49061259e+02] [-1.42123912e-01 9.89848873e-01 4.65752924e-05 7.53745386e+00] [ 6.57767088e-04 4.73902137e-05 9.99999783e-01 -3.39937227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.35589822699995 meters 0.0783880677186893 Centerline is valid? [True, True] Translation: X:349.09, Y:7.54, Z:-3.40 [[ 9.89841733e-01 1.42172634e-01 -5.34555200e-04 3.49090426e+02] [-1.42172634e-01 9.89841877e-01 3.77670172e-05 7.53609866e+00] [ 5.34494559e-04 3.86157513e-05 9.99999856e-01 -3.40002640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.385898227 meters 0.07676664149606419 Centerline is valid? [True, True] Translation: X:349.12, Y:7.53, Z:-3.40 [[ 9.89963905e-01 1.41320351e-01 1.58514000e-04 3.49119264e+02] [-1.41320351e-01 9.89963918e-01 -1.15845287e-05 7.53155872e+00] [-1.58560270e-04 -1.09329889e-05 9.99999987e-01 -3.39831610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41589822699996 meters 0.07599505546871843 Centerline is valid? [True, True] Translation: X:349.15, Y:7.53, Z:-3.40 [[ 9.90405715e-01 1.38189763e-01 3.31296308e-04 3.49147488e+02] [-1.38189763e-01 9.90405770e-01 -2.37526592e-05 7.52599906e+00] [-3.31400150e-04 -2.22569888e-05 9.99999945e-01 -3.39829366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.445898227 meters 0.07371321363575711 Centerline is valid? [True, True] Translation: X:349.18, Y:7.52, Z:-3.40 [[ 9.90611739e-01 1.36704700e-01 -4.55730816e-04 3.49177325e+02] [-1.36704700e-01 9.90611843e-01 3.22114664e-05 7.51906745e+00] [ 4.55855802e-04 3.03914876e-05 9.99999896e-01 -3.39946449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47589822699996 meters 0.07296899505807378 Centerline is valid? [True, True] Translation: X:349.21, Y:7.51, Z:-3.40 [[ 9.90789415e-01 1.35408696e-01 -9.05407184e-04 3.49206661e+02] [-1.35408694e-01 9.90789827e-01 6.42176995e-05 7.51381601e+00] [ 9.05763862e-04 5.89737874e-05 9.99999588e-01 -3.40097657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.505898227 meters 0.06901361100894397 Centerline is valid? [True, True] Translation: X:349.23, Y:7.50, Z:-3.40 [[ 9.90927070e-01 1.34396764e-01 -1.02590324e-03 3.49234915e+02] [-1.34396760e-01 9.90927599e-01 7.25809275e-05 7.50412607e+00] [ 1.02635047e-03 6.59556660e-05 9.99999471e-01 -3.40121292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53589822699996 meters 0.07462929321054303 Centerline is valid? [True, True] Translation: X:349.26, Y:7.51, Z:-3.40 [[ 9.91036786e-01 1.33588163e-01 -5.39417693e-04 3.49263535e+02] [-1.33588162e-01 9.91036932e-01 3.79948216e-05 7.50624585e+00] [ 5.39658514e-04 3.44055524e-05 9.99999854e-01 -3.40173726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.565898227 meters 0.0717731119679437 Centerline is valid? [True, True] Translation: X:349.29, Y:7.49, Z:-3.40 [[ 9.91316145e-01 1.31500158e-01 -9.69403781e-05 3.49292855e+02] [-1.31500158e-01 9.91316150e-01 6.80814412e-06 7.49254590e+00] [ 9.69938344e-05 5.99865182e-06 9.99999995e-01 -3.40075713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59589822699996 meters 0.0660402356046166 Centerline is valid? [True, True] Translation: X:349.32, Y:7.48, Z:-3.40 [[ 9.91437319e-01 1.30583043e-01 -3.34261287e-04 3.49320626e+02] [-1.30583043e-01 9.91437375e-01 2.34098542e-05 7.47945745e+00] [ 3.34456063e-04 2.04394528e-05 9.99999944e-01 -3.40025665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.625898227 meters 0.06723787269790814 Centerline is valid? [True, True] Translation: X:349.35, Y:7.48, Z:-3.40 [[ 9.91488506e-01 1.30191029e-01 -9.15372553e-04 3.49347948e+02] [-1.30191025e-01 9.91488927e-01 6.45102596e-05 7.47538774e+00] [ 9.15980408e-04 5.52121102e-05 9.99999579e-01 -3.40119238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65589822699997 meters 0.06769527695004472 Centerline is valid? [True, True] Translation: X:349.38, Y:7.47, Z:-3.40 [[ 9.91431229e-01 1.30622355e-01 -1.38533474e-03 3.49376058e+02] [-1.30622346e-01 9.91432193e-01 9.77458311e-05 7.47119846e+00] [ 1.38623325e-03 8.40474038e-05 9.99999036e-01 -3.40214900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.68589822699994 meters 0.0728433138733523 Centerline is valid? [True, True] Translation: X:349.41, Y:7.47, Z:-3.40 [[ 9.91011861e-01 1.33765727e-01 -1.49048553e-03 3.49405216e+02] [-1.33765719e-01 9.91012977e-01 1.05565733e-04 7.47049382e+00] [ 1.49121158e-03 9.47589737e-05 9.99998884e-01 -3.40289290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71589822699997 meters 0.06941624389837231 Centerline is valid? [True, True] Translation: X:349.43, Y:7.46, Z:-3.40 [[ 9.90785131e-01 1.35434938e-01 -1.48393462e-03 3.49434573e+02] [-1.35434932e-01 9.90786237e-01 1.05011590e-04 7.46217200e+00] [ 1.48448424e-03 9.69326617e-05 9.99998893e-01 -3.40203044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.74589822699994 meters 0.07242598801659318 Centerline is valid? [True, True] Translation: X:349.46, Y:7.46, Z:-3.40 [[ 9.90631364e-01 1.36546867e-01 -2.11053856e-03 3.49463533e+02] [-1.36546858e-01 9.90633602e-01 1.49158148e-04 7.46071679e+00] [ 2.11113749e-03 1.40426669e-04 9.99997762e-01 -3.40227906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.77589822699997 meters 0.07077622473423054 Centerline is valid? [True, True] Translation: X:349.49, Y:7.46, Z:-3.41 [[ 9.90707877e-01 1.35970734e-01 -3.14039280e-03 3.49491400e+02] [-1.35970711e-01 9.90712833e-01 2.21721633e-04 7.45712940e+00] [ 3.14137510e-03 2.07340075e-04 9.99995044e-01 -3.40510345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.80589822699994 meters 0.06534362118206849 Centerline is valid? [True, True] Translation: X:349.52, Y:7.44, Z:-3.40 [[ 9.91105294e-01 1.33053761e-01 -2.64427771e-03 3.49521303e+02] [-1.33053734e-01 9.91108808e-01 1.86998159e-04 7.44204163e+00] [ 2.64564774e-03 1.66496158e-04 9.99996486e-01 -3.40292820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.835898227 meters 0.07053763595935965 Centerline is valid? [True, True] Translation: X:349.55, Y:7.45, Z:-3.40 [[ 9.91644264e-01 1.28991346e-01 -1.69906583e-03 3.49550546e+02] [-1.28991329e-01 9.91645714e-01 1.19902266e-04 7.44749075e+00] [ 1.70033770e-03 1.00264366e-04 9.99998549e-01 -3.40410283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.86589822699995 meters 0.056294634869527536 Centerline is valid? [True, True] Translation: X:349.58, Y:7.42, Z:-3.40 [[ 9.92293458e-01 1.23909477e-01 -3.66843851e-04 3.49579742e+02] [-1.23909476e-01 9.92293526e-01 2.59539552e-05 7.42395645e+00] [ 3.67232719e-04 1.97014893e-05 9.99999932e-01 -3.40116049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.895898227 meters 0.05443234363286937 Centerline is valid? [True, True] Translation: X:349.61, Y:7.42, Z:-3.40 [[ 9.92935918e-01 1.18648509e-01 8.91006697e-04 3.49608035e+02] [-1.18648500e-01 9.92936317e-01 -6.31727995e-05 7.41748747e+00] [-8.92208266e-04 -4.29900664e-05 9.99999601e-01 -3.39995710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.92589822699995 meters 0.0411674351384882 Centerline is valid? [True, True] Translation: X:349.64, Y:7.40, Z:-3.40 [[ 9.93808567e-01 1.11090874e-01 1.83005541e-03 3.49637685e+02] [-1.11090824e-01 9.93810250e-01 -1.29272761e-04 7.39643339e+00] [-1.83308885e-03 -7.48299872e-05 9.99998317e-01 -3.39774736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.955898227 meters 0.04684405360860296 Centerline is valid? [True, True] Translation: X:349.67, Y:7.40, Z:-3.40 [[ 9.94039283e-01 1.09018262e-01 9.60686520e-04 3.49667521e+02] [-1.09018247e-01 9.94039746e-01 -6.79625116e-05 7.40093387e+00] [-9.62369740e-04 -3.71749541e-05 9.99999536e-01 -3.40020551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.98589822699995 meters 0.04372825164452915 Centerline is valid? [True, True] Translation: X:349.70, Y:7.39, Z:-3.40 [[ 9.94192282e-01 1.07617964e-01 2.83300583e-04 3.49697362e+02] [-1.07617963e-01 9.94192322e-01 -2.00902071e-05 7.39438650e+00] [-2.83817332e-04 -1.05147028e-05 9.99999960e-01 -3.40120123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.015898227 meters 0.04484740267479701 Centerline is valid? [True, True] Translation: X:349.73, Y:7.39, Z:-3.40 [[ 9.94288945e-01 1.06719696e-01 6.32823036e-04 3.49726566e+02] [-1.06719689e-01 9.94289146e-01 -4.47759057e-05 7.39395039e+00] [-6.33987547e-04 -2.30144895e-05 9.99999799e-01 -3.40117057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.04589822699995 meters 0.04128173589927969 Centerline is valid? [True, True] Translation: X:349.76, Y:7.39, Z:-3.40 [[ 9.94322247e-01 1.06398364e-01 1.63030495e-03 3.49755830e+02] [-1.06398318e-01 9.94323581e-01 -1.15275757e-04 7.39050460e+00] [-1.63331581e-03 -5.88404543e-05 9.99998664e-01 -3.39860022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.075898227 meters 0.0426486075241779 Centerline is valid? [True, True] Translation: X:349.79, Y:7.39, Z:-3.40 [[ 9.94325986e-01 1.06371319e-01 9.87762327e-04 3.49785127e+02] [-1.06371302e-01 9.94326476e-01 -6.99442593e-05 7.39288170e+00] [-9.89598297e-04 -3.55221702e-05 9.99999510e-01 -3.39967424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.10589822699995 meters 0.042735673981067104 Centerline is valid? [True, True] Translation: X:349.81, Y:7.39, Z:-3.40 [[ 9.94369017e-01 1.05972633e-01 -2.42690174e-04 3.49814932e+02] [-1.05972632e-01 9.94369047e-01 1.69742012e-05 7.39289126e+00] [ 2.43122398e-04 8.83989669e-06 9.99999970e-01 -3.40282100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.135898227 meters 0.03891959681393689 Centerline is valid? [True, True] Translation: X:349.85, Y:7.39, Z:-3.40 [[ 9.94516203e-01 1.04573641e-01 -1.36946218e-03 3.49845063e+02] [-1.04573607e-01 9.94517145e-01 9.66255178e-05 7.38761910e+00] [ 1.37205809e-03 4.71139556e-05 9.99999058e-01 -3.40458931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.16589822699996 meters 0.03489555648802348 Centerline is valid? [True, True] Translation: X:349.87, Y:7.38, Z:-3.40 [[ 9.95096103e-01 9.89127625e-02 -1.09101396e-04 3.49874616e+02] [-9.89127622e-02 9.95096109e-01 7.62502539e-06 7.38469517e+00] [ 1.09320587e-04 3.20388739e-06 9.99999994e-01 -3.40291936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.195898227 meters 0.029994350652903352 Centerline is valid? [True, True] Translation: X:349.90, Y:7.38, Z:-3.40 [[ 9.95450321e-01 9.52766319e-02 1.01062649e-03 3.49904744e+02] [-9.52766085e-02 9.95450834e-01 -7.12961366e-05 7.37823501e+00] [-1.01282184e-03 -2.53173024e-05 9.99999487e-01 -3.40099494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.22589822699996 meters 0.025016443368880162 Centerline is valid? [True, True] Translation: X:349.94, Y:7.37, Z:-3.40 [[ 9.95805880e-01 9.14872925e-02 8.51435619e-04 3.49935130e+02] [-9.14872747e-02 9.95806244e-01 -5.99977926e-05 7.37072697e+00] [-8.53353942e-04 -1.81493697e-05 9.99999636e-01 -3.40083518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.255898227 meters 0.01851875200747597 Centerline is valid? [True, True] Translation: X:349.96, Y:7.36, Z:-3.40 [[ 9.96488571e-01 8.37282451e-02 -3.28720420e-04 3.49964297e+02] [-8.37282419e-02 9.96488626e-01 2.32757130e-05 7.36076442e+00] [ 3.29514994e-04 4.32920087e-06 9.99999946e-01 -3.40365793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.28589822699996 meters 0.015149595210142969 Centerline is valid? [True, True] Translation: X:350.00, Y:7.35, Z:-3.40 [[ 9.96761410e-01 8.04154946e-02 -1.98246438e-04 3.49995928e+02] [-8.04154932e-02 9.96761430e-01 1.51077661e-05 7.35471982e+00] [ 1.98819302e-04 8.83246806e-07 9.99999980e-01 -3.40294444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.315898227 meters 0.012921262082866621 Centerline is valid? [True, True] Translation: X:350.03, Y:7.35, Z:-3.40 [[ 9.96982255e-01 7.76287642e-02 3.98858905e-04 3.50027191e+02] [-7.76287594e-02 9.96982334e-01 -2.76303642e-05 7.35080796e+00] [-3.99800193e-04 -3.41593918e-06 9.99999920e-01 -3.40178483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.34589822699996 meters 0.011248908474463989 Centerline is valid? [True, True] Translation: X:350.06, Y:7.35, Z:-3.40 [[ 9.97153326e-01 7.53856045e-02 1.50192694e-03 3.50059346e+02] [-7.53855310e-02 9.97154457e-01 -1.05536272e-04 7.34673476e+00] [-1.50560906e-03 -7.98771512e-06 9.99998867e-01 -3.40021029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.375898227 meters 0.009910156785383763 Centerline is valid? [True, True] Translation: X:350.09, Y:7.34, Z:-3.40 [[ 9.97473454e-01 7.10039994e-02 2.26745595e-03 3.50090887e+02] [-7.10038186e-02 9.97476031e-01 -1.60253549e-04 7.33997521e+00] [-2.27311160e-03 -1.14936928e-06 9.99997416e-01 -3.39973961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.40589822699997 meters 0.010375473932406122 Centerline is valid? [True, True] Translation: X:350.12, Y:7.33, Z:-3.40 [[ 9.97639234e-01 6.86465756e-02 1.89916867e-03 3.50122599e+02] [-6.86464443e-02 9.97641041e-01 -1.34303569e-04 7.33364357e+00] [-1.90390809e-03 3.61533342e-06 9.99998188e-01 -3.40030942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43589822699994 meters 0.015776892799411593 Centerline is valid? [True, True] Translation: X:350.15, Y:7.33, Z:-3.40 [[ 9.97836437e-01 6.57263680e-02 1.57763595e-03 3.50154096e+02] [-6.57262736e-02 9.97837684e-01 -1.11680719e-04 7.32710670e+00] [-1.58156497e-03 7.74695837e-06 9.99998749e-01 -3.40006872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.46589822699997 meters 0.017483418540880123 Centerline is valid? [True, True] Translation: X:350.18, Y:7.31, Z:-3.40 [[ 9.98236662e-01 5.93465464e-02 1.24668241e-03 3.50184351e+02] [-5.93464824e-02 9.98237440e-01 -8.82981215e-05 7.31284877e+00] [-1.24972525e-03 1.41562065e-05 9.99999219e-01 -3.40178394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49589822699994 meters 0.021385100432702822 Centerline is valid? [True, True] Translation: X:350.22, Y:7.30, Z:-3.40 [[ 9.98453466e-01 5.55849364e-02 9.95671166e-04 3.50216065e+02] [-5.55848932e-02 9.98453962e-01 -7.10795165e-05 7.30373968e+00] [-9.98082772e-04 1.56253141e-05 9.99999502e-01 -3.40224498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.52589822699997 meters 0.021385100432702822 Centerline is valid? [True, True] Translation: X:350.25, Y:7.30, Z:-3.40 [[ 9.98443177e-01 5.57694455e-02 9.95724080e-04 3.50248473e+02] [-5.57694031e-02 9.98443673e-01 -7.03428618e-05 7.30121705e+00] [-9.98097390e-04 1.47024128e-05 9.99999502e-01 -3.40246136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55589822699994 meters 0.025335772438980886 Centerline is valid? [True, True] Translation: X:350.28, Y:7.29, Z:-3.40 [[ 9.98610502e-01 5.26932109e-02 7.00496866e-04 3.50278535e+02] [-5.26931889e-02 9.98610748e-01 -4.98738807e-05 7.29225039e+00] [-7.02151714e-04 1.28931673e-05 9.99999753e-01 -3.40338923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.585898227 meters 0.02706181722138561 Centerline is valid? [True, True] Translation: X:350.31, Y:7.29, Z:-3.40 [[ 9.98742887e-01 5.01250572e-02 3.52379433e-04 3.50310476e+02] [-5.01250515e-02 9.98742949e-01 -2.50659233e-05 7.28665320e+00] [-3.53192905e-04 7.37137540e-06 9.99999938e-01 -3.40365940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61589822699995 meters 0.02872207744262987 Centerline is valid? [True, True] Translation: X:350.34, Y:7.28, Z:-3.40 [[ 9.98823509e-01 4.84932558e-02 4.63743176e-05 3.50341976e+02] [-4.84932557e-02 9.98823510e-01 -2.26307271e-06 7.28093846e+00] [-4.64295024e-05 1.15685861e-08 9.99999999e-01 -3.40365082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.645898227 meters 0.031169587258038093 Centerline is valid? [True, True] Translation: X:350.37, Y:7.27, Z:-3.40 [[ 9.98943531e-01 4.59529346e-02 -3.87572600e-04 3.50373343e+02] [-4.59529271e-02 9.98943606e-01 2.83023061e-05 7.27206677e+00] [ 3.88463745e-04 -1.04623102e-05 9.99999924e-01 -3.40434648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67589822699995 meters 0.03279443440188006 Centerline is valid? [True, True] Translation: X:350.40, Y:7.27, Z:-3.41 [[ 9.98982345e-01 4.51009480e-02 -4.23521384e-04 3.50404034e+02] [-4.51009386e-02 9.98982434e-01 3.16554405e-05 7.26533477e+00] [ 4.24518113e-04 -1.25220143e-05 9.99999910e-01 -3.40516192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.705898227 meters 0.03403688550838145 Centerline is valid? [True, True] Translation: X:350.43, Y:7.26, Z:-3.40 [[ 9.99021418e-01 4.42288138e-02 -1.33533944e-04 3.50434880e+02] [-4.42288128e-02 9.99021427e-01 1.06824327e-05 7.25943187e+00] [ 1.33875742e-04 -4.76593127e-06 9.99999991e-01 -3.40491734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73589822699995 meters 0.03519411878172932 Centerline is valid? [True, True] Translation: X:350.47, Y:7.25, Z:-3.40 [[ 9.99057187e-01 4.34135650e-02 1.04896858e-05 3.50466882e+02] [-4.34135650e-02 9.99057187e-01 3.07957331e-07 7.25393874e+00] [-1.04664265e-05 -7.63061643e-07 1.00000000e+00 -3.40483396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.765898227 meters 0.03734914928289283 Centerline is valid? [True, True] Translation: X:350.50, Y:7.25, Z:-3.40 [[ 9.99116929e-01 4.20121381e-02 5.84839126e-04 3.50497094e+02] [-4.20121205e-02 9.99117100e-01 -4.23689402e-05 7.24600190e+00] [-5.86102781e-04 1.77611936e-05 9.99999828e-01 -3.40441285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.79589822699995 meters 0.03451827673122624 Centerline is valid? [True, True] Translation: X:350.53, Y:7.25, Z:-3.40 [[ 9.99128247e-01 4.17456838e-02 2.10246211e-04 3.50528802e+02] [-4.17456817e-02 9.99128269e-01 -1.42863514e-05 7.24587119e+00] [-2.10659326e-04 5.49702578e-06 9.99999978e-01 -3.40404611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.825898227 meters 0.03802144051541966 Centerline is valid? [True, True] Translation: X:350.56, Y:7.24, Z:-3.41 [[ 9.99118146e-01 4.19865560e-02 2.43404331e-04 3.50560661e+02] [-4.19865532e-02 9.99118176e-01 -1.65960447e-05 7.23763630e+00] [-2.43886502e-04 6.36170054e-06 9.99999970e-01 -3.40554491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.85589822699995 meters 0.03854586141571031 Centerline is valid? [True, True] Translation: X:350.59, Y:7.23, Z:-3.41 [[ 9.99108693e-01 4.22114107e-02 1.28954307e-04 3.50592952e+02] [-4.22114100e-02 9.99108701e-01 -8.31888268e-06 7.23381718e+00] [-1.29190522e-04 2.86812488e-06 9.99999992e-01 -3.40581001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.885898227 meters 0.03752999359571528 Centerline is valid? [True, True] Translation: X:350.63, Y:7.23, Z:-3.41 [[ 9.99106281e-01 4.22671401e-02 -3.59040341e-04 3.50626118e+02] [-4.22671329e-02 9.99106345e-01 2.75682144e-05 7.23201828e+00] [ 3.59884712e-04 -1.23679704e-05 9.99999935e-01 -3.40663437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91589822699996 meters 0.03665983079188861 Centerline is valid? [True, True] Translation: X:350.66, Y:7.23, Z:-3.41 [[ 9.99126442e-01 4.17878711e-02 -3.56489888e-04 3.50658498e+02] [-4.17878640e-02 9.99126505e-01 2.73119125e-05 7.23025098e+00] [ 3.57319802e-04 -1.23911030e-05 9.99999936e-01 -3.40653677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.945898227 meters 0.03826401706962337 Centerline is valid? [True, True] Translation: X:350.69, Y:7.23, Z:-3.41 [[ 9.99163376e-01 4.08941531e-02 -4.64312037e-04 3.50690543e+02] [-4.08941411e-02 9.99163484e-01 3.53137197e-05 7.22510820e+00] [ 4.65367757e-04 -1.62965335e-05 9.99999892e-01 -3.40716007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97589822699996 meters 0.03953481764429557 Centerline is valid? [True, True] Translation: X:350.72, Y:7.22, Z:-3.41 [[ 9.99228688e-01 3.92656655e-02 -4.86632332e-04 3.50722501e+02] [-3.92656525e-02 9.99228806e-01 3.62093566e-05 7.21996080e+00] [ 4.87678829e-04 -1.70734918e-05 9.99999881e-01 -3.40715171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.005898227 meters 0.044668579753188005 Centerline is valid? [True, True] Translation: X:350.75, Y:7.21, Z:-3.41 [[ 9.99384312e-01 3.50725614e-02 -9.55354946e-04 3.50751668e+02] [-3.50725101e-02 9.99384768e-01 7.04073010e-05 7.20993325e+00] [ 9.57236545e-04 -3.68572561e-05 9.99999541e-01 -3.40744789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03589822699996 meters 0.049982902077192505 Centerline is valid? [True, True] Translation: X:350.78, Y:7.20, Z:-3.41 [[ 9.99444621e-01 3.33092814e-02 -9.69922162e-04 3.50782047e+02] [-3.33092266e-02 9.99445091e-01 7.26815019e-05 7.20061586e+00] [ 9.71804912e-04 -4.03337791e-05 9.99999527e-01 -3.40862806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.065898227 meters 0.0482569957670295 Centerline is valid? [True, True] Translation: X:350.81, Y:7.20, Z:-3.41 [[ 9.99503062e-01 3.15098388e-02 -8.70798410e-04 3.50814322e+02] [-3.15097944e-02 9.99503441e-01 6.47047784e-05 7.19963983e+00] [ 8.72404844e-04 -3.72339453e-05 9.99999619e-01 -3.40789608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09589822699996 meters 0.05196872182368326 Centerline is valid? [True, True] Translation: X:350.84, Y:7.19, Z:-3.41 [[ 9.99602225e-01 2.82025959e-02 7.93099902e-05 3.50844602e+02] [-2.82025955e-02 9.99602228e-01 -5.78964428e-06 7.19065004e+00] [-7.94417259e-05 3.55059373e-06 9.99999997e-01 -3.40673661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.125898227 meters 0.053811933048556776 Centerline is valid? [True, True] Translation: X:350.88, Y:7.19, Z:-3.41 [[ 9.99625249e-01 2.73728315e-02 2.98069160e-04 3.50875532e+02] [-2.73728264e-02 9.99625294e-01 -2.11003582e-05 7.18540416e+00] [-2.98535048e-04 1.29334554e-05 9.99999955e-01 -3.40662398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15589822699997 meters 0.056914376956668226 Centerline is valid? [True, True] Translation: X:350.91, Y:7.18, Z:-3.41 [[ 9.99632048e-01 2.71239744e-02 -2.42004000e-04 3.50906354e+02] [-2.71239706e-02 9.99632077e-01 1.89594313e-05 7.17895748e+00] [ 2.42429216e-04 -1.23883458e-05 9.99999971e-01 -3.40809193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.18589822699994 meters 0.056230647585487 Centerline is valid? [True, True] Translation: X:350.94, Y:7.18, Z:-3.41 [[ 9.99610998e-01 2.78728989e-02 -9.76865544e-04 3.50938607e+02] [-2.78728401e-02 9.99611474e-01 7.37500745e-05 7.17715343e+00] [ 9.78541634e-04 -4.64933685e-05 9.99999520e-01 -3.40958354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21589822699997 meters 0.055678901107542526 Centerline is valid? [True, True] Translation: X:350.97, Y:7.18, Z:-3.41 [[ 9.99587415e-01 2.86644901e-02 -1.82941212e-03 3.50971166e+02] [-2.86642875e-02 9.99589086e-01 1.36873998e-04 7.17512395e+00] [ 1.83258381e-03 -8.43787311e-05 9.99998317e-01 -3.41073056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.24589822699994 meters 0.055633057496708244 Centerline is valid? [True, True] Translation: X:351.00, Y:7.17, Z:-3.41 [[ 9.99576723e-01 2.90087500e-02 -2.20637348e-03 3.51004434e+02] [-2.90084541e-02 9.99579152e-01 1.65979595e-04 7.17385146e+00] [ 2.21025979e-03 -1.01905856e-04 9.99997552e-01 -3.41127875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.27589822699997 meters 0.05678011877341893 Centerline is valid? [True, True] Translation: X:351.03, Y:7.17, Z:-3.41 [[ 9.99584538e-01 2.87358257e-02 -2.23676085e-03 3.51035000e+02] [-2.87355212e-02 9.99587036e-01 1.68150326e-04 7.17109625e+00] [ 2.24066909e-03 -1.03805977e-04 9.99997484e-01 -3.41182326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.30589822699994 meters 0.057311389244831784 Centerline is valid? [True, True] Translation: X:351.07, Y:7.17, Z:-3.41 [[ 9.99602822e-01 2.80899982e-02 -2.26935337e-03 3.51067078e+02] [-2.80896818e-02 9.99605392e-01 1.71158839e-04 7.16927499e+00] [ 2.27326572e-03 -1.07345445e-04 9.99997410e-01 -3.41128346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.335898227 meters 0.059063417847742945 Centerline is valid? [True, True] Translation: X:351.10, Y:7.17, Z:-3.41 [[ 9.99613700e-01 2.77267478e-02 -1.91777590e-03 3.51098415e+02] [-2.77265215e-02 9.99615536e-01 1.44527276e-04 7.16582748e+00] [ 1.92104586e-03 -9.12981904e-05 9.99998151e-01 -3.41086042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.36589822699995 meters 0.05427929576400983 Centerline is valid? [True, True] Translation: X:351.13, Y:7.17, Z:-3.41 [[ 9.99601140e-01 2.82386133e-02 3.75352860e-04 3.51131366e+02] [-2.82386050e-02 9.99601211e-01 -2.71693828e-05 7.17171436e+00] [-3.75970399e-04 1.65591049e-05 9.99999929e-01 -3.40555179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.395898227 meters 0.05255540824921618 Centerline is valid? [True, True] Translation: X:351.16, Y:7.17, Z:-3.40 [[ 9.99585766e-01 2.87202034e-02 1.85640992e-03 3.51163369e+02] [-2.87199950e-02 9.99587486e-01 -1.38857873e-04 7.17292312e+00] [-1.85963215e-03 8.54842699e-05 9.99998267e-01 -3.40281855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.42589822699995 meters 0.05932290494497215 Centerline is valid? [True, True] Translation: X:351.20, Y:7.16, Z:-3.40 [[ 9.99580906e-01 2.88384445e-02 2.52134157e-03 3.51195038e+02] [-2.88380578e-02 9.99584079e-01 -1.89578364e-04 7.16395074e+00] [-2.52576003e-03 1.16788319e-04 9.99996803e-01 -3.40248045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.455898227 meters 0.05988548612370394 Centerline is valid? [True, True] Translation: X:351.23, Y:7.16, Z:-3.40 [[ 9.99583513e-01 2.87599046e-02 2.38105201e-03 3.51227086e+02] [-2.87595594e-02 9.99586342e-01 -1.79105234e-04 7.16319361e+00] [-2.38521811e-03 1.10552632e-04 9.99997149e-01 -3.40354930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.48589822699995 meters 0.061574303966087214 Centerline is valid? [True, True] Translation: X:351.26, Y:7.16, Z:-3.41 [[ 9.99592386e-01 2.85300756e-02 1.04697397e-03 3.51257784e+02] [-2.85300091e-02 9.99592933e-01 -7.83560216e-05 7.16152133e+00] [-1.04878328e-03 4.84539058e-05 9.99999449e-01 -3.40576999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.515898227 meters 0.05055998036663972 Centerline is valid? [True, True] Translation: X:351.29, Y:7.18, Z:-3.41 [[ 9.99601752e-01 2.82129589e-02 -6.05414607e-04 3.51291120e+02] [-2.82129355e-02 9.99601935e-01 4.71017991e-05 7.17989738e+00] [ 6.06502494e-04 -3.00025177e-05 9.99999816e-01 -3.40610293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.54589822699995 meters 0.059287139490705555 Centerline is valid? [True, True] Translation: X:351.32, Y:7.17, Z:-3.41 [[ 9.99613068e-01 2.78105550e-02 -5.36918723e-04 3.51321994e+02] [-2.78105365e-02 9.99613211e-01 4.18933844e-05 7.16985019e+00] [ 5.37876127e-04 -2.69451768e-05 9.99999855e-01 -3.40731471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.575898227 meters 0.05814628771304435 Centerline is valid? [True, True] Translation: X:351.35, Y:7.18, Z:-3.40 [[ 9.99697168e-01 2.46060967e-02 3.35193151e-04 3.51353621e+02] [-2.46060895e-02 9.99697224e-01 -2.54917901e-05 7.17665125e+00] [-3.35718916e-04 1.72362777e-05 9.99999943e-01 -3.40432469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.60589822699995 meters 0.06018854515638652 Centerline is valid? [True, True] Translation: X:351.38, Y:7.17, Z:-3.40 [[ 9.99758996e-01 2.19415417e-02 7.20064923e-04 3.51384211e+02] [-2.19415079e-02 9.99759255e-01 -5.47421813e-05 7.17470657e+00] [-7.21092699e-04 3.89296780e-05 9.99999739e-01 -3.40416572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.635898227 meters 0.06200401637271164 Centerline is valid? [True, True] Translation: X:351.41, Y:7.17, Z:-3.40 [[ 9.99825733e-01 1.86552464e-02 6.96346628e-04 3.51414492e+02] [-1.86552140e-02 9.99825975e-01 -5.30008181e-05 7.17166491e+00] [-6.97214190e-04 4.00010865e-05 9.99999756e-01 -3.40427268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.66589822699996 meters 0.06626768368999326 Centerline is valid? [True, True] Translation: X:351.44, Y:7.16, Z:-3.41 [[ 9.99887401e-01 1.50052485e-02 -1.68220985e-04 3.51444633e+02] [-1.50052466e-02 9.99887415e-01 1.28197250e-05 7.16416528e+00] [ 1.68394409e-04 -1.02940842e-05 9.99999986e-01 -3.40641460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.695898227 meters 0.07615848123778148 Centerline is valid? [True, True] Translation: X:351.47, Y:7.15, Z:-3.41 [[ 9.99968357e-01 7.83154299e-03 -1.39724632e-03 3.51472892e+02] [-7.83140176e-03 9.99969328e-01 1.06514651e-04 7.14730441e+00] [ 1.39803764e-03 -9.55688836e-05 9.99999018e-01 -3.41004528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.72589822699996 meters 0.07682251639406433 Centerline is valid? [True, True] Translation: X:351.50, Y:7.14, Z:-3.41 [[ 9.99984875e-01 5.24278932e-03 -1.66198599e-03 3.51503268e+02] [-5.24258614e-03 9.99986250e-01 1.26579953e-04 7.14259761e+00] [ 1.66262677e-03 -1.17864933e-04 9.99998611e-01 -3.40906138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.755898227 meters 0.08306823136086587 Centerline is valid? [True, True] Translation: X:351.53, Y:7.13, Z:-3.41 [[ 9.99988062e-01 4.52314490e-03 -1.84829366e-03 3.51532638e+02] [-4.52289225e-03 9.99989762e-01 1.40850502e-04 7.13093236e+00] [ 1.84891182e-03 -1.32489188e-04 9.99998282e-01 -3.40930058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.78589822699996 meters 0.07639064798137461 Centerline is valid? [True, True] Translation: X:351.56, Y:7.14, Z:-3.41 [[ 9.99981160e-01 5.40050006e-03 -2.91805091e-03 3.51563316e+02] [-5.39987470e-03 9.99985396e-01 2.22142629e-04 7.13676860e+00] [ 2.91920798e-03 -2.06381335e-04 9.99995718e-01 -3.40913033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.815898227 meters 0.07516764015438497 Centerline is valid? [True, True] Translation: X:351.59, Y:7.14, Z:-3.41 [[ 9.99920097e-01 1.16432921e-02 -4.92277637e-03 3.51593308e+02] [-1.16415871e-02 9.99932164e-01 3.74851369e-04 7.13566679e+00] [ 4.92680693e-03 -3.17512487e-04 9.99987813e-01 -3.41305033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.84589822699996 meters 0.0690085621262862 Centerline is valid? [True, True] Translation: X:351.62, Y:7.14, Z:-3.41 [[ 9.99865724e-01 1.53987229e-02 -5.60469708e-03 3.51624391e+02] [-1.53965716e-02 9.99881375e-01 4.26774458e-04 7.14081510e+00] [ 5.61060400e-03 -3.40424033e-04 9.99984202e-01 -3.41361872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.875898227 meters 0.06651267807697711 Centerline is valid? [True, True] Translation: X:351.65, Y:7.14, Z:-3.41 [[ 9.99809417e-01 1.86643313e-02 -5.72473471e-03 3.51653606e+02] [-1.86621410e-02 9.99825752e-01 4.35793179e-04 7.14122329e+00] [ 5.73187097e-03 -3.28874318e-04 9.99983519e-01 -3.41411786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.90589822699997 meters 0.06092019449335801 Centerline is valid? [True, True] Translation: X:351.68, Y:7.14, Z:-3.41 [[ 9.99721636e-01 2.28908758e-02 -5.71480910e-03 3.51684784e+02] [-2.28887614e-02 9.99737923e-01 4.35125775e-04 7.14481622e+00] [ 5.72327179e-03 -3.04199750e-04 9.99983576e-01 -3.41495997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93589822699994 meters 0.06021589004660666 Centerline is valid? [True, True] Translation: X:351.72, Y:7.14, Z:-3.42 [[ 9.99691073e-01 2.40884460e-02 -6.12418998e-03 3.51715348e+02] [-2.40860402e-02 9.99709781e-01 4.66287061e-04 7.14253616e+00] [ 6.13364475e-03 -3.18635526e-04 9.99981138e-01 -3.41618525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.96589822699997 meters 0.057883843822652624 Centerline is valid? [True, True] Translation: X:351.75, Y:7.14, Z:-3.42 [[ 9.99664084e-01 2.50749022e-02 -6.55497808e-03 3.51745908e+02] [-2.50721672e-02 9.99685519e-01 4.99086651e-04 7.14241791e+00] [ 6.56543122e-03 -3.34571493e-04 9.99978391e-01 -3.41603825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99589822699994 meters 0.06003164431348147 Centerline is valid? [True, True] Translation: X:351.78, Y:7.14, Z:-3.42 [[ 9.99642309e-01 2.60385583e-02 -6.10306867e-03 3.51775622e+02] [-2.60362044e-02 9.99660893e-01 4.64824811e-04 7.13670467e+00] [ 6.11310245e-03 -3.05757804e-04 9.99981268e-01 -3.41603127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.02589822699997 meters 0.05956684371859104 Centerline is valid? [True, True] Translation: X:351.81, Y:7.13, Z:-3.41 [[ 9.99618090e-01 2.71541793e-02 -5.13069319e-03 3.51805573e+02] [-2.71525301e-02 9.99631226e-01 3.90834435e-04 7.13436395e+00] [ 5.13941391e-03 -2.51373870e-04 9.99986762e-01 -3.41392148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05589822699994 meters 0.05819663896076013 Centerline is valid? [True, True] Translation: X:351.84, Y:7.13, Z:-3.41 [[ 9.99598093e-01 2.80030264e-02 -4.41397856e-03 3.51836991e+02] [-2.80018132e-02 9.99607816e-01 3.36421742e-04 7.13417898e+00] [ 4.42166829e-03 -2.12687129e-04 9.99990202e-01 -3.41179745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.085898227 meters 0.054425687020887056 Centerline is valid? [True, True] Translation: X:351.87, Y:7.14, Z:-3.41 [[ 9.99579009e-01 2.88821613e-02 -2.76141090e-03 3.51869012e+02] [-2.88816895e-02 9.99582815e-01 2.10590581e-04 7.13898038e+00] [ 2.76634119e-03 -1.30747712e-04 9.99996165e-01 -3.40803191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11589822699995 meters 0.05324377327239316 Centerline is valid? [True, True] Translation: X:351.90, Y:7.14, Z:-3.41 [[ 9.99577505e-01 2.89670578e-02 -2.39181749e-03 3.51901045e+02] [-2.89667009e-02 9.99580360e-01 1.83738600e-04 7.13922874e+00] [ 2.39613615e-03 -1.14377909e-04 9.99997123e-01 -3.40727349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.145898227 meters 0.0528078768455927 Centerline is valid? [True, True] Translation: X:351.93, Y:7.14, Z:-3.41 [[ 9.99576974e-01 2.90276495e-02 -1.80810348e-03 3.51933197e+02] [-2.90274447e-02 9.99578605e-01 1.39456996e-04 7.13799011e+00] [ 1.81138967e-03 -8.69133778e-05 9.99998356e-01 -3.40690852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17589822699995 meters 0.05442545994474128 Centerline is valid? [True, True] Translation: X:351.97, Y:7.13, Z:-3.41 [[ 9.99575230e-01 2.90916014e-02 -1.74305276e-03 3.51965241e+02] [-2.90914104e-02 9.99576746e-01 1.34851343e-04 7.13398409e+00] [ 1.74623805e-03 -8.40861994e-05 9.99998472e-01 -3.40702896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.205898227 meters 0.061987062412771 Centerline is valid? [True, True] Translation: X:352.00, Y:7.13, Z:-3.41 [[ 9.99605557e-01 2.80449960e-02 -1.48647331e-03 3.51995581e+02] [-2.80448556e-02 9.99606659e-01 1.15226671e-04 7.12590272e+00] [ 1.48912015e-03 -7.34932915e-05 9.99998889e-01 -3.40737024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23589822699995 meters 0.06154897208384156 Centerline is valid? [True, True] Translation: X:352.03, Y:7.12, Z:-3.41 [[ 9.99637315e-01 2.69015260e-02 -1.24375076e-03 3.52027534e+02] [-2.69014274e-02 9.99638087e-01 9.59340055e-05 7.12379145e+00] [ 1.24588140e-03 -6.24405407e-05 9.99999222e-01 -3.40710456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.265898227 meters 0.06157590265838572 Centerline is valid? [True, True] Translation: X:352.06, Y:7.12, Z:-3.41 [[ 9.99673683e-01 2.55207607e-02 -1.10402973e-03 3.52059171e+02] [-2.55206819e-02 9.99674291e-01 8.54517850e-05 7.12280237e+00] [ 1.10585093e-03 -5.72483092e-05 9.99999387e-01 -3.40654501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.29589822699995 meters 0.05859654869738279 Centerline is valid? [True, True] Translation: X:352.09, Y:7.13, Z:-3.41 [[ 9.99789241e-01 2.05084524e-02 -9.36274761e-04 3.52090384e+02] [-2.05083938e-02 9.99789678e-01 7.21238547e-05 7.12712418e+00] [ 9.37556991e-04 -5.29071625e-05 9.99999559e-01 -3.40512601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.325898227 meters 0.06799286547841474 Centerline is valid? [True, True] Translation: X:352.12, Y:7.11, Z:-3.41 [[ 9.99855791e-01 1.69613979e-02 -8.41564218e-04 3.52119057e+02] [-1.69613494e-02 9.99856144e-01 6.47075532e-05 7.11358432e+00] [ 8.42540685e-04 -5.04241571e-05 9.99999644e-01 -3.40668907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.35589822699995 meters 0.07171087716975531 Centerline is valid? [True, True] Translation: X:352.15, Y:7.11, Z:-3.41 [[ 9.99919306e-01 1.26572428e-02 -1.08467783e-03 3.52149615e+02] [-1.26571595e-02 9.99919891e-01 8.36626465e-05 7.10672881e+00] [ 1.08564988e-03 -6.99269550e-05 9.99999408e-01 -3.40736156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.385898227 meters 0.07518579174998534 Centerline is valid? [True, True] Translation: X:352.18, Y:7.10, Z:-3.41 [[ 9.99965651e-01 8.06651921e-03 -1.90474237e-03 3.52179692e+02] [-8.06625436e-03 9.99967456e-01 1.46688651e-04 7.10007609e+00] [ 1.90586365e-03 -1.31319476e-04 9.99998175e-01 -3.40829560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41589822699996 meters 0.07518579174998534 Centerline is valid? [True, True] Translation: X:352.21, Y:7.10, Z:-3.41 [[ 9.99965651e-01 8.06651943e-03 -1.90474486e-03 3.52209675e+02] [-8.06625464e-03 9.99967456e-01 1.46656346e-04 7.09776757e+00] [ 1.90586588e-03 -1.31287152e-04 9.99998175e-01 -3.40849575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.445898227 meters 0.08042567827597343 Centerline is valid? [True, True] Translation: X:352.24, Y:7.09, Z:-3.41 [[ 9.99986333e-01 4.18799814e-03 -3.12946978e-03 3.52238972e+02] [-4.18726466e-03 9.99991204e-01 2.40891066e-04 7.08832843e+00] [ 3.13045111e-03 -2.27783856e-04 9.99995074e-01 -3.41078643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47589822699996 meters 0.08378174969482043 Centerline is valid? [True, True] Translation: X:352.27, Y:7.08, Z:-3.41 [[ 9.99989609e-01 -2.12629262e-03 -4.03241105e-03 3.52269133e+02] [ 2.12756155e-03 9.99997689e-01 3.10419379e-04 7.08078462e+00] [ 4.03174169e-03 -3.18995356e-04 9.99991822e-01 -3.41149350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.505898227 meters 0.08927541887410537 Centerline is valid? [True, True] Translation: X:352.30, Y:7.07, Z:-3.41 [[ 9.99985630e-01 -4.26715524e-03 -3.24518637e-03 3.52297437e+02] [ 4.26798780e-03 9.99990861e-01 2.49669212e-04 7.07128433e+00] [ 3.24409134e-03 -2.63516040e-04 9.99994703e-01 -3.41078311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53589822699996 meters 0.0886775074608154 Centerline is valid? [True, True] Translation: X:352.33, Y:7.07, Z:-3.41 [[ 9.99981654e-01 -5.40884535e-03 -2.72708433e-03 3.52326649e+02] [ 5.40943647e-03 9.99985347e-01 2.09429624e-04 7.06977180e+00] [ 2.72591160e-03 -2.24177771e-04 9.99996260e-01 -3.40979853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.565898227 meters 0.08578491788173852 Centerline is valid? [True, True] Translation: X:352.36, Y:7.07, Z:-3.41 [[ 9.99980641e-01 -5.43926111e-03 -3.02204609e-03 3.52355288e+02] [ 5.43998357e-03 9.99985177e-01 2.30895920e-04 7.07188482e+00] [ 3.02074539e-03 -2.47331331e-04 9.99995407e-01 -3.40916148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59589822699996 meters 0.08430183250572822 Centerline is valid? [True, True] Translation: X:352.39, Y:7.07, Z:-3.41 [[ 9.99986052e-01 -2.58498231e-03 -4.60593413e-03 3.52385880e+02] [ 2.58663787e-03 9.99996592e-01 3.53519779e-04 7.07187061e+00] [ 4.60500459e-03 -3.65428731e-04 9.99989330e-01 -3.41205887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.625898227 meters 0.08715294317613255 Centerline is valid? [True, True] Translation: X:352.41, Y:7.07, Z:-3.41 [[ 9.99984064e-01 -8.75239720e-04 -5.57729411e-03 3.52414231e+02] [ 8.77638542e-04 9.99999523e-01 4.27671974e-04 7.06651308e+00] [ 5.57691713e-03 -4.32560006e-04 9.99984355e-01 -3.41450506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65589822699997 meters 0.08607437404323731 Centerline is valid? [True, True] Translation: X:352.44, Y:7.07, Z:-3.41 [[ 9.99984000e-01 9.64309124e-04 -5.57400264e-03 3.52444165e+02] [-9.61941018e-04 9.99999446e-01 4.27513731e-04 7.06538536e+00] [ 5.57441180e-03 -4.22145029e-04 9.99984374e-01 -3.41458225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.68589822699994 meters 0.08689767544130118 Centerline is valid? [True, True] Translation: X:352.47, Y:7.06, Z:-3.41 [[ 9.99985727e-01 1.77518403e-03 -5.03933033e-03 3.52472057e+02] [-1.77326163e-03 9.99998353e-01 3.85921339e-04 7.06233252e+00] [ 5.04000711e-03 -3.76979780e-04 9.99987228e-01 -3.41421241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71589822699997 meters 0.08783681272989827 Centerline is valid? [True, True] Translation: X:352.50, Y:7.06, Z:-3.41 [[ 9.99990038e-01 7.29106839e-04 -4.40377953e-03 3.52501587e+02] [-7.27628337e-04 9.99999678e-01 3.37327558e-04 7.05801442e+00] [ 4.40402406e-03 -3.34119883e-04 9.99990246e-01 -3.41442956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.74589822699994 meters 0.08520024949353133 Centerline is valid? [True, True] Translation: X:352.53, Y:7.06, Z:-3.41 [[ 9.99988252e-01 -7.10297455e-04 -4.79502876e-03 3.52531797e+02] [ 7.12066938e-04 9.99999679e-01 3.67327468e-04 7.05779545e+00] [ 4.79476631e-03 -3.70737534e-04 9.99988436e-01 -3.41446084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.77589822699997 meters 0.08553905357341647 Centerline is valid? [True, True] Translation: X:352.56, Y:7.05, Z:-3.42 [[ 9.99984367e-01 -2.16134173e-03 -5.15701857e-03 3.52562015e+02] [ 2.16340806e-03 9.99997582e-01 3.95139024e-04 7.05365259e+00] [ 5.15615206e-03 -4.06289582e-04 9.99986624e-01 -3.41543967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.80589822699994 meters 0.08770469787322022 Centerline is valid? [True, True] Translation: X:352.59, Y:7.05, Z:-3.42 [[ 9.99980685e-01 -3.22397782e-03 -5.31364221e-03 3.52590984e+02] [ 3.22618432e-03 9.99994713e-01 4.06732093e-04 7.04700335e+00] [ 5.31230283e-03 -4.23867026e-04 9.99985800e-01 -3.41597015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.835898227 meters 0.08734618843693324 Centerline is valid? [True, True] Translation: X:352.62, Y:7.04, Z:-3.41 [[ 9.99981884e-01 -4.01510397e-03 -4.48447626e-03 3.52619936e+02] [ 4.01667636e-03 9.99991875e-01 3.41677840e-04 7.04259551e+00] [ 4.48306795e-03 -3.59684340e-04 9.99989886e-01 -3.41410153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.86589822699995 meters 0.09458569871992761 Centerline is valid? [True, True] Translation: X:352.65, Y:7.03, Z:-3.41 [[ 9.99985726e-01 -3.16559377e-03 -4.30433353e-03 3.52647600e+02] [ 3.16703682e-03 9.99994931e-01 3.28481846e-04 7.03067573e+00] [ 4.30327187e-03 -3.42109140e-04 9.99990682e-01 -3.41474676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.895898227 meters 0.07970859570199217 Centerline is valid? [True, True] Translation: X:352.68, Y:7.05, Z:-3.41 [[ 9.99987579e-01 -1.83251295e-03 -4.63504417e-03 3.52678956e+02] [ 1.83417291e-03 9.99998255e-01 3.53906037e-04 7.04780008e+00] [ 4.63438755e-03 -3.62403113e-04 9.99989195e-01 -3.41241381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.92589822699995 meters 0.07550865196518873 Centerline is valid? [True, True] Translation: X:352.71, Y:7.05, Z:-3.41 [[ 9.99985141e-01 2.40600894e-03 -4.89176266e-03 3.52709262e+02] [-2.40421070e-03 9.99997040e-01 3.73453740e-04 7.05130175e+00] [ 4.89264672e-03 -3.61687363e-04 9.99987966e-01 -3.41276947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.955898227 meters 0.07467597292553659 Centerline is valid? [True, True] Translation: X:352.74, Y:7.05, Z:-3.41 [[ 9.99978715e-01 4.99872636e-03 -4.19304223e-03 3.52739172e+02] [-4.99742762e-03 9.99987462e-01 3.20156936e-04 7.05069099e+00] [ 4.19459004e-03 -2.99195697e-04 9.99991158e-01 -3.41285918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.98589822699995 meters 0.07607887266075568 Centerline is valid? [True, True] Translation: X:352.77, Y:7.05, Z:-3.41 [[ 9.99967921e-01 7.29532008e-03 -3.30700348e-03 3.52768750e+02] [-7.29452516e-03 9.99973363e-01 2.52373756e-04 7.04775321e+00] [ 3.30875654e-03 -2.28242640e-04 9.99994500e-01 -3.41181388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.015898227 meters 0.07259881351041629 Centerline is valid? [True, True] Translation: X:352.80, Y:7.05, Z:-3.41 [[ 9.99956033e-01 9.07247885e-03 -2.37096759e-03 3.52799615e+02] [-9.07207530e-03 9.99958832e-01 1.80903570e-04 7.05156093e+00] [ 2.37251122e-03 -1.59386020e-04 9.99997173e-01 -3.41007256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.04589822699995 meters 0.07269346718216928 Centerline is valid? [True, True] Translation: X:352.83, Y:7.05, Z:-3.41 [[ 9.99933705e-01 1.13768794e-02 -1.77551442e-03 3.52829169e+02] [-1.13766569e-02 9.99935275e-01 1.35390294e-04 7.05455844e+00] [ 1.77693982e-03 -1.15181900e-04 9.99998415e-01 -3.40926725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.075898227 meters 0.07093085841432716 Centerline is valid? [True, True] Translation: X:352.86, Y:7.06, Z:-3.41 [[ 9.99932192e-01 1.13737574e-02 -2.49992862e-03 3.52860956e+02] [-1.13733153e-02 9.99935304e-01 1.90992080e-04 7.05742874e+00] [ 2.50193918e-03 -1.62546653e-04 9.99996857e-01 -3.41084583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.10589822699995 meters 0.07250617859799509 Centerline is valid? [True, True] Translation: X:352.89, Y:7.06, Z:-3.41 [[ 9.99940063e-01 1.04250119e-02 -3.34505165e-03 3.52891703e+02] [-1.04242154e-02 9.99945634e-01 2.55469306e-04 7.05593394e+00] [ 3.34753306e-03 -2.20584455e-04 9.99994373e-01 -3.41271796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.135898227 meters 0.07440024132513612 Centerline is valid? [True, True] Translation: X:352.92, Y:7.05, Z:-3.41 [[ 9.99953103e-01 8.69397039e-03 -4.26687764e-03 3.52921911e+02] [-8.69265897e-03 9.99962165e-01 3.25800354e-04 7.05367647e+00] [ 4.26954870e-03 -2.88694563e-04 9.99990844e-01 -3.41464324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.16589822699996 meters 0.08022502979056562 Centerline is valid? [True, True] Translation: X:352.95, Y:7.05, Z:-3.41 [[ 9.99979946e-01 4.74425111e-03 -4.19518733e-03 3.52950759e+02] [-4.74294979e-03 9.99988701e-01 3.20086199e-04 7.04819283e+00] [ 4.19665850e-03 -3.00182217e-04 9.99991149e-01 -3.41468155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.195898227 meters 0.08143469839318516 Centerline is valid? [True, True] Translation: X:352.98, Y:7.05, Z:-3.41 [[ 9.99989270e-01 3.08590212e-03 -3.45513877e-03 3.52980645e+02] [-3.08500959e-03 9.99995207e-01 2.63621117e-04 7.04582570e+00] [ 3.45593572e-03 -2.52959152e-04 9.99993996e-01 -3.41383530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.22589822699996 meters 0.08310079783653773 Centerline is valid? [True, True] Translation: X:353.01, Y:7.04, Z:-3.41 [[ 9.99994863e-01 1.59346629e-03 -2.78121024e-03 3.53010274e+02] [-1.59288223e-03 9.99998709e-01 2.12205251e-04 7.04275505e+00] [ 2.78154479e-03 -2.07774020e-04 9.99996110e-01 -3.41305023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.255898227 meters 0.08284582150011305 Centerline is valid? [True, True] Translation: X:353.04, Y:7.04, Z:-3.41 [[ 9.99997525e-01 9.97170457e-04 -1.98906250e-03 3.53040352e+02] [-9.96870685e-04 9.99999492e-01 1.51695898e-04 7.04209731e+00] [ 1.98921275e-03 -1.49712684e-04 9.99998010e-01 -3.41204406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.28589822699996 meters 0.08717764081693816 Centerline is valid? [True, True] Translation: X:353.07, Y:7.04, Z:-3.41 [[ 9.99998078e-01 7.25212133e-04 -1.82141395e-03 3.53069195e+02] [-7.24960364e-04 9.99999728e-01 1.38883832e-04 7.03574806e+00] [ 1.82151418e-03 -1.37563112e-04 9.99998332e-01 -3.41263160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.315898227 meters 0.08639704534464307 Centerline is valid? [True, True] Translation: X:353.10, Y:7.04, Z:-3.41 [[ 9.99997351e-01 9.06655421e-04 -2.11550027e-03 3.53098904e+02] [-9.06316419e-04 9.99999576e-01 1.61200080e-04 7.03604808e+00] [ 2.11564553e-03 -1.59282340e-04 9.99997749e-01 -3.41375531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.34589822699996 meters 0.08570409651855558 Centerline is valid? [True, True] Translation: X:353.13, Y:7.04, Z:-3.42 [[ 9.99987302e-01 2.82036713e-03 -4.17629328e-03 3.53128457e+02] [-2.81906232e-03 9.99995976e-01 3.18284486e-04 7.03692321e+00] [ 4.17717415e-03 -3.06507213e-04 9.99991229e-01 -3.41747010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.375898227 meters 0.08425287180469918 Centerline is valid? [True, True] Translation: X:353.16, Y:7.04, Z:-3.42 [[ 9.99975480e-01 4.78188614e-03 -5.11603736e-03 3.53159048e+02] [-4.77995333e-03 9.99988500e-01 3.89954855e-04 7.03714625e+00] [ 5.11784325e-03 -3.65490874e-04 9.99986837e-01 -3.41911405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.40589822699997 meters 0.08128290857997376 Centerline is valid? [True, True] Translation: X:353.19, Y:7.04, Z:-3.42 [[ 9.99956744e-01 8.14612353e-03 -4.48892945e-03 3.53188097e+02] [-8.14467042e-03 9.99966773e-01 3.41895735e-04 7.04086679e+00] [ 4.49156542e-03 -3.05320095e-04 9.99989866e-01 -3.41856199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43589822699994 meters 0.0792734726402307 Centerline is valid? [True, True] Translation: X:353.22, Y:7.04, Z:-3.42 [[ 9.99952628e-01 9.26343700e-03 -2.98835232e-03 3.53218633e+02] [-9.26279791e-03 9.99957073e-01 2.27628745e-04 7.04192366e+00] [ 2.99033267e-03 -1.99937458e-04 9.99995509e-01 -3.41580322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.46589822699997 meters 0.08087858009070441 Centerline is valid? [True, True] Translation: X:353.25, Y:7.04, Z:-3.41 [[ 9.99956021e-01 9.31117541e-03 -1.12179517e-03 3.53248022e+02] [-9.31108544e-03 9.99956647e-01 8.53924574e-05 7.03838441e+00] [ 1.12254164e-03 -7.49435712e-05 9.99999367e-01 -3.41346297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49589822699994 meters 0.07386770830707871 Centerline is valid? [True, True] Translation: X:353.28, Y:7.05, Z:-3.41 [[ 9.99963640e-01 8.52312597e-03 -2.74017303e-04 3.53279476e+02] [-8.52312054e-03 9.99963677e-01 2.09546061e-05 7.04563208e+00] [ 2.74185949e-04 -1.86183617e-05 9.99999962e-01 -3.41152233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.52589822699997 meters 0.08371802582643514 Centerline is valid? [True, True] Translation: X:353.31, Y:7.03, Z:-3.41 [[ 9.99977681e-01 6.60180172e-03 -1.02632000e-03 3.53308318e+02] [-6.60172461e-03 9.99978205e-01 7.85083266e-05 7.03222593e+00] [ 1.02681593e-03 -7.17310923e-05 9.99999470e-01 -3.41335377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55589822699994 meters 0.08617734360631728 Centerline is valid? [True, True] Translation: X:353.34, Y:7.03, Z:-3.41 [[ 9.99979053e-01 6.26493057e-03 -1.62595813e-03 3.53338449e+02] [-6.26473665e-03 9.99980369e-01 1.24333816e-04 7.02821933e+00] [ 1.62670515e-03 -1.14145012e-04 9.99998670e-01 -3.41395294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.585898227 meters 0.07730932684301278 Centerline is valid? [True, True] Translation: X:353.37, Y:7.04, Z:-3.41 [[ 9.99978165e-01 6.32576765e-03 -1.91169325e-03 3.53370109e+02] [-6.32550037e-03 9.99979983e-01 1.45828227e-04 7.03868210e+00] [ 1.91257746e-03 -1.33732627e-04 9.99998162e-01 -3.41248157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61589822699995 meters 0.06878314548635638 Centerline is valid? [True, True] Translation: X:353.40, Y:7.05, Z:-3.41 [[ 9.99977162e-01 6.63897634e-03 -1.26506162e-03 3.53401838e+02] [-6.63885954e-03 9.99977958e-01 9.65017232e-05 7.04952818e+00] [ 1.26567440e-03 -8.81009529e-05 9.99999195e-01 -3.41037081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.645898227 meters 0.08726202935856792 Centerline is valid? [True, True] Translation: X:353.43, Y:7.03, Z:-3.41 [[ 9.99976664e-01 6.83107157e-03 -8.34100416e-05 3.53430569e+02] [-6.83107105e-03 9.99976668e-01 6.44222375e-06 7.02862944e+00] [ 8.34521028e-05 -5.87229350e-06 9.99999997e-01 -3.41158355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67589822699995 meters 0.06915199639657357 Centerline is valid? [True, True] Translation: X:353.46, Y:7.05, Z:-3.41 [[ 9.99976539e-01 6.84746809e-03 1.84506702e-04 3.53464189e+02] [-6.84746563e-03 9.99976556e-01 -1.39239146e-05 7.05198782e+00] [-1.84597720e-04 1.26601847e-05 9.99999983e-01 -3.40954819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.705898227 meters 0.08743655947945754 Centerline is valid? [True, True] Translation: X:353.49, Y:7.03, Z:-3.41 [[ 9.99978675e-01 6.52583565e-03 -2.51365569e-04 3.53492454e+02] [-6.52583101e-03 9.99978706e-01 1.92647766e-05 7.02888546e+00] [ 2.51485935e-04 -1.76239966e-05 9.99999968e-01 -3.41292073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73589822699995 meters 0.09016383802418708 Centerline is valid? [True, True] Translation: X:353.52, Y:7.03, Z:-3.41 [[ 9.99982057e-01 5.98975548e-03 -9.65147447e-05 3.53522385e+02] [-5.98975477e-03 9.99982061e-01 7.62581805e-06 7.02545758e+00] [ 9.65586902e-05 -7.04758157e-06 9.99999995e-01 -3.41345457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.765898227 meters 0.09216484584405456 Centerline is valid? [True, True] Translation: X:353.55, Y:7.02, Z:-3.41 [[ 9.99995246e-01 2.86012738e-03 1.15221525e-03 3.53553321e+02] [-2.86002799e-03 9.99995906e-01 -8.79017104e-05 7.02298933e+00] [-1.15246194e-03 8.46059247e-05 9.99999332e-01 -3.41117619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.79589822699995 meters 0.09597249054831124 Centerline is valid? [True, True] Translation: X:353.58, Y:7.02, Z:-3.41 [[ 9.99999634e-01 7.74355935e-04 3.63206314e-04 3.53582913e+02] [-7.74345931e-04 9.99999700e-01 -2.76825430e-05 7.01669649e+00] [-3.63227641e-04 2.74012855e-05 9.99999934e-01 -3.41310854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.825898227 meters 0.09822787730400642 Centerline is valid? [True, True] Translation: X:353.61, Y:7.01, Z:-3.42 [[ 9.99998440e-01 -1.19918533e-03 -1.29663565e-03 3.53613051e+02] [ 1.19931479e-03 9.99999276e-01 9.90700634e-05 7.01250251e+00] [ 1.29651591e-03 -1.00624983e-04 9.99999154e-01 -3.41620873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.85589822699995 meters 0.1018021732892424 Centerline is valid? [True, False] Translation: X:353.61, Y:7.01, Z:-3.42 [[ 9.99998424e-01 -1.16013495e-03 -1.34417531e-03 3.53613421e+02] [ 1.16039348e-03 9.99999308e-01 1.91568284e-04 7.01210373e+00] [ 1.34395213e-03 -1.93127754e-04 9.99999078e-01 -3.41670459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.885898227 meters 0.10846663018130087 Centerline is valid? [False, False] Translation: X:353.61, Y:7.01, Z:-3.42 [[ 9.99998570e-01 -1.05816659e-03 -1.31887471e-03 3.53613452e+02] [ 1.05875592e-03 9.99999340e-01 4.46229181e-04 7.01096796e+00] [ 1.31840165e-03 -4.47624909e-04 9.99999031e-01 -3.41696330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91589822699996 meters 0.09102087136722546 Centerline is valid? [False, True] Translation: X:353.61, Y:7.01, Z:-3.42 [[ 9.99998610e-01 -1.05705430e-03 -1.28946558e-03 3.53613254e+02] [ 1.05763350e-03 9.99999340e-01 4.48576459e-04 7.01095421e+00] [ 1.28899056e-03 -4.49939618e-04 9.99999068e-01 -3.41673543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.945898227 meters 0.08966186066003287 Centerline is valid? [True, True] Translation: X:353.64, Y:7.01, Z:-3.41 [[ 9.99999411e-01 -1.08325869e-03 7.32371728e-05 3.53643478e+02] [ 1.08325915e-03 9.99999413e-01 -6.22785907e-06 7.01102051e+00] [-7.32303835e-05 6.30719024e-06 9.99999997e-01 -3.41444386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97589822699996 meters 0.1089038304794927 Centerline is valid? [True, False] Translation: X:353.64, Y:7.01, Z:-3.41 [[ 9.99999282e-01 -1.19768587e-03 3.01507378e-05 3.53643504e+02] [ 1.19769435e-03 9.99999243e-01 -2.83011653e-04 7.01226847e+00] [-2.98117559e-05 2.83047561e-04 9.99999959e-01 -3.41419639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.005898227 meters 0.1058962947319066 Centerline is valid? [False, False] Translation: X:353.65, Y:7.01, Z:-3.42 [[ 9.99999181e-01 7.13416267e-04 -1.06231733e-03 3.53650299e+02] [-7.11918936e-04 9.99998754e-01 1.40920630e-03 7.01431679e+00] [ 1.06332135e-03 -1.40844886e-03 9.99998443e-01 -3.41896311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03589822699996 meters 0.10461206443327861 Centerline is valid? [False, False] Translation: X:353.61, Y:7.02, Z:-3.42 [[ 9.99998597e-01 6.47923669e-04 -1.54466077e-03 3.53610400e+02] [-6.47773003e-04 9.99999785e-01 9.80384942e-05 7.02088005e+00] [ 1.54472396e-03 -9.70377671e-05 9.99998802e-01 -3.42214880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.065898227 meters 0.1041838234971395 Centerline is valid? [False, False] Translation: X:353.65, Y:7.02, Z:-3.42 [[ 9.99999477e-01 4.18956946e-04 -9.32622277e-04 3.53649841e+02] [-4.19128613e-04 9.99999895e-01 -1.83881865e-04 7.02127404e+00] [ 9.32545140e-04 1.84272658e-04 9.99999548e-01 -3.41856929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09589822699996 meters 0.07488005478643124 Centerline is valid? [False, True] Translation: X:353.63, Y:7.02, Z:-3.42 [[ 9.99991074e-01 -1.34487778e-03 4.00537382e-03 3.53629776e+02] [ 1.32196661e-03 9.99982782e-01 5.71727151e-03 7.02419530e+00] [-4.01299389e-03 -5.71192551e-03 9.99975635e-01 -3.42456052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.125898227 meters 0.08849998634170574 Centerline is valid? [True, True] Translation: X:353.66, Y:7.01, Z:-3.42 [[ 9.99984312e-01 -1.11314941e-03 5.48972319e-03 3.53660383e+02] [ 1.11539389e-03 9.99999296e-01 -4.05805643e-04 7.01245873e+00] [-5.48926760e-03 4.11922480e-04 9.99984849e-01 -3.42418849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15589822699997 meters 0.08192490842423807 Centerline is valid? [True, True] Translation: X:353.69, Y:7.02, Z:-3.42 [[ 9.99980668e-01 -1.98464067e-03 5.89282448e-03 3.53693342e+02] [ 1.98725105e-03 9.99997930e-01 -4.37153158e-04 7.02125329e+00] [-5.89194469e-03 4.48855229e-04 9.99982542e-01 -3.42305983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.18589822699994 meters 0.081457099881257 Centerline is valid? [True, True] Translation: X:353.72, Y:7.02, Z:-3.42 [[ 9.99979013e-01 -3.08624028e-03 5.69634286e-03 3.53724540e+02] [ 3.08869964e-03 9.99995140e-01 -4.22997954e-04 7.02226302e+00] [-5.69500971e-03 4.40583369e-04 9.99983686e-01 -3.42313256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21589822699997 meters 0.0846359564585246 Centerline is valid? [True, True] Translation: X:353.75, Y:7.02, Z:-3.43 [[ 9.99978849e-01 -4.67397543e-03 4.52282932e-03 3.53754474e+02] [ 4.67554243e-03 9.99989013e-01 -3.35954271e-04 7.01903449e+00] [-4.52120939e-03 3.57093846e-04 9.99989716e-01 -3.42546413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.24589822699994 meters 0.0944930256051395 Centerline is valid? [True, True] Translation: X:353.78, Y:7.01, Z:-3.43 [[ 9.99967299e-01 -7.25646229e-03 3.57004511e-03 3.53783663e+02] [ 7.25745367e-03 9.99973629e-01 -2.64816203e-04 7.01091889e+00] [-3.56802934e-03 2.90716980e-04 9.99993592e-01 -3.42737232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.27589822699997 meters 0.08487783649963113 Centerline is valid? [True, True] Translation: X:353.82, Y:7.02, Z:-3.43 [[ 9.99954182e-01 -8.42751304e-03 4.53983327e-03 3.53815341e+02] [ 8.42913097e-03 9.99964417e-01 -3.37370052e-04 7.02347813e+00] [-4.53682854e-03 3.75621443e-04 9.99989638e-01 -3.42538486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.30589822699994 meters 0.09840698884008395 Centerline is valid? [True, True] Translation: X:353.84, Y:7.01, Z:-3.43 [[ 9.99940150e-01 -9.46231456e-03 5.49187075e-03 3.53844732e+02] [ 9.46469823e-03 9.99955125e-01 -4.08208362e-04 7.00617613e+00] [-5.48776171e-03 4.60162830e-04 9.99984836e-01 -3.42517959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.335898227 meters 0.09840698884008395 Centerline is valid? [True, True] Translation: X:353.88, Y:7.00, Z:-3.43 [[ 9.99940553e-01 -9.41965436e-03 5.49187886e-03 3.53876416e+02] [ 9.42203680e-03 9.99955528e-01 -4.08099293e-04 7.00373366e+00] [-5.48779048e-03 4.59819717e-04 9.99984836e-01 -3.42552785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.36589822699995 meters 0.09349965187178706 Centerline is valid? [True, True] Translation: X:353.91, Y:7.01, Z:-3.43 [[ 9.99928545e-01 -1.06593297e-02 5.41148726e-03 3.53907706e+02] [ 1.06616631e-02 9.99943082e-01 -4.02526574e-04 7.01186848e+00] [-5.40688859e-03 4.60193265e-04 9.99985277e-01 -3.42526836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.395898227 meters 0.08910945186967448 Centerline is valid? [True, True] Translation: X:353.94, Y:7.02, Z:-3.43 [[ 9.99937259e-01 -1.04866947e-02 3.93802701e-03 3.53939992e+02] [ 1.04879288e-02 9.99944957e-01 -2.92855309e-04 7.01777293e+00] [-3.93473916e-03 3.34138682e-04 9.99992203e-01 -3.42742219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.42589822699995 meters 0.08961993868907922 Centerline is valid? [True, True] Translation: X:353.97, Y:7.02, Z:-3.43 [[ 9.99946235e-01 -1.00322075e-02 2.62319812e-03 3.53970088e+02] [ 1.00327537e-02 9.99949652e-01 -1.95147496e-04 7.01691244e+00] [-2.62110829e-03 2.21454904e-04 9.99996540e-01 -3.43045843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.455898227 meters 0.08632089933742225 Centerline is valid? [True, True] Translation: X:354.00, Y:7.02, Z:-3.43 [[ 9.99952324e-01 -9.62170672e-03 1.66506100e-03 3.54002177e+02] [ 9.62192600e-03 9.99953701e-01 -1.23736288e-04 7.02047567e+00] [-1.66379336e-03 1.39751483e-04 9.99998606e-01 -3.43148338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.48589822699995 meters 0.09539767324418363 Centerline is valid? [True, True] Translation: X:354.03, Y:7.01, Z:-3.43 [[ 9.99955351e-01 -9.29578638e-03 1.69829201e-03 3.54031566e+02] [ 9.29601429e-03 9.99956783e-01 -1.26354928e-04 7.00861133e+00] [-1.69704404e-03 1.42136634e-04 9.99998550e-01 -3.43313568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.515898227 meters 0.08772246167755382 Centerline is valid? [True, True] Translation: X:354.06, Y:7.02, Z:-3.43 [[ 9.99969748e-01 -7.56068691e-03 1.82749520e-03 3.54063259e+02] [ 7.56094821e-03 9.99971406e-01 -1.36115304e-04 7.02088341e+00] [-1.82641382e-03 1.49928783e-04 9.99998321e-01 -3.43082692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.54589822699995 meters 0.08301575280340445 Centerline is valid? [True, True] Translation: X:354.09, Y:7.03, Z:-3.43 [[ 9.99978112e-01 -6.35325788e-03 1.84685829e-03 3.54094366e+02] [ 6.35352266e-03 9.99979807e-01 -1.37539427e-04 7.02783921e+00] [-1.84594717e-03 1.49270472e-04 9.99998285e-01 -3.43088833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.575898227 meters 0.08526281525821619 Centerline is valid? [True, True] Translation: X:354.12, Y:7.03, Z:-3.43 [[ 9.99986479e-01 -4.92053857e-03 1.68245627e-03 3.54123989e+02] [ 4.92075630e-03 9.99987885e-01 -1.25296062e-04 7.02580056e+00] [-1.68181936e-03 1.33573325e-04 9.99998577e-01 -3.43172091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.60589822699995 meters 0.08378435473024737 Centerline is valid? [True, True] Translation: X:354.15, Y:7.03, Z:-3.43 [[ 9.99991800e-01 -3.64693381e-03 1.76048480e-03 3.54154685e+02] [ 3.64717024e-03 9.99993340e-01 -1.31107011e-04 7.02821474e+00] [-1.75999493e-03 1.37526724e-04 9.99998442e-01 -3.43202349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.635898227 meters 0.08457365609593619 Centerline is valid? [True, True] Translation: X:354.18, Y:7.03, Z:-3.43 [[ 9.99997553e-01 -1.82987033e-03 1.24359963e-03 3.54184452e+02] [ 1.82998691e-03 9.99998321e-01 -9.26134840e-05 7.02964300e+00] [-1.24342807e-03 9.48890284e-05 9.99999222e-01 -3.43333382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.66589822699996 meters 0.07978963202190703 Centerline is valid? [True, True] Translation: X:354.22, Y:7.04, Z:-3.43 [[ 9.99999693e-01 -4.88597508e-04 6.12940018e-04 3.54215732e+02] [ 4.88625578e-04 9.99999880e-01 -4.56469341e-05 7.03872530e+00] [-6.12917641e-04 4.59464183e-05 9.99999811e-01 -3.43241106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.695898227 meters 0.07600519192519505 Centerline is valid? [True, True] Translation: X:354.25, Y:7.04, Z:-3.43 [[ 9.99999424e-01 1.07330567e-03 2.03298356e-05 3.54246764e+02] [-1.07330564e-03 9.99999424e-01 -1.46282722e-06 7.03992176e+00] [-2.03313940e-05 1.44100625e-06 1.00000000e+00 -3.43449326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.72589822699996 meters 0.07944933167297309 Centerline is valid? [True, True] Translation: X:354.28, Y:7.03, Z:-3.44 [[ 9.99995392e-01 3.03304889e-03 -1.29504026e-04 3.54276478e+02] [-3.03304767e-03 9.99995400e-01 9.64504524e-06 7.03484441e+00] [ 1.29532684e-04 -9.25220891e-06 9.99999992e-01 -3.43621114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.755898227 meters 0.08321184025443679 Centerline is valid? [True, True] Translation: X:354.31, Y:7.03, Z:-3.44 [[ 9.99965699e-01 8.22200067e-03 1.00025360e-03 3.54306125e+02] [-8.22193013e-03 9.99966197e-01 -7.46087284e-05 7.03088893e+00] [-1.00083322e-03 6.63821540e-05 9.99999497e-01 -3.43519638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.78589822699996 meters 0.06827707495570602 Centerline is valid? [True, True] Translation: X:354.34, Y:7.05, Z:-3.43 [[ 9.99929447e-01 1.16265258e-02 2.43407984e-03 3.54338126e+02] [-1.16261189e-02 9.99932398e-01 -1.81259824e-04 7.04929440e+00] [-2.43602272e-03 1.52948134e-04 9.99997021e-01 -3.43109484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.815898227 meters 0.06658169318651899 Centerline is valid? [True, True] Translation: X:354.37, Y:7.05, Z:-3.43 [[ 9.99877323e-01 1.52814598e-02 3.43729186e-03 3.54368234e+02] [-1.52806699e-02 9.99883211e-01 -2.55962592e-04 7.05137552e+00] [-3.44080191e-03 2.03407069e-04 9.99994060e-01 -3.42936690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.84589822699996 meters 0.0657016349785385 Centerline is valid? [True, True] Translation: X:354.40, Y:7.05, Z:-3.43 [[ 9.99816240e-01 1.86690141e-02 4.35362018e-03 3.54398338e+02] [-1.86677790e-02 9.99825689e-01 -3.24167693e-04 7.05218622e+00] [-4.35891319e-03 2.42835704e-04 9.99990470e-01 -3.42931305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.875898227 meters 0.058892847383600726 Centerline is valid? [True, True] Translation: X:354.43, Y:7.06, Z:-3.43 [[ 9.99690571e-01 2.40431790e-02 6.37872899e-03 3.54429767e+02] [-2.40406367e-02 9.99710869e-01 -4.74944243e-04 7.06129788e+00] [-6.38830387e-03 3.21448575e-04 9.99979543e-01 -3.42691741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.90589822699997 meters 0.057685985854442894 Centerline is valid? [True, True] Translation: X:354.46, Y:7.06, Z:-3.43 [[ 9.99631792e-01 2.60221317e-02 7.68957317e-03 3.54459799e+02] [-2.60184942e-02 9.99661298e-01 -5.72726723e-04 7.06169129e+00] [-7.70187226e-03 3.72444725e-04 9.99970271e-01 -3.42527653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93589822699994 meters 0.05327895437702284 Centerline is valid? [True, True] Translation: X:354.49, Y:7.07, Z:-3.42 [[ 9.99564210e-01 2.80313567e-02 9.25380181e-03 3.54491374e+02] [-2.80261749e-02 9.99606952e-01 -6.89194486e-04 7.06642288e+00] [-9.26948368e-03 4.29545474e-04 9.99956945e-01 -3.42225124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.96589822699997 meters 0.04757298866390306 Centerline is valid? [True, True] Translation: X:354.52, Y:7.07, Z:-3.42 [[ 9.99487317e-01 3.03271993e-02 1.02647295e-02 3.54523189e+02] [-3.03209416e-02 9.99539922e-01 -7.64741711e-04 7.07342346e+00] [-1.02831994e-02 4.53113377e-04 9.99947024e-01 -3.42045940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99589822699994 meters 0.04689689099864696 Centerline is valid? [True, True] Translation: X:354.55, Y:7.08, Z:-3.42 [[ 9.99354287e-01 3.46362886e-02 9.55706391e-03 3.54553353e+02] [-3.46310584e-02 9.99399911e-01 -7.12261307e-04 7.07567353e+00] [-9.57599891e-03 3.80830152e-04 9.99954077e-01 -3.42260559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.02589822699997 meters 0.0460697695214636 Centerline is valid? [True, True] Translation: X:354.58, Y:7.08, Z:-3.42 [[ 9.99307676e-01 3.61595218e-02 8.75546307e-03 3.54583628e+02] [-3.61551916e-02 9.99345974e-01 -6.52393034e-04 7.07587438e+00] [-8.77332699e-03 3.35385921e-04 9.99961457e-01 -3.42489006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05589822699994 meters 0.04547426253011349 Centerline is valid? [True, True] Translation: X:354.61, Y:7.08, Z:-3.43 [[ 9.99270774e-01 3.71678321e-02 8.74488176e-03 3.54614549e+02] [-3.71635503e-02 9.99308984e-01 -6.51677136e-04 7.07572635e+00] [-8.76306033e-03 3.26211062e-04 9.99961550e-01 -3.42549179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.085898227 meters 0.03893252918429114 Centerline is valid? [True, True] Translation: X:354.65, Y:7.08, Z:-3.42 [[ 9.99154729e-01 3.98313847e-02 1.01630937e-02 3.54645749e+02] [-3.98257362e-02 9.99206353e-01 -7.57641726e-04 7.08453249e+00] [-1.01852057e-02 3.52248625e-04 9.99948067e-01 -3.42273824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11589822699995 meters 0.041614358651409736 Centerline is valid? [True, True] Translation: X:354.68, Y:7.08, Z:-3.42 [[ 9.99075899e-01 4.16199991e-02 1.07295749e-02 3.54676192e+02] [-4.16138064e-02 9.99133450e-01 -7.99867405e-04 7.08016536e+00] [-1.07535676e-02 3.52629797e-04 9.99942117e-01 -3.42257120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.145898227 meters 0.038404808770584054 Centerline is valid? [True, True] Translation: X:354.71, Y:7.08, Z:-3.42 [[ 9.98976390e-01 4.38221939e-02 1.12155357e-02 3.54708420e+02] [-4.38155631e-02 9.99039287e-01 -8.36366098e-04 7.08326949e+00] [-1.12414122e-02 3.44094972e-04 9.99936754e-01 -3.42212971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17589822699995 meters 0.03297936490030255 Centerline is valid? [True, True] Translation: X:354.74, Y:7.09, Z:-3.42 [[ 9.98878262e-01 4.59827919e-02 1.13048500e-02 3.54740161e+02] [-4.59761891e-02 9.98942180e-01 -8.43395883e-04 7.08923037e+00] [-1.13316732e-02 3.22695893e-04 9.99935742e-01 -3.42308556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.205898227 meters 0.03189167887201692 Centerline is valid? [True, True] Translation: X:354.77, Y:7.09, Z:-3.43 [[ 9.98686254e-01 5.03386386e-02 9.58058344e-03 3.54769690e+02] [-5.03340945e-02 9.98732180e-01 -7.14983573e-04 7.09079715e+00] [-9.60442829e-03 2.31814274e-04 9.99953850e-01 -3.42661253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23589822699995 meters 0.0293842937856063 Centerline is valid? [True, True] Translation: X:354.80, Y:7.09, Z:-3.43 [[ 9.98575316e-01 5.26563274e-02 8.64002700e-03 3.54800709e+02] [-5.26527194e-02 9.98612675e-01 -6.44680295e-04 7.09313659e+00] [-8.66198697e-03 1.88840912e-04 9.99962466e-01 -3.42856190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.265898227 meters 0.024417570071676088 Centerline is valid? [True, True] Translation: X:354.83, Y:7.10, Z:-3.43 [[ 9.98451129e-01 5.50814195e-02 7.83460057e-03 3.54830878e+02] [-5.50785269e-02 9.98481855e-01 -5.84652260e-04 7.09806208e+00] [-7.85490998e-03 1.52228451e-04 9.99969138e-01 -3.43036910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.29589822699995 meters 0.021028822994970685 Centerline is valid? [True, True] Translation: X:354.86, Y:7.10, Z:-3.43 [[ 9.98382713e-01 5.64082932e-02 7.07550820e-03 3.54860580e+02] [-5.64059682e-02 9.98407776e-01 -5.27875758e-04 7.10076298e+00] [-7.09401898e-03 1.27921141e-04 9.99974829e-01 -3.43183243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.325898227 meters 0.022803101688382614 Centerline is valid? [True, True] Translation: X:354.89, Y:7.10, Z:-3.43 [[ 9.98390651e-01 5.63524120e-02 6.36498321e-03 3.54888321e+02] [-5.63505292e-02 9.98410934e-01 -4.74902182e-04 7.09512897e+00] [-6.38163072e-03 1.15467727e-04 9.99979631e-01 -3.43395207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.35589822699995 meters 0.0260476148766703 Centerline is valid? [True, True] Translation: X:354.92, Y:7.09, Z:-3.44 [[ 9.98414086e-01 5.59698080e-02 6.05759482e-03 3.54916556e+02] [-5.59680983e-02 9.98432455e-01 -4.51518748e-04 7.08777231e+00] [-6.07337069e-03 1.11770615e-04 9.99981551e-01 -3.43565574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.385898227 meters 0.023636972172718908 Centerline is valid? [True, True] Translation: X:354.95, Y:7.09, Z:-3.44 [[ 9.98405276e-01 5.61776508e-02 5.56572649e-03 3.54945657e+02] [-5.61762113e-02 9.98420784e-01 -4.14754838e-04 7.08789067e+00] [-5.58023696e-03 1.01431991e-04 9.99984425e-01 -3.43570733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41589822699996 meters 0.027052685232698277 Centerline is valid? [True, True] Translation: X:354.98, Y:7.09, Z:-3.44 [[ 9.98354578e-01 5.71258604e-02 4.97713599e-03 3.54975052e+02] [-5.71247226e-02 9.98366981e-01 -3.70596599e-04 7.08799499e+00] [-4.99017888e-03 8.56692983e-05 9.99987545e-01 -3.43580214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.445898227 meters 0.020705281974969594 Centerline is valid? [True, True] Translation: X:355.00, Y:7.09, Z:-3.44 [[ 9.98264933e-01 5.87065061e-02 4.54631677e-03 3.55003255e+02] [-5.87055731e-02 9.98275283e-01 -3.38507917e-04 7.08658298e+00] [-4.55834828e-03 7.10264517e-05 9.99989608e-01 -3.43733658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47589822699996 meters 0.01685240271280721 Centerline is valid? [True, True] Translation: X:355.03, Y:7.09, Z:-3.44 [[ 9.98053408e-01 6.21768974e-02 4.84021558e-03 3.55032542e+02] [-6.21758813e-02 9.98065143e-01 -3.60267871e-04 7.09114667e+00] [-4.85325080e-03 5.86219072e-05 9.99988221e-01 -3.43574566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.505898227 meters 0.024308426750209288 Centerline is valid? [True, True] Translation: X:355.06, Y:7.09, Z:-3.44 [[ 9.97963426e-01 6.35710859e-02 5.26464991e-03 3.55061124e+02] [-6.35699046e-02 9.97977311e-01 -3.91574730e-04 7.09157837e+00] [-5.27889400e-03 5.61039666e-05 9.99986065e-01 -3.43557392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53589822699996 meters 0.014367081679865095 Centerline is valid? [True, True] Translation: X:355.09, Y:7.09, Z:-3.44 [[ 9.97875311e-01 6.49605283e-02 4.99935452e-03 3.55089829e+02] [-6.49594816e-02 9.97887833e-01 -3.71639334e-04 7.09132935e+00] [-5.01293694e-03 4.60942378e-05 9.99987434e-01 -3.43654772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.565898227 meters 0.013573307534390873 Centerline is valid? [True, True] Translation: X:355.12, Y:7.09, Z:-3.44 [[ 9.97768802e-01 6.66912391e-02 3.11404876e-03 3.55117260e+02] [-6.66908410e-02 9.97773661e-01 -2.31623002e-04 7.09016473e+00] [-3.12256305e-03 2.34276745e-05 9.99995125e-01 -3.44071280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59589822699996 meters 0.013275159810478094 Centerline is valid? [True, True] Translation: X:355.15, Y:7.09, Z:-3.44 [[ 9.97735476e-01 6.72354721e-02 1.81958617e-03 3.55145792e+02] [-6.72353370e-02 9.97737135e-01 -1.35391502e-04 7.08983339e+00] [-1.82457180e-03 1.27444156e-05 9.99998335e-01 -3.44276401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.625898227 meters 0.012406689030520496 Centerline is valid? [True, True] Translation: X:355.17, Y:7.09, Z:-3.44 [[ 9.97708877e-01 6.76326095e-02 1.68118144e-03 3.55174484e+02] [-6.76324947e-02 9.97710294e-01 -1.25078568e-04 7.09006091e+00] [-1.68579142e-03 1.10895023e-05 9.99998579e-01 -3.44184531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65589822699997 meters 0.012390418757458974 Centerline is valid? [True, True] Translation: X:355.20, Y:7.09, Z:-3.44 [[ 9.97672743e-01 6.81384329e-02 2.50052216e-03 3.55202600e+02] [-6.81381813e-02 9.97675876e-01 -1.85759330e-04 7.08844350e+00] [-2.50736799e-03 1.49459875e-05 9.99996856e-01 -3.44165286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.68589822699994 meters 0.012069036355496856 Centerline is valid? [True, True] Translation: X:355.23, Y:7.09, Z:-3.44 [[ 9.97677600e-01 6.79741563e-02 4.34975374e-03 3.55231133e+02] [-6.79733971e-02 9.97687082e-01 -3.22305850e-04 7.08685142e+00] [-4.36160158e-03 2.58897892e-05 9.99990488e-01 -3.43712798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71589822699997 meters 0.01305177119853636 Centerline is valid? [True, True] Translation: X:355.26, Y:7.08, Z:-3.44 [[ 9.97741514e-01 6.69961994e-02 4.83530138e-03 3.55259118e+02] [-6.69952507e-02 9.97753230e-01 -3.58099110e-04 7.08230329e+00] [-4.84842885e-03 3.33481204e-05 9.99988246e-01 -3.43724503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.74589822699994 meters 0.01419877543164003 Centerline is valid? [True, True] Translation: X:355.29, Y:7.08, Z:-3.44 [[ 9.97821284e-01 6.58057229e-02 4.72139788e-03 3.55287108e+02] [-6.58048064e-02 9.97832454e-01 -3.49362561e-04 7.07747010e+00] [-4.73415409e-03 3.79107262e-05 9.99988793e-01 -3.43785026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.77589822699997 meters 0.015166964369055125 Centerline is valid? [True, True] Translation: X:355.32, Y:7.07, Z:-3.44 [[ 9.97901333e-01 6.45696635e-02 4.86708438e-03 3.55315829e+02] [-6.45686769e-02 9.97913201e-01 -3.59725408e-04 7.07200475e+00] [-4.88015510e-03 4.47092654e-05 9.99988091e-01 -3.43825951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.80589822699994 meters 0.01487881625171595 Centerline is valid? [True, True] Translation: X:355.34, Y:7.07, Z:-3.43 [[ 9.97961485e-01 6.33624563e-02 7.62055498e-03 3.55344648e+02] [-6.33600070e-02 9.97990578e-01 -5.62631643e-04 7.06515500e+00] [-7.64089179e-03 7.86462929e-05 9.99970805e-01 -3.43340673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.835898227 meters 0.01434539763892963 Centerline is valid? [True, True] Translation: X:355.37, Y:7.06, Z:-3.43 [[ 9.97912944e-01 6.38655395e-02 9.53668432e-03 3.55374169e+02] [-6.38617324e-02 9.97958508e-01 -7.03497455e-04 7.06115438e+00] [-9.56214450e-03 9.30000343e-05 9.99954277e-01 -3.43066520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.86589822699995 meters 0.013617715773850918 Centerline is valid? [True, True] Translation: X:355.40, Y:7.06, Z:-3.43 [[ 9.97842129e-01 6.47690208e-02 1.07731271e-02 3.55403533e+02] [-6.47642183e-02 9.97900278e-01 -7.94424400e-04 7.05749652e+00] [-1.08019606e-02 9.49969776e-05 9.99941653e-01 -3.42836785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.895898227 meters 0.012364087059475136 Centerline is valid? [True, True] Translation: X:355.43, Y:7.05, Z:-3.43 [[ 9.97733278e-01 6.63654750e-02 1.11323295e-02 3.55432657e+02] [-6.63604492e-02 9.97795378e-01 -8.20646718e-04 7.05472231e+00] [-1.11622496e-02 8.00401511e-05 9.99937697e-01 -3.42793451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.92589822699995 meters 0.009733314979742162 Centerline is valid? [True, True] Translation: X:355.46, Y:7.06, Z:-3.43 [[ 9.97405773e-01 7.14671107e-02 8.61252101e-03 3.55462796e+02] [-7.14642940e-02 9.97442957e-01 -6.34751541e-04 7.05555134e+00] [-8.63586228e-03 1.76171188e-05 9.99962710e-01 -3.43271705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.955898227 meters 0.00952632789525854 Centerline is valid? [True, True] Translation: X:355.49, Y:7.06, Z:-3.43 [[ 9.97197423e-01 7.44201626e-02 7.67718416e-03 3.55492164e+02] [-7.44180125e-02 9.97226975e-01 -5.65740712e-04 7.05552476e+00] [-7.69799765e-03 -7.16560699e-06 9.99970370e-01 -3.43419951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.98589822699995 meters 0.01289071729319147 Centerline is valid? [True, True] Translation: X:355.52, Y:7.06, Z:-3.43 [[ 9.96781858e-01 7.97730537e-02 7.88586501e-03 3.55520227e+02] [-7.97709554e-02 9.96813050e-01 -5.80772237e-04 7.05807182e+00] [-7.90706313e-03 -5.01597557e-05 9.99968737e-01 -3.43483523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.015898227 meters 0.013648129689603123 Centerline is valid? [True, True] Translation: X:355.55, Y:7.05, Z:-3.43 [[ 9.96637608e-01 8.14998724e-02 8.44088795e-03 3.55549260e+02] [-8.14975350e-02 9.96673350e-01 -6.21082218e-04 7.05465308e+00] [-8.46342619e-03 -6.89176659e-05 9.99964182e-01 -3.43335629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.04589822699995 meters 0.014649747957148834 Centerline is valid? [True, True] Translation: X:355.58, Y:7.05, Z:-3.43 [[ 9.96500193e-01 8.31282104e-02 8.77869352e-03 3.55578146e+02] [-8.31257490e-02 9.96538857e-01 -6.45518642e-04 7.05201712e+00] [-8.80197002e-03 -8.64760225e-05 9.99961258e-01 -3.43328889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.075898227 meters 0.01616646965558605 Centerline is valid? [True, True] Translation: X:355.61, Y:7.05, Z:-3.43 [[ 9.96379785e-01 8.45999547e-02 8.37686773e-03 3.55606387e+02] [-8.45977683e-02 9.96414993e-01 -6.15632328e-04 7.04945500e+00] [-8.39891906e-03 -9.52607081e-05 9.99964724e-01 -3.43465791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.10589822699995 meters 0.017958021772608378 Centerline is valid? [True, True] Translation: X:355.63, Y:7.05, Z:-3.44 [[ 9.96304333e-01 8.55652224e-02 7.50125139e-03 3.55633602e+02] [-8.55634991e-02 9.96332567e-01 -5.50948716e-04 7.04702689e+00] [-7.52088310e-03 -9.29207231e-05 9.99971713e-01 -3.43713630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.135898227 meters 0.018554519259623932 Centerline is valid? [True, True] Translation: X:355.66, Y:7.04, Z:-3.44 [[ 9.96212561e-01 8.67398570e-02 6.06049145e-03 3.55661391e+02] [-8.67387562e-02 9.96230992e-01 -4.44738285e-04 7.03767183e+00] [-6.07622594e-03 -8.26256240e-05 9.99981536e-01 -3.43888702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.16589822699996 meters 0.020261686984932303 Centerline is valid? [True, True] Translation: X:355.69, Y:7.03, Z:-3.44 [[ 9.96176351e-01 8.71932660e-02 5.47826622e-03 3.55688571e+02] [-8.71923742e-02 9.96191412e-01 -4.01867944e-04 7.03394224e+00] [-5.49244194e-03 -7.73316958e-05 9.99984913e-01 -3.43964837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.195898227 meters 0.02090055285425496 Centerline is valid? [True, True] Translation: X:355.72, Y:7.03, Z:-3.44 [[ 9.96089741e-01 8.82016576e-02 5.06911747e-03 3.55717420e+02] [-8.82009087e-02 9.96102636e-01 -3.71530763e-04 7.02872228e+00] [-5.08213090e-03 -7.70227852e-05 9.99987083e-01 -3.44019589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.22589822699996 meters 0.02090055285425496 Centerline is valid? [True, True] Translation: X:355.75, Y:7.03, Z:-3.44 [[ 9.96093771e-01 8.81561245e-02 5.06913441e-03 3.55745679e+02] [-8.81553762e-02 9.96106667e-01 -3.71299316e-04 7.02674641e+00] [-5.08213089e-03 -7.70225153e-05 9.99987083e-01 -3.44050637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.255898227 meters 0.02594525487704498 Centerline is valid? [True, True] Translation: X:355.77, Y:7.02, Z:-3.44 [[ 9.95804309e-01 9.14126755e-02 4.18333197e-03 3.55773595e+02] [-9.14121954e-02 9.95813093e-01 -3.06228473e-04 7.02284167e+00] [-4.19380992e-03 -7.74639273e-05 9.99991203e-01 -3.44177057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.28589822699996 meters 0.028311751806566074 Centerline is valid? [True, True] Translation: X:355.80, Y:7.02, Z:-3.44 [[ 9.95571241e-01 9.39379216e-02 3.68381755e-03 3.55803106e+02] [-9.39375672e-02 9.95578054e-01 -2.69504711e-04 7.01989817e+00] [-3.69284462e-03 -7.77377183e-05 9.99993178e-01 -3.44244619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.315898227 meters 0.03029854324693159 Centerline is valid? [True, True] Translation: X:355.83, Y:7.02, Z:-3.44 [[ 9.95252794e-01 9.72671652e-02 3.31280069e-03 3.55831928e+02] [-9.72668968e-02 9.95258304e-01 -2.42406737e-04 7.01653353e+00] [-3.32067061e-03 -8.09698602e-05 9.99994483e-01 -3.44211807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.34589822699996 meters 0.04041026589467065 Centerline is valid? [True, True] Translation: X:355.86, Y:7.02, Z:-3.44 [[ 9.94450567e-01 1.05143545e-01 3.59228976e-03 3.55861447e+02] [-1.05143283e-01 9.94457048e-01 -2.62274202e-04 7.02276406e+00] [-3.59995432e-03 -1.16886410e-04 9.99993513e-01 -3.44157380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.375898227 meters 0.04227791438014436 Centerline is valid? [True, True] Translation: X:355.89, Y:7.02, Z:-3.44 [[ 9.94022072e-01 1.09097274e-01 4.23133716e-03 3.55891913e+02] [-1.09096945e-01 9.94031066e-01 -3.09223066e-04 7.02139369e+00] [-4.23981598e-03 -1.54251404e-04 9.99991000e-01 -3.43914092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.40589822699997 meters 0.05340638854618113 Centerline is valid? [True, True] Translation: X:355.92, Y:7.03, Z:-3.44 [[ 9.93618937e-01 1.12689771e-01 4.73544188e-03 3.55922268e+02] [-1.12689399e-01 9.93630203e-01 -3.46134227e-04 7.03259648e+00] [-4.74428386e-03 -1.89708577e-04 9.99988728e-01 -3.44011920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43589822699994 meters 0.05219962048415956 Centerline is valid? [True, True] Translation: X:355.95, Y:7.03, Z:-3.44 [[ 9.93334143e-01 1.15161598e-01 5.00858371e-03 3.55951273e+02] [-1.15161213e-01 9.93346748e-01 -3.66162795e-04 7.02788831e+00] [-5.01742823e-03 -2.13072567e-04 9.99987390e-01 -3.43974014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.46589822699997 meters 0.05050131816159919 Centerline is valid? [True, True] Translation: X:355.98, Y:7.02, Z:-3.44 [[ 9.93036958e-01 1.17647071e-01 6.06361464e-03 3.55980136e+02] [-1.17646555e-01 9.93055432e-01 -4.43021682e-04 7.02162168e+00] [-6.07362566e-03 -2.73426468e-04 9.99981518e-01 -3.43829861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49589822699994 meters 0.05576046224320361 Centerline is valid? [True, True] Translation: X:356.01, Y:7.03, Z:-3.44 [[ 9.93071856e-01 1.17327705e-01 6.51906424e-03 3.56008102e+02] [-1.17327102e-01 9.93093210e-01 -4.76145440e-04 7.02559087e+00] [-6.52990349e-03 -2.92016279e-04 9.99978637e-01 -3.43873353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.52589822699997 meters 0.05534516149723332 Centerline is valid? [True, True] Translation: X:356.04, Y:7.02, Z:-3.44 [[ 9.93180798e-01 1.16399860e-01 6.55559517e-03 3.56036370e+02] [-1.16399233e-01 9.93202391e-01 -4.78372129e-04 7.02001312e+00] [-6.56671525e-03 -2.87956240e-04 9.99978397e-01 -3.43833604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55589822699994 meters 0.04934776158023827 Centerline is valid? [True, True] Translation: X:356.06, Y:7.01, Z:-3.44 [[ 9.93329974e-01 1.15114477e-01 6.64981508e-03 3.56064343e+02] [-1.15113806e-01 9.93352192e-01 -4.84950777e-04 7.00956419e+00] [-6.66143323e-03 -2.83769378e-04 9.99977772e-01 -3.43843068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.585898227 meters 0.04424810202046734 Centerline is valid? [True, True] Translation: X:356.09, Y:7.00, Z:-3.44 [[ 9.93595588e-01 1.12781064e-01 6.94542556e-03 3.56093096e+02] [-1.12780277e-01 9.93619823e-01 -5.06076031e-04 6.99671471e+00] [-6.95818831e-03 -2.80472106e-04 9.99975752e-01 -3.43759204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61589822699995 meters 0.045897648609231956 Centerline is valid? [True, True] Translation: X:356.12, Y:7.00, Z:-3.44 [[ 9.93603333e-01 1.12685796e-01 7.37080505e-03 3.56121007e+02] [-1.12684908e-01 9.93630627e-01 -5.37005241e-04 6.99533477e+00] [-7.38437051e-03 -2.97008290e-04 9.99972691e-01 -3.43776017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.645898227 meters 0.047308737487075404 Centerline is valid? [True, True] Translation: X:356.15, Y:6.99, Z:-3.44 [[ 9.93454273e-01 1.13980912e-01 7.54716812e-03 3.56150179e+02] [-1.13980022e-01 9.93482890e-01 -5.49347224e-04 6.99350394e+00] [-7.56059749e-03 -3.14475039e-04 9.99971369e-01 -3.43795431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67589822699995 meters 0.04808297564638609 Centerline is valid? [True, True] Translation: X:356.18, Y:6.99, Z:-3.44 [[ 9.93290915e-01 1.15406236e-01 7.38640948e-03 3.56179480e+02] [-1.15405426e-01 9.93318327e-01 -5.37243300e-04 6.99117645e+00] [-7.39905714e-03 -3.18792845e-04 9.99972576e-01 -3.43864220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.705898227 meters 0.05020315492692783 Centerline is valid? [True, True] Translation: X:356.21, Y:6.99, Z:-3.44 [[ 9.93091654e-01 1.17105761e-01 7.43017583e-03 3.56208734e+02] [-1.17104990e-01 9.93119393e-01 -5.40291751e-04 6.99099336e+00] [-7.44232299e-03 -3.33551437e-04 9.99972250e-01 -3.43927413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73589822699995 meters 0.0562314482147916 Centerline is valid? [True, True] Translation: X:356.24, Y:6.99, Z:-3.44 [[ 9.92566059e-01 1.21434887e-01 8.13555711e-03 3.56238598e+02] [-1.21434111e-01 9.92599319e-01 -5.91166408e-04 6.99491525e+00] [-8.14713667e-03 -4.01162430e-04 9.99966731e-01 -3.43847502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.765898227 meters 0.057337960016898094 Centerline is valid? [True, True] Translation: X:356.27, Y:6.99, Z:-3.44 [[ 9.92315965e-01 1.23469452e-01 8.02002017e-03 3.56268098e+02] [-1.23468763e-01 9.92348288e-01 -5.82835551e-04 6.99281914e+00] [-8.03061567e-03 -4.11864951e-04 9.99967669e-01 -3.43904985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.79589822699995 meters 0.05897409966307126 Centerline is valid? [True, True] Translation: X:356.30, Y:6.99, Z:-3.44 [[ 9.92159046e-01 1.24771300e-01 7.24910636e-03 3.56297865e+02] [-1.24770773e-01 9.92185455e-01 -5.26673006e-04 6.99115370e+00] [-7.25817157e-03 -3.81933213e-04 9.99973586e-01 -3.44057140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.825898227 meters 0.06370610050991549 Centerline is valid? [True, True] Translation: X:356.33, Y:6.99, Z:-3.44 [[ 9.92121641e-01 1.25156851e-01 5.51466508e-03 3.56325869e+02] [-1.25156550e-01 9.92136925e-01 -4.00910439e-04 6.99230200e+00] [-5.52147954e-03 -2.92444535e-04 9.99984714e-01 -3.44436521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.85589822699995 meters 0.060497478563426466 Centerline is valid? [True, True] Translation: X:356.35, Y:6.98, Z:-3.44 [[ 9.92125856e-01 1.25138868e-01 5.15269376e-03 3.56354002e+02] [-1.25138608e-01 9.92139198e-01 -3.74027224e-04 6.98487674e+00] [-5.15899480e-03 -2.73718847e-04 9.99986655e-01 -3.44471290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.885898227 meters 0.06403504958755624 Centerline is valid? [True, True] Translation: X:356.38, Y:6.99, Z:-3.45 [[ 9.92129103e-01 1.25120995e-01 4.95774564e-03 3.56382011e+02] [-1.25120755e-01 9.92141455e-01 -3.59895978e-04 6.98623303e+00] [-4.96381551e-03 -2.63253602e-04 9.99987646e-01 -3.44589010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91589822699996 meters 0.06001306442950595 Centerline is valid? [True, True] Translation: X:356.41, Y:6.98, Z:-3.45 [[ 9.92165838e-01 1.24845446e-01 4.53483788e-03 3.56410631e+02] [-1.24845244e-01 9.92176172e-01 -3.28647877e-04 6.97813559e+00] [-4.54038828e-03 -2.40079747e-04 9.99989664e-01 -3.44626453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.945898227 meters 0.06064207563032168 Centerline is valid? [True, True] Translation: X:356.44, Y:6.98, Z:-3.45 [[ 9.92130922e-01 1.25182307e-01 2.37143095e-03 3.56439531e+02] [-1.25182252e-01 9.92133748e-01 -1.71991474e-04 6.97550456e+00] [-2.37430696e-03 -1.26223007e-04 9.99997173e-01 -3.45056590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97589822699996 meters 0.05366257241121863 Centerline is valid? [True, True] Translation: X:356.47, Y:6.96, Z:-3.45 [[ 9.92197911e-01 1.24665792e-01 1.32147902e-03 3.56467585e+02] [-1.24665774e-01 9.92198788e-01 -9.60297458e-05 6.96427410e+00] [-1.32314151e-03 -6.94626919e-05 9.99999122e-01 -3.45147936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.005898227 meters 0.0585301020452182 Centerline is valid? [True, True] Translation: X:356.50, Y:6.97, Z:-3.45 [[ 9.92337707e-01 1.23550022e-01 1.12589972e-03 3.56495726e+02] [-1.23550009e-01 9.92338344e-01 -8.19582153e-05 6.96830203e+00] [-1.12739940e-03 -5.77746923e-05 9.99999363e-01 -3.45360591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03589822699996 meters 0.06317358188574496 Centerline is valid? [True, True] Translation: X:356.53, Y:6.97, Z:-3.45 [[ 9.92595320e-01 1.21451979e-01 1.98675635e-03 3.56525096e+02] [-1.21451934e-01 9.92597304e-01 -1.43661048e-04 6.97123424e+00] [-1.98949691e-03 -9.86981172e-05 9.99998016e-01 -3.45348876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.065898227 meters 0.05103046389582234 Centerline is valid? [True, True] Translation: X:356.55, Y:6.95, Z:-3.45 [[ 9.93268639e-01 1.15737901e-01 4.70637448e-03 3.56554354e+02] [-1.15737588e-01 9.93279767e-01 -3.39780008e-04 6.95011415e+00] [-4.71407197e-03 -2.07211602e-04 9.99988867e-01 -3.44713941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09589822699996 meters 0.05084379608249853 Centerline is valid? [True, True] Translation: X:356.58, Y:6.95, Z:-3.45 [[ 9.93628121e-01 1.12597885e-01 4.98731020e-03 3.56583422e+02] [-1.12597493e-01 9.93640617e-01 -3.60096782e-04 6.94613327e+00] [-4.99614012e-03 -2.03756340e-04 9.99987498e-01 -3.44695844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.125898227 meters 0.04322196741595363 Centerline is valid? [True, True] Translation: X:356.61, Y:6.93, Z:-3.45 [[ 9.93906185e-01 1.10118056e-01 4.95067243e-03 3.56612683e+02] [-1.10117640e-01 9.93918496e-01 -3.57273914e-04 6.93223017e+00] [-4.95990721e-03 -1.90059615e-04 9.99987682e-01 -3.44647136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15589822699997 meters 0.042004678962836134 Centerline is valid? [True, True] Translation: X:356.64, Y:6.92, Z:-3.45 [[ 9.94145273e-01 1.07899266e-01 5.73804557e-03 3.56640881e+02] [-1.07898671e-01 9.94161810e-01 -4.14129208e-04 6.92449739e+00] [-5.74923001e-03 -2.07422897e-04 9.99983452e-01 -3.44573647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.18589822699994 meters 0.04077488291208052 Centerline is valid? [True, True] Translation: X:356.67, Y:6.92, Z:-3.44 [[ 9.94161390e-01 1.07697844e-01 6.65617278e-03 3.56669740e+02] [-1.07697040e-01 9.94183644e-01 -4.80150331e-04 6.91853222e+00] [-6.66916926e-03 -2.39503183e-04 9.99977732e-01 -3.44449451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21589822699997 meters 0.04195138595857366 Centerline is valid? [True, True] Translation: X:356.70, Y:6.92, Z:-3.44 [[ 9.94102493e-01 1.08214214e-01 7.06528444e-03 3.56697229e+02] [-1.08213323e-01 9.94127566e-01 -5.09343614e-04 6.91538471e+00] [-7.07891224e-03 -2.58218152e-04 9.99974911e-01 -3.44397106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.24589822699994 meters 0.04145069285025055 Centerline is valid? [True, True] Translation: X:356.73, Y:6.91, Z:-3.44 [[ 9.94072036e-01 1.08499571e-01 6.97349498e-03 3.56726170e+02] [-1.08498714e-01 9.94096463e-01 -5.02285905e-04 6.90966355e+00] [-6.98682449e-03 -2.57306861e-04 9.99975559e-01 -3.44431929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.27589822699997 meters 0.041213194107359935 Centerline is valid? [True, True] Translation: X:356.75, Y:6.90, Z:-3.45 [[ 9.94107471e-01 1.08188341e-01 6.75419418e-03 3.56754367e+02] [-1.08187532e-01 9.94130385e-01 -4.86188926e-04 6.90026789e+00] [-6.76714964e-03 -2.47395554e-04 9.99977072e-01 -3.44549223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.30589822699994 meters 0.03726695489085816 Centerline is valid? [True, True] Translation: X:356.78, Y:6.89, Z:-3.45 [[ 9.94192591e-01 1.07407726e-01 6.68377989e-03 3.56782783e+02] [-1.07406917e-01 9.94215029e-01 -4.80822180e-04 6.88928738e+00] [-6.69675843e-03 -2.39854345e-04 9.99977548e-01 -3.44567548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.335898227 meters 0.04019129052132536 Centerline is valid? [True, True] Translation: X:356.81, Y:6.89, Z:-3.45 [[ 9.94284384e-01 1.06554425e-01 6.68723258e-03 3.56811748e+02] [-1.06553599e-01 9.94306844e-01 -4.80691359e-04 6.88698630e+00] [-6.70038091e-03 -2.34604787e-04 9.99977525e-01 -3.44661994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.36589822699995 meters 0.03727269743478539 Centerline is valid? [True, True] Translation: X:356.84, Y:6.88, Z:-3.45 [[ 9.94421835e-01 1.05227094e-01 7.24382268e-03 3.56840908e+02] [-1.05226092e-01 9.94448188e-01 -5.20355016e-04 6.87686631e+00] [-7.25836179e-03 -2.44786762e-04 9.99973628e-01 -3.44592088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.395898227 meters 0.03750719317734794 Centerline is valid? [True, True] Translation: X:356.87, Y:6.87, Z:-3.44 [[ 9.94555873e-01 1.03883160e-01 8.17946412e-03 3.56869271e+02] [-1.03881839e-01 9.94589472e-01 -5.87370734e-04 6.87092743e+00] [-8.19622683e-03 -2.65524761e-04 9.99966375e-01 -3.44466589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.42589822699995 meters 0.03373458208420608 Centerline is valid? [True, True] Translation: X:356.90, Y:6.86, Z:-3.44 [[ 9.94925400e-01 1.00195855e-01 9.17813541e-03 3.56898940e+02] [-1.00194039e-01 9.94967698e-01 -6.58631673e-04 6.85521200e+00] [-9.19794043e-03 -2.64305074e-04 9.99957663e-01 -3.44398326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.455898227 meters 0.031201052479779615 Centerline is valid? [True, True] Translation: X:356.93, Y:6.85, Z:-3.45 [[ 9.95159662e-01 9.78715132e-02 8.85521839e-03 3.56930075e+02] [-9.78697302e-02 9.95199031e-01 -6.35508720e-04 6.84535720e+00] [-8.87490296e-03 -2.34225192e-04 9.99960590e-01 -3.44520849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.48589822699995 meters 0.028123549910134864 Centerline is valid? [True, True] Translation: X:356.96, Y:6.83, Z:-3.45 [[ 9.95393208e-01 9.55084239e-02 8.39658520e-03 3.56961108e+02] [-9.55067348e-02 9.95428601e-01 -6.02830128e-04 6.83497522e+00] [-8.41577642e-03 -2.01877421e-04 9.99964566e-01 -3.44679248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.515898227 meters 0.026043267179322246 Centerline is valid? [True, True] Translation: X:356.99, Y:6.83, Z:-3.45 [[ 9.95592680e-01 9.34249229e-02 8.18529839e-03 3.56991488e+02] [-9.34232464e-02 9.95626311e-01 -5.87768761e-04 6.82646498e+00] [-8.20441070e-03 -1.79518873e-04 9.99966327e-01 -3.44750495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.54589822699995 meters 0.024440022821865887 Centerline is valid? [True, True] Translation: X:357.02, Y:6.82, Z:-3.45 [[ 9.95758146e-01 9.16396486e-02 8.23945464e-03 3.57022555e+02] [-9.16378770e-02 9.95792221e-01 -5.93079475e-04 6.81886364e+00] [-8.25913444e-03 -1.64482413e-04 9.99965879e-01 -3.44751381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.575898227 meters 0.02088976864054985 Centerline is valid? [True, True] Translation: X:357.05, Y:6.81, Z:-3.45 [[ 9.96012364e-01 8.88717778e-02 7.82156631e-03 3.57054159e+02] [-8.88700925e-02 9.96043066e-01 -5.63450815e-04 6.80620082e+00] [-7.84069176e-03 -1.33899343e-04 9.99969252e-01 -3.44811330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.60589822699995 meters 0.019370377571241878 Centerline is valid? [True, True] Translation: X:357.09, Y:6.80, Z:-3.45 [[ 9.96076009e-01 8.81899920e-02 7.42362825e-03 3.57086088e+02] [-8.81884466e-02 9.96103665e-01 -5.35896867e-04 6.79972515e+00] [-7.44196405e-03 -1.20884231e-04 9.99972301e-01 -3.44900254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.635898227 meters 0.01916609066969499 Centerline is valid? [True, True] Translation: X:357.12, Y:6.79, Z:-3.45 [[ 9.96140846e-01 8.74402897e-02 7.59011551e-03 3.57117173e+02] [-8.74386422e-02 9.96169756e-01 -5.49270285e-04 6.79495500e+00] [-7.60907187e-03 -1.16518828e-04 9.99971044e-01 -3.44973012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.66589822699996 meters 0.018933913502590945 Centerline is valid? [True, True] Translation: X:357.15, Y:6.79, Z:-3.45 [[ 9.96158490e-01 8.71700626e-02 8.34528118e-03 3.57148028e+02] [-8.71680491e-02 9.96193437e-01 -6.05393335e-04 6.79152618e+00] [-8.36628652e-03 -1.24374170e-04 9.99964994e-01 -3.44878285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.695898227 meters 0.019585571083332334 Centerline is valid? [True, True] Translation: X:357.18, Y:6.79, Z:-3.45 [[ 9.96191173e-01 8.67242966e-02 9.05773142e-03 3.57178904e+02] [-8.67218923e-02 9.96232342e-01 -6.58600884e-04 6.78960098e+00] [-9.08072169e-03 -1.29411222e-04 9.99958761e-01 -3.44841493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.72589822699996 meters 0.01870061685434156 Centerline is valid? [True, True] Translation: X:357.21, Y:6.79, Z:-3.45 [[ 9.96257603e-01 8.59134286e-02 9.46945672e-03 3.57210348e+02] [-8.59107500e-02 9.96302598e-01 -6.90034195e-04 6.78581703e+00] [-9.49372753e-03 -1.26076315e-04 9.99954926e-01 -3.44867410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.755898227 meters 0.014412733660350422 Centerline is valid? [True, True] Translation: X:357.24, Y:6.78, Z:-3.45 [[ 9.96562194e-01 8.24352489e-02 8.25970635e-03 3.57242019e+02] [-8.24330828e-02 9.96596419e-01 -6.02932645e-04 6.77588490e+00] [-8.28129668e-03 -8.00131781e-05 9.99965706e-01 -3.45140980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.78589822699996 meters 0.011946517631082487 Centerline is valid? [True, True] Translation: X:357.27, Y:6.77, Z:-3.45 [[ 9.96763786e-01 7.99874888e-02 7.99732296e-03 3.57273278e+02] [-7.99853695e-02 9.96795866e-01 -5.84997512e-04 6.76842276e+00] [-8.01849095e-03 -5.65644968e-05 9.99967850e-01 -3.45205237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.815898227 meters 0.010292231108913068 Centerline is valid? [True, True] Translation: X:357.30, Y:6.76, Z:-3.45 [[ 9.96970556e-01 7.73615621e-02 8.05602074e-03 3.57304853e+02] [-7.73593150e-02 9.97003103e-01 -5.90635643e-04 6.76211238e+00] [-8.07757017e-03 -3.43619011e-05 9.99967375e-01 -3.45194809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.84589822699996 meters 0.009520244188986567 Centerline is valid? [True, True] Translation: X:357.34, Y:6.76, Z:-3.45 [[ 9.97141651e-01 7.50550910e-02 8.67530764e-03 3.57335370e+02] [-7.50523838e-02 9.97179389e-01 -6.37650425e-04 6.75678019e+00] [-8.69869688e-03 -1.52747211e-05 9.99962166e-01 -3.45161321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.875898227 meters 0.010106195417675998 Centerline is valid? [True, True] Translation: X:357.37, Y:6.75, Z:-3.45 [[ 9.97454731e-01 7.07346449e-02 8.98167065e-03 3.57367057e+02] [-7.07315543e-02 9.97495168e-01 -6.61679327e-04 6.74802844e+00] [-9.00597672e-03 2.47076491e-05 9.99959445e-01 -3.45222387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.90589822699997 meters 0.010753718365169206 Centerline is valid? [True, True] Translation: X:357.40, Y:6.74, Z:-3.45 [[ 9.97589758e-01 6.88579170e-02 8.55926712e-03 3.57398984e+02] [-6.88550342e-02 9.97626476e-01 -6.31374939e-04 6.74410042e+00] [-8.58242666e-03 4.05045421e-05 9.99963169e-01 -3.45197475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93589822699994 meters 0.012119884225987426 Centerline is valid? [True, True] Translation: X:357.43, Y:6.74, Z:-3.45 [[ 9.97703285e-01 6.72017473e-02 8.48999604e-03 3.57430109e+02] [-6.71988385e-02 9.97739406e-01 -6.27739160e-04 6.73973877e+00] [-8.51298877e-03 5.57795493e-05 9.99963762e-01 -3.45257462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.96589822699997 meters 0.01346415940252283 Centerline is valid? [True, True] Translation: X:357.46, Y:6.74, Z:-3.45 [[ 9.97802115e-01 6.57033340e-02 8.60292997e-03 3.57460718e+02] [-6.57002795e-02 9.97839199e-01 -6.37490177e-04 6.73629949e+00] [-8.62622598e-03 7.08741428e-05 9.99962791e-01 -3.45300588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99589822699994 meters 0.016243937958324527 Centerline is valid? [True, True] Translation: X:357.49, Y:6.73, Z:-3.45 [[ 9.97975781e-01 6.29600743e-02 8.96486160e-03 3.57492059e+02] [-6.29566336e-02 9.98016041e-01 -6.65764089e-04 6.73284512e+00] [-8.98899224e-03 1.00018930e-04 9.99959593e-01 -3.45269404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.02589822699997 meters 0.018575646845050576 Centerline is valid? [True, True] Translation: X:357.52, Y:6.73, Z:-3.45 [[ 9.98089964e-01 6.10962358e-02 9.14731774e-03 3.57522601e+02] [-6.10925612e-02 9.98131873e-01 -6.80856723e-04 6.72851929e+00] [-9.17182717e-03 1.20723193e-04 9.99957931e-01 -3.45293327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05589822699994 meters 0.019433510175754468 Centerline is valid? [True, True] Translation: X:357.55, Y:6.73, Z:-3.45 [[ 9.98238190e-01 5.85537695e-02 9.59025036e-03 3.57554404e+02] [-5.85496056e-02 9.98284245e-01 -7.14608020e-04 6.72617270e+00] [-9.61563883e-03 1.51843640e-04 9.99953757e-01 -3.45275702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.085898227 meters 0.02430156915411967 Centerline is valid? [True, True] Translation: X:357.58, Y:6.72, Z:-3.45 [[ 9.98419302e-01 5.53215382e-02 9.92088660e-03 3.57584894e+02] [-5.53169052e-02 9.98468573e-01 -7.41003300e-04 6.71851682e+00] [-9.94668693e-03 1.91039254e-04 9.99950512e-01 -3.45283850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11589822699995 meters 0.02715856933381714 Centerline is valid? [True, True] Translation: X:357.62, Y:6.71, Z:-3.45 [[ 9.98606464e-01 5.18418968e-02 9.87660808e-03 3.57616984e+02] [-5.18371185e-02 9.98655279e-01 -7.39357426e-04 6.71311927e+00] [-9.90165649e-03 2.26352202e-04 9.99950952e-01 -3.45348086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.145898227 meters 0.02715856933381714 Centerline is valid? [True, True] Translation: X:357.65, Y:6.71, Z:-3.45 [[ 9.98596786e-01 5.20279914e-02 9.87658457e-03 3.57649386e+02] [-5.20232191e-02 9.98645602e-01 -7.39671505e-04 6.71050434e+00] [-9.90169136e-03 2.24821865e-04 9.99950952e-01 -3.45383715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17589822699995 meters 0.03653283304746746 Centerline is valid? [True, True] Translation: X:357.68, Y:6.70, Z:-3.45 [[ 9.98919513e-01 4.53011425e-02 1.03736809e-02 3.57678444e+02] [-4.52954926e-02 9.98973329e-01 -7.79056100e-04 6.69602458e+00] [-1.03983226e-02 3.08333354e-04 9.99945888e-01 -3.45378765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.205898227 meters 0.038109703742708466 Centerline is valid? [True, True] Translation: X:357.71, Y:6.69, Z:-3.45 [[ 9.99016895e-01 4.29904534e-02 1.08196397e-02 3.57709931e+02] [-4.29841733e-02 9.99075423e-01 -8.12422204e-04 6.69162167e+00] [-1.08445625e-02 3.46550239e-04 9.99941136e-01 -3.45317267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.23589822699995 meters 0.04127285475185716 Centerline is valid? [True, True] Translation: X:357.74, Y:6.69, Z:-3.45 [[ 9.99095028e-01 4.10974914e-02 1.09599881e-02 3.57741012e+02] [-4.10909154e-02 9.99155071e-01 -8.24609371e-04 6.68635714e+00] [-1.09846170e-02 3.73507181e-04 9.99939598e-01 -3.45355554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.265898227 meters 0.03770507615587639 Centerline is valid? [True, True] Translation: X:357.77, Y:6.69, Z:-3.45 [[ 9.99128160e-01 4.03998629e-02 1.05248262e-02 3.57773517e+02] [-4.03937523e-02 9.99183525e-01 -7.92604077e-04 6.69023894e+00] [-1.05482541e-02 3.66775829e-04 9.99944298e-01 -3.45405649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.29589822699995 meters 0.042764131926931806 Centerline is valid? [True, True] Translation: X:357.80, Y:6.68, Z:-3.46 [[ 9.99100411e-01 4.13092486e-02 9.58722262e-03 3.57804115e+02] [-4.13042061e-02 9.99146355e-01 -7.23453092e-04 6.68477141e+00] [-9.60892384e-03 3.26809663e-04 9.99953780e-01 -3.45616700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.325898227 meters 0.03869567195475874 Centerline is valid? [True, True] Translation: X:357.84, Y:6.69, Z:-3.46 [[ 9.99054270e-01 4.25093422e-02 9.13900387e-03 3.57837191e+02] [-4.25047971e-02 9.99096024e-01 -6.91078505e-04 6.68919224e+00] [-9.16011972e-03 3.01973427e-04 9.99958000e-01 -3.45730521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.35589822699995 meters 0.037262295289454475 Centerline is valid? [True, True] Translation: X:357.87, Y:6.69, Z:-3.46 [[ 9.99002587e-01 4.37544095e-02 8.90967542e-03 3.57869836e+02] [-4.37501333e-02 9.99042277e-01 -6.74388766e-04 6.69014801e+00] [-8.93064990e-03 2.83916636e-04 9.99960081e-01 -3.45829515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.385898227 meters 0.03635792802164944 Centerline is valid? [True, True] Translation: X:357.90, Y:6.69, Z:-3.46 [[ 9.98922365e-01 4.54918996e-02 9.19763403e-03 3.57901253e+02] [-4.54874015e-02 9.98964669e-01 -6.97757268e-04 6.69201160e+00] [-9.21985374e-03 2.78628868e-04 9.99957457e-01 -3.45841079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41589822699996 meters 0.034870529224416955 Centerline is valid? [True, True] Translation: X:357.93, Y:6.69, Z:-3.46 [[ 9.98890682e-01 4.62617037e-02 8.78980697e-03 3.57933453e+02] [-4.62576147e-02 9.98929320e-01 -6.68040674e-04 6.69300269e+00] [-8.81130060e-03 2.60704101e-04 9.99961146e-01 -3.45955739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.445898227 meters 0.03425793125844358 Centerline is valid? [True, True] Translation: X:357.97, Y:6.69, Z:-3.46 [[ 9.98874069e-01 4.67408272e-02 8.11719481e-03 3.57965563e+02] [-4.67373463e-02 9.98907022e-01 -6.18099311e-04 6.69222440e+00] [-8.13721337e-03 2.38027229e-04 9.99966864e-01 -3.46089210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47589822699996 meters 0.03211859596848179 Centerline is valid? [True, True] Translation: X:358.00, Y:6.69, Z:-3.46 [[ 9.98878396e-01 4.67701107e-02 7.38289387e-03 3.57998326e+02] [-4.67672250e-02 9.98905656e-01 -5.63110440e-04 6.69413170e+00] [-7.40115118e-03 2.17201394e-04 9.99972588e-01 -3.46212479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.505898227 meters 0.03764145052687898 Centerline is valid? [True, True] Translation: X:358.03, Y:6.69, Z:-3.47 [[ 9.98872956e-01 4.72550196e-02 4.44768446e-03 3.58029610e+02] [-4.72539767e-02 9.98882849e-01 -3.39333969e-04 6.68912325e+00] [-4.45875096e-03 1.28780747e-04 9.99990051e-01 -3.46880703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53589822699996 meters 0.034636357184144685 Centerline is valid? [True, True] Translation: X:358.06, Y:6.69, Z:-3.47 [[ 9.98851993e-01 4.76858993e-02 4.55540575e-03 3.58061764e+02] [-4.76848052e-02 9.98862372e-01 -3.48551558e-04 6.69357377e+00] [-4.56684439e-03 1.30927782e-04 9.99989563e-01 -3.46848838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.565898227 meters 0.03497372252526394 Centerline is valid? [True, True] Translation: X:358.09, Y:6.69, Z:-3.47 [[ 9.98838866e-01 4.78480303e-02 5.61130011e-03 3.58093525e+02] [-4.78463650e-02 9.98854614e-01 -4.30732177e-04 6.69367373e+00] [-5.62548269e-03 1.61751727e-04 9.99984164e-01 -3.46703611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59589822699996 meters 0.03201419111261486 Centerline is valid? [True, True] Translation: X:358.13, Y:6.70, Z:-3.46 [[ 9.98833719e-01 4.77389061e-02 7.22481101e-03 3.58127170e+02] [-4.77361324e-02 9.98859826e-01 -5.55972700e-04 6.69781161e+00] [-7.24311500e-03 2.10439746e-04 9.99973746e-01 -3.46433297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.625898227 meters 0.040214512183572984 Centerline is valid? [True, True] Translation: X:358.16, Y:6.69, Z:-3.46 [[ 9.98918357e-01 4.57509166e-02 8.30478293e-03 3.58157479e+02] [-4.57471646e-02 9.98952845e-01 -6.41292808e-04 6.69027548e+00] [-8.32542626e-03 2.60678887e-04 9.99965309e-01 -3.46448386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65589822699997 meters 0.04115693796657195 Centerline is valid? [True, True] Translation: X:358.19, Y:6.69, Z:-3.47 [[ 9.99002827e-01 4.39151151e-02 8.05073668e-03 3.58189743e+02] [-4.39115233e-02 9.99035230e-01 -6.22443222e-04 6.68966396e+00] [-8.07030424e-03 2.68302427e-04 9.99967399e-01 -3.46576217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.68589822699994 meters 0.03737725095022875 Centerline is valid? [True, True] Translation: X:358.22, Y:6.70, Z:-3.47 [[ 9.99069910e-01 4.23401082e-02 8.16274984e-03 3.58222228e+02] [-4.23363603e-02 9.99103215e-01 -6.31466428e-04 6.69528437e+00] [-8.18216596e-03 2.85297988e-04 9.99966485e-01 -3.46582156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71589822699997 meters 0.03936842205493771 Centerline is valid? [True, True] Translation: X:358.25, Y:6.69, Z:-3.47 [[ 9.99126652e-01 4.09315688e-02 8.39881668e-03 3.58252922e+02] [-4.09275472e-02 9.99161905e-01 -6.50210526e-04 6.69398500e+00] [-8.41839182e-03 3.05899699e-04 9.99964518e-01 -3.46558301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.74589822699994 meters 0.04864426207303041 Centerline is valid? [True, True] Translation: X:358.28, Y:6.69, Z:-3.46 [[ 9.99245863e-01 3.77653702e-02 9.02679779e-03 3.58282416e+02] [-3.77605932e-02 9.99286570e-01 -6.99109755e-04 6.68831849e+00] [-9.04675994e-03 3.57725290e-04 9.99959013e-01 -3.46380884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.77589822699997 meters 0.046241834273520376 Centerline is valid? [True, True] Translation: X:358.31, Y:6.69, Z:-3.46 [[ 9.99331272e-01 3.51818645e-02 9.96216363e-03 3.58314261e+02] [-3.51759182e-02 9.99380838e-01 -7.71529715e-04 6.69313003e+00] [-9.98313929e-03 4.20585519e-04 9.99950079e-01 -3.46252206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.80589822699994 meters 0.050609525129253784 Centerline is valid? [True, True] Translation: X:358.34, Y:6.69, Z:-3.46 [[ 9.99428606e-01 3.18884327e-02 1.12066480e-02 3.58344059e+02] [-3.18806980e-02 9.99491304e-01 -8.68196936e-04 6.68884298e+00] [-1.12286327e-02 5.10425093e-04 9.99936827e-01 -3.46107578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.835898227 meters 0.053685003449441625 Centerline is valid? [True, True] Translation: X:358.37, Y:6.69, Z:-3.46 [[ 9.99525583e-01 2.83757018e-02 1.19762031e-02 3.58374363e+02] [-2.83666167e-02 9.99597156e-01 -9.27815641e-04 6.68528931e+00] [-1.19977059e-02 5.87651107e-04 9.99927852e-01 -3.46059333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.86589822699995 meters 0.06463786253271031 Centerline is valid? [True, True] Translation: X:358.40, Y:6.67, Z:-3.46 [[ 9.99731635e-01 1.99868181e-02 1.17126405e-02 3.58403049e+02] [-1.99775538e-02 9.99800017e-01 -9.07441391e-04 6.67418682e+00] [-1.17284350e-02 6.73207960e-04 9.99930993e-01 -3.46122059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.895898227 meters 0.06710410870744636 Centerline is valid? [True, True] Translation: X:358.43, Y:6.67, Z:-3.46 [[ 9.99795833e-01 1.65040508e-02 1.16579570e-02 3.58432825e+02] [-1.64946341e-02 9.99863546e-01 -9.03441130e-04 6.66852029e+00] [-1.16712766e-02 7.10962942e-04 9.99931636e-01 -3.46163806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.92589822699995 meters 0.06986573750075953 Centerline is valid? [True, True] Translation: X:358.46, Y:6.66, Z:-3.46 [[ 9.99847816e-01 1.34400072e-02 1.11225721e-02 3.58463631e+02] [-1.34312463e-02 9.99909425e-01 -8.61998629e-04 6.66477132e+00] [-1.11331499e-02 7.12477442e-04 9.99937771e-01 -3.46284632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.955898227 meters 0.06695211907548455 Centerline is valid? [True, True] Translation: X:358.49, Y:6.67, Z:-3.46 [[ 9.99887453e-01 1.09730684e-02 1.02310207e-02 3.58494939e+02] [-1.09655270e-02 9.99939562e-01 -7.92918357e-04 6.66790614e+00] [-1.02391031e-02 6.80640582e-04 9.99947347e-01 -3.46457076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.98589822699995 meters 0.07756872448077198 Centerline is valid? [True, True] Translation: X:358.52, Y:6.66, Z:-3.47 [[ 9.99936067e-01 7.80883082e-03 8.17830051e-03 3.58523320e+02] [-7.80390632e-03 9.99969348e-01 -6.33882211e-04 6.65552227e+00] [-8.18299971e-03 5.70018994e-04 9.99966356e-01 -3.46781333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.015898227 meters 0.07443648337931615 Centerline is valid? [True, True] Translation: X:358.56, Y:6.66, Z:-3.47 [[ 9.99942353e-01 8.02597794e-03 7.13266092e-03 3.58556329e+02] [-8.02224241e-03 9.99967669e-01 -5.52179317e-04 6.65795771e+00] [-7.13686209e-03 4.94927551e-04 9.99974410e-01 -3.46933383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.04589822699995 meters 0.07420516919919222 Centerline is valid? [True, True] Translation: X:358.59, Y:6.66, Z:-3.47 [[ 9.99934636e-01 9.18021118e-03 6.81529708e-03 3.58587773e+02] [-9.17681501e-03 9.99957752e-01 -5.29420769e-04 6.65640325e+00] [-6.81986934e-03 4.66843443e-04 9.99976635e-01 -3.47074238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.075898227 meters 0.07113542771887313 Centerline is valid? [True, True] Translation: X:358.62, Y:6.66, Z:-3.47 [[ 9.99919617e-01 1.07419582e-02 6.73569111e-03 3.58619512e+02] [-1.07386755e-02 9.99942202e-01 -5.23338897e-04 6.65829368e+00] [-6.74092348e-03 4.50964428e-04 9.99977178e-01 -3.47151597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.10589822699995 meters 0.07472521746957193 Centerline is valid? [True, True] Translation: X:358.65, Y:6.65, Z:-3.47 [[ 9.99883798e-01 1.37208739e-02 6.64287908e-03 3.58648939e+02] [-1.37177437e-02 9.99905774e-01 -5.16545484e-04 6.65234859e+00] [-6.64934060e-03 4.25360148e-04 9.99977802e-01 -3.47336743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.135898227 meters 0.07434159290678875 Centerline is valid? [True, True] Translation: X:358.68, Y:6.65, Z:-3.47 [[ 9.99869305e-01 1.48177616e-02 6.46585608e-03 3.58679501e+02] [-1.48148200e-02 9.99890128e-01 -5.02612231e-04 6.65221427e+00] [-6.47259325e-03 4.06756048e-04 9.99978970e-01 -3.47420806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.16589822699996 meters 0.06676507258896695 Centerline is valid? [True, True] Translation: X:358.71, Y:6.66, Z:-3.47 [[ 9.99850596e-01 1.61765937e-02 6.09121438e-03 3.58711818e+02] [-1.61740082e-02 9.99869080e-01 -4.73492458e-04 6.66160814e+00] [-6.09807641e-03 3.74902365e-04 9.99981336e-01 -3.47452558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.195898227 meters 0.0668581478127095 Centerline is valid? [True, True] Translation: X:358.74, Y:6.66, Z:-3.48 [[ 9.99832213e-01 1.74425295e-02 5.59491811e-03 3.58742316e+02] [-1.74403686e-02 9.99847811e-01 -4.34778272e-04 6.66127038e+00] [-5.60165026e-03 3.37127888e-04 9.99984254e-01 -3.47593532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.22589822699996 meters 0.06710562600027568 Centerline is valid? [True, True] Translation: X:358.77, Y:6.66, Z:-3.48 [[ 9.99818808e-01 1.86135066e-02 3.98596838e-03 3.58772752e+02] [-1.86124173e-02 9.99826726e-01 -3.10203459e-04 6.66177577e+00] [-3.99105169e-03 2.35958746e-04 9.99992008e-01 -3.47996980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.255898227 meters 0.0693204521422202 Centerline is valid? [True, True] Translation: X:358.80, Y:6.66, Z:-3.48 [[ 9.99836092e-01 1.77543260e-02 3.54572525e-03 3.58803945e+02] [-1.77534621e-02 9.99842357e-01 -2.74977447e-04 6.65710634e+00] [-3.55004834e-03 2.11983477e-04 9.99993676e-01 -3.48182019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.28589822699996 meters 0.07156782461064541 Centerline is valid? [True, True] Translation: X:358.84, Y:6.65, Z:-3.48 [[ 9.99868311e-01 1.57731705e-02 3.81665332e-03 3.58835058e+02] [-1.57721492e-02 9.99875568e-01 -2.97541282e-04 6.65227178e+00] [-3.82087158e-03 2.37305274e-04 9.99992672e-01 -3.48180879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.315898227 meters 0.08552245112317218 Centerline is valid? [True, True] Translation: X:358.86, Y:6.63, Z:-3.48 [[ 9.99940895e-01 9.71196553e-03 4.88719423e-03 3.58863134e+02] [-9.71021740e-03 9.99952782e-01 -3.81296643e-04 6.63150677e+00] [-4.89066660e-03 3.33818388e-04 9.99987985e-01 -3.48103990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.34589822699996 meters 0.08286008215720873 Centerline is valid? [True, True] Translation: X:358.89, Y:6.63, Z:-3.48 [[ 9.99964513e-01 6.76448508e-03 5.02142325e-03 3.58894128e+02] [-6.76260254e-03 9.99977057e-01 -3.91785900e-04 6.63193063e+00] [-5.02395827e-03 3.57814107e-04 9.99987316e-01 -3.48016777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.375898227 meters 0.08518373801415363 Centerline is valid? [True, True] Translation: X:358.92, Y:6.63, Z:-3.48 [[ 9.99975073e-01 4.52954249e-03 5.41638600e-03 3.58924282e+02] [-4.52731950e-03 9.99989662e-01 -4.22610502e-04 6.62598255e+00] [-5.41824424e-03 3.98078257e-04 9.99985242e-01 -3.47973582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.40589822699997 meters 0.08725825261162948 Centerline is valid? [True, True] Translation: X:358.95, Y:6.62, Z:-3.48 [[ 9.99976447e-01 3.23802682e-03 6.05145942e-03 3.58953891e+02] [-3.23522828e-03 9.99994655e-01 -4.72188720e-04 6.62029658e+00] [-6.05295603e-03 4.52599746e-04 9.99981578e-01 -3.47862013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43589822699994 meters 0.09570987303725538 Centerline is valid? [True, True] Translation: X:358.98, Y:6.61, Z:-3.47 [[ 9.99962895e-01 2.66426069e-03 8.19207781e-03 3.58984145e+02] [-2.65911598e-03 9.99996260e-01 -6.38838011e-04 6.60630993e+00] [-8.19374921e-03 6.17030622e-04 9.99966240e-01 -3.47477677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.46589822699997 meters 0.09020376202652775 Centerline is valid? [True, True] Translation: X:359.02, Y:6.61, Z:-3.47 [[ 9.99956304e-01 2.99796003e-03 8.85455470e-03 3.59017342e+02] [-2.99194898e-03 9.99995285e-01 -6.92034001e-04 6.61154684e+00] [-8.85658764e-03 6.65511386e-04 9.99960558e-01 -3.47322690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49589822699994 meters 0.0888225039921874 Centerline is valid? [True, True] Translation: X:359.05, Y:6.61, Z:-3.47 [[ 9.99952751e-01 3.77898009e-03 8.95631397e-03 3.59048607e+02] [-3.77285631e-03 9.99992637e-01 -7.00536548e-04 6.61237975e+00] [-8.95889534e-03 6.66712562e-04 9.99959646e-01 -3.47291086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.52589822699997 meters 0.08853276818637154 Centerline is valid? [True, True] Translation: X:359.08, Y:6.61, Z:-3.47 [[ 9.99950102e-01 4.75680487e-03 8.78446185e-03 3.59079244e+02] [-4.75094953e-03 9.99988478e-01 -6.87303733e-04 6.61263586e+00] [-8.78763000e-03 6.45534902e-04 9.99961180e-01 -3.47368464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55589822699994 meters 0.08597309761235715 Centerline is valid? [True, True] Translation: X:359.11, Y:6.62, Z:-3.47 [[ 9.99922063e-01 8.43599316e-03 9.20333642e-03 3.59110430e+02] [-8.42971997e-03 9.99964210e-01 -7.20200357e-04 6.61913783e+00] [-9.20908264e-03 6.42562678e-04 9.99957389e-01 -3.47424724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.585898227 meters 0.07157124888566747 Centerline is valid? [True, True] Translation: X:359.14, Y:6.64, Z:-3.47 [[ 9.99899087e-01 1.03334951e-02 9.74861461e-03 3.59142592e+02] [-1.03265462e-02 9.99946389e-01 -7.62873510e-04 6.63831774e+00] [-9.75597513e-03 6.62127007e-04 9.99952190e-01 -3.47342725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61589822699995 meters 0.08527102269977684 Centerline is valid? [True, True] Translation: X:359.17, Y:6.63, Z:-3.47 [[ 9.99885373e-01 1.17046393e-02 9.60423425e-03 3.59172420e+02] [-1.16979580e-02 9.99931294e-01 -7.51544906e-04 6.62508039e+00] [-9.61237095e-03 6.39108830e-04 9.99953596e-01 -3.47473683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.645898227 meters 0.08426914463082308 Centerline is valid? [True, True] Translation: X:359.20, Y:6.63, Z:-3.48 [[ 9.99896761e-01 1.21305218e-02 7.70183456e-03 3.59203984e+02] [-1.21262397e-02 9.99926293e-01 -6.02439119e-04 6.62704116e+00] [-7.70857479e-03 5.08982631e-04 9.99970159e-01 -3.47874272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67589822699995 meters 0.07746040980195758 Centerline is valid? [True, True] Translation: X:359.24, Y:6.64, Z:-3.48 [[ 9.99922251e-01 1.03428581e-02 6.96549264e-03 3.59235690e+02] [-1.03393033e-02 9.99946399e-01 -5.46149150e-04 6.63582522e+00] [-6.97076803e-03 4.74088346e-04 9.99975592e-01 -3.48084587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.705898227 meters 0.09061854654867106 Centerline is valid? [True, True] Translation: X:359.26, Y:6.62, Z:-3.48 [[ 9.99948680e-01 7.67870869e-03 6.60865899e-03 3.59263515e+02] [-7.67544963e-03 9.99970409e-01 -5.18371567e-04 6.61886788e+00] [-6.61244385e-03 4.67620535e-04 9.99978028e-01 -3.48292239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.73589822699995 meters 0.09490162407715856 Centerline is valid? [True, True] Translation: X:359.29, Y:6.61, Z:-3.48 [[ 9.99965531e-01 4.85639243e-03 6.73437140e-03 3.59293483e+02] [-4.85294616e-03 9.99988085e-01 -5.27989052e-04 6.61283012e+00] [-6.73685529e-03 4.95289311e-04 9.99977184e-01 -3.48316120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.765898227 meters 0.0892391195831711 Centerline is valid? [True, True] Translation: X:359.33, Y:6.62, Z:-3.48 [[ 9.99969566e-01 2.28896599e-03 7.45845197e-03 3.59325084e+02] [-2.28466738e-03 9.99997219e-01 -5.84809750e-04 6.61994578e+00] [-7.45976984e-03 5.67751870e-04 9.99972014e-01 -3.48185345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.79589822699995 meters 0.09164500307261701 Centerline is valid? [True, True] Translation: X:359.36, Y:6.62, Z:-3.48 [[ 9.99961101e-01 -6.24045644e-04 8.79811547e-03 3.59355974e+02] [ 6.30139369e-04 9.99999564e-01 -6.89862050e-04 6.61991202e+00] [-8.79768113e-03 6.95379254e-04 9.99961058e-01 -3.47915977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.825898227 meters 0.08251497493374264 Centerline is valid? [True, True] Translation: X:359.39, Y:6.63, Z:-3.48 [[ 9.99964300e-01 -9.21397123e-04 8.39933417e-03 3.59389115e+02] [ 9.26960924e-04 9.99999354e-01 -6.58540772e-04 6.63245685e+00] [-8.39872196e-03 6.66303116e-04 9.99964508e-01 -3.47936652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.85589822699995 meters 0.10494880830863483 Centerline is valid? [True, False] Translation: X:359.39, Y:6.64, Z:-3.48 [[ 9.99965220e-01 -1.18813590e-03 8.25514117e-03 3.59389606e+02] [ 1.19899458e-03 9.99998422e-01 -1.31055859e-03 6.63540566e+00] [-8.25357102e-03 1.32041087e-03 9.99965067e-01 -3.47943664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.885898227 meters 0.09361881153001708 Centerline is valid? [False, True] Translation: X:359.39, Y:6.64, Z:-3.48 [[ 9.99965785e-01 -1.50606236e-03 8.13386192e-03 3.59390076e+02] [ 1.52319880e-03 9.99996633e-01 -2.10101886e-03 6.63896481e+00] [-8.13067027e-03 2.11333646e-03 9.99964712e-01 -3.47961490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91589822699996 meters 0.08622961409667178 Centerline is valid? [True, True] Translation: X:359.42, Y:6.65, Z:-3.48 [[ 9.99971901e-01 -1.32213870e-04 7.49535445e-03 3.59421825e+02] [ 1.36540929e-04 9.99999824e-01 -5.76790054e-04 6.65386867e+00] [-7.49527687e-03 5.77797269e-04 9.99971743e-01 -3.48109624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.945898227 meters 0.08068520463673338 Centerline is valid? [True, True] Translation: X:359.46, Y:6.66, Z:-3.48 [[ 9.99965743e-01 3.75605915e-04 8.26872887e-03 3.59455085e+02] [-3.70358967e-04 9.99999729e-01 -6.36075140e-04 6.66186024e+00] [-8.26896554e-03 6.32990952e-04 9.99965611e-01 -3.47999299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97589822699996 meters 0.07869381842237366 Centerline is valid? [True, True] Translation: X:359.49, Y:6.66, Z:-3.48 [[ 9.99955599e-01 3.13313709e-04 9.41818448e-03 3.59487446e+02] [-3.06503178e-04 9.99999691e-01 -7.24560382e-04 6.66472330e+00] [-9.41840859e-03 7.21641507e-04 9.99955385e-01 -3.47865460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.005898227 meters 0.07196784537645474 Centerline is valid? [True, True] Translation: X:359.52, Y:6.67, Z:-3.48 [[ 9.99948781e-01 -3.68748511e-04 1.01142959e-02 3.59520417e+02] [ 3.76659262e-04 9.99999625e-01 -7.80241872e-04 6.67327620e+00] [-1.01140044e-02 7.84011552e-04 9.99948545e-01 -3.47730052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03589822699996 meters 0.07196784537645474 Centerline is valid? [True, True] Translation: X:359.55, Y:6.67, Z:-3.48 [[ 9.99948805e-01 -2.97534564e-04 1.01142649e-02 3.59552913e+02] [ 3.05445738e-04 9.99999649e-01 -7.80644086e-04 6.67064991e+00] [-1.01140291e-02 7.83693480e-04 9.99948545e-01 -3.47773625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.065898227 meters 0.08423179110850096 Centerline is valid? [True, True] Translation: X:359.58, Y:6.66, Z:-3.48 [[ 9.99944854e-01 -1.63591451e-03 1.03736894e-02 3.59581844e+02] [ 1.64431681e-03 9.99998327e-01 -8.01485496e-04 6.65618254e+00] [-1.03723608e-02 8.18498929e-04 9.99945871e-01 -3.47888044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09589822699996 meters 0.09109061751433584 Centerline is valid? [True, True] Translation: X:359.61, Y:6.65, Z:-3.48 [[ 9.99948480e-01 -2.28723924e-03 9.88972685e-03 3.59612586e+02] [ 2.29491318e-03 9.99997074e-01 -7.64671447e-04 6.64602100e+00] [-9.88794893e-03 7.87328115e-04 9.99950803e-01 -3.48069322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.125898227 meters 0.08168456270179804 Centerline is valid? [True, True] Translation: X:359.65, Y:6.66, Z:-3.48 [[ 9.99952410e-01 -2.66982945e-03 9.38347478e-03 3.59645797e+02] [ 2.67675680e-03 9.99996154e-01 -7.25769035e-04 6.65675060e+00] [-9.38150101e-03 7.50851776e-04 9.99955711e-01 -3.48146768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15589822699997 meters 0.08197281784435793 Centerline is valid? [True, True] Translation: X:359.68, Y:6.66, Z:-3.48 [[ 9.99957781e-01 -3.13748027e-03 8.63666080e-03 3.59677946e+02] [ 3.14336911e-03 9.99994836e-01 -6.68352151e-04 6.65572993e+00] [-8.63451926e-03 6.95472147e-04 9.99962480e-01 -3.48264413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.18589822699994 meters 0.08191288575830635 Centerline is valid? [True, True] Translation: X:359.71, Y:6.66, Z:-3.48 [[ 9.99962248e-01 -3.75768239e-03 7.83470225e-03 3.59709910e+02] [ 3.76255010e-03 9.99992738e-01 -6.06653882e-04 6.65734539e+00] [-7.83236574e-03 6.36109439e-04 9.99969124e-01 -3.48424296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21589822699997 meters 0.08352214758343887 Centerline is valid? [True, True] Translation: X:359.74, Y:6.65, Z:-3.49 [[ 9.99965109e-01 -3.49239972e-03 7.58846012e-03 3.59741263e+02] [ 3.49696054e-03 9.99993713e-01 -5.87834156e-04 6.65465902e+00] [-7.58635946e-03 6.14350192e-04 9.99971034e-01 -3.48508823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.24589822699994 meters 0.08161016399929448 Centerline is valid? [True, True] Translation: X:359.77, Y:6.66, Z:-3.49 [[ 9.99975254e-01 -1.30150531e-03 6.91358170e-03 3.59772659e+02] [ 1.30524169e-03 9.99999005e-01 -5.35955936e-04 6.65849030e+00] [-6.91287727e-03 5.44966568e-04 9.99975957e-01 -3.48675259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.27589822699997 meters 0.07786991585496529 Centerline is valid? [True, True] Translation: X:359.80, Y:6.66, Z:-3.49 [[ 9.99973956e-01 6.38609214e-04 7.18880993e-03 3.59804133e+02] [-6.34619704e-04 9.99999643e-01 -5.57228631e-04 6.66287460e+00] [-7.18916322e-03 5.52651958e-04 9.99974005e-01 -3.48682835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.30589822699994 meters 0.08935947557243656 Centerline is valid? [True, True] Translation: X:359.83, Y:6.65, Z:-3.49 [[ 9.99968149e-01 2.86079103e-03 7.45094371e-03 3.59832643e+02] [-2.85656459e-03 9.99995753e-01 -5.77815779e-04 6.64839976e+00] [-7.45256508e-03 5.56513273e-04 9.99972074e-01 -3.48822077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.335898227 meters 0.07905722924309198 Centerline is valid? [True, True] Translation: X:359.86, Y:6.66, Z:-3.49 [[ 9.99956410e-01 5.09734670e-03 7.82275376e-03 3.59864530e+02] [-5.09275715e-03 9.99986848e-01 -6.06499477e-04 6.66210176e+00] [-7.82574241e-03 5.66633654e-04 9.99969218e-01 -3.48724023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.36589822699995 meters 0.07537053471379836 Centerline is valid? [True, True] Translation: X:359.90, Y:6.67, Z:-3.49 [[ 9.99922515e-01 8.90751524e-03 8.69602565e-03 3.59895586e+02] [-8.90198656e-03 9.99960149e-01 -6.74271626e-04 6.66973246e+00] [-8.70168519e-03 5.96807476e-04 9.99961962e-01 -3.48634517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.395898227 meters 0.07054226426296559 Centerline is valid? [True, True] Translation: X:359.93, Y:6.68, Z:-3.49 [[ 9.99905465e-01 9.95895645e-03 9.48053802e-03 3.59927691e+02] [-9.95243320e-03 9.99950203e-01 -7.34998387e-04 6.67541813e+00] [-9.48738574e-03 6.40574482e-04 9.99954789e-01 -3.48513348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.42589822699995 meters 0.07510265223514297 Centerline is valid? [True, True] Translation: X:359.96, Y:6.67, Z:-3.48 [[ 9.99898291e-01 9.95155318e-03 1.02163372e-02 3.59958176e+02] [-9.94397895e-03 9.99950244e-01 -7.91914524e-04 6.66910070e+00] [-1.02237096e-02 6.90242938e-04 9.99947498e-01 -3.48475033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.455898227 meters 0.07329779495414675 Centerline is valid? [True, True] Translation: X:359.99, Y:6.67, Z:-3.48 [[ 9.99896734e-01 9.49454490e-03 1.07877542e-02 3.59990407e+02] [-9.48605525e-03 9.99954655e-01 -8.37868295e-04 6.67087016e+00] [-1.07952202e-02 7.35448539e-04 9.99941459e-01 -3.48366102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.48589822699995 meters 0.07825009841897962 Centerline is valid? [True, True] Translation: X:360.02, Y:6.67, Z:-3.48 [[ 9.99912397e-01 7.58863756e-03 1.08448190e-02 3.60020662e+02] [-7.57992392e-03 9.99970915e-01 -8.44362119e-04 6.66641670e+00] [-1.08509111e-02 7.62085248e-04 9.99940837e-01 -3.48313226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.515898227 meters 0.08250089831637124 Centerline is valid? [True, True] Translation: X:360.05, Y:6.66, Z:-3.48 [[ 9.99917733e-01 6.35280442e-03 1.11430755e-02 3.60049919e+02] [-6.34352809e-03 9.99979503e-01 -8.67622317e-04 6.66062052e+00] [-1.11483590e-02 7.96864529e-04 9.99937538e-01 -3.48286603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.54589822699995 meters 0.07823944352339719 Centerline is valid? [True, True] Translation: X:360.08, Y:6.67, Z:-3.48 [[ 9.99923670e-01 4.71011597e-03 1.14223343e-02 3.60081521e+02] [-4.70025437e-03 9.99988558e-01 -8.90052171e-04 6.66521556e+00] [-1.14263958e-02 8.36296356e-04 9.99934367e-01 -3.48245761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.575898227 meters 0.08612427160339857 Centerline is valid? [True, True] Translation: X:360.11, Y:6.66, Z:-3.48 [[ 9.99930100e-01 9.44111044e-05 1.18231386e-02 3.60110647e+02] [-8.35227731e-05 9.99999572e-01 -9.21424465e-04 6.65590266e+00] [-1.18232206e-02 9.20372556e-04 9.99929680e-01 -3.48201826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.60589822699995 meters 0.08834955308663721 Centerline is valid? [True, True] Translation: X:360.14, Y:6.65, Z:-3.48 [[ 9.99924948e-01 -2.89477252e-03 1.19045308e-02 3.60141687e+02] [ 2.90602286e-03 9.99995347e-01 -9.27857329e-04 6.65446848e+00] [-1.19017895e-02 9.62382531e-04 9.99928708e-01 -3.48218171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.635898227 meters 0.09475433298225783 Centerline is valid? [True, True] Translation: X:360.17, Y:6.64, Z:-3.48 [[ 9.99912598e-01 -5.28620415e-03 1.21182545e-02 3.60170617e+02] [ 5.29803959e-03 9.99985519e-01 -9.44767653e-04 6.64195209e+00] [-1.21130848e-02 1.00888807e-03 9.99926125e-01 -3.48267178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.66589822699996 meters 0.08748035952340742 Centerline is valid? [True, True] Translation: X:360.20, Y:6.65, Z:-3.48 [[ 9.99899817e-01 -7.91081110e-03 1.17377882e-02 3.60202668e+02] [ 7.92209282e-03 9.99968201e-01 -9.14960380e-04 6.64946152e+00] [-1.17301769e-02 1.00785656e-03 9.99930691e-01 -3.48344813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.695898227 meters 0.09475231601239019 Centerline is valid? [True, True] Translation: X:360.23, Y:6.64, Z:-3.49 [[ 9.99888815e-01 -9.84883252e-03 1.11963312e-02 3.60231417e+02] [ 9.85922051e-03 9.99951016e-01 -8.72984770e-04 6.63826114e+00] [-1.11871848e-02 9.83274805e-04 9.99936938e-01 -3.48529673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.72589822699996 meters 0.10118508025144912 Centerline is valid? [True, False] Translation: X:360.23, Y:6.64, Z:-3.49 [[ 9.99889209e-01 -9.90661465e-03 1.11098442e-02 3.60231959e+02] [ 9.91854782e-03 9.99950290e-01 -1.01952348e-03 6.63896625e+00] [-1.10991919e-02 1.12960405e-03 9.99937764e-01 -3.48587298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.755898227 meters 0.0997421576561609 Centerline is valid? [False, True] Translation: X:360.21, Y:6.64, Z:-3.49 [[ 9.99960823e-01 -5.24757053e-03 7.12846186e-03 3.60214785e+02] [ 5.30105765e-03 9.99957784e-01 -7.50526149e-03 6.64177222e+00] [-7.08877654e-03 7.54275584e-03 9.99946427e-01 -3.48544811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.78589822699996 meters 0.10771155709714607 Centerline is valid? [True, False] Translation: X:360.22, Y:6.64, Z:-3.49 [[ 9.99960775e-01 -5.37288656e-03 7.04140907e-03 3.60215111e+02] [ 5.42786418e-03 9.99954754e-01 -7.81204699e-03 6.64316955e+00] [-6.99911723e-03 7.84996037e-03 9.99944694e-01 -3.48554080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.815898227 meters 0.10064208665781554 Centerline is valid? [False, False] Translation: X:360.21, Y:6.65, Z:-3.48 [[ 9.99974226e-01 -2.93090573e-03 -6.55420866e-03 3.60209169e+02] [ 2.90862050e-03 9.99989966e-01 -3.40709045e-03 6.64549007e+00] [ 6.56412876e-03 3.38793893e-03 9.99972717e-01 -3.47808562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.84589822699996 meters 0.0913740830827238 Centerline is valid? [False, True] Translation: X:360.23, Y:6.64, Z:-3.48 [[ 9.99986794e-01 -4.71799618e-03 -2.03788336e-03 3.60229909e+02] [ 4.72869101e-03 9.99974904e-01 5.27546371e-03 6.64277925e+00] [ 2.01294260e-03 -5.28503056e-03 9.99984008e-01 -3.48180752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.875898227 meters 0.09831833464493528 Centerline is valid? [True, True] Translation: X:360.26, Y:6.63, Z:-3.48 [[ 9.99989489e-01 -4.31077737e-03 -1.56171552e-03 3.60258746e+02] [ 4.31098543e-03 9.99990699e-01 1.29883062e-04 6.63488783e+00] [ 1.56114110e-03 -1.36614230e-04 9.99998772e-01 -3.48108327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.90589822699997 meters 0.10207788726048943 Centerline is valid? [True, False] Translation: X:360.24, Y:6.64, Z:-3.48 [[ 9.99989885e-01 6.96076413e-04 -4.44353632e-03 3.60240279e+02] [-7.22918555e-04 9.99981486e-01 -6.04197091e-03 6.63686458e+00] [ 4.43924838e-03 6.04512211e-03 9.99971874e-01 -3.48096000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93589822699994 meters 0.09518957947006562 Centerline is valid? [False, True] Translation: X:360.24, Y:6.64, Z:-3.48 [[ 9.99989939e-01 7.92307947e-04 -4.41521064e-03 3.60240387e+02] [-8.17959212e-04 9.99982782e-01 -5.81097477e-03 6.63584547e+00] [ 4.41053054e-03 5.81452777e-03 9.99973369e-01 -3.48139418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.96589822699997 meters 0.09846692549337743 Centerline is valid? [True, True] Translation: X:360.27, Y:6.63, Z:-3.48 [[ 9.99989499e-01 -9.50493578e-04 -4.48318149e-03 3.60269139e+02] [ 9.52316071e-04 9.99999465e-01 4.04400580e-04 6.62538168e+00] [ 4.48279471e-03 -4.08665739e-04 9.99989869e-01 -3.48337790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99589822699994 meters 0.11073795696235315 Centerline is valid? [True, False] Translation: X:360.27, Y:6.62, Z:-3.48 [[ 9.99989643e-01 -7.87646669e-04 -4.48260195e-03 3.60269263e+02] [ 7.91228956e-04 9.99999369e-01 7.97436263e-04 6.62362937e+00] [ 4.48197102e-03 -8.00974768e-04 9.99989635e-01 -3.48366107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.02589822699997 meters 0.11267337998245262 Centerline is valid? [False, False] Translation: X:360.27, Y:6.62, Z:-3.48 [[ 9.99989945e-01 -6.11123100e-04 -4.44266163e-03 3.60269200e+02] [ 6.16555802e-04 9.99999064e-01 1.22158159e-03 6.62172115e+00] [ 4.44191093e-03 -1.22430846e-03 9.99989385e-01 -3.48382079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05589822699994 meters 0.11325872952697022 Centerline is valid? [False, False] Translation: X:360.27, Y:6.62, Z:-3.48 [[ 9.99989957e-01 -5.08558202e-04 -4.45277574e-03 3.60269243e+02] [ 5.15059698e-04 9.99998803e-01 1.45907473e-03 6.62064463e+00] [ 4.45202839e-03 -1.46135352e-03 9.99989022e-01 -3.48385768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.085898227 meters 0.10122379330243986 Centerline is valid? [False, False] Translation: X:360.27, Y:6.62, Z:-3.48 [[ 9.99990076e-01 -4.62869771e-04 -4.43097152e-03 3.60269054e+02] [ 4.69832605e-04 9.99998656e-01 1.57048914e-03 6.62012511e+00] [ 4.43023863e-03 -1.57255537e-03 9.99988950e-01 -3.48362206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11589822699995 meters 0.09756181991606407 Centerline is valid? [False, True] Translation: X:360.27, Y:6.62, Z:-3.48 [[ 9.99989910e-01 -5.45340287e-04 -4.45904871e-03 3.60269062e+02] [ 5.51443262e-04 9.99998913e-01 1.36755716e-03 6.62102644e+00] [ 4.45829807e-03 -1.37000227e-03 9.99989123e-01 -3.48344292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.145898227 meters 0.08846183745853796 Centerline is valid? [True, True] Translation: X:360.30, Y:6.63, Z:-3.48 [[ 9.99987061e-01 2.61284107e-03 -4.36477501e-03 3.60300317e+02] [-2.61118974e-03 9.99996517e-01 3.83986902e-04 6.63082954e+00] [ 4.36576310e-03 -3.72584678e-04 9.99990401e-01 -3.48190562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17589822699995 meters 0.08341118713443023 Centerline is valid? [True, True] Translation: X:360.33, Y:6.64, Z:-3.48 [[ 9.99972397e-01 6.05440815e-03 -4.30693127e-03 3.60331409e+02] [-6.05283189e-03 9.99981610e-01 3.78922038e-04 6.63561101e+00] [ 4.30914621e-03 -3.52842448e-04 9.99990653e-01 -3.48079829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.205898227 meters 0.08649192823167619 Centerline is valid? [True, True] Translation: X:360.36, Y:6.63, Z:-3.48 [[ 9.99899502e-01 1.33984337e-02 -4.63335012e-03 3.60360973e+02] [-1.33966878e-02 9.99910177e-01 4.07639516e-04 6.63226583e+00] [ 4.63839567e-03 -3.45527004e-04 9.99989183e-01 -3.48210472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.23589822699995 meters 0.08342785567659831 Centerline is valid? [True, True] Translation: X:360.39, Y:6.64, Z:-3.48 [[ 9.99855169e-01 1.63689963e-02 -4.65805191e-03 3.60391784e+02] [-1.63672639e-02 9.99865963e-01 4.09786827e-04 6.63517116e+00] [ 4.66413536e-03 -3.33487912e-04 9.99989067e-01 -3.48269288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.265898227 meters 0.0826060683814321 Centerline is valid? [True, True] Translation: X:360.42, Y:6.64, Z:-3.48 [[ 9.99819973e-01 1.84239558e-02 -4.53645610e-03 3.60421544e+02] [-1.84223340e-02 9.99830215e-01 3.99029004e-04 6.63552797e+00] [ 4.54303757e-03 -3.15385059e-04 9.99989631e-01 -3.48342167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.29589822699995 meters 0.07527082563927771 Centerline is valid? [True, True] Translation: X:360.45, Y:6.65, Z:-3.48 [[ 9.99797671e-01 1.95071603e-02 -4.90788179e-03 3.60452862e+02] [-1.95052758e-02 9.99809661e-01 4.31555473e-04 6.64584107e+00] [ 4.91536605e-03 -3.35738569e-04 9.99987863e-01 -3.48400949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.325898227 meters 0.07808179652198065 Centerline is valid? [True, True] Translation: X:360.48, Y:6.64, Z:-3.48 [[ 9.99818635e-01 1.84517900e-02 -4.71478206e-03 3.60480956e+02] [-1.84500399e-02 9.99829698e-01 4.14417378e-04 6.64108303e+00] [ 4.72162587e-03 -3.27354300e-04 9.99988799e-01 -3.48412372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.35589822699995 meters 0.07664988223457535 Centerline is valid? [True, True] Translation: X:360.51, Y:6.64, Z:-3.48 [[ 9.99844538e-01 1.69059570e-02 -5.00892336e-03 3.60510963e+02] [-1.69039627e-02 9.99857021e-01 4.40215156e-04 6.64079453e+00] [ 5.01564944e-03 -3.55476065e-04 9.99987358e-01 -3.48451170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.385898227 meters 0.07610026868412835 Centerline is valid? [True, True] Translation: X:360.54, Y:6.64, Z:-3.48 [[ 9.99892005e-01 1.38555698e-02 -4.89910458e-03 3.60541124e+02] [-1.38536257e-02 9.99903941e-01 4.30543609e-04 6.63914395e+00] [ 4.90459941e-03 -3.62626751e-04 9.99987907e-01 -3.48434696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41589822699996 meters 0.08394945052261286 Centerline is valid? [True, True] Translation: X:360.57, Y:6.63, Z:-3.48 [[ 9.99906275e-01 1.27140919e-02 -5.07867808e-03 3.60568915e+02] [-1.27119889e-02 9.99919100e-01 4.46153843e-04 6.62736512e+00] [ 5.08393966e-03 -3.81551928e-04 9.99987004e-01 -3.48435061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.445898227 meters 0.07667657424589497 Centerline is valid? [True, True] Translation: X:360.60, Y:6.63, Z:-3.48 [[ 9.99911933e-01 1.23328311e-02 -4.90176301e-03 3.60598865e+02] [-1.23308686e-02 9.99923879e-01 4.30389953e-04 6.63460013e+00] [ 4.90669781e-03 -3.69909055e-04 9.99987894e-01 -3.48290406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47589822699996 meters 0.08250596735944757 Centerline is valid? [True, True] Translation: X:360.63, Y:6.63, Z:-3.48 [[ 9.99910039e-01 1.27134332e-02 -4.27569040e-03 3.60625931e+02] [-1.27119445e-02 9.99919130e-01 3.75178164e-04 6.62547831e+00] [ 4.28011442e-03 -3.20792074e-04 9.99990789e-01 -3.48196356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.505898227 meters 0.07530012727204263 Centerline is valid? [True, True] Translation: X:360.66, Y:6.63, Z:-3.48 [[ 9.99868431e-01 1.60164222e-02 -2.56811594e-03 3.60656421e+02] [-1.60158961e-02 9.99871712e-01 2.25295741e-04 6.63265779e+00] [ 2.57139491e-03 -1.84135421e-04 9.99996677e-01 -3.47801301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53589822699996 meters 0.07532761937893326 Centerline is valid? [True, True] Translation: X:360.69, Y:6.63, Z:-3.48 [[ 9.99838270e-01 1.78984086e-02 -1.75518085e-03 3.60685356e+02] [-1.78981658e-02 9.99839803e-01 1.53939638e-04 6.63071490e+00] [ 1.75765495e-03 -1.22500224e-04 9.99998448e-01 -3.47719482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.565898227 meters 0.07303765286280978 Centerline is valid? [True, True] Translation: X:360.72, Y:6.63, Z:-3.48 [[ 9.99800844e-01 1.98873335e-02 -1.66347940e-03 3.60715350e+02] [-1.98871181e-02 9.99802221e-01 1.45871755e-04 6.63187149e+00] [ 1.66605140e-03 -1.12760893e-04 9.99998606e-01 -3.47656936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59589822699996 meters 0.07443766932604505 Centerline is valid? [True, True] Translation: X:360.74, Y:6.63, Z:-3.48 [[ 9.99762377e-01 2.17616372e-02 -1.27338060e-03 3.60743738e+02] [-2.17615126e-02 9.99763184e-01 1.11622236e-04 6.62824953e+00] [ 1.27550813e-03 -8.38850240e-05 9.99999183e-01 -3.47681842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.625898227 meters 0.06771036997126695 Centerline is valid? [True, True] Translation: X:360.77, Y:6.63, Z:-3.48 [[ 9.99655315e-01 2.61627789e-02 -2.18160363e-03 3.60774743e+02] [-2.61624236e-02 9.99657687e-01 1.91221901e-04 6.63421809e+00] [ 2.18585974e-03 -1.34079951e-04 9.99997602e-01 -3.47784262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65589822699997 meters 0.05877120802088752 Centerline is valid? [True, True] Translation: X:360.81, Y:6.64, Z:-3.48 [[ 9.99588652e-01 2.85548223e-02 -2.67377096e-03 3.60805951e+02] [-2.85542973e-02 9.99592215e-01 2.34330868e-04 6.64310730e+00] [ 2.67937192e-03 -1.57886825e-04 9.99996398e-01 -3.47767771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.68589822699994 meters 0.06815544564049249 Centerline is valid? [True, True] Translation: X:360.83, Y:6.63, Z:-3.48 [[ 9.99514947e-01 3.10518783e-02 -2.37732968e-03 3.60833450e+02] [-3.10514705e-02 9.99517765e-01 2.08269648e-04 6.62898012e+00] [ 2.38265041e-03 -1.34349044e-04 9.99997152e-01 -3.47772638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71589822699997 meters 0.06599206870830612 Centerline is valid? [True, True] Translation: X:360.86, Y:6.63, Z:-3.48 [[ 9.99429903e-01 3.36966341e-02 -2.09886874e-03 3.60863026e+02] [-3.36963221e-02 9.99432101e-01 1.83845940e-04 6.63003272e+00] [ 2.10387179e-03 -1.13016973e-04 9.99997780e-01 -3.47733132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.74589822699994 meters 0.05602302636041077 Centerline is valid? [True, True] Translation: X:360.89, Y:6.64, Z:-3.48 [[ 9.99249455e-01 3.85995633e-02 -3.25590164e-03 3.60894352e+02] [-3.85988389e-02 9.99254746e-01 2.85038881e-04 6.64187667e+00] [ 3.26447754e-03 -1.59150924e-04 9.99994659e-01 -3.47951121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.77589822699997 meters 0.05124693104585102 Centerline is valid? [True, True] Translation: X:360.93, Y:6.65, Z:-3.48 [[ 9.99160965e-01 4.07307474e-02 -4.28623902e-03 3.60925085e+02] [-4.07295118e-02 9.99170139e-01 3.75189403e-04 6.64556185e+00] [ 4.29796378e-03 -2.00298183e-04 9.99990744e-01 -3.48107385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.80589822699994 meters 0.05087758131721052 Centerline is valid? [True, True] Translation: X:360.95, Y:6.64, Z:-3.48 [[ 9.99089173e-01 4.24151942e-02 -4.66645413e-03 3.60953795e+02] [-4.24137488e-02 9.99100049e-01 4.08314658e-04 6.64357875e+00] [ 4.67957329e-03 -2.10020941e-04 9.99989029e-01 -3.48157051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.835898227 meters 0.046620065217081626 Centerline is valid? [True, True] Translation: X:360.98, Y:6.65, Z:-3.48 [[ 9.99040348e-01 4.35529358e-02 -4.63958112e-03 3.60982757e+02] [-4.35515202e-02 9.99051100e-01 4.05750478e-04 6.64642021e+00] [ 4.65285024e-03 -2.03300288e-04 9.99989155e-01 -3.48091868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.86589822699995 meters 0.04793439835268253 Centerline is valid? [True, True] Translation: X:361.01, Y:6.64, Z:-3.48 [[ 9.98974038e-01 4.50999052e-02 -4.10725049e-03 3.61010529e+02] [-4.50988096e-02 9.98982467e-01 3.59008764e-04 6.64041931e+00] [ 4.11926249e-03 -1.73408326e-04 9.99991501e-01 -3.48065601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.895898227 meters 0.044877849050789786 Centerline is valid? [True, True] Translation: X:361.04, Y:6.64, Z:-3.48 [[ 9.98953691e-01 4.56009302e-02 -3.47546120e-03 3.61039378e+02] [-4.56001494e-02 9.98959726e-01 3.03626426e-04 6.64062311e+00] [ 3.48569141e-03 -1.44827190e-04 9.99993914e-01 -3.47936177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.92589822699995 meters 0.04398756952180254 Centerline is valid? [True, True] Translation: X:361.07, Y:6.64, Z:-3.48 [[ 9.98921947e-01 4.62984349e-02 -3.37609028e-03 3.61068030e+02] [-4.62977026e-02 9.98927643e-01 2.94790329e-04 6.63805982e+00] [ 3.38611824e-03 -1.38167306e-04 9.99994258e-01 -3.47886567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.955898227 meters 0.04398756952180254 Centerline is valid? [True, True] Translation: X:361.10, Y:6.64, Z:-3.48 [[ 9.98924060e-01 4.62528399e-02 -3.37610373e-03 3.61096278e+02] [-4.62521078e-02 9.98929755e-01 2.94636237e-04 6.63567725e+00] [ 3.38611824e-03 -1.38167312e-04 9.99994258e-01 -3.47886444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.98589822699995 meters 0.04422992206066281 Centerline is valid? [True, True] Translation: X:361.13, Y:6.63, Z:-3.48 [[ 9.98810208e-01 4.86484769e-02 -3.39038487e-03 3.61125105e+02] [-4.86477527e-02 9.98815953e-01 2.95804002e-04 6.62940175e+00] [ 3.40076091e-03 -1.30517452e-04 9.99994209e-01 -3.47826755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.015898227 meters 0.04046393732825168 Centerline is valid? [True, True] Translation: X:361.15, Y:6.63, Z:-3.48 [[ 9.98727839e-01 5.03037087e-02 -3.49870397e-03 3.61154066e+02] [-5.03029482e-02 9.98733959e-01 3.05094729e-04 6.63015006e+00] [ 3.50962186e-03 -1.28711475e-04 9.99993833e-01 -3.47773145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.04589822699995 meters 0.03798759803484159 Centerline is valid? [True, True] Translation: X:361.18, Y:6.63, Z:-3.48 [[ 9.98617947e-01 5.24352001e-02 -3.57001070e-03 3.61184224e+02] [-5.24344220e-02 9.98624321e-01 3.11270167e-04 6.62913057e+00] [ 3.58142103e-03 -1.23648528e-04 9.99993579e-01 -3.47798487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.075898227 meters 0.03618327313351163 Centerline is valid? [True, True] Translation: X:361.21, Y:6.63, Z:-3.48 [[ 9.98490957e-01 5.47834635e-02 -3.81845650e-03 3.61212837e+02] [-5.47825910e-02 9.98498251e-01 3.32802109e-04 6.62740352e+00] [ 3.83095419e-03 -1.23114956e-04 9.99992654e-01 -3.47812449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.10589822699995 meters 0.03254901339587737 Centerline is valid? [True, True] Translation: X:361.24, Y:6.62, Z:-3.48 [[ 9.98238946e-01 5.91420271e-02 -4.60727622e-03 3.61242086e+02] [-5.91408037e-02 9.98249570e-01 4.01447422e-04 6.62472349e+00] [ 4.62295392e-03 -1.28262433e-04 9.99989306e-01 -3.48056677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.135898227 meters 0.030431133188610085 Centerline is valid? [True, True] Translation: X:361.27, Y:6.62, Z:-3.48 [[ 9.98119195e-01 6.11276422e-02 -4.63517680e-03 3.61270725e+02] [-6.11264263e-02 9.98129950e-01 4.03669407e-04 6.62261487e+00] [ 4.65118415e-03 -1.19578390e-04 9.99989176e-01 -3.48036293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.16589822699996 meters 0.027153645859881136 Centerline is valid? [True, True] Translation: X:361.30, Y:6.62, Z:-3.48 [[ 9.97991049e-01 6.32409954e-02 -3.80027086e-03 3.61300081e+02] [-6.32401939e-02 9.97998281e-01 3.30826899e-04 6.62250505e+00] [ 3.81358561e-03 -8.98324181e-05 9.99992724e-01 -3.47900516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.195898227 meters 0.02520985443283759 Centerline is valid? [True, True] Translation: X:361.33, Y:6.62, Z:-3.48 [[ 9.97863898e-01 6.52606721e-02 -2.94723540e-03 3.61329187e+02] [-6.52601992e-02 9.97868248e-01 2.56431834e-04 6.62116845e+00] [ 2.95768754e-03 -6.35469000e-05 9.99995624e-01 -3.47759500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.22589822699996 meters 0.021669967708044018 Centerline is valid? [True, True] Translation: X:361.36, Y:6.62, Z:-3.48 [[ 9.97551823e-01 6.99020384e-02 -2.01618185e-03 3.61358317e+02] [-6.99018267e-02 9.97553860e-01 1.75376277e-04 6.62070914e+00] [ 2.02350915e-03 -3.40121302e-05 9.99997952e-01 -3.47764063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.255898227 meters 0.019319828126828593 Centerline is valid? [True, True] Translation: X:361.39, Y:6.62, Z:-3.48 [[ 9.97361586e-01 7.25549550e-02 -2.37592124e-03 3.61386380e+02] [-7.25546688e-02 9.97364416e-01 2.06536158e-04 6.62049044e+00] [ 2.38464452e-03 -3.36070517e-05 9.99997156e-01 -3.47897226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.28589822699996 meters 0.017000457750086198 Centerline is valid? [True, True] Translation: X:361.41, Y:6.62, Z:-3.48 [[ 9.97181804e-01 7.49693608e-02 -2.83618932e-03 3.61414874e+02] [-7.49689631e-02 9.97185837e-01 2.46419423e-04 6.62083741e+00] [ 2.84668173e-03 -3.30987918e-05 9.99995948e-01 -3.48035290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.315898227 meters 0.013590368005975344 Centerline is valid? [True, True] Translation: X:361.44, Y:6.62, Z:-3.48 [[ 9.96974148e-01 7.76671455e-02 -3.21896930e-03 3.61443574e+02] [-7.76666478e-02 9.96979345e-01 2.79525915e-04 6.62260354e+00] [ 3.23095588e-03 -2.86735561e-05 9.99994780e-01 -3.48102984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.34589822699996 meters 0.010318867961881657 Centerline is valid? [True, True] Translation: X:361.47, Y:6.62, Z:-3.48 [[ 9.96547431e-01 8.29509679e-02 -3.51492145e-03 3.61472663e+02] [-8.29504079e-02 9.96553630e-01 3.05058701e-04 6.62400283e+00] [ 3.52811264e-03 -1.24412973e-05 9.99993776e-01 -3.48155393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.375898227 meters 0.00971975876013144 Centerline is valid? [True, True] Translation: X:361.50, Y:6.62, Z:-3.48 [[ 9.96363168e-01 8.51601059e-02 -2.86251298e-03 3.61499985e+02] [-8.51597441e-02 9.96367280e-01 2.48267932e-04 6.62257253e+00] [ 2.87325679e-03 -3.59415062e-06 9.99995872e-01 -3.48116169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.40589822699997 meters 0.011493840210899556 Centerline is valid? [True, True] Translation: X:361.53, Y:6.62, Z:-3.48 [[ 9.96227425e-01 8.67491401e-02 -2.34606862e-03 3.61528278e+02] [-8.67489019e-02 9.96230188e-01 2.03308743e-04 6.62026506e+00] [ 2.35486124e-03 9.77131322e-07 9.99997227e-01 -3.48040191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43589822699994 meters 0.0097808552468098 Centerline is valid? [True, True] Translation: X:361.56, Y:6.62, Z:-3.48 [[ 9.96122621e-01 8.79410050e-02 -2.47062348e-03 3.61555463e+02] [-8.79407449e-02 9.96125685e-01 2.13896708e-04 6.61723135e+00] [ 2.47986180e-03 4.20111935e-06 9.99996925e-01 -3.48115735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.46589822699997 meters 0.01049365408597012 Centerline is valid? [True, True] Translation: X:361.58, Y:6.61, Z:-3.48 [[ 9.95951174e-01 8.98416053e-02 -3.12181603e-03 3.61584249e+02] [-8.98411999e-02 9.95956066e-01 2.70127768e-04 6.61084172e+00] [ 3.13346033e-03 1.14336308e-05 9.99995091e-01 -3.48207594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49589822699994 meters 0.011607531763391354 Centerline is valid? [True, True] Translation: X:361.61, Y:6.61, Z:-3.48 [[ 9.95808775e-01 9.13993080e-02 -3.32418051e-03 3.61611642e+02] [-9.13988577e-02 9.95814323e-01 2.87448214e-04 6.60770625e+00] [ 3.33653914e-03 1.75828476e-05 9.99994434e-01 -3.48235018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.52589822699997 meters 0.012451519482389975 Centerline is valid? [True, True] Translation: X:361.64, Y:6.60, Z:-3.48 [[ 9.95644986e-01 9.31517626e-02 -3.71632179e-03 3.61639868e+02] [-9.31512126e-02 9.95651921e-01 3.21181408e-04 6.60328199e+00] [ 3.73008154e-03 2.63972224e-05 9.99993043e-01 -3.48163245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55589822699994 meters 0.01524406699599289 Centerline is valid? [True, True] Translation: X:361.67, Y:6.60, Z:-3.48 [[ 9.95355307e-01 9.61860769e-02 -4.00638534e-03 3.61667813e+02] [-9.61854632e-02 9.95363369e-01 3.46014656e-04 6.59961926e+00] [ 4.02109100e-03 4.09485060e-05 9.99991915e-01 -3.48247894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.585898227 meters 0.016956469157269834 Centerline is valid? [True, True] Translation: X:361.70, Y:6.60, Z:-3.48 [[ 9.95236949e-01 9.74064026e-02 -3.92540012e-03 3.61695352e+02] [-9.74058239e-02 9.95244689e-01 3.38791909e-04 6.59776473e+00] [ 3.93973412e-03 4.51786069e-05 9.99992238e-01 -3.48240020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61589822699995 meters 0.017706082344939277 Centerline is valid? [True, True] Translation: X:361.72, Y:6.59, Z:-3.48 [[ 9.95086998e-01 9.89285888e-02 -3.87313345e-03 3.61724158e+02] [-9.89280377e-02 9.95094534e-01 3.34098858e-04 6.59397721e+00] [ 3.88718585e-03 5.07040623e-05 9.99992444e-01 -3.48170780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.645898227 meters 0.019780881058587326 Centerline is valid? [True, True] Translation: X:361.75, Y:6.59, Z:-3.48 [[ 9.94906184e-01 1.00720409e-01 -4.13332415e-03 3.61753173e+02] [-1.00719798e-01 9.94914768e-01 3.56350231e-04 6.59158696e+00] [ 4.14819698e-03 6.17725230e-05 9.99991394e-01 -3.48192237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67589822699995 meters 0.024683312992529814 Centerline is valid? [True, True] Translation: X:361.78, Y:6.59, Z:-3.48 [[ 9.94547806e-01 1.04176323e-01 -4.68572327e-03 3.61781958e+02] [-1.04175576e-01 9.94558840e-01 4.03810227e-04 6.58879591e+00] [ 4.70229496e-03 8.65293463e-05 9.99988940e-01 -3.48360200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.705898227 meters 0.026037525492983958 Centerline is valid? [True, True] Translation: X:361.81, Y:6.59, Z:-3.48 [[ 9.94376885e-01 1.05783491e-01 -4.94606253e-03 3.61810470e+02] [-1.05782680e-01 9.94389181e-01 4.26018530e-04 6.58505609e+00] [ 4.96337679e-03 9.95847722e-05 9.99987677e-01 -3.48310944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.73589822699995 meters 0.02906854388126661 Centerline is valid? [True, True] Translation: X:361.84, Y:6.58, Z:-3.48 [[ 9.94194318e-01 1.07514214e-01 -4.28379638e-03 3.61838004e+02] [-1.07513623e-01 9.94203543e-01 3.68730044e-04 6.58430727e+00] [ 4.29860926e-03 9.39771524e-05 9.99990757e-01 -3.48243542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.765898227 meters 0.03059332183351468 Centerline is valid? [True, True] Translation: X:361.87, Y:6.58, Z:-3.48 [[ 9.93747858e-01 1.11623117e-01 -2.33968530e-03 3.61867501e+02] [-1.11622952e-01 9.93750611e-01 2.01333176e-04 6.57872535e+00] [ 2.34753713e-03 6.10881663e-05 9.99997243e-01 -3.47851963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.79589822699995 meters 0.03177031090963622 Centerline is valid? [True, True] Translation: X:361.90, Y:6.58, Z:-3.48 [[ 9.93470954e-01 1.14077506e-01 -1.33682042e-03 3.61896976e+02] [-1.14077455e-01 9.93471852e-01 1.15002944e-04 6.57525155e+00] [ 1.34121270e-03 3.82489855e-05 9.99999100e-01 -3.47714276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.825898227 meters 0.04011180345100716 Centerline is valid? [True, True] Translation: X:361.93, Y:6.58, Z:-3.48 [[ 9.93181787e-01 1.16574198e-01 -6.28535644e-04 3.61926404e+02] [-1.16574187e-01 9.93181985e-01 5.40492863e-05 6.58122766e+00] [ 6.30551031e-04 1.95902649e-05 9.99999801e-01 -3.47640087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.85589822699995 meters 0.03624807984736386 Centerline is valid? [True, True] Translation: X:361.95, Y:6.57, Z:-3.48 [[ 9.92939414e-01 1.18622405e-01 -2.14410305e-04 3.61954751e+02] [-1.18622403e-01 9.92939437e-01 1.84287922e-05 6.57098663e+00] [ 2.15082515e-04 7.13519155e-06 9.99999977e-01 -3.47521571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.885898227 meters 0.041796511671367546 Centerline is valid? [True, True] Translation: X:361.98, Y:6.57, Z:-3.47 [[ 9.92651168e-01 1.21001914e-01 1.48145926e-03 3.61983130e+02] [-1.21001859e-01 9.92652272e-01 -1.27244829e-04 6.56962090e+00] [-1.48597077e-03 -5.29495956e-05 9.99998895e-01 -3.47247360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91589822699996 meters 0.039112861122858084 Centerline is valid? [True, True] Translation: X:362.01, Y:6.56, Z:-3.47 [[ 9.92588372e-01 1.21505346e-01 2.18494305e-03 3.62011071e+02] [-1.21505227e-01 9.92590774e-01 -1.87562721e-04 6.56037758e+00] [-2.19154418e-03 -7.93094250e-05 9.99997595e-01 -3.47176784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.945898227 meters 0.04660862652245755 Centerline is valid? [True, True] Translation: X:362.04, Y:6.56, Z:-3.47 [[ 9.92545877e-01 1.21847366e-01 2.42930799e-03 3.62039540e+02] [-1.21847220e-01 9.92548846e-01 -2.08392743e-04 6.56456018e+00] [-2.43659894e-03 -8.91650678e-05 9.99997028e-01 -3.47058805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97589822699996 meters 0.042273816441307586 Centerline is valid? [True, True] Translation: X:362.07, Y:6.55, Z:-3.47 [[ 9.92453130e-01 1.22618690e-01 1.20103640e-03 3.62067558e+02] [-1.22618655e-01 9.92453855e-01 -1.02970813e-04 6.55077524e+00] [-1.20459936e-03 -4.50757625e-05 9.99999273e-01 -3.47290405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.005898227 meters 0.04089724078321756 Centerline is valid? [True, True] Translation: X:362.10, Y:6.54, Z:-3.47 [[ 9.92377777e-01 1.23232784e-01 1.67244312e-04 3.62095742e+02] [-1.23232783e-01 9.92377791e-01 -1.43287622e-05 6.54351505e+00] [-1.67735314e-04 -6.39043674e-06 9.99999986e-01 -3.47470289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03589822699996 meters 0.04605287121268335 Centerline is valid? [True, True] Translation: X:362.12, Y:6.54, Z:-3.48 [[ 9.92256072e-01 1.24205127e-01 -9.87091077e-04 3.62124080e+02] [-1.24205104e-01 9.92256562e-01 8.45250393e-05 6.54486832e+00] [ 9.89946041e-04 3.87312664e-05 9.99999509e-01 -3.47632995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.065898227 meters 0.04684517595246767 Centerline is valid? [True, True] Translation: X:362.15, Y:6.54, Z:-3.48 [[ 9.92062513e-01 1.25730885e-01 -1.92722022e-03 3.62153374e+02] [-1.25730802e-01 9.92064382e-01 1.64979660e-04 6.53991659e+00] [ 1.93266958e-03 7.86408073e-05 9.99998129e-01 -3.47776789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09589822699996 meters 0.04954133323445129 Centerline is valid? [True, True] Translation: X:362.18, Y:6.54, Z:-3.48 [[ 9.91728521e-01 1.28333382e-01 -2.25478542e-03 3.62183240e+02] [-1.28333274e-01 9.91731079e-01 1.92993935e-04 6.53503495e+00] [ 2.26090834e-03 9.79664050e-05 9.99997439e-01 -3.47859528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.125898227 meters 0.04982810906140536 Centerline is valid? [True, True] Translation: X:362.21, Y:6.53, Z:-3.48 [[ 9.91607019e-01 1.29269012e-01 -2.24572386e-03 3.62212210e+02] [-1.29268908e-01 9.91609557e-01 1.92114920e-04 6.53141425e+00] [ 2.25171575e-03 9.97997679e-05 9.99997460e-01 -3.47902432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15589822699997 meters 0.05111436297906504 Centerline is valid? [True, True] Translation: X:362.24, Y:6.53, Z:-3.48 [[ 9.91474022e-01 1.30282419e-01 -2.39893896e-03 3.62240678e+02] [-1.30282304e-01 9.91476918e-01 2.05110234e-04 6.52976274e+00] [ 2.40521486e-03 1.09177825e-04 9.99997102e-01 -3.47996695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.18589822699994 meters 0.05627395361811542 Centerline is valid? [True, True] Translation: X:362.27, Y:6.53, Z:-3.48 [[ 9.91252221e-01 1.31928867e-01 -3.71587970e-03 3.62269355e+02] [-1.31928601e-01 9.91259171e-01 3.17535674e-04 6.53238417e+00] [ 3.72529195e-03 1.75472869e-04 9.99993046e-01 -3.48342100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21589822699997 meters 0.05497333644237023 Centerline is valid? [True, True] Translation: X:362.30, Y:6.53, Z:-3.48 [[ 9.91195339e-01 1.32327744e-01 -4.60092169e-03 3.62297828e+02] [-1.32327342e-01 9.91205993e-01 3.92953880e-04 6.52749005e+00] [ 4.61245985e-03 2.19333685e-04 9.99989338e-01 -3.48482559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.24589822699994 meters 0.054317614856559095 Centerline is valid? [True, True] Translation: X:362.33, Y:6.52, Z:-3.49 [[ 9.91220728e-01 1.32124532e-01 -4.95738295e-03 3.62326887e+02] [-1.32124065e-01 9.91233097e-01 4.23168671e-04 6.52375656e+00] [ 4.96983302e-03 2.35536026e-04 9.99987623e-01 -3.48516369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.27589822699997 meters 0.05405746103044915 Centerline is valid? [True, True] Translation: X:362.36, Y:6.52, Z:-3.48 [[ 9.91298233e-01 1.31547919e-01 -4.79151545e-03 3.62355459e+02] [-1.31547477e-01 9.91309787e-01 4.08789189e-04 6.52071906e+00] [ 4.80365153e-03 2.25079767e-04 9.99988437e-01 -3.48450270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.30589822699994 meters 0.04998779840013429 Centerline is valid? [True, True] Translation: X:362.39, Y:6.51, Z:-3.48 [[ 9.91736364e-01 1.28250648e-01 -3.27964245e-03 3.62385399e+02] [-1.28250422e-01 9.91741776e-01 2.79785911e-04 6.51111721e+00] [ 3.28844115e-03 1.43141667e-04 9.99994583e-01 -3.48183395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.335898227 meters 0.047144919817100193 Centerline is valid? [True, True] Translation: X:362.41, Y:6.50, Z:-3.48 [[ 9.92054348e-01 1.25780891e-01 -2.70892170e-03 3.62414882e+02] [-1.25780728e-01 9.92058040e-01 2.31019382e-04 6.50342278e+00] [ 2.71646538e-03 1.11546362e-04 9.99996304e-01 -3.48081284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.36589822699995 meters 0.044907361444323446 Centerline is valid? [True, True] Translation: X:362.44, Y:6.50, Z:-3.48 [[ 9.92364869e-01 1.23316886e-01 -2.21622841e-03 3.62444168e+02] [-1.23316771e-01 9.92367340e-01 1.88950872e-04 6.49607752e+00] [ 2.22261353e-03 8.57899237e-05 9.99997526e-01 -3.48004108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.395898227 meters 0.03920516014891201 Centerline is valid? [True, True] Translation: X:362.47, Y:6.48, Z:-3.48 [[ 9.92608033e-01 1.21356072e-01 -1.41333342e-03 3.62471990e+02] [-1.21356024e-01 9.92609037e-01 1.20430565e-04 6.48393529e+00] [ 1.41750251e-03 5.19761785e-05 9.99998994e-01 -3.47887947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.42589822699995 meters 0.04426433759983999 Centerline is valid? [True, True] Translation: X:362.50, Y:6.48, Z:-3.48 [[ 9.92851175e-01 1.19357810e-01 -5.07662969e-04 3.62499946e+02] [-1.19357804e-01 9.92851304e-01 4.32291960e-05 6.48244402e+00] [ 5.09193583e-04 1.76733789e-05 9.99999870e-01 -3.47745230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.455898227 meters 0.03983641821030426 Centerline is valid? [True, True] Translation: X:362.53, Y:6.47, Z:-3.48 [[ 9.92902986e-01 1.18925899e-01 -5.39429151e-04 3.62527873e+02] [-1.18925892e-01 9.92903132e-01 4.59082911e-05 6.47110146e+00] [ 5.41060578e-04 1.85696135e-05 9.99999853e-01 -3.47819703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.48589822699995 meters 0.03911831190828506 Centerline is valid? [True, True] Translation: X:362.56, Y:6.46, Z:-3.48 [[ 9.92935805e-01 1.18644614e-01 -1.39357475e-03 3.62555954e+02] [-1.18644564e-01 9.92936782e-01 1.18532200e-04 6.46426023e+00] [ 1.39779484e-03 4.76452042e-05 9.99999022e-01 -3.47975875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.515898227 meters 0.03706086719381579 Centerline is valid? [True, True] Translation: X:362.58, Y:6.45, Z:-3.48 [[ 9.92980682e-01 1.18238595e-01 -2.99998497e-03 3.62584220e+02] [-1.18238364e-01 9.92985208e-01 2.55021030e-04 6.45092046e+00] [ 3.00909403e-03 1.01482359e-04 9.99995468e-01 -3.48336159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.54589822699995 meters 0.04016658472901183 Centerline is valid? [True, True] Translation: X:362.61, Y:6.44, Z:-3.48 [[ 9.93107516e-01 1.17153604e-01 -3.53490234e-03 3.62611692e+02] [-1.17153276e-01 9.93113800e-01 3.00281751e-04 6.44458954e+00] [ 3.54573939e-03 1.15913327e-04 9.99993707e-01 -3.48425605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.575898227 meters 0.03630269318196567 Centerline is valid? [True, True] Translation: X:362.64, Y:6.43, Z:-3.48 [[ 9.93142595e-01 1.16866667e-01 -3.15733010e-03 3.62639628e+02] [-1.16866405e-01 9.93147608e-01 2.68057135e-04 6.43478164e+00] [ 3.16702178e-03 1.02766858e-04 9.99994980e-01 -3.48436269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.60589822699995 meters 0.03638142980222204 Centerline is valid? [True, True] Translation: X:362.67, Y:6.43, Z:-3.48 [[ 9.93193027e-01 1.16448452e-01 -2.71449999e-03 3.62667296e+02] [-1.16448257e-01 9.93196733e-01 2.30282848e-04 6.42722407e+00] [ 2.72284860e-03 8.73834744e-05 9.99996289e-01 -3.48358116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.635898227 meters 0.037537130210169745 Centerline is valid? [True, True] Translation: X:362.69, Y:6.42, Z:-3.48 [[ 9.93179124e-01 1.16590067e-01 -1.40826733e-03 3.62694295e+02] [-1.16590015e-01 9.93180122e-01 1.19387965e-04 6.41539428e+00] [ 1.41258256e-03 4.56162736e-05 9.99999001e-01 -3.48274749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.66589822699996 meters 0.038369149883997526 Centerline is valid? [True, True] Translation: X:362.72, Y:6.41, Z:-3.48 [[ 9.93082651e-01 1.17414754e-01 -7.89794142e-04 3.62722279e+02] [-1.17414737e-01 9.93082965e-01 6.69198124e-05 6.40869598e+00] [ 7.92188481e-04 2.62765671e-05 9.99999686e-01 -3.48201183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.695898227 meters 0.039798761261905714 Centerline is valid? [True, True] Translation: X:362.75, Y:6.40, Z:-3.48 [[ 9.92865881e-01 1.19231889e-01 -1.04874485e-03 3.62751677e+02] [-1.19231861e-01 9.92866434e-01 8.88346925e-05 6.40298133e+00] [ 1.05185549e-03 3.68428654e-05 9.99999446e-01 -3.48241739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.72589822699996 meters 0.042783393399249886 Centerline is valid? [True, True] Translation: X:362.78, Y:6.40, Z:-3.48 [[ 9.92606354e-01 1.21365122e-01 -1.77006880e-03 3.62779596e+02] [-1.21365047e-01 9.92607930e-01 1.49867001e-04 6.39987180e+00] [ 1.77517295e-03 6.60655459e-05 9.99998422e-01 -3.48377747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.755898227 meters 0.04942584820863296 Centerline is valid? [True, True] Translation: X:362.81, Y:6.40, Z:-3.49 [[ 9.91888314e-01 1.27056329e-01 -3.77652869e-03 3.62809790e+02] [-1.27056031e-01 9.91895490e-01 3.19729844e-04 6.39825930e+00] [ 3.78654548e-03 1.62694449e-04 9.99992818e-01 -3.48662680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.78589822699996 meters 0.05291545852349354 Centerline is valid? [True, True] Translation: X:362.84, Y:6.40, Z:-3.49 [[ 9.91478291e-01 1.30220026e-01 -3.68002137e-03 3.62840010e+02] [-1.30219765e-01 9.91485106e-01 3.11517579e-04 6.39628096e+00] [ 3.68925221e-03 1.70348601e-04 9.99993180e-01 -3.48713324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.815898227 meters 0.056136726173960566 Centerline is valid? [True, True] Translation: X:362.87, Y:6.39, Z:-3.49 [[ 9.91137480e-01 1.32802677e-01 -3.15360643e-03 3.62870341e+02] [-1.32802498e-01 9.91142485e-01 2.66920326e-04 6.39434663e+00] [ 3.16112105e-03 1.54252073e-04 9.99994992e-01 -3.48608837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.84589822699996 meters 0.056136726173960566 Centerline is valid? [True, True] Translation: X:362.90, Y:6.39, Z:-3.49 [[ 9.91146447e-01 1.32735731e-01 -3.15362424e-03 3.62897780e+02] [-1.32735553e-01 9.91151453e-01 2.66709755e-04 6.39215628e+00] [ 3.16112117e-03 1.54249631e-04 9.99994992e-01 -3.48608717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.875898227 meters 0.05865545878425709 Centerline is valid? [True, True] Translation: X:362.93, Y:6.39, Z:-3.48 [[ 9.90842879e-01 1.34992448e-01 -2.72554783e-03 3.62927437e+02] [-1.34992324e-01 9.90846617e-01 2.30473411e-04 6.38983833e+00] [ 2.73171202e-03 1.39565097e-04 9.99996259e-01 -3.48455674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.90589822699997 meters 0.06330478916147585 Centerline is valid? [True, True] Translation: X:362.96, Y:6.39, Z:-3.49 [[ 9.90340991e-01 1.38624628e-01 -2.81686120e-03 3.62956981e+02] [-1.38624509e-01 9.90344985e-01 2.38195072e-04 6.38857972e+00] [ 2.82268406e-03 1.54591657e-04 9.99996004e-01 -3.48584028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93589822699994 meters 0.05620991847181772 Centerline is valid? [True, True] Translation: X:362.99, Y:6.37, Z:-3.49 [[ 9.90119971e-01 1.40174465e-01 -3.68260731e-03 3.62985123e+02] [-1.40174273e-01 9.90126798e-01 3.11271536e-04 6.37481453e+00] [ 3.68988051e-03 2.08010641e-04 9.99993171e-01 -3.48666993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.96589822699997 meters 0.06890060837012253 Centerline is valid? [True, True] Translation: X:363.01, Y:6.39, Z:-3.49 [[ 9.89903650e-01 1.41682905e-01 -4.08871045e-03 3.63014476e+02] [-1.41682683e-01 9.89912066e-01 3.45401663e-04 6.38617390e+00] [ 4.09640132e-03 2.37385098e-04 9.99991582e-01 -3.48856783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99589822699994 meters 0.07191560233604759 Centerline is valid? [True, True] Translation: X:363.04, Y:6.38, Z:-3.49 [[ 9.89448674e-01 1.44830808e-01 -3.91890774e-03 3.63044877e+02] [-1.44830629e-01 9.89456406e-01 3.31054465e-04 6.38314715e+00] [ 3.92553526e-03 2.40016470e-04 9.99992266e-01 -3.48769828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.02589822699997 meters 0.0749054156820703 Centerline is valid? [True, True] Translation: X:363.07, Y:6.38, Z:-3.49 [[ 9.89128472e-01 1.47016275e-01 -3.32868035e-03 3.63073984e+02] [-1.47016158e-01 9.89134051e-01 2.81122049e-04 6.38371481e+00] [ 3.33384059e-03 2.11303975e-04 9.99994420e-01 -3.48696413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05589822699994 meters 0.06980897372902437 Centerline is valid? [True, True] Translation: X:363.10, Y:6.37, Z:-3.49 [[ 9.88774165e-01 1.49381288e-01 -3.29859572e-03 3.63103823e+02] [-1.49381186e-01 9.88779644e-01 2.78581522e-04 6.37419817e+00] [ 3.30319917e-03 2.17293929e-04 9.99994521e-01 -3.48612038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.085898227 meters 0.07406489117844313 Centerline is valid? [True, True] Translation: X:363.13, Y:6.38, Z:-3.49 [[ 9.88279120e-01 1.52593850e-01 -4.41573609e-03 3.63134317e+02] [-1.52593700e-01 9.88288937e-01 3.72931031e-04 6.37622033e+00] [ 4.42093011e-03 3.05253556e-04 9.99990181e-01 -3.48896070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11589822699995 meters 0.0718601756136238 Centerline is valid? [True, True] Translation: X:363.16, Y:6.37, Z:-3.49 [[ 9.88245349e-01 1.52781939e-01 -5.36742367e-03 3.63162386e+02] [-1.52781721e-01 9.88259855e-01 4.53052632e-04 6.36775718e+00] [ 5.37362760e-03 3.72317068e-04 9.99985493e-01 -3.48926423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.145898227 meters 0.0742083398619286 Centerline is valid? [True, True] Translation: X:363.19, Y:6.37, Z:-3.49 [[ 9.88132450e-01 1.53496688e-01 -5.74699380e-03 3.63190871e+02] [-1.53496451e-01 9.88149080e-01 4.84819483e-04 6.37087336e+00] [ 5.75330482e-03 4.03077291e-04 9.99983368e-01 -3.49037171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17589822699995 meters 0.08130521256666469 Centerline is valid? [True, True] Translation: X:363.22, Y:6.38, Z:-3.49 [[ 9.88057407e-01 1.53983757e-01 -5.61804457e-03 3.63219239e+02] [-1.53983542e-01 9.88073299e-01 4.73466652e-04 6.37715385e+00] [ 5.62394601e-03 3.97274169e-04 9.99984107e-01 -3.49046335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.205898227 meters 0.08162657560079917 Centerline is valid? [True, True] Translation: X:363.25, Y:6.38, Z:-3.49 [[ 9.87904743e-01 1.55009308e-01 -4.04150964e-03 3.63248525e+02] [-1.55009206e-01 9.87912967e-01 3.40466885e-04 6.37537105e+00] [ 4.04543532e-03 2.90122350e-04 9.99991775e-01 -3.48646953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.23589822699995 meters 0.091840981106654 Centerline is valid? [True, True] Translation: X:363.28, Y:6.39, Z:-3.49 [[ 9.87793830e-01 1.55735644e-01 -3.12390589e-03 3.63278485e+02] [-1.55735587e-01 9.87798744e-01 2.63062880e-04 6.38659261e+00] [ 3.12675858e-03 2.26651427e-04 9.99995086e-01 -3.48527872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.265898227 meters 0.08511610350501318 Centerline is valid? [True, True] Translation: X:363.31, Y:6.38, Z:-3.48 [[ 9.87700045e-01 1.56345015e-01 -2.20394484e-03 3.63306424e+02] [-1.56344988e-01 9.87702491e-01 1.85497722e-04 6.37658481e+00] [ 2.20584346e-03 1.61359622e-04 9.99997554e-01 -3.48331552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.29589822699995 meters 0.08508207035581551 Centerline is valid? [True, True] Translation: X:363.34, Y:6.38, Z:-3.48 [[ 9.87658705e-01 1.56612112e-01 -1.71139845e-03 3.63335562e+02] [-1.56612096e-01 9.87660180e-01 1.43967267e-04 6.37529845e+00] [ 1.71282712e-03 1.25835174e-04 9.99998525e-01 -3.48322553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.325898227 meters 0.08113379959261935 Centerline is valid? [True, True] Translation: X:363.36, Y:6.37, Z:-3.48 [[ 9.87794751e-01 1.55751436e-01 -1.73774313e-03 3.63363554e+02] [-1.55751419e-01 9.87796272e-01 1.46105642e-04 6.36818067e+00] [ 1.73929235e-03 1.26333572e-04 9.99998479e-01 -3.48303795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.35589822699995 meters 0.07662764951886417 Centerline is valid? [True, True] Translation: X:363.39, Y:6.36, Z:-3.48 [[ 9.88037642e-01 1.54203016e-01 -1.74604132e-03 3.63392506e+02] [-1.54202996e-01 9.88039177e-01 1.46762502e-04 6.35963761e+00] [ 1.74778844e-03 1.24237927e-04 9.99998465e-01 -3.48312413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.385898227 meters 0.07371176324325203 Centerline is valid? [True, True] Translation: X:363.42, Y:6.35, Z:-3.48 [[ 9.88717135e-01 1.49785052e-01 -1.69296425e-03 3.63421669e+02] [-1.49785027e-01 9.88718578e-01 1.42279005e-04 6.35257553e+00] [ 1.69517647e-03 1.12907004e-04 9.99998557e-01 -3.48348076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41589822699996 meters 0.0749624389321474 Centerline is valid? [True, True] Translation: X:363.45, Y:6.35, Z:-3.48 [[ 9.89007122e-01 1.47858369e-01 -1.67806900e-03 3.63450704e+02] [-1.47858342e-01 9.89008539e-01 1.40989868e-04 6.35051358e+00] [ 1.68047110e-03 1.08676517e-04 9.99998582e-01 -3.48425501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.445898227 meters 0.07072306965997707 Centerline is valid? [True, True] Translation: X:363.48, Y:6.34, Z:-3.48 [[ 9.89229630e-01 1.46362862e-01 -1.62844169e-03 3.63480331e+02] [-1.46362834e-01 9.89230965e-01 1.36773057e-04 6.34122797e+00] [ 1.63092344e-03 1.03043380e-04 9.99998665e-01 -3.48355856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47589822699996 meters 0.07176657856385736 Centerline is valid? [True, True] Translation: X:363.51, Y:6.34, Z:-3.48 [[ 9.89341506e-01 1.45610624e-01 -9.64688848e-04 3.63507726e+02] [-1.45610614e-01 9.89341975e-01 8.09719311e-05 6.33893841e+00] [ 9.66197543e-04 6.03600429e-05 9.99999531e-01 -3.48245800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.505898227 meters 0.07175138809387914 Centerline is valid? [True, True] Translation: X:363.54, Y:6.33, Z:-3.48 [[ 9.89222060e-01 1.46420439e-01 8.78341745e-04 3.63536780e+02] [-1.46420431e-01 9.89222448e-01 -7.36803860e-05 6.33482339e+00] [-8.79663686e-04 -5.57209138e-05 9.99999612e-01 -3.47920985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53589822699996 meters 0.07405548179670475 Centerline is valid? [True, True] Translation: X:363.57, Y:6.34, Z:-3.48 [[ 9.89045915e-01 1.47604259e-01 1.07781715e-03 3.63565265e+02] [-1.47604248e-01 9.89046499e-01 -9.03662147e-05 6.33523908e+00] [-1.07934972e-03 -6.97140546e-05 9.99999415e-01 -3.47888104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.565898227 meters 0.0768765779553634 Centerline is valid? [True, True] Translation: X:363.60, Y:6.34, Z:-3.48 [[ 9.88792958e-01 1.49292066e-01 6.03612926e-04 3.63595804e+02] [-1.49292063e-01 9.88793142e-01 -5.06005353e-05 6.33616508e+00] [-6.04402580e-04 -4.00811658e-05 9.99999817e-01 -3.47999775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59589822699996 meters 0.08202405156417414 Centerline is valid? [True, True] Translation: X:363.63, Y:6.34, Z:-3.48 [[ 9.88164555e-01 1.53392550e-01 -1.24034543e-03 3.63625751e+02] [-1.53392540e-01 9.88165329e-01 1.03966888e-04 6.33976089e+00] [ 1.24161410e-03 8.75233419e-05 9.99999225e-01 -3.48341897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.625898227 meters 0.08450885302491817 Centerline is valid? [True, True] Translation: X:363.66, Y:6.34, Z:-3.48 [[ 9.87842978e-01 1.55446238e-01 -1.64835338e-03 3.63656082e+02] [-1.55446223e-01 9.87844346e-01 1.38153440e-04 6.34064502e+00] [ 1.64979200e-03 1.19756400e-04 9.99998632e-01 -3.48413341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65589822699997 meters 0.08703591535421687 Centerline is valid? [True, True] Translation: X:363.69, Y:6.34, Z:-3.48 [[ 9.87566018e-01 1.57193524e-01 -1.88596977e-03 3.63685940e+02] [-1.57193507e-01 9.87567809e-01 1.58048360e-04 6.34167924e+00] [ 1.88736722e-03 1.40379013e-04 9.99998209e-01 -3.48453510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.68589822699994 meters 0.08891148871196229 Centerline is valid? [True, True] Translation: X:363.72, Y:6.34, Z:-3.48 [[ 9.87391016e-01 1.58286767e-01 -2.06917021e-03 3.63715787e+02] [-1.58286750e-01 9.87393171e-01 1.73356496e-04 6.34228039e+00] [ 2.07052458e-03 1.56351580e-04 9.99997844e-01 -3.48492850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71589822699997 meters 0.09093150599642043 Centerline is valid? [True, True] Translation: X:363.74, Y:6.34, Z:-3.48 [[ 9.87355793e-01 1.58504901e-01 -2.17601106e-03 3.63743474e+02] [-1.58504882e-01 9.87358177e-01 1.82191564e-04 6.34334171e+00] [ 2.17738056e-03 1.65020480e-04 9.99997616e-01 -3.48494909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.74589822699994 meters 0.09104294286062509 Centerline is valid? [True, True] Translation: X:363.77, Y:6.34, Z:-3.48 [[ 9.87364761e-01 1.58454320e-01 -1.74871330e-03 3.63771472e+02] [-1.58454308e-01 9.87366300e-01 1.46303390e-04 6.34144049e+00] [ 1.74980298e-03 1.32636344e-04 9.99998460e-01 -3.48476474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.77589822699997 meters 0.09258513386545289 Centerline is valid? [True, True] Translation: X:363.80, Y:6.34, Z:-3.49 [[ 9.87357311e-01 1.58492921e-01 -2.35264845e-03 3.63799293e+02] [-1.58492900e-01 9.87360097e-01 1.96703614e-04 6.34173441e+00] [ 2.35408733e-03 1.78661324e-04 9.99997213e-01 -3.48560181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.80589822699994 meters 0.093293452552101 Centerline is valid? [True, True] Translation: X:363.83, Y:6.34, Z:-3.49 [[ 9.87314905e-01 1.58739807e-01 -3.30953293e-03 3.63827736e+02] [-1.58739767e-01 9.87320419e-01 2.76531397e-04 6.34138317e+00] [ 3.31146598e-03 2.52330915e-04 9.99994485e-01 -3.48712555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.835898227 meters 0.09628314986817726 Centerline is valid? [True, True] Translation: X:363.86, Y:6.34, Z:-3.49 [[ 9.87187624e-01 1.59477428e-01 -5.24832257e-03 3.63857066e+02] [-1.59477338e-01 9.87201492e-01 4.38290176e-04 6.34477776e+00] [ 5.25104926e-03 4.04313875e-04 9.99986131e-01 -3.49103827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.86589822699995 meters 0.09730452681276265 Centerline is valid? [True, True] Translation: X:363.89, Y:6.34, Z:-3.49 [[ 9.87063773e-01 1.60239279e-01 -5.33683585e-03 3.63885668e+02] [-1.60239198e-01 9.87078113e-01 4.45442794e-04 6.34479562e+00] [ 5.33925130e-03 4.15489853e-04 9.99985660e-01 -3.49141998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.895898227 meters 0.09919212406405088 Centerline is valid? [True, True] Translation: X:363.92, Y:6.35, Z:-3.49 [[ 9.86923458e-01 1.61113755e-01 -4.94435625e-03 3.63915362e+02] [-1.61113697e-01 9.86935766e-01 4.12579830e-04 6.34610452e+00] [ 4.94623431e-03 3.89418804e-04 9.99987691e-01 -3.49041970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.92589822699995 meters 0.1008582430009585 Centerline is valid? [True, False] Translation: X:363.93, Y:6.35, Z:-3.49 [[ 9.89105928e-01 1.47007129e-01 -7.63988297e-03 3.63929609e+02] [-1.46926776e-01 9.89094879e-01 1.01902889e-02 6.34822453e+00] [ 9.05461423e-03 -8.95677179e-03 9.99918892e-01 -3.48734993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.955898227 meters 0.08486324419566901 Centerline is valid? [False, True] Translation: X:363.93, Y:6.36, Z:-3.49 [[ 9.91191133e-01 1.32190689e-01 -8.10923922e-03 3.63929355e+02] [-1.32079748e-01 9.91154356e-01 1.29607845e-02 6.35500724e+00] [ 9.75080282e-03 -1.17755484e-02 9.99883122e-01 -3.48728969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.98589822699995 meters 0.08781885524718504 Centerline is valid? [True, True] Translation: X:363.96, Y:6.36, Z:-3.49 [[ 9.91151646e-01 1.32459362e-01 -8.53997916e-03 3.63957370e+02] [-1.32460428e-01 9.91188195e-01 4.43134609e-04 6.36478211e+00] [ 8.52342386e-03 6.91995700e-04 9.99963436e-01 -3.48673024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.015898227 meters 0.08508525890291904 Centerline is valid? [True, True] Translation: X:363.99, Y:6.36, Z:-3.49 [[ 9.91083938e-01 1.33022634e-01 -7.58984468e-03 3.63985579e+02] [-1.33023496e-01 9.91112806e-01 3.93426875e-04 6.36202267e+00] [ 7.57472694e-03 6.19708618e-04 9.99971119e-01 -3.48532670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.04589822699995 meters 0.08752305026896949 Centerline is valid? [True, True] Translation: X:364.01, Y:6.37, Z:-3.48 [[ 9.90973844e-01 1.33880692e-01 -6.84113871e-03 3.64014503e+02] [-1.33881415e-01 9.90997296e-01 3.54310509e-04 6.36571773e+00] [ 6.82698530e-03 5.64788883e-04 9.99976536e-01 -3.48379478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.075898227 meters 0.08850488732613389 Centerline is valid? [True, True] Translation: X:364.04, Y:6.37, Z:-3.48 [[ 9.90854455e-01 1.34787411e-01 -6.30893576e-03 3.64044644e+02] [-1.34788045e-01 9.90874400e-01 3.26567736e-04 6.37041992e+00] [ 6.29538015e-03 5.26788022e-04 9.99980045e-01 -3.48321720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.10589822699995 meters 0.08705053109606374 Centerline is valid? [True, True] Translation: X:364.07, Y:6.37, Z:-3.48 [[ 9.90892909e-01 1.34487633e-01 -6.65732540e-03 3.64073071e+02] [-1.34488334e-01 9.90915117e-01 3.44388996e-04 6.36883584e+00] [ 6.64316044e-03 5.54079985e-04 9.99977780e-01 -3.48359720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.135898227 meters 0.08837368390374473 Centerline is valid? [True, True] Translation: X:364.10, Y:6.37, Z:-3.48 [[ 9.90926113e-01 1.34232132e-01 -6.86833047e-03 3.64101469e+02] [-1.34232873e-01 9.90949751e-01 3.54986049e-04 6.37037269e+00] [ 6.85382091e-03 5.70190788e-04 9.99976350e-01 -3.48404609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.16589822699996 meters 0.09494315756557416 Centerline is valid? [True, True] Translation: X:364.13, Y:6.38, Z:-3.48 [[ 9.90987476e-01 1.33778669e-01 -6.86219316e-03 3.64129958e+02] [-1.33779401e-01 9.91011073e-01 3.54328926e-04 6.37997424e+00] [ 6.84791106e-03 5.66884564e-04 9.99976392e-01 -3.48439919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.195898227 meters 0.11164344500577163 Centerline is valid? [True, False] Translation: X:364.11, Y:6.38, Z:-3.49 [[ 9.93059700e-01 1.17611357e-01 4.26053046e-05 3.64112633e+02] [-1.17607751e-01 9.93026274e-01 8.19970729e-03 6.38459252e+00] [ 9.22070517e-04 -8.14780957e-03 9.99966381e-01 -3.48879878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.22589822699996 meters 0.08878082159031404 Centerline is valid? [False, True] Translation: X:364.15, Y:6.39, Z:-3.49 [[ 9.94444294e-01 1.05140432e-01 5.10243974e-03 3.64152990e+02] [-1.05196156e-01 9.94375763e-01 1.22723967e-02 6.38668745e+00] [-3.78341731e-03 -1.27409719e-02 9.99911673e-01 -3.49069211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.255898227 meters 0.09273315283352865 Centerline is valid? [True, True] Translation: X:364.18, Y:6.40, Z:-3.49 [[ 9.94523477e-01 1.04397003e-01 4.93142879e-03 3.64181392e+02] [-1.04397722e-01 9.94535622e-01 -1.12034411e-04 6.39796621e+00] [-4.91617765e-03 -4.03409080e-04 9.99987834e-01 -3.49026395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.28589822699996 meters 0.08607820916552388 Centerline is valid? [True, True] Translation: X:364.21, Y:6.39, Z:-3.49 [[ 9.94610445e-01 1.03581703e-01 4.57103011e-03 3.64210529e+02] [-1.03582313e-01 9.94620879e-01 -1.03639653e-04 6.38855270e+00] [-4.55717716e-03 -3.70396790e-04 9.99989547e-01 -3.49102759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.315898227 meters 0.08538205049012172 Centerline is valid? [True, True] Translation: X:364.24, Y:6.39, Z:-3.49 [[ 9.94710417e-01 1.02639375e-01 4.04290224e-03 3.64239097e+02] [-1.02639845e-01 9.94718580e-01 -9.15895300e-05 6.38647863e+00] [-4.03095067e-03 -3.23857800e-04 9.99991823e-01 -3.49159902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.34589822699996 meters 0.08902778773579945 Centerline is valid? [True, True] Translation: X:364.27, Y:6.39, Z:-3.49 [[ 9.94849099e-01 1.01276860e-01 4.27409385e-03 3.64267903e+02] [-1.01277374e-01 9.94858223e-01 -9.65827146e-05 6.38951150e+00] [-4.26189901e-03 -3.36783776e-04 9.99990861e-01 -3.49194625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.375898227 meters 0.0821984084296236 Centerline is valid? [True, True] Translation: X:364.30, Y:6.38, Z:-3.49 [[ 9.95204888e-01 9.77164658e-02 4.32706609e-03 3.64298161e+02] [-9.77169601e-02 9.95214241e-01 -9.75314942e-05 6.37516694e+00] [-4.31588823e-03 -3.25763925e-04 9.99990633e-01 -3.49228262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.40589822699997 meters 0.07609737780271672 Centerline is valid? [True, True] Translation: X:364.33, Y:6.36, Z:-3.49 [[ 9.95419004e-01 9.55409527e-02 3.59626684e-03 3.64328163e+02] [-9.55412800e-02 9.95425465e-01 -8.10804559e-05 6.36345214e+00] [-3.58756210e-03 -2.62882910e-04 9.99993530e-01 -3.49377824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43589822699994 meters 0.0780150838459051 Centerline is valid? [True, True] Translation: X:364.36, Y:6.36, Z:-3.50 [[ 9.95587301e-01 9.37954066e-02 2.88923205e-03 3.64357511e+02] [-9.37956103e-02 9.95591472e-01 -6.52207345e-05 6.36173297e+00] [-2.88261220e-03 -2.06064348e-04 9.99995824e-01 -3.49545617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.46589822699997 meters 0.07513851525564698 Centerline is valid? [True, True] Translation: X:364.39, Y:6.35, Z:-3.50 [[ 9.95729155e-01 9.22931306e-02 2.32960272e-03 3.64386997e+02] [-9.22932590e-02 9.95731867e-01 -5.25654124e-05 6.35163011e+00] [-2.32451109e-03 -1.62665713e-04 9.99997285e-01 -3.49622743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49589822699994 meters 0.07970851243741152 Centerline is valid? [True, True] Translation: X:364.42, Y:6.35, Z:-3.50 [[ 9.95651288e-01 9.31378339e-02 1.96391755e-03 3.64415088e+02] [-9.31379265e-02 9.95653215e-01 -4.44100749e-05 6.35448406e+00] [-1.95951708e-03 -1.38698260e-04 9.99998071e-01 -3.49664572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.52589822699997 meters 0.07867468457245068 Centerline is valid? [True, True] Translation: X:364.45, Y:6.35, Z:-3.50 [[ 9.95509269e-01 9.46499521e-02 1.63758250e-03 3.64445698e+02] [-9.46500190e-02 9.95510609e-01 -3.67624194e-05 6.35081011e+00] [-1.63371031e-03 -1.18399886e-04 9.99998658e-01 -3.49654140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55589822699994 meters 0.08450140545706147 Centerline is valid? [True, True] Translation: X:364.48, Y:6.36, Z:-3.50 [[ 9.94937730e-01 1.00472724e-01 2.03608890e-03 3.64476072e+02] [-1.00472839e-01 9.94939800e-01 -4.57573660e-05 6.35666453e+00] [-2.03038325e-03 -1.59045903e-04 9.99997926e-01 -3.49557308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.585898227 meters 0.08958600752743713 Centerline is valid? [True, True] Translation: X:364.51, Y:6.36, Z:-3.50 [[ 9.94551404e-01 1.04227786e-01 2.01838864e-03 3.64506073e+02] [-1.04227907e-01 9.94553438e-01 -4.53557623e-05 6.36292984e+00] [-2.01212269e-03 -1.65263786e-04 9.99997962e-01 -3.49536044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61589822699995 meters 0.09709379798660728 Centerline is valid? [True, True] Translation: X:364.54, Y:6.37, Z:-3.50 [[ 9.94145589e-01 1.08033453e-01 1.82240787e-03 3.64535513e+02] [-1.08033558e-01 9.94147247e-01 -4.08705009e-05 6.37248741e+00] [-1.81615715e-03 -1.56249979e-04 9.99998339e-01 -3.49640845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.645898227 meters 0.09858710276262772 Centerline is valid? [True, True] Translation: X:364.57, Y:6.38, Z:-3.50 [[ 9.93796290e-01 1.11207719e-01 1.33284494e-03 3.64566218e+02] [-1.11207778e-01 9.93797177e-01 -2.98845112e-05 6.37525036e+00] [-1.32790093e-03 -1.18523608e-04 9.99999111e-01 -3.49739375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67589822699995 meters 0.10712915580606666 Centerline is valid? [True, False] Translation: X:364.57, Y:6.38, Z:-3.50 [[ 9.94767998e-01 1.02114317e-01 3.04893772e-03 3.64568961e+02] [-1.02138447e-01 9.94727325e-01 9.23508037e-03 6.37955649e+00] [-2.08982773e-03 -9.49817618e-03 9.99952708e-01 -3.50096722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.705898227 meters 0.10279094197092964 Centerline is valid? [False, False] Translation: X:364.57, Y:6.38, Z:-3.50 [[ 9.96085837e-01 8.83334855e-02 3.19388287e-03 3.64566646e+02] [-8.83695948e-02 9.95990971e-01 1.38852331e-02 6.38339293e+00] [-1.95454746e-03 -1.41131262e-02 9.99898495e-01 -3.49978052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.73589822699995 meters 0.1055832390688785 Centerline is valid? [False, False] Translation: X:364.57, Y:6.39, Z:-3.50 [[ 9.97281530e-01 7.36654655e-02 1.71751704e-03 3.64566046e+02] [-7.36843077e-02 9.97126407e-01 1.75940962e-02 6.38745053e+00] [-4.16504310e-04 -1.76728212e-02 9.99843737e-01 -3.49907350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.765898227 meters 0.1055832390688785 Centerline is valid? [False, False] Translation: X:364.57, Y:6.39, Z:-3.50 [[ 9.98163418e-01 6.05773534e-02 4.18559841e-04 3.64565175e+02] [-6.05709703e-02 9.97899514e-01 2.29720927e-02 6.38879595e+00] [ 9.73907916e-04 -2.29552551e-02 9.99736019e-01 -3.49866357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.79589822699995 meters 0.10056917394352625 Centerline is valid? [False, False] Translation: X:364.58, Y:6.39, Z:-3.50 [[ 9.98735816e-01 4.96485176e-02 7.86092862e-03 3.64583399e+02] [-4.97878068e-02 9.98585781e-01 1.86443833e-02 6.39454234e+00] [-6.92414556e-03 -1.90121917e-02 9.99795275e-01 -3.50338277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.825898227 meters 0.09681272699162911 Centerline is valid? [False, True] Translation: X:364.58, Y:6.40, Z:-3.50 [[ 9.99406192e-01 3.41646396e-02 4.47670462e-03 3.64583818e+02] [-3.42519736e-02 9.99189377e-01 2.11516202e-02 6.40124818e+00] [-3.75043821e-03 -2.12923962e-02 9.99766257e-01 -3.50221900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.85589822699995 meters 0.08691657814988034 Centerline is valid? [True, True] Translation: X:364.61, Y:6.40, Z:-3.50 [[ 9.99445883e-01 3.28322045e-02 5.47479061e-03 3.64614688e+02] [-3.28341848e-02 9.99460776e-01 2.72215102e-04 6.40191786e+00] [-5.46290105e-03 -4.51824550e-04 9.99984976e-01 -3.50104228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.885898227 meters 0.08373291566637142 Centerline is valid? [True, True] Translation: X:364.64, Y:6.40, Z:-3.50 [[ 9.99471459e-01 3.22154304e-02 4.35527823e-03 3.64644864e+02] [-3.22166775e-02 9.99480885e-01 2.16473341e-04 6.40188349e+00] [-4.34604356e-03 -3.56671520e-04 9.99990492e-01 -3.50210505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91589822699996 meters 0.08529844348765275 Centerline is valid? [True, True] Translation: X:364.67, Y:6.41, Z:-3.50 [[ 9.99467919e-01 3.25007563e-02 2.75304421e-03 3.64674113e+02] [-3.25012555e-02 9.99471685e-01 1.36769060e-04 6.41040876e+00] [-2.74714463e-03 -2.26173681e-04 9.99996201e-01 -3.50380719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.945898227 meters 0.09587478366230659 Centerline is valid? [True, True] Translation: X:364.70, Y:6.43, Z:-3.50 [[ 9.99448274e-01 3.31049434e-02 2.68524890e-03 3.64701948e+02] [-3.31054202e-02 9.99451856e-01 1.33312734e-04 6.42851634e+00] [-2.67936369e-03 -2.22135476e-04 9.99996386e-01 -3.50494071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97589822699996 meters 0.09713386705680553 Centerline is valid? [True, True] Translation: X:364.73, Y:6.43, Z:-3.50 [[ 9.99425161e-01 3.37817328e-02 2.85332888e-03 3.64731554e+02] [-3.37822744e-02 9.99429206e-01 1.41817411e-04 6.43493999e+00] [-2.84690938e-03 -2.38127828e-04 9.99995919e-01 -3.50457542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.005898227 meters 0.09102779628788918 Centerline is valid? [True, True] Translation: X:364.76, Y:6.43, Z:-3.50 [[ 9.99412903e-01 3.41033285e-02 3.28830590e-03 3.64761578e+02] [-3.41040498e-02 9.99418274e-01 1.63533485e-04 6.43172136e+00] [-3.28081597e-03 -2.75582023e-04 9.99994580e-01 -3.50378993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03589822699996 meters 0.09129843406520304 Centerline is valid? [True, True] Translation: X:364.79, Y:6.44, Z:-3.50 [[ 9.99369065e-01 3.52538895e-02 4.31680651e-03 3.64791863e+02] [-3.52551445e-02 9.99378321e-01 2.14937272e-04 6.43895272e+00] [-4.30654547e-03 -3.66991298e-04 9.99990659e-01 -3.50211081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.065898227 meters 0.09262226623300228 Centerline is valid? [True, True] Translation: X:364.82, Y:6.44, Z:-3.50 [[ 9.99353266e-01 3.56550595e-02 4.66555814e-03 3.64820426e+02] [-3.56565292e-02 9.99364077e-01 2.32168829e-04 6.44472976e+00] [-4.65431321e-03 -3.98376288e-04 9.99989089e-01 -3.50204774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09589822699996 meters 0.09413009447430723 Centerline is valid? [True, True] Translation: X:364.85, Y:6.45, Z:-3.50 [[ 9.99339049e-01 3.60755325e-02 4.47453508e-03 3.64849757e+02] [-3.60768893e-02 9.99348992e-01 2.22849602e-04 6.45050232e+00] [-4.46358271e-03 -3.84129616e-04 9.99989964e-01 -3.50253514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.125898227 meters 0.09911116301442235 Centerline is valid? [True, True] Translation: X:364.88, Y:6.46, Z:-3.50 [[ 9.99329437e-01 3.63463669e-02 4.42922179e-03 3.64878006e+02] [-3.63476992e-02 9.99339180e-01 2.20657622e-04 6.45909372e+00] [-4.41827477e-03 -3.81501679e-04 9.99990167e-01 -3.50287308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15589822699997 meters 0.09440102525574816 Centerline is valid? [True, True] Translation: X:364.91, Y:6.46, Z:-3.50 [[ 9.99326067e-01 3.65114115e-02 3.78523272e-03 3.64907439e+02] [-3.65123862e-02 9.99333183e-01 1.88688334e-04 6.46288111e+00] [-3.77581938e-03 -3.26769049e-04 9.99992818e-01 -3.50446262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.18589822699994 meters 0.09093685051310915 Centerline is valid? [True, True] Translation: X:364.94, Y:6.46, Z:-3.51 [[ 9.99351655e-01 3.58764169e-02 3.02542933e-03 3.64937549e+02] [-3.58770369e-02 9.99356200e-01 1.50903640e-04 6.46312990e+00] [-3.01806768e-03 -2.59349243e-04 9.99995412e-01 -3.50542266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21589822699997 meters 0.09052749052521201 Centerline is valid? [True, True] Translation: X:364.97, Y:6.47, Z:-3.51 [[ 9.99418204e-01 3.39769842e-02 2.96953364e-03 3.64966660e+02] [-3.39775732e-02 9.99422585e-01 1.48132426e-04 6.46902677e+00] [-2.96278590e-03 -2.48943789e-04 9.99995580e-01 -3.50632573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.24589822699994 meters 0.0894997851824906 Centerline is valid? [True, True] Translation: X:365.00, Y:6.47, Z:-3.51 [[ 9.99462680e-01 3.26083146e-02 3.32390683e-03 3.64996044e+02] [-3.26090452e-02 9.99468170e-01 1.65826036e-04 6.47122509e+00] [-3.31673177e-03 -2.74126363e-04 9.99994462e-01 -3.50628319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.27589822699997 meters 0.08730348919903504 Centerline is valid? [True, True] Translation: X:365.03, Y:6.47, Z:-3.51 [[ 9.99514330e-01 3.09743997e-02 3.41913952e-03 3.65025624e+02] [-3.09751635e-02 9.99520140e-01 1.70659530e-04 6.47165317e+00] [-3.41221274e-03 -2.76485052e-04 9.99994140e-01 -3.50634834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.30589822699994 meters 0.08643976497412147 Centerline is valid? [True, True] Translation: X:365.06, Y:6.47, Z:-3.51 [[ 9.99563811e-01 2.93771320e-02 3.02839205e-03 3.65055042e+02] [-2.93777241e-02 9.99568370e-01 1.51202850e-04 6.47396119e+00] [-3.02264300e-03 -2.40104163e-04 9.99995403e-01 -3.50731716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.335898227 meters 0.08301611237566359 Centerline is valid? [True, True] Translation: X:365.09, Y:6.47, Z:-3.51 [[ 9.99601795e-01 2.81313699e-02 2.20839130e-03 3.65085164e+02] [-2.81316818e-02 9.99604220e-01 1.10330429e-04 6.47340816e+00] [-2.20441352e-03 -1.72412256e-04 9.99997555e-01 -3.50813191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.36589822699995 meters 0.08684200218294881 Centerline is valid? [True, True] Translation: X:365.11, Y:6.48, Z:-3.51 [[ 9.99676366e-01 2.54052375e-02 1.31771080e-03 3.65114474e+02] [-2.54053461e-02 9.99677230e-01 6.57941142e-05 6.48390696e+00] [-1.31561397e-03 -9.92497200e-05 9.99999130e-01 -3.51049583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.395898227 meters 0.08889215532806594 Centerline is valid? [True, True] Translation: X:365.14, Y:6.49, Z:-3.51 [[ 9.99715933e-01 2.37509712e-02 1.98613771e-03 3.65143281e+02] [-2.37512149e-02 9.99717895e-01 9.91967581e-05 6.48865507e+00] [-1.98322139e-03 -1.46341763e-04 9.99998023e-01 -3.50972058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.42589822699995 meters 0.07159236240818392 Centerline is valid? [True, True] Translation: X:365.17, Y:6.47, Z:-3.51 [[ 9.99755275e-01 2.19255508e-02 2.94271609e-03 3.65174838e+02] [-2.19260786e-02 9.99759584e-01 1.47185906e-04 6.46819306e+00] [-2.93878148e-03 -2.11672110e-04 9.99995659e-01 -3.50708689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.455898227 meters 0.07541991129949344 Centerline is valid? [True, True] Translation: X:365.20, Y:6.47, Z:-3.51 [[ 9.99836029e-01 1.78973439e-02 2.75667443e-03 3.65203888e+02] [-1.78977918e-02 9.99839812e-01 1.37899157e-04 6.47317010e+00] [-2.75376482e-03 -1.87214930e-04 9.99996191e-01 -3.50857670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.48589822699995 meters 0.07657698419208193 Centerline is valid? [True, True] Translation: X:365.23, Y:6.47, Z:-3.51 [[ 9.99865501e-01 1.63113318e-02 1.70868152e-03 3.65233907e+02] [-1.63115017e-02 9.99866955e-01 8.55452404e-05 6.47470382e+00] [-1.70705883e-03 -1.13404896e-04 9.99998537e-01 -3.51131120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.515898227 meters 0.06567647897818396 Centerline is valid? [True, True] Translation: X:365.27, Y:6.46, Z:-3.51 [[ 9.99885223e-01 1.51246196e-02 8.86864958e-04 3.65265064e+02] [-1.51246649e-02 9.99885615e-01 4.44009460e-05 6.46041129e+00] [-8.86091967e-04 -5.78093851e-05 9.99999606e-01 -3.51107687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.54589822699995 meters 0.06883429083104634 Centerline is valid? [True, True] Translation: X:365.29, Y:6.46, Z:-3.51 [[ 9.99894487e-01 1.43574101e-02 2.20893925e-03 3.65293950e+02] [-1.43576890e-02 9.99896917e-01 1.10437746e-04 6.46482342e+00] [-2.20712594e-03 -1.42141356e-04 9.99997554e-01 -3.50981063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.575898227 meters 0.07182227789294383 Centerline is valid? [True, True] Translation: X:365.32, Y:6.47, Z:-3.51 [[ 9.99893689e-01 1.42916501e-02 2.89135912e-03 3.65323392e+02] [-1.42921282e-02 9.99897852e-01 1.44759288e-04 6.46894652e+00] [-2.88899492e-03 -1.86067574e-04 9.99995810e-01 -3.50794458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.60589822699995 meters 0.0738915899441709 Centerline is valid? [True, True] Translation: X:365.35, Y:6.47, Z:-3.51 [[ 9.99883692e-01 1.47765003e-02 3.77582647e-03 3.65352919e+02] [-1.47773197e-02 9.99890792e-01 1.89200909e-04 6.47425298e+00] [-3.77261840e-03 -2.44975498e-04 9.99992854e-01 -3.50700414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.635898227 meters 0.06594840846682243 Centerline is valid? [True, True] Translation: X:365.38, Y:6.47, Z:-3.51 [[ 9.99878597e-01 1.50562292e-02 4.01272356e-03 3.65384253e+02] [-1.50571569e-02 9.99886614e-01 2.01069240e-04 6.46536326e+00] [-4.00924123e-03 -2.61465038e-04 9.99991929e-01 -3.50631288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.66589822699996 meters 0.07531719074693616 Centerline is valid? [True, True] Translation: X:365.41, Y:6.48, Z:-3.51 [[ 9.99874229e-01 1.53166074e-02 4.11425518e-03 3.65414225e+02] [-1.53175846e-02 9.99882658e-01 2.06104862e-04 6.47874345e+00] [-4.11061558e-03 -2.69099392e-04 9.99991515e-01 -3.50727912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.695898227 meters 0.0725678847023441 Centerline is valid? [True, True] Translation: X:365.45, Y:6.48, Z:-3.51 [[ 9.99870769e-01 1.56087355e-02 3.84884903e-03 3.65445114e+02] [-1.56095924e-02 9.99878144e-01 1.92713873e-04 6.47547719e+00] [-3.84537200e-03 -2.52767933e-04 9.99992575e-01 -3.50777046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.72589822699996 meters 0.07086267928374335 Centerline is valid? [True, True] Translation: X:365.48, Y:6.47, Z:-3.51 [[ 9.99877051e-01 1.52538910e-02 3.63347517e-03 3.65475742e+02] [-1.52546524e-02 9.99883624e-01 1.81929992e-04 6.47319912e+00] [-3.63027718e-03 -2.37335024e-04 9.99993382e-01 -3.50825680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.755898227 meters 0.06915215204282214 Centerline is valid? [True, True] Translation: X:365.51, Y:6.47, Z:-3.51 [[ 9.99892071e-01 1.43167839e-02 3.29797539e-03 3.65506383e+02] [-1.43174061e-02 9.99897487e-01 1.65131344e-04 6.47068291e+00] [-3.29527316e-03 -2.12331974e-04 9.99994548e-01 -3.50821237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.78589822699996 meters 0.06678635569774898 Centerline is valid? [True, True] Translation: X:365.54, Y:6.46, Z:-3.51 [[ 9.99932985e-01 1.08623496e-02 4.00447373e-03 3.65535901e+02] [-1.08632391e-02 9.99940973e-01 2.00451624e-04 6.46438769e+00] [-4.00205998e-03 -2.43939746e-04 9.99991962e-01 -3.50720152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.815898227 meters 0.060701464187439644 Centerline is valid? [True, True] Translation: X:365.57, Y:6.45, Z:-3.51 [[ 9.99944954e-01 9.46256625e-03 4.53298670e-03 3.65567381e+02] [-9.46369250e-03 9.99955192e-01 2.27071044e-04 6.45495026e+00] [-4.53063491e-03 -2.69957337e-04 9.99989700e-01 -3.50591582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.84589822699996 meters 0.06595406213991745 Centerline is valid? [True, True] Translation: X:365.60, Y:6.46, Z:-3.51 [[ 9.99952917e-01 8.39167610e-03 4.87268408e-03 3.65597597e+02] [-8.39296449e-03 9.99964749e-01 2.44021770e-04 6.46009447e+00] [-4.87046456e-03 -2.84906546e-04 9.99988099e-01 -3.50651192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.875898227 meters 0.06466284038594071 Centerline is valid? [True, True] Translation: X:365.63, Y:6.46, Z:-3.51 [[ 9.99957115e-01 8.20285128e-03 4.29903756e-03 3.65629116e+02] [-8.20385247e-03 9.99966325e-01 2.15302619e-04 6.45641017e+00] [-4.29712670e-03 -2.50562056e-04 9.99990736e-01 -3.50724446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.90589822699997 meters 0.07080071309201853 Centerline is valid? [True, True] Translation: X:365.66, Y:6.46, Z:-3.51 [[ 9.99946906e-01 1.00356470e-02 2.33883929e-03 3.65659249e+02] [-1.00359485e-02 9.99949632e-01 1.17224539e-04 6.45951099e+00] [-2.33754506e-03 -1.40690785e-04 9.99997258e-01 -3.51090264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93589822699994 meters 0.07886290875034516 Centerline is valid? [True, True] Translation: X:365.69, Y:6.47, Z:-3.51 [[ 9.99924584e-01 1.21405803e-02 1.85278156e-03 3.65688417e+02] [-1.21407727e-02 9.99926294e-01 9.26464490e-05 6.46878331e+00] [-1.85152022e-03 -1.15133662e-04 9.99998279e-01 -3.51167531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.96589822699997 meters 0.06948953406668067 Centerline is valid? [True, True] Translation: X:365.72, Y:6.46, Z:-3.51 [[ 9.99888908e-01 1.47856099e-02 1.88605044e-03 3.65719986e+02] [-1.47858140e-02 9.99890679e-01 9.43189370e-05 6.45604400e+00] [-1.88444969e-03 -1.22195250e-04 9.99998217e-01 -3.51000375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99589822699994 meters 0.07351078770069261 Centerline is valid? [True, True] Translation: X:365.75, Y:6.46, Z:-3.51 [[ 9.99841832e-01 1.76303456e-02 2.34129580e-03 3.65749067e+02] [-1.76306678e-02 9.99844561e-01 1.17011198e-04 6.46105525e+00] [-2.33886893e-03 -1.58271299e-04 9.99997252e-01 -3.50923051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.02589822699997 meters 0.07385380749394983 Centerline is valid? [True, True] Translation: X:365.78, Y:6.46, Z:-3.51 [[ 9.99719606e-01 2.33290850e-02 4.05741835e-03 3.65779284e+02] [-2.33300997e-02 9.99727796e-01 2.02920384e-04 6.46020664e+00] [-4.05157996e-03 -2.97523461e-04 9.99991748e-01 -3.50658677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05589822699994 meters 0.07586693052412273 Centerline is valid? [True, True] Translation: X:365.81, Y:6.46, Z:-3.51 [[ 9.99636689e-01 2.65573549e-02 4.60406572e-03 3.65809852e+02] [-2.65586954e-02 9.99647229e-01 2.30259733e-04 6.46293180e+00] [-4.59632645e-03 -3.52454056e-04 9.99989375e-01 -3.50594543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.085898227 meters 0.08630449240032097 Centerline is valid? [True, True] Translation: X:365.84, Y:6.48, Z:-3.51 [[ 9.99532567e-01 3.01242851e-02 5.21291665e-03 3.65838642e+02] [-3.01260518e-02 9.99546073e-01 2.60707513e-04 6.47695661e+00] [-5.20269674e-03 -4.17630247e-04 9.99986379e-01 -3.50592975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11589822699995 meters 0.09761659755884676 Centerline is valid? [True, True] Translation: X:365.87, Y:6.49, Z:-3.51 [[ 9.99414254e-01 3.37934067e-02 5.39949714e-03 3.65867439e+02] [-3.37953551e-02 9.99428737e-01 2.69996594e-04 6.49296531e+00] [-5.38728850e-03 -4.52316368e-04 9.99985386e-01 -3.50643093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.145898227 meters 0.0977160632753084 Centerline is valid? [True, True] Translation: X:365.90, Y:6.50, Z:-3.51 [[ 9.99139159e-01 4.11372344e-02 5.35429743e-03 3.65897177e+02] [-4.11392555e-02 9.99153387e-01 2.67835103e-04 6.49743977e+00] [-5.33874641e-03 -4.87876350e-04 9.99985630e-01 -3.50654502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17589822699995 meters 0.09584631820643895 Centerline is valid? [True, True] Translation: X:365.93, Y:6.50, Z:-3.51 [[ 9.99025729e-01 4.38628990e-02 4.86198362e-03 3.65927551e+02] [-4.38645978e-02 9.99037456e-01 2.43272279e-04 6.49871884e+00] [-4.84663312e-03 -4.56304222e-04 9.99988151e-01 -3.50770117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.205898227 meters 0.09931432733915514 Centerline is valid? [True, True] Translation: X:365.96, Y:6.51, Z:-3.51 [[ 9.98944568e-01 4.57425989e-02 4.16712060e-03 3.65956520e+02] [-4.57438628e-02 9.98953180e-01 2.08442459e-04 6.50667101e+00] [-4.15322367e-03 -3.98842655e-04 9.99991296e-01 -3.50979392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.23589822699995 meters 0.11241684977432886 Centerline is valid? [True, False] Translation: X:365.96, Y:6.51, Z:-3.51 [[ 9.99284944e-01 3.76774385e-02 3.16417503e-03 3.65958916e+02] [-3.77119760e-02 9.99220442e-01 1.16754176e-02 6.50658832e+00] [-2.72180854e-03 -1.17863963e-02 9.99926834e-01 -3.51141936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.265898227 meters 0.09841285456404646 Centerline is valid? [False, True] Translation: X:365.96, Y:6.51, Z:-3.51 [[ 9.99684194e-01 2.51245678e-02 -5.17678787e-04 3.65958052e+02] [-2.51115255e-02 9.99528875e-01 1.76476551e-02 6.50911718e+00] [ 9.60824602e-04 -1.76290822e-02 9.99844134e-01 -3.50864754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.29589822699995 meters 0.09858829067344832 Centerline is valid? [True, True] Translation: X:365.99, Y:6.52, Z:-3.51 [[ 9.99732211e-01 2.30789829e-02 1.69305088e-03 3.65986621e+02] [-2.30792137e-02 9.99733633e-01 1.16918107e-04 6.51934769e+00] [-1.68990156e-03 -1.55961081e-04 9.99998560e-01 -3.50523575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.325898227 meters 0.10271628352842878 Centerline is valid? [True, False] Translation: X:365.99, Y:6.52, Z:-3.50 [[ 9.99903415e-01 1.38121002e-02 1.54472583e-03 3.65985670e+02] [-1.38278323e-02 9.99847297e-01 1.06852090e-02 6.51777869e+00] [-1.39690477e-03 -1.07055372e-02 9.99941718e-01 -3.50483404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.35589822699995 meters 0.09666135015164153 Centerline is valid? [False, True] Translation: X:365.99, Y:6.52, Z:-3.51 [[ 9.99955594e-01 9.30164362e-03 1.51304470e-03 3.65985733e+02] [-9.31044116e-03 9.99939161e-01 5.91522667e-03 6.51970689e+00] [-1.45793131e-03 -5.92905111e-03 9.99981360e-01 -3.50514105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.385898227 meters 0.09209918458082554 Centerline is valid? [True, True] Translation: X:366.02, Y:6.52, Z:-3.51 [[ 9.99959567e-01 8.83535404e-03 1.67332970e-03 3.66016271e+02] [-8.83558360e-03 9.99960957e-01 1.29846700e-04 6.51827209e+00] [-1.67211713e-03 -1.44626294e-04 9.99998592e-01 -3.50538675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41589822699996 meters 0.09186047776814805 Centerline is valid? [True, True] Translation: X:366.05, Y:6.52, Z:-3.51 [[ 9.99961771e-01 8.63162369e-03 1.39693228e-03 3.66046799e+02] [-8.63178348e-03 9.99962740e-01 1.08398869e-04 6.51971672e+00] [-1.39594457e-03 -1.20452742e-04 9.99999018e-01 -3.50646743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.445898227 meters 0.09754194254120929 Centerline is valid? [True, True] Translation: X:366.08, Y:6.53, Z:-3.51 [[ 9.99963760e-01 8.40190609e-03 1.37322359e-03 3.66075785e+02] [-8.40206023e-03 9.99964696e-01 1.06512950e-04 6.52832540e+00] [-1.37228020e-03 -1.18046997e-04 9.99999051e-01 -3.50785629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47589822699996 meters 0.09323959851452429 Centerline is valid? [True, True] Translation: X:366.11, Y:6.52, Z:-3.51 [[ 9.99975930e-01 6.93711766e-03 1.27003129e-04 3.66107220e+02] [-6.93711898e-03 9.99975938e-01 9.94944020e-06 6.52283361e+00] [-1.26931053e-04 -1.08302365e-05 9.99999992e-01 -3.51127236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.505898227 meters 0.096423237142873 Centerline is valid? [True, True] Translation: X:366.14, Y:6.53, Z:-3.51 [[ 9.99981915e-01 5.75161208e-03 -1.75761770e-03 3.66137090e+02] [-5.75186060e-03 9.99983449e-01 -1.36376526e-04 6.52750066e+00] [ 1.75680423e-03 1.46483632e-04 9.99998446e-01 -3.51410794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53589822699996 meters 0.08760293237231749 Centerline is valid? [True, True] Translation: X:366.17, Y:6.52, Z:-3.52 [[ 9.99985426e-01 4.59186677e-03 -2.83946569e-03 3.66167876e+02] [-4.59251102e-03 9.99989430e-01 -2.20413374e-04 6.51772856e+00] [ 2.83842357e-03 2.33450439e-04 9.99995944e-01 -3.51573557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.565898227 meters 0.09578119112497167 Centerline is valid? [True, True] Translation: X:366.20, Y:6.53, Z:-3.52 [[ 9.99986508e-01 3.92173501e-03 -3.40645967e-03 3.66195580e+02] [-3.92265852e-03 9.99992271e-01 -2.64467207e-04 6.53022454e+00] [ 3.40539617e-03 2.77826017e-04 9.99994163e-01 -3.51837960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59589822699996 meters 0.09581715376734064 Centerline is valid? [True, True] Translation: X:366.22, Y:6.53, Z:-3.52 [[ 9.99992172e-01 3.52813281e-03 -1.79136532e-03 3.66224067e+02] [-3.52838807e-03 9.99993766e-01 -1.39353453e-04 6.53263889e+00] [ 1.79086249e-03 1.45672994e-04 9.99998386e-01 -3.51614860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.625898227 meters 0.09565697389904519 Centerline is valid? [True, True] Translation: X:366.25, Y:6.53, Z:-3.51 [[ 9.99992481e-01 3.85581915e-03 -4.13959790e-04 3.66253788e+02] [-3.85583284e-03 9.99992566e-01 -3.22756441e-05 6.53498398e+00] [ 4.13832264e-04 3.38715612e-05 9.99999914e-01 -3.51383562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65589822699997 meters 0.09565697389904519 Centerline is valid? [True, True] Translation: X:366.28, Y:6.54, Z:-3.51 [[ 9.99992564e-01 3.83424476e-03 -4.13959110e-04 3.66282956e+02] [-3.83425845e-03 9.99992649e-01 -3.22843878e-05 6.53729358e+00] [ 4.13832280e-04 3.38713740e-05 9.99999914e-01 -3.51399594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.68589822699994 meters 0.09723723095715289 Centerline is valid? [True, True] Translation: X:366.31, Y:6.54, Z:-3.51 [[ 9.99991693e-01 3.99420076e-03 8.12136129e-04 3.66311951e+02] [-3.99425328e-03 9.99992021e-01 6.30551110e-05 6.54207928e+00] [-8.11877795e-04 -6.62984646e-05 9.99999668e-01 -3.51203535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71589822699997 meters 0.08962798376516261 Centerline is valid? [True, True] Translation: X:366.34, Y:6.54, Z:-3.51 [[ 9.99984207e-01 4.84126918e-03 2.85447761e-03 3.66342501e+02] [-4.84192191e-03 9.99988253e-01 2.21802698e-04 6.53723399e+00] [-2.85337028e-03 -2.35620353e-04 9.99995901e-01 -3.50772199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.74589822699994 meters 0.10305134070843197 Centerline is valid? [True, False] Translation: X:366.34, Y:6.54, Z:-3.51 [[ 9.99984493e-01 4.77327753e-03 2.86888931e-03 3.66342445e+02] [-4.77346461e-03 9.99988605e-01 5.83681229e-05 6.53797394e+00] [-2.86857802e-03 -7.20617594e-05 9.99995883e-01 -3.50770799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.77589822699997 meters 0.09313931685803406 Centerline is valid? [False, True] Translation: X:366.34, Y:6.54, Z:-3.51 [[ 9.99984727e-01 4.72001550e-03 2.87530755e-03 3.66342477e+02] [-4.71984139e-03 9.99988859e-01 -6.73354780e-05 6.53854188e+00] [-2.87559334e-03 5.37634540e-05 9.99995864e-01 -3.50782232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.80589822699994 meters 0.08922580850605054 Centerline is valid? [True, True] Translation: X:366.37, Y:6.54, Z:-3.51 [[ 9.99988118e-01 4.30054187e-03 2.29548400e-03 3.66373807e+02] [-4.30096884e-03 9.99990734e-01 1.81099754e-04 6.53604649e+00] [-2.29468390e-03 -1.90970407e-04 9.99997349e-01 -3.50889528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.835898227 meters 0.08597771637514562 Centerline is valid? [True, True] Translation: X:366.40, Y:6.53, Z:-3.51 [[ 9.99997915e-01 1.15714979e-03 1.68226135e-03 3.66404707e+02] [-1.15737461e-03 9.99999321e-01 1.32674448e-04 6.53376393e+00] [-1.68210669e-03 -1.34621178e-04 9.99998576e-01 -3.51012664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.86589822699995 meters 0.08437833672282813 Centerline is valid? [True, True] Translation: X:366.43, Y:6.53, Z:-3.51 [[ 9.99996847e-01 -1.40945230e-03 2.07826874e-03 3.66434001e+02] [ 1.40911475e-03 9.99998994e-01 1.63875851e-04 6.53276403e+00] [-2.07849763e-03 -1.60946815e-04 9.99997827e-01 -3.50985860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.895898227 meters 0.07680554610517958 Centerline is valid? [True, True] Translation: X:366.47, Y:6.52, Z:-3.51 [[ 9.99988219e-01 -3.90565213e-03 2.88229246e-03 3.66465779e+02] [ 3.90501294e-03 9.99992350e-01 2.27358965e-04 6.52370323e+00] [-2.88315839e-03 -2.16100898e-04 9.99995820e-01 -3.50812498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.92589822699995 meters 0.07635463228768738 Centerline is valid? [True, True] Translation: X:366.50, Y:6.52, Z:-3.51 [[ 9.99978392e-01 -5.66722441e-03 3.33140102e-03 3.66495369e+02] [ 5.66637996e-03 9.99983911e-01 2.62865955e-04 6.52401874e+00] [-3.33283714e-03 -2.43983291e-04 9.99994416e-01 -3.50674946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.955898227 meters 0.07617784975779736 Centerline is valid? [True, True] Translation: X:366.53, Y:6.52, Z:-3.50 [[ 9.99966380e-01 -6.74933729e-03 4.65676484e-03 3.66525599e+02] [ 6.74770047e-03 9.99977167e-01 3.67115085e-04 6.52438262e+00] [-4.65913629e-03 -3.35680288e-04 9.99989090e-01 -3.50425397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.98589822699995 meters 0.07899583692533729 Centerline is valid? [True, True] Translation: X:366.56, Y:6.53, Z:-3.50 [[ 9.99966751e-01 -6.27374517e-03 5.20929639e-03 3.66556792e+02] [ 6.27169082e-03 9.99980248e-01 4.10605027e-04 6.52926883e+00] [-5.21176953e-03 -3.77920279e-04 9.99986347e-01 -3.50390362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.015898227 meters 0.07991343577110302 Centerline is valid? [True, True] Translation: X:366.59, Y:6.53, Z:-3.51 [[ 9.99973316e-01 -5.71180613e-03 4.55445137e-03 3.66589198e+02] [ 5.71023059e-03 9.99983632e-01 3.58861056e-04 6.53044019e+00] [-4.55642657e-03 -3.32844513e-04 9.99989564e-01 -3.50537872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.04589822699995 meters 0.07630110379871935 Centerline is valid? [True, True] Translation: X:366.62, Y:6.53, Z:-3.51 [[ 9.99979475e-01 -5.57496411e-03 3.15734852e-03 3.66621402e+02] [ 5.57420647e-03 9.99984433e-01 2.48709454e-04 6.52653208e+00] [-3.15868592e-03 -2.31104637e-04 9.99994985e-01 -3.50742394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.075898227 meters 0.07609409511263095 Centerline is valid? [True, True] Translation: X:366.65, Y:6.53, Z:-3.51 [[ 9.99979176e-01 -6.09734205e-03 2.11431320e-03 3.66653333e+02] [ 6.09700358e-03 9.99981399e-01 1.66493260e-04 6.52728418e+00] [-2.11528904e-03 -1.53598818e-04 9.99997751e-01 -3.50968823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.10589822699995 meters 0.0835273104510609 Centerline is valid? [True, True] Translation: X:366.68, Y:6.54, Z:-3.51 [[ 9.99975660e-01 -6.82506656e-03 1.44810956e-03 3.66683108e+02] [ 6.82490866e-03 9.99976704e-01 1.13952163e-04 6.53770308e+00] [-1.44885355e-03 -1.04066174e-04 9.99998945e-01 -3.51128155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.135898227 meters 0.0763234179315919 Centerline is valid? [True, True] Translation: X:366.72, Y:6.53, Z:-3.51 [[ 9.99966778e-01 -8.01838098e-03 1.46594429e-03 3.66715266e+02] [ 8.01822040e-03 9.99967847e-01 1.15380215e-04 6.52933219e+00] [-1.46682232e-03 -1.03622118e-04 9.99998919e-01 -3.51077975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.16589822699996 meters 0.07389400624587414 Centerline is valid? [True, True] Translation: X:366.75, Y:6.52, Z:-3.51 [[ 9.99932790e-01 -1.08572117e-02 4.06650254e-03 3.66746820e+02] [ 1.08560008e-02 9.99941021e-01 3.19728744e-04 6.52414537e+00] [-4.06973406e-03 -2.75561300e-04 9.99991681e-01 -3.50717634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.195898227 meters 0.06705887168545312 Centerline is valid? [True, True] Translation: X:366.78, Y:6.52, Z:-3.51 [[ 9.99908144e-01 -1.27481397e-02 4.60299817e-03 3.66778515e+02] [ 1.27466080e-02 9.99918693e-01 3.61944448e-04 6.51546422e+00] [-4.60723803e-03 -3.03238588e-04 9.99989341e-01 -3.50619296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.22589822699996 meters 0.0697467055496222 Centerline is valid? [True, True] Translation: X:366.81, Y:6.52, Z:-3.51 [[ 9.99878218e-01 -1.50028451e-02 4.29700420e-03 3.66807838e+02] [ 1.50015313e-02 9.99887414e-01 3.37816358e-04 6.51913323e+00] [-4.30158862e-03 -2.73313575e-04 9.99990711e-01 -3.50673058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.255898227 meters 0.06409004203055023 Centerline is valid? [True, True] Translation: X:366.84, Y:6.51, Z:-3.51 [[ 9.99802262e-01 -1.96376341e-02 3.13061118e-03 3.66839008e+02] [ 1.96369592e-02 9.99807146e-01 2.46179048e-04 6.50972530e+00] [-3.13484180e-03 -1.84654685e-04 9.99995069e-01 -3.50906122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.28589822699996 meters 0.06085995266293359 Centerline is valid? [True, True] Translation: X:366.87, Y:6.50, Z:-3.51 [[ 9.99749835e-01 -2.21142211e-02 3.35088782e-03 3.66870376e+02] [ 2.21134619e-02 9.99755433e-01 2.63477395e-04 6.50477332e+00] [-3.35589490e-03 -1.89311752e-04 9.99994351e-01 -3.50929206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.315898227 meters 0.0619117278800055 Centerline is valid? [True, True] Translation: X:366.90, Y:6.50, Z:-3.51 [[ 9.99678660e-01 -2.50270060e-02 4.02814272e-03 3.66900551e+02] [ 2.50259327e-02 9.99686752e-01 3.16651343e-04 6.50445033e+00] [-4.03480575e-03 -2.15741561e-04 9.99991837e-01 -3.50820993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.34589822699996 meters 0.05392411095112321 Centerline is valid? [True, True] Translation: X:366.93, Y:6.48, Z:-3.50 [[ 9.99434240e-01 -3.31027046e-02 5.95072789e-03 3.66932624e+02] [ 3.31005047e-02 9.99451919e-01 4.67828151e-04 6.48428941e+00] [-5.96295278e-03 -2.70591376e-04 9.99982185e-01 -3.50479340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.375898227 meters 0.0498804310177572 Centerline is valid? [True, True] Translation: X:366.96, Y:6.48, Z:-3.50 [[ 9.99314184e-01 -3.65513273e-02 5.92971361e-03 3.66963576e+02] [ 3.65492035e-02 9.99331746e-01 4.66182488e-04 6.47732593e+00] [-5.94279064e-03 -2.49136463e-04 9.99982310e-01 -3.50465158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.40589822699997 meters 0.04350825226179175 Centerline is valid? [True, True] Translation: X:366.99, Y:6.47, Z:-3.50 [[ 9.99220451e-01 -3.90476618e-02 5.81121439e-03 3.66993519e+02] [ 3.90456642e-02 9.99237323e-01 4.56863409e-04 6.47297821e+00] [-5.82462176e-03 -2.29604536e-04 9.99983010e-01 -3.50463721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43589822699994 meters 0.042681263530930956 Centerline is valid? [True, True] Translation: X:367.02, Y:6.47, Z:-3.51 [[ 9.99159305e-01 -4.06373989e-02 5.41163137e-03 3.67023266e+02] [ 4.06356905e-02 9.99173939e-01 4.25325446e-04 6.47153782e+00] [-5.42444515e-03 -2.05062500e-04 9.99985267e-01 -3.50554366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.46589822699997 meters 0.04550576921632669 Centerline is valid? [True, True] Translation: X:367.05, Y:6.47, Z:-3.50 [[ 9.99125524e-01 -4.13710805e-02 6.05157725e-03 3.67052225e+02] [ 4.13689570e-02 9.99143825e-01 4.75724960e-04 6.47351964e+00] [-6.06607730e-03 -2.24961511e-04 9.99981576e-01 -3.50408147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49589822699994 meters 0.041990202526532135 Centerline is valid? [True, True] Translation: X:367.08, Y:6.47, Z:-3.50 [[ 9.99125605e-01 -4.11810734e-02 7.22116069e-03 3.67082175e+02] [ 4.11780424e-02 9.99151663e-01 5.67969190e-04 6.46969425e+00] [-7.23842430e-03 -2.70119299e-04 9.99973766e-01 -3.50233667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.52589822699997 meters 0.04410484207423255 Centerline is valid? [True, True] Translation: X:367.11, Y:6.47, Z:-3.50 [[ 9.99141081e-01 -4.06872452e-02 7.85167091e-03 3.67111787e+02] [ 4.06836454e-02 9.99171887e-01 6.17721700e-04 6.47346307e+00] [-7.87030223e-03 -2.97756531e-04 9.99968984e-01 -3.50140181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55589822699994 meters 0.045614522750518006 Centerline is valid? [True, True] Translation: X:367.14, Y:6.48, Z:-3.50 [[ 9.99177992e-01 -4.00695927e-02 6.14549989e-03 3.67141043e+02] [ 4.00673754e-02 9.99196863e-01 4.83548017e-04 6.47553693e+00] [-6.15993978e-03 -2.36916486e-04 9.99980999e-01 -3.50413800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.585898227 meters 0.045302561823285285 Centerline is valid? [True, True] Translation: X:367.17, Y:6.48, Z:-3.51 [[ 9.99189279e-01 -4.00235238e-02 4.34761627e-03 3.67170435e+02] [ 4.00224136e-02 9.99198724e-01 3.42107350e-04 6.47616129e+00] [-4.35782497e-03 -1.67827900e-04 9.99990491e-01 -3.50724902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61589822699995 meters 0.042491459885034485 Centerline is valid? [True, True] Translation: X:367.20, Y:6.47, Z:-3.51 [[ 9.99158909e-01 -4.08688103e-02 3.34898549e-03 3.67199445e+02] [ 4.08681569e-02 9.99164513e-01 2.63321898e-04 6.47358485e+00] [-3.35694911e-03 -1.26233556e-04 9.99994357e-01 -3.50946764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.645898227 meters 0.0421877080245608 Centerline is valid? [True, True] Translation: X:367.23, Y:6.47, Z:-3.51 [[ 9.99099173e-01 -4.23084529e-02 3.29190603e-03 3.67227663e+02] [ 4.23078277e-02 9.99104589e-01 2.59359226e-04 6.47408683e+00] [-3.29993151e-03 -1.19852195e-04 9.99994548e-01 -3.50980321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67589822699995 meters 0.038649433811546785 Centerline is valid? [True, True] Translation: X:367.26, Y:6.47, Z:-3.51 [[ 9.98956641e-01 -4.53205617e-02 5.62811811e-03 3.67258231e+02] [ 4.53187740e-02 9.98972478e-01 4.44830427e-04 6.46919661e+00] [-5.64249506e-03 -1.89306897e-04 9.99984063e-01 -3.50529337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.705898227 meters 0.03790564318599032 Centerline is valid? [True, True] Translation: X:367.29, Y:6.47, Z:-3.50 [[ 9.98895230e-01 -4.65732743e-02 6.26491544e-03 3.67286371e+02] [ 4.65710830e-02 9.98914856e-01 4.95289573e-04 6.46919889e+00] [-6.28118436e-03 -2.02978495e-04 9.99980253e-01 -3.50412443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.73589822699995 meters 0.03635162763035594 Centerline is valid? [True, True] Translation: X:367.32, Y:6.47, Z:-3.50 [[ 9.98814865e-01 -4.82672594e-02 6.25603899e-03 3.67315792e+02] [ 4.82651051e-02 9.98834438e-01 4.94970434e-04 6.46817447e+00] [-6.27263806e-03 -1.92435447e-04 9.99980308e-01 -3.50462831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.765898227 meters 0.03590215964288841 Centerline is valid? [True, True] Translation: X:367.34, Y:6.47, Z:-3.51 [[ 9.98659525e-01 -5.14507185e-02 5.65481604e-03 3.67344794e+02] [ 5.14490071e-02 9.98675522e-01 4.47800968e-04 6.46709932e+00] [-5.67036604e-03 -1.56266032e-04 9.99983911e-01 -3.50626083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.79589822699995 meters 0.029918312811649597 Centerline is valid? [True, True] Translation: X:367.37, Y:6.46, Z:-3.51 [[ 9.98576532e-01 -5.30610174e-02 5.42568246e-03 3.67374044e+02] [ 5.30594645e-02 9.98591262e-01 4.29867055e-04 6.46003460e+00] [-5.44084827e-03 -1.41371348e-04 9.99985188e-01 -3.50757257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.825898227 meters 0.028241515649438952 Centerline is valid? [True, True] Translation: X:367.40, Y:6.46, Z:-3.51 [[ 9.98472965e-01 -5.50110212e-02 5.05237998e-03 3.67402778e+02] [ 5.50096956e-02 9.98485740e-01 4.01062535e-04 6.45874612e+00] [-5.06679222e-03 -1.22520214e-04 9.99987156e-01 -3.50813967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.85589822699995 meters 0.026178967652568087 Centerline is valid? [True, True] Translation: X:367.43, Y:6.46, Z:-3.51 [[ 9.98346602e-01 -5.72880495e-02 4.70555055e-03 3.67431814e+02] [ 5.72869214e-02 9.98357686e-01 3.74295813e-04 6.45706420e+00] [-4.71926523e-03 -1.04110449e-04 9.99988859e-01 -3.50858188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.885898227 meters 0.019260026322398927 Centerline is valid? [True, True] Translation: X:367.46, Y:6.45, Z:-3.51 [[ 9.97936804e-01 -6.40274334e-02 4.75639827e-03 3.67462760e+02] [ 6.40263561e-02 9.97948136e-01 3.78578453e-04 6.44761319e+00] [-4.77087820e-03 -7.32625217e-05 9.99988617e-01 -3.50872519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91589822699996 meters 0.016797097471518467 Centerline is valid? [True, True] Translation: X:367.49, Y:6.44, Z:-3.51 [[ 9.97734945e-01 -6.71198110e-02 4.46208826e-03 3.67491269e+02] [ 6.71188937e-02 9.97744921e-01 3.55168830e-04 6.44421095e+00] [-4.47586476e-03 -5.48739260e-05 9.99989982e-01 -3.50951324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.945898227 meters 0.013941133773082828 Centerline is valid? [True, True] Translation: X:367.52, Y:6.44, Z:-3.51 [[ 9.97549211e-01 -6.98495937e-02 4.07514637e-03 3.67520466e+02] [ 6.98488510e-02 9.97557534e-01 3.24462531e-04 6.43997041e+00] [-4.08785654e-03 -3.90230500e-05 9.99991644e-01 -3.50994495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97589822699996 meters 0.012771110732886289 Centerline is valid? [True, True] Translation: X:367.55, Y:6.44, Z:-3.51 [[ 9.97398893e-01 -7.19710555e-02 3.95163221e-03 3.67548388e+02] [ 7.19703708e-02 9.97406721e-01 3.15394375e-04 6.43808122e+00] [-3.96408379e-03 -3.01735654e-05 9.99992143e-01 -3.51023170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.005898227 meters 0.010916861796369323 Centerline is valid? [True, True] Translation: X:367.58, Y:6.43, Z:-3.51 [[ 9.97225668e-01 -7.42894335e-02 4.69552443e-03 3.67577679e+02] [ 7.42884910e-02 9.97236722e-01 3.75051165e-04 6.43453886e+00] [-4.71041172e-03 -2.51872244e-05 9.99988906e-01 -3.50824222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03589822699996 meters 0.010909503962516741 Centerline is valid? [True, True] Translation: X:367.60, Y:6.44, Z:-3.51 [[ 9.97183755e-01 -7.48235334e-02 5.09878563e-03 3.67604903e+02] [ 7.48224244e-02 9.97196790e-01 4.08190916e-04 6.43586889e+00] [-5.11503495e-03 -2.55378478e-05 9.99986918e-01 -3.50790738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.065898227 meters 0.010466389658892157 Centerline is valid? [True, True] Translation: X:367.63, Y:6.44, Z:-3.51 [[ 9.97120133e-01 -7.56104705e-02 5.87349512e-03 3.67632563e+02] [ 7.56090070e-02 9.97137431e-01 4.71131459e-04 6.43598585e+00] [-5.89230430e-03 -2.56855289e-05 9.99982640e-01 -3.50669299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09589822699996 meters 0.010408298817718598 Centerline is valid? [True, True] Translation: X:367.66, Y:6.44, Z:-3.50 [[ 9.97060082e-01 -7.61997200e-02 8.04950688e-03 3.67659956e+02] [ 7.61969778e-02 9.97092574e-01 6.47250206e-04 6.43573016e+00] [-8.07542382e-03 -3.19992463e-05 9.99967393e-01 -3.50292805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.125898227 meters 0.010861439065202521 Centerline is valid? [True, True] Translation: X:367.69, Y:6.44, Z:-3.50 [[ 9.97087041e-01 -7.58263603e-02 8.23377929e-03 3.67687449e+02] [ 7.58234732e-02 9.97121037e-01 6.62678520e-04 6.43905543e+00] [-8.26032305e-03 -3.64344206e-05 9.99965882e-01 -3.50246088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15589822699997 meters 0.011229366942646457 Centerline is valid? [True, True] Translation: X:367.72, Y:6.44, Z:-3.50 [[ 9.97175609e-01 -7.47436238e-02 7.36171310e-03 3.67715697e+02] [ 7.47412815e-02 9.97202782e-01 5.93171959e-04 6.44273004e+00] [-7.38545661e-03 -4.12727394e-05 9.99972726e-01 -3.50403838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.18589822699994 meters 0.012411495025054373 Centerline is valid? [True, True] Translation: X:367.74, Y:6.45, Z:-3.51 [[ 9.97299762e-01 -7.31608394e-02 6.37786789e-03 3.67743890e+02] [ 7.31590423e-02 9.97320154e-01 5.14938709e-04 6.44784756e+00] [-6.39844954e-03 -4.69495446e-05 9.99979529e-01 -3.50645064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21589822699997 meters 0.014905146572053041 Centerline is valid? [True, True] Translation: X:367.77, Y:6.46, Z:-3.51 [[ 9.97529041e-01 -7.01000058e-02 4.66915397e-03 3.67772139e+02] [ 7.00990066e-02 9.97539967e-01 3.77521563e-04 6.45504785e+00] [-4.68413196e-03 -4.92856679e-05 9.99989028e-01 -3.50912680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.24589822699994 meters 0.016505071636255475 Centerline is valid? [True, True] Translation: X:367.80, Y:6.46, Z:-3.51 [[ 9.97599364e-01 -6.91216150e-02 4.20837886e-03 3.67799644e+02] [ 6.91207915e-02 9.97608240e-01 3.40979304e-04 6.46045073e+00] [-4.22188246e-03 -4.92742593e-05 9.99991087e-01 -3.50966357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.27589822699997 meters 0.01696697152640148 Centerline is valid? [True, True] Translation: X:367.83, Y:6.46, Z:-3.51 [[ 9.97626685e-01 -6.87235310e-02 4.25135775e-03 3.67828017e+02] [ 6.87226863e-02 9.97635742e-01 3.44620570e-04 6.46414364e+00] [-4.26498998e-03 -5.16379522e-05 9.99990904e-01 -3.50933202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.30589822699994 meters 0.015043395017170046 Centerline is valid? [True, True] Translation: X:367.86, Y:6.46, Z:-3.51 [[ 9.97579945e-01 -6.93607458e-02 4.83126764e-03 3.67856268e+02] [ 6.93596582e-02 9.97591642e-01 3.92504895e-04 6.46473780e+00] [-4.84685665e-03 -5.64599390e-05 9.99988252e-01 -3.50788492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.335898227 meters 0.020222742602837875 Centerline is valid? [True, True] Translation: X:367.88, Y:6.47, Z:-3.51 [[ 9.97518251e-01 -7.02383398e-02 4.89027109e-03 3.67883758e+02] [ 7.02372311e-02 9.97530236e-01 3.98305638e-04 6.46761981e+00] [-4.90616960e-03 -5.38380429e-05 9.99987963e-01 -3.50844354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.36589822699995 meters 0.01396532818853767 Centerline is valid? [True, True] Translation: X:367.91, Y:6.47, Z:-3.51 [[ 9.97432514e-01 -7.14785001e-02 4.38216598e-03 3.67912852e+02] [ 7.14776211e-02 9.97442140e-01 3.57071304e-04 6.46814145e+00] [-4.39647994e-03 -4.29277286e-05 9.99990335e-01 -3.50871660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.395898227 meters 0.013009773939135957 Centerline is valid? [True, True] Translation: X:367.94, Y:6.47, Z:-3.51 [[ 9.97335224e-01 -7.28249367e-02 4.35664329e-03 3.67942034e+02] [ 7.28240775e-02 9.97344738e-01 3.55722000e-04 6.46978656e+00] [-4.37098069e-03 -3.75055523e-05 9.99990447e-01 -3.50939251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.42589822699995 meters 0.011811753159211617 Centerline is valid? [True, True] Translation: X:367.97, Y:6.47, Z:-3.51 [[ 9.97191835e-01 -7.47405758e-02 4.72134685e-03 3.67971160e+02] [ 7.47395842e-02 9.97203011e-01 3.86365145e-04 6.47265213e+00] [-4.73701845e-03 -3.24086675e-05 9.99988780e-01 -3.50840119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.455898227 meters 0.011203051357831933 Centerline is valid? [True, True] Translation: X:368.00, Y:6.48, Z:-3.51 [[ 9.97120002e-01 -7.56524217e-02 5.33026873e-03 3.67998893e+02] [ 7.56511654e-02 9.97134249e-01 4.37200712e-04 6.47533279e+00] [-5.34806880e-03 -3.27005335e-05 9.99985698e-01 -3.50744284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.48589822699995 meters 0.01095920802664169 Centerline is valid? [True, True] Translation: X:368.03, Y:6.48, Z:-3.51 [[ 9.97061494e-01 -7.64036033e-02 5.55568414e-03 3.68026905e+02] [ 7.64022443e-02 9.97076972e-01 4.56757696e-04 6.47820955e+00] [-5.57434266e-03 -3.09487738e-05 9.99984463e-01 -3.50659740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.515898227 meters 0.01018711403307945 Centerline is valid? [True, True] Translation: X:368.05, Y:6.48, Z:-3.51 [[ 9.96955078e-01 -7.78389038e-02 4.65598620e-03 3.68054697e+02] [ 7.78379642e-02 9.96965950e-01 3.82952489e-04 6.48015602e+00] [-4.67166830e-03 -1.93739413e-05 9.99989088e-01 -3.50715784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.54589822699995 meters 0.00920231243399211 Centerline is valid? [True, True] Translation: X:368.08, Y:6.48, Z:-3.51 [[ 9.96556128e-01 -8.28658171e-02 3.02331393e-03 3.68081564e+02] [ 8.28654434e-02 9.96560714e-01 2.48898873e-04 6.47907359e+00] [-3.03354110e-03 2.48655203e-06 9.99995399e-01 -3.50975952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.575898227 meters 0.00920231243399211 Centerline is valid? [True, True] Translation: X:368.11, Y:6.48, Z:-3.51 [[ 9.96540472e-01 -8.30538817e-02 3.02326706e-03 3.68108959e+02] [ 8.30535071e-02 9.96545058e-01 2.49466458e-04 6.48153214e+00] [-3.03354100e-03 2.48951019e-06 9.99995399e-01 -3.50990195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.60589822699995 meters 0.010048523229440763 Centerline is valid? [True, True] Translation: X:368.14, Y:6.48, Z:-3.51 [[ 9.96273514e-01 -8.62009808e-02 2.91133347e-03 3.68138397e+02] [ 8.62006452e-02 9.96277768e-01 2.40797714e-04 6.48104117e+00] [-2.92125381e-03 1.10584397e-05 9.99995733e-01 -3.51046125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.635898227 meters 0.013549214117097018 Centerline is valid? [True, True] Translation: X:368.17, Y:6.48, Z:-3.51 [[ 9.95776757e-01 -9.17044688e-02 4.35204116e-03 3.68167486e+02] [ 9.17037663e-02 9.95786267e-01 3.61116761e-04 6.47631882e+00] [-4.36681884e-03 3.95068883e-05 9.99990465e-01 -3.50746865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.66589822699996 meters 0.016060349225632733 Centerline is valid? [True, True] Translation: X:368.20, Y:6.47, Z:-3.51 [[ 9.95564783e-01 -9.39215773e-02 5.43148202e-03 3.68195670e+02] [ 9.39205101e-02 9.95579597e-01 4.51786919e-04 6.47451716e+00] [-5.44990522e-03 6.03444158e-05 9.99985147e-01 -3.50561191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.695898227 meters 0.01659091572823635 Centerline is valid? [True, True] Translation: X:368.22, Y:6.48, Z:-3.51 [[ 9.95396723e-01 -9.56863889e-02 5.42935833e-03 3.68224019e+02] [ 9.56853460e-02 9.95411528e-01 4.52115782e-04 6.47656766e+00] [-5.44770720e-03 6.94754629e-05 9.99985159e-01 -3.50544619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.72589822699996 meters 0.01844476649513716 Centerline is valid? [True, True] Translation: X:368.25, Y:6.48, Z:-3.51 [[ 9.95282613e-01 -9.68715069e-02 5.33203718e-03 3.68252390e+02] [ 9.68705134e-02 9.95296893e-01 4.44887136e-04 6.47669256e+00] [-5.35005692e-03 7.37287470e-05 9.99985686e-01 -3.50532804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.755898227 meters 0.018295877228773575 Centerline is valid? [True, True] Translation: X:368.28, Y:6.48, Z:-3.51 [[ 9.95196494e-01 -9.78082877e-02 4.18045923e-03 3.68280477e+02] [ 9.78076840e-02 9.95205273e-01 3.49108228e-04 6.48049484e+00] [-4.19456074e-03 6.14497501e-05 9.99991201e-01 -3.50633954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.78589822699996 meters 0.019023515604593925 Centerline is valid? [True, True] Translation: X:368.31, Y:6.48, Z:-3.51 [[ 9.95197375e-01 -9.77869196e-02 4.46118954e-03 3.68307182e+02] [ 9.77862306e-02 9.95207372e-01 3.72827649e-04 6.48266004e+00] [-4.47626639e-03 6.52058109e-05 9.99989979e-01 -3.50607356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.815898227 meters 0.01831940094399186 Centerline is valid? [True, True] Translation: X:368.34, Y:6.49, Z:-3.51 [[ 9.95245677e-01 -9.72957212e-02 4.42546095e-03 3.68335292e+02] [ 9.72950370e-02 9.95255514e-01 3.70155065e-04 6.48751077e+00] [-4.44047892e-03 6.21801590e-05 9.99990139e-01 -3.50561493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.84589822699996 meters 0.01788473244170823 Centerline is valid? [True, True] Translation: X:368.36, Y:6.49, Z:-3.50 [[ 9.95315834e-01 -9.65468674e-02 5.00938826e-03 3.68363099e+02] [ 9.65459763e-02 9.95328437e-01 4.19954884e-04 6.49250149e+00] [-5.02653192e-03 6.56485352e-05 9.99987365e-01 -3.50457877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.875898227 meters 0.015485569267936537 Centerline is valid? [True, True] Translation: X:368.39, Y:6.50, Z:-3.50 [[ 9.95428861e-01 -9.53107231e-02 6.10323593e-03 3.68391340e+02] [ 9.53093740e-02 9.95447568e-01 5.12188648e-04 6.50265044e+00] [-6.12426843e-03 7.18482337e-05 9.99981244e-01 -3.50396131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.90589822699997 meters 0.01570879296233598 Centerline is valid? [True, True] Translation: X:368.42, Y:6.51, Z:-3.50 [[ 9.95482058e-01 -9.47364833e-02 6.36163393e-03 3.68419296e+02] [ 9.47349994e-02 9.95502383e-01 5.34869338e-04 6.50684642e+00] [-6.38369338e-03 7.02165576e-05 9.99979622e-01 -3.50365375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93589822699994 meters 0.014559882029251979 Centerline is valid? [True, True] Translation: X:368.45, Y:6.51, Z:-3.50 [[ 9.95516269e-01 -9.43849092e-02 6.23266565e-03 3.68446697e+02] [ 9.43834747e-02 9.95535778e-01 5.24541236e-04 6.51415121e+00] [-6.25435042e-03 6.60713066e-05 9.99980439e-01 -3.50411124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.96589822699997 meters 0.014491706244855743 Centerline is valid? [True, True] Translation: X:368.47, Y:6.52, Z:-3.50 [[ 9.95575631e-01 -9.37517606e-02 6.30630471e-03 3.68473952e+02] [ 9.37502725e-02 9.95595602e-01 5.31828848e-04 6.52068233e+00] [-6.32838913e-03 6.17419439e-05 9.99979974e-01 -3.50436838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99589822699994 meters 0.013149854780483874 Centerline is valid? [True, True] Translation: X:368.50, Y:6.53, Z:-3.51 [[ 9.95739469e-01 -9.21027689e-02 4.47093792e-03 3.68500881e+02] [ 9.21020035e-02 9.95749506e-01 3.77229389e-04 6.53328406e+00] [-4.48667810e-03 3.61601489e-05 9.99989934e-01 -3.50762679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.02589822699997 meters 0.012587477059212865 Centerline is valid? [True, True] Translation: X:368.53, Y:6.54, Z:-3.51 [[ 9.95790579e-01 -9.16133929e-02 2.84763147e-03 3.68528647e+02] [ 9.16130811e-02 9.95794650e-01 2.40017935e-04 6.54045151e+00] [-2.85764504e-03 2.18726945e-05 9.99995917e-01 -3.51051798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05589822699994 meters 0.012259724276340875 Centerline is valid? [True, True] Translation: X:368.56, Y:6.55, Z:-3.51 [[ 9.95821844e-01 -9.13056865e-02 1.45818158e-03 3.68556205e+02] [ 9.13056048e-02 9.95822912e-01 1.22700167e-04 6.54674476e+00] [-1.46329385e-03 1.09526449e-05 9.99998929e-01 -3.51278451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.085898227 meters 0.012133015325316085 Centerline is valid? [True, True] Translation: X:368.58, Y:6.55, Z:-3.51 [[ 9.95853924e-01 -9.09666439e-02 1.76011826e-04 3.68583312e+02] [ 9.09666428e-02 9.95853940e-01 1.46335213e-05 6.55489019e+00] [-1.76613233e-04 1.43835523e-06 9.99999984e-01 -3.51470202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11589822699995 meters 0.012276743571051083 Centerline is valid? [True, True] Translation: X:368.61, Y:6.56, Z:-3.51 [[ 9.95827900e-01 -9.12487820e-02 6.73112198e-04 3.68609826e+02] [ 9.12487645e-02 9.95828128e-01 5.67641108e-05 6.55900161e+00] [-6.75483716e-04 4.89337113e-06 9.99999772e-01 -3.51415132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.145898227 meters 0.011853489321961437 Centerline is valid? [True, True] Translation: X:368.64, Y:6.56, Z:-3.51 [[ 9.95815414e-01 -9.13860661e-02 4.97223329e-04 3.68637311e+02] [ 9.13860569e-02 9.95815539e-01 4.13279574e-05 6.56418113e+00] [-4.98919516e-04 4.28426234e-06 9.99999876e-01 -3.51275400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17589822699995 meters 0.012093352900657299 Centerline is valid? [True, True] Translation: X:368.67, Y:6.57, Z:-3.51 [[ 9.95848706e-01 -9.10154994e-02 1.23802958e-03 3.68665100e+02] [ 9.10154391e-02 9.95849476e-01 1.05065793e-04 6.56834902e+00] [-1.24245372e-03 8.05017148e-06 9.99999228e-01 -3.51293630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.205898227 meters 0.010167121885473583 Centerline is valid? [True, True] Translation: X:368.69, Y:6.58, Z:-3.51 [[ 9.96135043e-01 -8.78332212e-02 5.49473272e-04 3.68692883e+02] [ 8.78332091e-02 9.96135194e-01 4.60902259e-05 6.57820858e+00] [-5.51397917e-04 2.34991165e-06 9.99999848e-01 -3.51423668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.23589822699995 meters 0.009743340351519636 Centerline is valid? [True, True] Translation: X:368.72, Y:6.58, Z:-3.52 [[ 9.96328099e-01 -8.56166032e-02 3.41535824e-04 3.68720087e+02] [ 8.56165985e-02 9.96328157e-01 2.82749446e-05 6.58452548e+00] [-3.42702563e-04 1.07001376e-06 9.99999941e-01 -3.51520510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.265898227 meters 0.01024199502149627 Centerline is valid? [True, True] Translation: X:368.75, Y:6.59, Z:-3.52 [[ 9.96578753e-01 -8.26467719e-02 -5.47410248e-04 3.68748526e+02] [ 8.26467581e-02 9.96578904e-01 -4.78179632e-05 6.59174097e+00] [ 5.49489505e-04 2.41268379e-06 9.99999849e-01 -3.51588118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.29589822699995 meters 0.01228860104090564 Centerline is valid? [True, True] Translation: X:368.78, Y:6.60, Z:-3.52 [[ 9.96885433e-01 -7.88601683e-02 -7.12257490e-04 3.68776994e+02] [ 7.88601441e-02 9.96885687e-01 -6.20737589e-05 6.59982749e+00] [ 7.14934444e-04 5.71169780e-06 9.99999744e-01 -3.51569886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.325898227 meters 0.020664823721176864 Centerline is valid? [True, True] Translation: X:368.81, Y:6.62, Z:-3.51 [[ 9.97605100e-01 -6.91668648e-02 -9.49228047e-05 3.68805978e+02] [ 6.91668644e-02 9.97605105e-01 -8.21993139e-06 6.61674136e+00] [ 9.52640214e-05 1.63473272e-06 9.99999995e-01 -3.51368916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.35589822699995 meters 0.025920315579189206 Centerline is valid? [True, True] Translation: X:368.83, Y:6.63, Z:-3.51 [[ 9.97962176e-01 -6.38082539e-02 4.75061423e-05 3.68834810e+02] [ 6.38082538e-02 9.97962177e-01 3.96164930e-06 6.62707920e+00] [-4.76621192e-05 -9.22292172e-07 9.99999999e-01 -3.51341157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.385898227 meters 0.03192936260060481 Centerline is valid? [True, True] Translation: X:368.86, Y:6.64, Z:-3.51 [[ 9.98264396e-01 -5.88908794e-02 2.44997056e-04 3.68863487e+02] [ 5.88908760e-02 9.98264426e-01 2.09966170e-05 6.63729023e+00] [-2.45808355e-04 -6.53208394e-06 9.99999970e-01 -3.51374646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41589822699996 meters 0.03855493533774378 Centerline is valid? [True, True] Translation: X:368.89, Y:6.65, Z:-3.51 [[ 9.98504848e-01 -5.46624779e-02 2.85538928e-04 3.68892313e+02] [ 5.46624732e-02 9.98504889e-01 2.44806175e-05 6.64760905e+00] [-2.86450187e-04 -8.83575122e-06 9.99999959e-01 -3.51490008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.445898227 meters 0.04588242627320175 Centerline is valid? [True, True] Translation: X:368.92, Y:6.66, Z:-3.52 [[ 9.98773548e-01 -4.95104630e-02 -3.36804003e-04 3.68920646e+02] [ 4.95104560e-02 9.98773605e-01 -2.89587960e-05 6.65924262e+00] [ 3.37824711e-04 1.22479597e-05 9.99999943e-01 -3.51601401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47589822699996 meters 0.04377580672533556 Centerline is valid? [True, True] Translation: X:368.95, Y:6.66, Z:-3.52 [[ 9.98830183e-01 -4.83556246e-02 8.16562182e-06 3.68949842e+02] [ 4.83556246e-02 9.98830183e-01 -1.25390152e-07 6.65945922e+00] [-8.15000622e-06 5.20097212e-07 1.00000000e+00 -3.51509182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.505898227 meters 0.044697282562897366 Centerline is valid? [True, True] Translation: X:368.98, Y:6.66, Z:-3.52 [[ 9.98837369e-01 -4.82067087e-02 1.55035101e-04 3.68977239e+02] [ 4.82067073e-02 9.98837381e-01 1.30732234e-05 6.66304791e+00] [-1.55485072e-04 -5.58429227e-06 9.99999988e-01 -3.51515744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53589822699996 meters 0.04387221920500977 Centerline is valid? [True, True] Translation: X:369.01, Y:6.66, Z:-3.52 [[ 9.98795295e-01 -4.90699031e-02 -3.21817611e-04 3.69005691e+02] [ 4.90698964e-02 9.98795347e-01 -2.86184908e-05 6.66414872e+00] [ 3.22834238e-04 1.27924572e-05 9.99999948e-01 -3.51566305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.565898227 meters 0.04103779261309337 Centerline is valid? [True, True] Translation: X:369.04, Y:6.66, Z:-3.51 [[ 9.98642185e-01 -5.20938491e-02 1.34015866e-04 3.69036188e+02] [ 5.20938480e-02 9.98642194e-01 1.15188724e-05 6.66146339e+00] [-1.34433961e-04 -4.52182972e-06 9.99999991e-01 -3.51480058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59589822699996 meters 0.03861868879804707 Centerline is valid? [True, True] Translation: X:369.07, Y:6.66, Z:-3.51 [[ 9.98552825e-01 -5.37681000e-02 1.11631170e-03 3.69065473e+02] [ 5.37680259e-02 9.98553449e-01 9.62505134e-05 6.66024643e+00] [-1.11987210e-03 -3.60893459e-05 9.99999372e-01 -3.51309347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.625898227 meters 0.03648166632803841 Centerline is valid? [True, True] Translation: X:369.09, Y:6.66, Z:-3.51 [[ 9.98466257e-01 -5.53480584e-02 1.31402790e-03 3.69094734e+02] [ 5.53479571e-02 9.98467121e-01 1.13398836e-04 6.65948747e+00] [-1.31829006e-03 -4.04961514e-05 9.99999130e-01 -3.51199078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65589822699997 meters 0.037351863412764766 Centerline is valid? [True, True] Translation: X:369.12, Y:6.66, Z:-3.51 [[ 9.98396204e-01 -5.65845685e-02 1.79074910e-03 3.69122164e+02] [ 5.65843820e-02 9.98397808e-01 1.54669645e-04 6.66258575e+00] [-1.79663189e-03 -5.30931551e-05 9.99998385e-01 -3.51194149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.68589822699994 meters 0.03820886220637188 Centerline is valid? [True, True] Translation: X:369.15, Y:6.67, Z:-3.51 [[ 9.98423440e-01 -5.60876672e-02 2.19278066e-03 3.69150290e+02] [ 5.60873862e-02 9.98425846e-01 1.89504897e-04 6.66535278e+00] [-2.19995777e-03 -6.62187954e-05 9.99997578e-01 -3.51168669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71589822699997 meters 0.03809895379495638 Centerline is valid? [True, True] Translation: X:369.18, Y:6.67, Z:-3.51 [[ 9.98461897e-01 -5.53933037e-02 2.32854909e-03 3.69179020e+02] [ 5.53929849e-02 9.98464610e-01 2.01253403e-04 6.66790994e+00] [-2.33612195e-03 -7.19585699e-05 9.99997269e-01 -3.51202701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.74589822699994 meters 0.04014051880110104 Centerline is valid? [True, True] Translation: X:369.21, Y:6.67, Z:-3.51 [[ 9.98498785e-01 -5.47188782e-02 2.45354238e-03 3.69206243e+02] [ 5.47185204e-02 9.98501797e-01 2.12762782e-04 6.67319888e+00] [-2.46150862e-03 -7.81891709e-05 9.99996967e-01 -3.51174305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.77589822699997 meters 0.035420027252378715 Centerline is valid? [True, True] Translation: X:369.24, Y:6.67, Z:-3.51 [[ 9.98523561e-01 -5.42796069e-02 2.10312118e-03 3.69235408e+02] [ 5.42793436e-02 9.98525773e-01 1.82109855e-04 6.66918264e+00] [-2.10990556e-03 -6.76849434e-05 9.99997772e-01 -3.51123104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.80589822699994 meters 0.04189640701656046 Centerline is valid? [True, True] Translation: X:369.26, Y:6.68, Z:-3.51 [[ 9.98591395e-01 -5.30175500e-02 2.08939859e-03 3.69262541e+02] [ 5.30172859e-02 9.98593578e-01 1.81599613e-04 6.67835401e+00] [-2.09608798e-03 -7.05695685e-05 9.99997801e-01 -3.51215262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.835898227 meters 0.04259232175477777 Centerline is valid? [True, True] Translation: X:369.29, Y:6.68, Z:-3.51 [[ 9.98631100e-01 -5.22686147e-02 1.97923232e-03 3.69291151e+02] [ 5.22683767e-02 9.98633059e-01 1.71815919e-04 6.68056420e+00] [-1.98550740e-03 -6.81294599e-05 9.99998027e-01 -3.51287904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.86589822699995 meters 0.03942691040179413 Centerline is valid? [True, True] Translation: X:369.32, Y:6.68, Z:-3.51 [[ 9.98679537e-01 -5.13359264e-02 1.95043877e-03 3.69320178e+02] [ 5.13356930e-02 9.98681440e-01 1.69581048e-04 6.67798137e+00] [-1.95657260e-03 -6.92299968e-05 9.99998084e-01 -3.51287655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.895898227 meters 0.049387372664226104 Centerline is valid? [True, True] Translation: X:369.35, Y:6.69, Z:-3.51 [[ 9.98880475e-01 -4.72445861e-02 2.39687511e-03 3.69348805e+02] [ 4.72442193e-02 9.98883346e-01 2.09415067e-04 6.69077894e+00] [-2.40409236e-03 -9.59421279e-05 9.99997106e-01 -3.51359286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.92589822699995 meters 0.05642552592315865 Centerline is valid? [True, True] Translation: X:369.38, Y:6.70, Z:-3.51 [[ 9.99022264e-01 -4.41374646e-02 2.52980689e-03 3.69377108e+02] [ 4.41370461e-02 9.99025461e-01 2.21035620e-04 6.70043973e+00] [-2.53709745e-03 -1.09161302e-04 9.99996776e-01 -3.51336876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.955898227 meters 0.052515956043771676 Centerline is valid? [True, True] Translation: X:369.41, Y:6.70, Z:-3.51 [[ 9.99149316e-01 -4.11848308e-02 2.11065724e-03 3.69408203e+02] [ 4.11845327e-02 9.99151540e-01 1.84507949e-04 6.69556078e+00] [-2.11646536e-03 -9.74245592e-05 9.99997756e-01 -3.51306811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.98589822699995 meters 0.05602854468204794 Centerline is valid? [True, True] Translation: X:369.44, Y:6.70, Z:-3.51 [[ 9.99263327e-01 -3.83279198e-02 1.94245986e-03 3.69436794e+02] [ 3.83276621e-02 9.99265211e-01 1.69731197e-04 6.70035162e+00] [-1.94753801e-03 -9.51562155e-05 9.99998099e-01 -3.51349826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.015898227 meters 0.055358181251784086 Centerline is valid? [True, True] Translation: X:369.47, Y:6.70, Z:-3.51 [[ 9.99365350e-01 -3.55986137e-02 1.27878143e-03 3.69467208e+02] [ 3.55984998e-02 9.99366166e-01 1.11753213e-04 6.70045864e+00] [-1.28194916e-03 -6.61595879e-05 9.99999176e-01 -3.51392552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.04589822699995 meters 0.05712290669588426 Centerline is valid? [True, True] Translation: X:369.50, Y:6.70, Z:-3.52 [[ 9.99459898e-01 -3.28606868e-02 2.96592162e-04 3.69496745e+02] [ 3.28606806e-02 9.99459942e-01 2.58817323e-05 6.70303363e+00] [-2.97282477e-04 -1.61215333e-05 9.99999956e-01 -3.51543032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.075898227 meters 0.07517363572676113 Centerline is valid? [True, True] Translation: X:369.52, Y:6.72, Z:-3.52 [[ 9.99579466e-01 -2.89761362e-02 -1.12879078e-03 3.69524022e+02] [ 2.89760430e-02 9.99580101e-01 -9.88787968e-05 6.72343844e+00] [ 1.13118192e-03 6.61293249e-05 9.99999358e-01 -3.52064023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.10589822699995 meters 0.0651341883282948 Centerline is valid? [True, True] Translation: X:369.55, Y:6.71, Z:-3.52 [[ 9.99608749e-01 -2.79286285e-02 -1.52985518e-03 3.69554383e+02] [ 2.79284559e-02 9.99609916e-01 -1.34079906e-04 6.71058092e+00] [ 1.53300307e-03 9.13009546e-05 9.99998821e-01 -3.51940134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.135898227 meters 0.06298335688730616 Centerline is valid? [True, True] Translation: X:369.58, Y:6.71, Z:-3.52 [[ 9.99638472e-01 -2.68035000e-02 -2.12070907e-03 3.69584361e+02] [ 2.68031659e-02 9.99640713e-01 -1.85787866e-04 6.70816150e+00] [ 2.12492689e-03 1.28878981e-04 9.99997734e-01 -3.51934825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.16589822699996 meters 0.0659565354180102 Centerline is valid? [True, True] Translation: X:369.61, Y:6.71, Z:-3.52 [[ 9.99657206e-01 -2.60820166e-02 -2.28001558e-03 3.69612449e+02] [ 2.60816283e-02 9.99659796e-01 -1.99874621e-04 6.71336661e+00] [ 2.28445305e-03 1.40339586e-04 9.99997381e-01 -3.51999460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.195898227 meters 0.07487647410423659 Centerline is valid? [True, True] Translation: X:369.64, Y:6.72, Z:-3.53 [[ 9.99676124e-01 -2.51723667e-02 -3.74150142e-03 3.69639618e+02] [ 2.51713143e-02 9.99683098e-01 -3.28107230e-04 6.72495328e+00] [ 3.74857497e-03 2.33822456e-04 9.99992947e-01 -3.52505169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.22589822699996 meters 0.06786267404315437 Centerline is valid? [True, True] Translation: X:369.67, Y:6.72, Z:-3.53 [[ 9.99671477e-01 -2.52573109e-02 -4.35956924e-03 3.69668991e+02] [ 2.52558774e-02 9.99680946e-01 -3.83568527e-04 6.71708523e+00] [ 4.36786622e-03 2.73337770e-04 9.99990423e-01 -3.52508331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.255898227 meters 0.06691100887648183 Centerline is valid? [True, True] Translation: X:369.70, Y:6.72, Z:-3.53 [[ 9.99655183e-01 -2.58173195e-02 -4.79381702e-03 3.69697836e+02] [ 2.58155893e-02 9.99666633e-01 -4.22468454e-04 6.71767034e+00] [ 4.80312593e-03 2.98567569e-04 9.99988420e-01 -3.52572714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.28589822699996 meters 0.06714195196046546 Centerline is valid? [True, True] Translation: X:369.73, Y:6.72, Z:-3.53 [[ 9.99643479e-01 -2.61503003e-02 -5.39222194e-03 3.69725915e+02] [ 2.61481178e-02 9.99657967e-01 -4.74870748e-04 6.72017273e+00] [ 5.40279564e-03 3.33704992e-04 9.99985349e-01 -3.52679817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.315898227 meters 0.06874714572889026 Centerline is valid? [True, True] Translation: X:369.75, Y:6.72, Z:-3.53 [[ 9.99629751e-01 -2.64579704e-02 -6.35115958e-03 3.69753334e+02] [ 2.64549468e-02 9.99649850e-01 -5.59627268e-04 6.72445176e+00] [ 6.36374232e-03 3.91400477e-04 9.99979675e-01 -3.52820635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.34589822699996 meters 0.06962640823359247 Centerline is valid? [True, True] Translation: X:369.78, Y:6.73, Z:-3.53 [[ 9.99587448e-01 -2.79914679e-02 -6.43514637e-03 3.69782292e+02] [ 2.79883957e-02 9.99608087e-01 -5.66992190e-04 6.72760717e+00] [ 6.44849530e-03 3.86648853e-04 9.99979133e-01 -3.52867521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.375898227 meters 0.06345963817252817 Centerline is valid? [True, True] Translation: X:369.81, Y:6.72, Z:-3.53 [[ 9.99557798e-01 -2.92799255e-02 -5.18600151e-03 3.69812983e+02] [ 2.92779473e-02 9.99571205e-01 -4.56957529e-04 6.72235850e+00] [ 5.19715746e-03 3.04919982e-04 9.99986448e-01 -3.52555327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.40589822699997 meters 0.0678986242038365 Centerline is valid? [True, True] Translation: X:369.84, Y:6.73, Z:-3.52 [[ 9.99530069e-01 -3.04416959e-02 -3.59782984e-03 3.69840861e+02] [ 3.04407506e-02 9.99536523e-01 -3.17216017e-04 6.73053090e+00] [ 3.60581892e-03 2.07546307e-04 9.99993477e-01 -3.52430208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43589822699994 meters 0.059837222143401037 Centerline is valid? [True, True] Translation: X:369.87, Y:6.72, Z:-3.52 [[ 9.99490718e-01 -3.17773974e-02 -2.91582990e-03 3.69871152e+02] [ 3.17767789e-02 9.99494957e-01 -2.58199743e-04 6.72268587e+00] [ 2.92256220e-03 1.65412564e-04 9.99995716e-01 -3.52210566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.46589822699997 meters 0.059837222143401037 Centerline is valid? [True, True] Translation: X:369.90, Y:6.73, Z:-3.52 [[ 9.99484810e-01 -3.19626766e-02 -2.91576638e-03 3.69898563e+02] [ 3.19620568e-02 9.99489049e-01 -2.58917753e-04 6.72527708e+00] [ 2.92255227e-03 1.65590471e-04 9.99995716e-01 -3.52224832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49589822699994 meters 0.06512835236971341 Centerline is valid? [True, True] Translation: X:369.93, Y:6.73, Z:-3.52 [[ 9.99435715e-01 -3.34245329e-02 -3.32444269e-03 3.69926361e+02] [ 3.34237377e-02 9.99441227e-01 -2.94497688e-04 6.73236866e+00] [ 3.33242853e-03 1.83216207e-04 9.99994431e-01 -3.52374439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.52589822699997 meters 0.06227220522361141 Centerline is valid? [True, True] Translation: X:369.96, Y:6.73, Z:-3.52 [[ 9.99433339e-01 -3.34039766e-02 -4.14434549e-03 3.69955581e+02] [ 3.34027356e-02 9.99441905e-01 -3.68318414e-04 6.72957147e+00] [ 4.15433585e-03 2.29677225e-04 9.99991344e-01 -3.52387663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55589822699994 meters 0.061830336493895015 Centerline is valid? [True, True] Translation: X:369.99, Y:6.73, Z:-3.52 [[ 9.99480174e-01 -3.19614062e-02 -4.22491507e-03 3.69985631e+02] [ 3.19601062e-02 9.99489075e-01 -3.74856633e-04 6.72981057e+00] [ 4.23473740e-03 2.39633038e-04 9.99991005e-01 -3.52258807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.585898227 meters 0.07015005369116747 Centerline is valid? [True, True] Translation: X:370.01, Y:6.74, Z:-3.52 [[ 9.99605460e-01 -2.79089471e-02 -3.16470638e-03 3.70014198e+02] [ 2.79081975e-02 9.99610451e-01 -2.80791018e-04 6.74008956e+00] [ 3.17131015e-03 1.92358984e-04 9.99994953e-01 -3.52095592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61589822699995 meters 0.0730902875373773 Centerline is valid? [True, True] Translation: X:370.04, Y:6.75, Z:-3.52 [[ 9.99659282e-01 -2.59572361e-02 -2.74632083e-03 3.70044107e+02] [ 2.59566642e-02 9.99663039e-01 -2.43707938e-04 6.74543453e+00] [ 2.75172141e-03 1.72339575e-04 9.99996199e-01 -3.52063087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.645898227 meters 0.06775329225118705 Centerline is valid? [True, True] Translation: X:370.08, Y:6.74, Z:-3.52 [[ 9.99712312e-01 -2.38101991e-02 -2.89260751e-03 3.70075404e+02] [ 2.38095558e-02 9.99716479e-01 -2.56629216e-04 6.73975181e+00] [ 2.89789779e-03 1.87683687e-04 9.99995783e-01 -3.51870842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67589822699995 meters 0.07121268562364572 Centerline is valid? [True, True] Translation: X:370.10, Y:6.75, Z:-3.52 [[ 9.99764713e-01 -2.15332244e-02 -2.61506178e-03 3.70104164e+02] [ 2.15326904e-02 9.99768118e-01 -2.32186472e-04 6.74560338e+00] [ 2.61945511e-03 1.75822526e-04 9.99996554e-01 -3.51822377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.705898227 meters 0.07687962893373787 Centerline is valid? [True, True] Translation: X:370.13, Y:6.75, Z:-3.52 [[ 9.99865534e-01 -1.60831951e-02 -3.20079981e-03 3.70133699e+02] [ 1.60823676e-02 9.99870630e-01 -2.84076789e-04 6.75370797e+00] [ 3.20495458e-03 2.32562151e-04 9.99994837e-01 -3.51846799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.73589822699995 meters 0.08040424391365238 Centerline is valid? [True, True] Translation: X:370.16, Y:6.76, Z:-3.52 [[ 9.99910659e-01 -1.28449075e-02 -3.69896522e-03 3.70163636e+02] [ 1.28437806e-02 9.99917461e-01 -3.28259900e-04 6.76035345e+00] [ 3.70287638e-03 2.80721875e-04 9.99993105e-01 -3.51925341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.765898227 meters 0.08039147364793676 Centerline is valid? [True, True] Translation: X:370.19, Y:6.76, Z:-3.52 [[ 9.99950840e-01 -9.21517871e-03 -3.66021184e-03 3.70193616e+02] [ 9.21405072e-03 9.99957497e-01 -3.24920912e-04 6.76264275e+00] [ 3.66305048e-03 2.91179561e-04 9.99993249e-01 -3.51883293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.79589822699995 meters 0.08890388608383193 Centerline is valid? [True, True] Translation: X:370.22, Y:6.78, Z:-3.52 [[ 9.99979141e-01 -5.65851881e-03 -3.11413074e-03 3.70222272e+02] [ 5.65768506e-03 9.99983957e-01 -2.76477512e-04 6.77646338e+00] [ 3.11564523e-03 2.58852975e-04 9.99995113e-01 -3.51883330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.825898227 meters 0.09824142517906684 Centerline is valid? [True, True] Translation: X:370.25, Y:6.79, Z:-3.52 [[ 9.99991040e-01 -2.50962205e-03 -3.40893388e-03 3.70250084e+02] [ 2.50860493e-03 9.99996808e-01 -3.02611379e-04 6.79124336e+00] [ 3.40968243e-03 2.94056999e-04 9.99994144e-01 -3.51976718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.85589822699995 meters 0.10202174613139513 Centerline is valid? [True, False] Translation: X:370.25, Y:6.79, Z:-3.52 [[ 9.99992416e-01 1.72580688e-03 -3.49144565e-03 3.70250574e+02] [-1.71265473e-03 9.99991440e-01 3.76645290e-03 6.79243847e+00] [ 3.49791593e-03 -3.76044469e-03 9.99986812e-01 -3.52026337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.885898227 meters 0.10004932483286433 Centerline is valid? [False, False] Translation: X:370.21, Y:6.79, Z:-3.52 [[ 9.99993515e-01 -4.83802929e-04 -3.56867484e-03 3.70209003e+02] [ 4.91346801e-04 9.99997646e-01 2.11334045e-03 6.79281686e+00] [ 3.56764400e-03 -2.11508020e-03 9.99991399e-01 -3.52251797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91589822699996 meters 0.09423921682232689 Centerline is valid? [False, True] Translation: X:370.21, Y:6.79, Z:-3.52 [[ 9.99993560e-01 -6.32655313e-04 -3.53269763e-03 3.70208819e+02] [ 6.38881739e-04 9.99998244e-01 1.76166298e-03 6.79442183e+00] [ 3.53157690e-03 -1.76390861e-03 9.99992208e-01 -3.52239303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.945898227 meters 0.0898414579457609 Centerline is valid? [True, True] Translation: X:370.24, Y:6.79, Z:-3.52 [[ 9.99996068e-01 -2.15938541e-03 -1.78888115e-03 3.70238663e+02] [ 2.15910164e-03 9.99997656e-01 -1.60542487e-04 6.79455076e+00] [ 1.78922363e-03 1.56679480e-04 9.99998387e-01 -3.52015230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97589822699996 meters 0.09566887385869102 Centerline is valid? [True, True] Translation: X:370.27, Y:6.81, Z:-3.52 [[ 9.99991167e-01 -4.12592119e-03 -8.01556785e-04 3.70266862e+02] [ 4.12586482e-03 9.99991486e-01 -7.19708702e-05 6.80626467e+00] [ 8.01846907e-04 6.86631195e-05 9.99999676e-01 -3.51975682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.005898227 meters 0.09279847179759966 Centerline is valid? [True, True] Translation: X:370.30, Y:6.81, Z:-3.52 [[ 9.99952173e-01 -9.75627211e-03 -6.83812434e-04 3.70296081e+02] [ 9.75623243e-03 9.99952405e-01 -6.13272934e-05 6.80920742e+00] [ 6.84378214e-04 5.46529272e-05 9.99999764e-01 -3.52001394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03589822699996 meters 0.0806207440231939 Centerline is valid? [True, True] Translation: X:370.33, Y:6.80, Z:-3.52 [[ 9.99920168e-01 -1.25074264e-02 -1.79501212e-03 3.70327112e+02] [ 1.25071574e-02 9.99921769e-01 -1.61000809e-04 6.79915277e+00] [ 1.79688540e-03 1.38537457e-04 9.99998376e-01 -3.52029138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.065898227 meters 0.08571229618563864 Centerline is valid? [True, True] Translation: X:370.36, Y:6.81, Z:-3.53 [[ 9.99850067e-01 -1.69463879e-02 -3.55863484e-03 3.70355514e+02] [ 1.69453585e-02 9.99856366e-01 -3.19223277e-04 6.81444167e+00] [ 3.56353338e-03 2.58873072e-04 9.99993617e-01 -3.52528689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09589822699996 meters 0.07645367208217732 Centerline is valid? [True, True] Translation: X:370.39, Y:6.81, Z:-3.52 [[ 9.99817769e-01 -1.86051014e-02 -4.27529720e-03 3.70386041e+02] [ 1.86036295e-02 9.99826864e-01 -3.83800119e-04 6.80820130e+00] [ 4.28169763e-03 3.04194134e-04 9.99990787e-01 -3.52483485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.125898227 meters 0.08317449264208894 Centerline is valid? [True, True] Translation: X:370.41, Y:6.82, Z:-3.53 [[ 9.99782867e-01 -2.02740376e-02 -4.81474233e-03 3.70413689e+02] [ 2.02721899e-02 9.99794405e-01 -4.32255688e-04 6.82266319e+00] [ 4.82251601e-03 3.34556461e-04 9.99988316e-01 -3.52727741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15589822699997 meters 0.07667423344409023 Centerline is valid? [True, True] Translation: X:370.44, Y:6.82, Z:-3.53 [[ 9.99752627e-01 -2.15681135e-02 -5.43157807e-03 3.70443467e+02] [ 2.15657725e-02 9.99767312e-01 -4.89194168e-04 6.82064934e+00] [ 5.44086520e-03 3.71936978e-04 9.99985129e-01 -3.52670855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.18589822699994 meters 0.07394892850921256 Centerline is valid? [True, True] Translation: X:370.47, Y:6.82, Z:-3.53 [[ 9.99735752e-01 -2.22194711e-02 -5.89239250e-03 3.70471975e+02] [ 2.22167225e-02 9.99753037e-01 -5.31518814e-04 6.82345571e+00] [ 5.90274737e-03 4.00468713e-04 9.99982498e-01 -3.52639992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21589822699997 meters 0.07517170330748141 Centerline is valid? [True, True] Translation: X:370.50, Y:6.83, Z:-3.53 [[ 9.99727299e-01 -2.26168620e-02 -5.81423609e-03 3.70498884e+02] [ 2.26141940e-02 9.99744129e-01 -5.24227826e-04 6.83143724e+00] [ 5.82460479e-03 3.92600606e-04 9.99982960e-01 -3.52661548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.24589822699994 meters 0.07489194244847831 Centerline is valid? [True, True] Translation: X:370.53, Y:6.84, Z:-3.53 [[ 9.99726449e-01 -2.28010084e-02 -5.20981540e-03 3.70526834e+02] [ 2.27988614e-02 9.99739961e-01 -4.71122638e-04 6.84059525e+00] [ 5.21920271e-03 3.52215903e-04 9.99986318e-01 -3.52572559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.27589822699997 meters 0.06803533046454352 Centerline is valid? [True, True] Translation: X:370.56, Y:6.84, Z:-3.52 [[ 9.99728941e-01 -2.26184401e-02 -5.51819532e-03 3.70556206e+02] [ 2.26160232e-02 9.99744100e-01 -5.00003125e-04 6.83752263e+00] [ 5.52809250e-03 3.75067961e-04 9.99984650e-01 -3.52404207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.30589822699994 meters 0.07188607241488577 Centerline is valid? [True, True] Translation: X:370.58, Y:6.85, Z:-3.53 [[ 9.99740399e-01 -2.20285386e-02 -5.82050980e-03 3.70583599e+02] [ 2.20258420e-02 9.99757263e-01 -5.26988793e-04 6.84761699e+00] [ 5.83070574e-03 3.98650357e-04 9.99982922e-01 -3.52521788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.335898227 meters 0.07306273608754449 Centerline is valid? [True, True] Translation: X:370.61, Y:6.85, Z:-3.53 [[ 9.99757516e-01 -2.10337208e-02 -6.51853814e-03 3.70612237e+02] [ 2.10303175e-02 9.99778664e-01 -5.90215730e-04 6.85455386e+00] [ 6.52950978e-03 4.52985686e-04 9.99978580e-01 -3.52591969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.36589822699995 meters 0.07278814520006353 Centerline is valid? [True, True] Translation: X:370.64, Y:6.86, Z:-3.53 [[ 9.99778625e-01 -1.96113107e-02 -7.62213986e-03 3.70641646e+02] [ 1.96066167e-02 9.99807534e-01 -6.90077977e-04 6.85968134e+00] [ 7.63420619e-03 5.40480837e-04 9.99970713e-01 -3.52640325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.395898227 meters 0.08097163341583963 Centerline is valid? [True, True] Translation: X:370.67, Y:6.88, Z:-3.53 [[ 9.99865570e-01 -1.44306104e-02 -7.78452737e-03 3.70668957e+02] [ 1.44255575e-02 9.99895698e-01 -7.04854601e-04 6.88083027e+00] [ 7.79388691e-03 5.92463701e-04 9.99969452e-01 -3.52603803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.42589822699995 meters 0.0842950631405375 Centerline is valid? [True, True] Translation: X:370.70, Y:6.89, Z:-3.53 [[ 9.99914383e-01 -1.08410799e-02 -7.32793531e-03 3.70698361e+02] [ 1.08365072e-02 9.99941063e-01 -6.63427791e-04 6.89357835e+00] [ 7.33469570e-03 5.83961766e-04 9.99972930e-01 -3.52550585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.455898227 meters 0.08795662373603456 Centerline is valid? [True, True] Translation: X:370.73, Y:6.91, Z:-3.53 [[ 9.99950121e-01 -6.99446827e-03 -7.12976851e-03 3.70727587e+02] [ 6.99004138e-03 9.99975361e-01 -6.45631749e-04 6.90737716e+00] [ 7.13410869e-03 5.95762168e-04 9.99974374e-01 -3.52533331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.48589822699995 meters 0.09554556670999294 Centerline is valid? [True, True] Translation: X:370.76, Y:6.93, Z:-3.52 [[ 9.99977074e-01 8.92192294e-04 -6.71231789e-03 3.70756236e+02] [-8.96291996e-04 9.99999414e-01 -6.07789554e-04 6.93340295e+00] [ 6.71177169e-03 6.13791817e-04 9.99977287e-01 -3.52495090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.515898227 meters 0.10986097332948293 Centerline is valid? [True, False] Translation: X:370.76, Y:6.94, Z:-3.52 [[ 9.99978146e-01 3.45908308e-04 -6.60215956e-03 3.70755873e+02] [-3.59791694e-04 9.99997727e-01 -2.10178346e-03 6.93989644e+00] [ 6.60141752e-03 2.10411293e-03 9.99975997e-01 -3.52495595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.54589822699995 meters 0.10405400699196361 Centerline is valid? [False, False] Translation: X:370.76, Y:6.95, Z:-3.53 [[ 9.99979081e-01 -1.66157307e-04 -6.46608808e-03 3.70755478e+02] [ 1.44048544e-04 9.99994143e-01 -3.41950238e-03 6.94572059e+00] [ 6.46661839e-03 3.41849941e-03 9.99973248e-01 -3.52502443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.575898227 meters 0.10459338379565178 Centerline is valid? [False, False] Translation: X:370.73, Y:6.95, Z:-3.53 [[ 9.99997859e-01 -1.98285670e-03 -5.92355989e-04 3.70734479e+02] [ 1.98382442e-03 9.99996691e-01 1.63756984e-03 6.94919997e+00] [ 5.89106963e-04 -1.63874146e-03 9.99998484e-01 -3.53024896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.60589822699995 meters 0.0949062116995079 Centerline is valid? [False, True] Translation: X:370.73, Y:6.96, Z:-3.53 [[ 9.99995830e-01 -2.84234191e-03 -5.11507359e-04 3.70733510e+02] [ 2.84222041e-03 9.99995933e-01 -2.38098102e-04 6.95751947e+00] [ 5.12182035e-04 2.36643293e-04 9.99999841e-01 -3.52926560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.635898227 meters 0.08799330465985017 Centerline is valid? [True, True] Translation: X:370.76, Y:6.96, Z:-3.53 [[ 9.99974948e-01 -7.03951644e-03 7.40360708e-04 3.70764070e+02] [ 7.03946623e-03 9.99975220e-01 7.04080176e-05 6.95786239e+00] [-7.40838001e-04 -6.51945096e-05 9.99999723e-01 -3.52723152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.66589822699996 meters 0.09948667402335173 Centerline is valid? [True, True] Translation: X:370.79, Y:6.98, Z:-3.53 [[ 9.99930115e-01 -1.16919366e-02 1.75030777e-03 3.70791365e+02] [ 1.16916633e-02 9.99931636e-01 1.66269943e-04 6.98168121e+00] [-1.75213213e-03 -1.45794314e-04 9.99998454e-01 -3.52819811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.695898227 meters 0.09429375899686214 Centerline is valid? [True, True] Translation: X:370.82, Y:6.98, Z:-3.53 [[ 9.99864976e-01 -1.63804848e-02 1.30760210e-03 3.70821784e+02] [ 1.63803362e-02 9.99865826e-01 1.24294986e-04 6.98360538e+00] [-1.30946267e-03 -1.02859241e-04 9.99999137e-01 -3.52903394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.72589822699996 meters 0.07253050220963649 Centerline is valid? [True, True] Translation: X:370.85, Y:6.96, Z:-3.53 [[ 9.99779253e-01 -2.10094156e-02 -2.23045186e-04 3.70854799e+02] [ 2.10094114e-02 9.99779278e-01 -2.11806886e-05 6.96410987e+00] [ 2.23440949e-04 1.64899649e-05 9.99999975e-01 -3.52803129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.755898227 meters 0.07063335525191254 Centerline is valid? [True, True] Translation: X:370.88, Y:6.98, Z:-3.53 [[ 9.99578219e-01 -2.89491701e-02 -2.30850996e-03 3.70883816e+02] [ 2.89487399e-02 9.99580873e-01 -2.19533686e-04 6.97501606e+00] [ 2.31389772e-03 1.52612636e-04 9.99997311e-01 -3.53232274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.78589822699996 meters 0.07063092400574443 Centerline is valid? [True, True] Translation: X:370.91, Y:6.98, Z:-3.53 [[ 9.99458149e-01 -3.27432847e-02 -3.35952570e-03 3.70913226e+02] [ 3.27423956e-02 9.99463773e-01 -3.19323128e-04 6.98269070e+00] [ 3.36817991e-03 2.09151183e-04 9.99994306e-01 -3.53479566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.815898227 meters 0.06924637881115296 Centerline is valid? [True, True] Translation: X:370.94, Y:6.99, Z:-3.54 [[ 9.99303180e-01 -3.71067399e-02 -4.03031324e-03 3.70942174e+02] [ 3.71054948e-02 9.99311281e-01 -3.83292598e-04 6.98779832e+00] [ 4.04176022e-03 2.33478746e-04 9.99991805e-01 -3.53694134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.84589822699996 meters 0.06011300628384099 Centerline is valid? [True, True] Translation: X:370.97, Y:6.98, Z:-3.54 [[ 9.99124600e-01 -4.16160641e-02 -4.25866122e-03 3.70973148e+02] [ 4.16147152e-02 9.99133650e-01 -4.04902105e-04 6.98246318e+00] [ 4.27182216e-03 2.27324681e-04 9.99990850e-01 -3.53637897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.875898227 meters 0.04611920204042993 Centerline is valid? [True, True] Translation: X:371.01, Y:6.97, Z:-3.54 [[ 9.98702860e-01 -5.05751104e-02 -5.89536934e-03 3.71005045e+02] [ 5.05726804e-02 9.98720226e-01 -5.60637162e-04 6.97203425e+00] [ 5.91617888e-03 2.61765308e-04 9.99982465e-01 -3.53635345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.90589822699997 meters 0.05121068901349153 Centerline is valid? [True, True] Translation: X:371.03, Y:6.98, Z:-3.54 [[ 9.98520137e-01 -5.40991326e-02 -5.55154677e-03 3.71033903e+02] [ 5.40970326e-02 9.98535544e-01 -5.27863820e-04 6.98341397e+00] [ 5.57197375e-03 2.26760448e-04 9.99984451e-01 -3.54080630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93589822699994 meters 0.0452398743296676 Centerline is valid? [True, True] Translation: X:371.06, Y:6.98, Z:-3.54 [[ 9.98372162e-01 -5.67251623e-02 -5.93991546e-03 3.71064294e+02] [ 5.67228034e-02 9.98389806e-01 -5.64970886e-04 6.98026326e+00] [ 5.96239911e-03 2.27122548e-04 9.99982199e-01 -3.53980466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.96589822699997 meters 0.04304378941724333 Centerline is valid? [True, True] Translation: X:371.09, Y:6.98, Z:-3.54 [[ 9.98287460e-01 -5.82117264e-02 -5.79156434e-03 3.71094994e+02] [ 5.82095095e-02 9.98304237e-01 -5.50754200e-04 6.98199629e+00] [ 5.81380357e-03 2.12686893e-04 9.99983077e-01 -3.53892212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99589822699994 meters 0.04436854968009161 Centerline is valid? [True, True] Translation: X:371.13, Y:6.99, Z:-3.54 [[ 9.98374204e-01 -5.67047743e-02 -5.78944906e-03 3.71125039e+02] [ 5.67025337e-02 9.98390965e-01 -5.50553046e-04 6.99047110e+00] [ 5.81135263e-03 2.21381528e-04 9.99983089e-01 -3.53744340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.02589822699997 meters 0.051536261377758116 Centerline is valid? [True, True] Translation: X:371.15, Y:7.01, Z:-3.54 [[ 9.98530914e-01 -5.38356917e-02 -6.14270223e-03 3.71153135e+02] [ 5.38331152e-02 9.98549776e-01 -5.84141420e-04 7.00500616e+00] [ 6.16524159e-03 2.52602469e-04 9.99980963e-01 -3.53974714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05589822699994 meters 0.05468821479514663 Centerline is valid? [True, True] Translation: X:371.18, Y:7.01, Z:-3.54 [[ 9.98703567e-01 -5.04427449e-02 -6.83481592e-03 3.71182557e+02] [ 5.04394752e-02 9.98726908e-01 -6.50034208e-04 7.01488238e+00] [ 6.85890408e-03 3.04446954e-04 9.99976431e-01 -3.54040272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.085898227 meters 0.056066289576953726 Centerline is valid? [True, True] Translation: X:371.21, Y:7.02, Z:-3.54 [[ 9.98890167e-01 -4.65120697e-02 -7.42029027e-03 3.71212280e+02] [ 4.65081079e-02 9.98917663e-01 -7.05684370e-04 7.02175078e+00] [ 7.44508186e-03 3.59797518e-04 9.99972220e-01 -3.53984508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11589822699995 meters 0.06296545981066859 Centerline is valid? [True, True] Translation: X:371.24, Y:7.04, Z:-3.54 [[ 9.99059341e-01 -4.27620929e-02 -7.19980527e-03 3.71240227e+02] [ 4.27582704e-02 9.99085213e-01 -6.84090659e-04 7.03524793e+00] [ 7.22247213e-03 3.75595942e-04 9.99973847e-01 -3.54101460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.145898227 meters 0.06227451707913755 Centerline is valid? [True, True] Translation: X:371.27, Y:7.04, Z:-3.54 [[ 9.99266377e-01 -3.76854374e-02 -6.82021980e-03 3.71270658e+02] [ 3.76818861e-02 9.99289575e-01 -6.48509794e-04 7.04091516e+00] [ 6.83981392e-03 3.91035287e-04 9.99976532e-01 -3.53734975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.17589822699995 meters 0.06637445358596232 Centerline is valid? [True, True] Translation: X:371.30, Y:7.05, Z:-3.54 [[ 9.99303893e-01 -3.66416791e-02 -7.00838257e-03 3.71300340e+02] [ 3.66379055e-02 9.99328385e-01 -6.66115048e-04 7.05046335e+00] [ 7.02808321e-03 4.08878902e-04 9.99975219e-01 -3.53932034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.205898227 meters 0.06815826485464069 Centerline is valid? [True, True] Translation: X:371.33, Y:7.06, Z:-3.54 [[ 9.99307212e-01 -3.66296122e-02 -6.58546577e-03 3.71330670e+02] [ 3.66262806e-02 9.99328837e-01 -6.25837050e-04 7.05692593e+00] [ 6.60397002e-03 3.84202361e-04 9.99978120e-01 -3.53967067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.23589822699995 meters 0.06707292832603053 Centerline is valid? [True, True] Translation: X:371.36, Y:7.06, Z:-3.54 [[ 9.99284462e-01 -3.73599325e-02 -5.89910929e-03 3.71361091e+02] [ 3.73572713e-02 9.99301816e-01 -5.60707236e-04 7.05920797e+00] [ 5.91593861e-03 3.39931402e-04 9.99982443e-01 -3.53843245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.265898227 meters 0.06261143326949184 Centerline is valid? [True, True] Translation: X:371.39, Y:7.06, Z:-3.53 [[ 9.99164322e-01 -4.07691799e-02 -2.92093060e-03 3.71392105e+02] [ 4.07685419e-02 9.99168579e-01 -2.77639011e-04 7.05671977e+00] [ 2.92982119e-03 1.58324913e-04 9.99995696e-01 -3.53332387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.29589822699995 meters 0.060928964687722575 Centerline is valid? [True, True] Translation: X:371.42, Y:7.06, Z:-3.53 [[ 9.99103643e-01 -4.23142728e-02 -1.18860249e-03 3.71423397e+02] [ 4.23141684e-02 9.99104348e-01 -1.12855158e-04 7.05717425e+00] [ 1.19231330e-03 6.24592739e-05 9.99999287e-01 -3.53051802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.325898227 meters 0.05979216304693427 Centerline is valid? [True, True] Translation: X:371.46, Y:7.06, Z:-3.53 [[ 9.99055024e-01 -4.34631203e-02 -1.29967692e-04 3.71455275e+02] [ 4.34631191e-02 9.99055032e-01 -1.20104256e-05 7.05858581e+00] [ 1.30366887e-04 6.35027475e-06 9.99999991e-01 -3.52883486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.35589822699995 meters 0.05870937897038387 Centerline is valid? [True, True] Translation: X:371.49, Y:7.06, Z:-3.53 [[ 9.99033940e-01 -4.39452031e-02 8.08971889e-05 3.71487154e+02] [ 4.39452026e-02 9.99033943e-01 8.11325531e-06 7.05976777e+00] [-8.11755762e-05 -4.55037407e-06 9.99999997e-01 -3.52892706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.385898227 meters 0.05870937897038387 Centerline is valid? [True, True] Translation: X:371.52, Y:7.06, Z:-3.53 [[ 9.99035982e-01 -4.38987438e-02 8.08974590e-05 3.71518739e+02] [ 4.38987433e-02 9.99035985e-01 8.11051534e-06 7.06267631e+00] [-8.11755141e-05 -4.55139987e-06 9.99999997e-01 -3.52922083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41589822699996 meters 0.0572160796184117 Centerline is valid? [True, True] Translation: X:371.55, Y:7.06, Z:-3.53 [[ 9.99030002e-01 -4.40280030e-02 -7.68412702e-04 3.71550821e+02] [ 4.40279603e-02 9.99030297e-01 -7.24550528e-05 7.06395339e+00] [ 7.70857621e-04 3.85531277e-05 9.99999702e-01 -3.53014973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.445898227 meters 0.05910735839136496 Centerline is valid? [True, True] Translation: X:371.58, Y:7.07, Z:-3.53 [[ 9.99025807e-01 -4.40929633e-02 -1.80213435e-03 3.71583040e+02] [ 4.40927275e-02 9.99027428e-01 -1.70426945e-04 7.06575556e+00] [ 1.80789628e-03 9.07998974e-05 9.99998362e-01 -3.53237033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47589822699996 meters 0.05286147237195242 Centerline is valid? [True, True] Translation: X:371.61, Y:7.06, Z:-3.53 [[ 9.98975738e-01 -4.52165629e-02 -1.71385801e-03 3.71614653e+02] [ 4.52163510e-02 9.98977205e-01 -1.62229771e-04 7.06394714e+00] [ 1.71944056e-03 8.45691994e-05 9.99998518e-01 -3.53122863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.505898227 meters 0.052872431065648026 Centerline is valid? [True, True] Translation: X:371.64, Y:7.07, Z:-3.53 [[ 9.98775236e-01 -4.94766168e-02 -3.05386636e-04 3.71644672e+02] [ 4.94766102e-02 9.98775282e-01 -2.89467179e-05 7.06531355e+00] [ 3.06444809e-04 1.38017694e-05 9.99999953e-01 -3.53081838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53589822699996 meters 0.053982418679575477 Centerline is valid? [True, True] Translation: X:371.67, Y:7.07, Z:-3.53 [[ 9.98643416e-01 -5.20631845e-02 8.67446071e-04 3.71674816e+02] [ 5.20631326e-02 9.98643792e-01 8.22240406e-05 7.06813382e+00] [-8.70550479e-04 -3.69505370e-05 9.99999620e-01 -3.53041492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.565898227 meters 0.04767160271859141 Centerline is valid? [True, True] Translation: X:371.71, Y:7.06, Z:-3.53 [[ 9.98529428e-01 -5.41911235e-02 1.51786242e-03 3.71707411e+02] [ 5.41909669e-02 9.98530580e-01 1.44146869e-04 7.06125401e+00] [-1.52344352e-03 -6.16804582e-05 9.99998838e-01 -3.52807509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59589822699996 meters 0.050270914285798635 Centerline is valid? [True, True] Translation: X:371.74, Y:7.07, Z:-3.53 [[ 9.98452889e-01 -5.55669368e-02 2.03588098e-03 3.71737767e+02] [ 5.55666585e-02 9.98454961e-01 1.93074904e-04 7.06580199e+00] [-2.04346405e-03 -7.96490928e-05 9.99997909e-01 -3.52889787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.625898227 meters 0.045980269150971365 Centerline is valid? [True, True] Translation: X:371.77, Y:7.06, Z:-3.53 [[ 9.98451478e-01 -5.56010914e-02 1.77886668e-03 3.71770599e+02] [ 5.56008787e-02 9.98453060e-01 1.68859530e-04 7.06209350e+00] [-1.78550366e-03 -6.96914970e-05 9.99998404e-01 -3.52868116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65589822699997 meters 0.0488298696650117 Centerline is valid? [True, True] Translation: X:371.80, Y:7.07, Z:-3.53 [[ 9.98639122e-01 -5.21513765e-02 3.71845620e-04 3.71801486e+02] [ 5.21513669e-02 9.98639191e-01 3.54111916e-05 7.06806157e+00] [-3.73186351e-04 -1.59707440e-05 9.99999930e-01 -3.53069983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.68589822699994 meters 0.05324151958095267 Centerline is valid? [True, True] Translation: X:371.83, Y:7.08, Z:-3.53 [[ 9.98797587e-01 -4.90189185e-02 -7.25525789e-04 3.71830693e+02] [ 4.90188817e-02 9.98797850e-01 -6.84169263e-05 7.07698993e+00] [ 7.28007322e-04 3.27701981e-05 9.99999734e-01 -3.53349113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71589822699997 meters 0.056487939787029214 Centerline is valid? [True, True] Translation: X:371.86, Y:7.09, Z:-3.53 [[ 9.98943389e-01 -4.59267468e-02 -1.68509494e-03 3.71860828e+02] [ 4.59265431e-02 9.98944807e-01 -1.59429461e-04 7.08531231e+00] [ 1.69063892e-03 8.18704204e-05 9.99998568e-01 -3.53489237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.74589822699994 meters 0.058003896530897193 Centerline is valid? [True, True] Translation: X:371.89, Y:7.09, Z:-3.54 [[ 9.99089614e-01 -4.26114203e-02 -2.05162120e-03 3.71891060e+02] [ 4.26111113e-02 9.99091715e-01 -1.94118524e-04 7.09117322e+00] [ 2.05802941e-03 1.06519942e-04 9.99997877e-01 -3.53503655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.77589822699997 meters 0.06905507770340642 Centerline is valid? [True, True] Translation: X:371.92, Y:7.11, Z:-3.54 [[ 9.99292606e-01 -3.74384010e-02 -3.55722878e-03 3.71919018e+02] [ 3.74374399e-02 9.99298917e-01 -3.36404372e-04 7.10963225e+00] [ 3.56732930e-03 2.02992863e-04 9.99993616e-01 -3.53991428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.80589822699994 meters 0.06694954691248049 Centerline is valid? [True, True] Translation: X:371.95, Y:7.11, Z:-3.54 [[ 9.99347135e-01 -3.57087722e-02 -5.49430209e-03 3.71950551e+02] [ 3.57064539e-02 9.99362186e-01 -5.19480627e-04 7.11037687e+00] [ 5.50934776e-03 3.22959432e-04 9.99984771e-01 -3.54265136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.835898227 meters 0.06715171260930536 Centerline is valid? [True, True] Translation: X:371.98, Y:7.11, Z:-3.55 [[ 9.99352385e-01 -3.52970051e-02 -6.99508567e-03 3.71981548e+02] [ 3.52932381e-02 9.99376781e-01 -6.61271408e-04 7.11436987e+00] [ 7.01406710e-03 4.13963935e-04 9.99975315e-01 -3.54523118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.86589822699995 meters 0.06876327101241281 Centerline is valid? [True, True] Translation: X:372.01, Y:7.12, Z:-3.55 [[ 9.99331313e-01 -3.59691935e-02 -6.56848244e-03 3.72011021e+02] [ 3.59658851e-02 9.99352825e-01 -6.21147029e-04 7.12036798e+00] [ 6.58657364e-03 3.84490390e-04 9.99978234e-01 -3.54598870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.895898227 meters 0.06169380447422993 Centerline is valid? [True, True] Translation: X:372.04, Y:7.12, Z:-3.54 [[ 9.99227500e-01 -3.92597617e-02 -1.75323475e-03 3.72041963e+02] [ 3.92595310e-02 9.99229034e-01 -1.65804688e-04 7.11575468e+00] [ 1.75839252e-03 9.68454296e-05 9.99998449e-01 -3.53760396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.92589822699995 meters 0.05634322918476537 Centerline is valid? [True, True] Translation: X:372.07, Y:7.11, Z:-3.53 [[ 9.99134129e-01 -4.15959680e-02 8.76648166e-04 3.72073287e+02] [ 4.15959112e-02 9.99134512e-01 8.30021818e-05 7.11162801e+00] [-8.79341993e-04 -4.64653333e-05 9.99999612e-01 -3.53342284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.955898227 meters 0.06363603955148119 Centerline is valid? [True, True] Translation: X:372.10, Y:7.12, Z:-3.53 [[ 9.99017392e-01 -4.42698026e-02 2.10603166e-03 3.72102211e+02] [ 4.42694809e-02 9.99019606e-01 1.99132835e-04 7.12260042e+00] [-2.11278249e-03 -1.05704237e-04 9.99997762e-01 -3.53364641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.98589822699995 meters 0.05515243774991065 Centerline is valid? [True, True] Translation: X:372.13, Y:7.11, Z:-3.53 [[ 9.98898805e-01 -4.68716311e-02 2.05625002e-03 3.72134399e+02] [ 4.68713298e-02 9.98900916e-01 1.94509195e-04 7.11223559e+00] [-2.06310700e-03 -9.79158293e-05 9.99997867e-01 -3.53295595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.015898227 meters 0.0573835276493219 Centerline is valid? [True, True] Translation: X:372.16, Y:7.11, Z:-3.54 [[ 9.98733701e-01 -5.02980792e-02 1.04810947e-03 3.72164309e+02] [ 5.02980029e-02 9.98734249e-01 9.90903056e-05 7.11165550e+00] [-1.05176688e-03 -4.62470145e-05 9.99999446e-01 -3.53546673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.04589822699995 meters 0.04808757594325141 Centerline is valid? [True, True] Translation: X:372.20, Y:7.10, Z:-3.53 [[ 9.98720868e-01 -5.05250040e-02 1.96256627e-03 3.72197205e+02] [ 5.05247364e-02 9.98722793e-01 1.85719669e-04 7.09856797e+00] [-1.96944316e-03 -8.63239655e-05 9.99998057e-01 -3.53193659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.075898227 meters 0.048592422222054586 Centerline is valid? [True, True] Translation: X:372.23, Y:7.10, Z:-3.53 [[ 9.98742735e-01 -5.00102686e-02 3.45275192e-03 3.72229880e+02] [ 5.00094377e-02 9.98748692e-01 3.26624637e-04 7.09799736e+00] [-3.46476605e-03 -1.53543801e-04 9.99993986e-01 -3.52967862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.10589822699995 meters 0.048757337344549304 Centerline is valid? [True, True] Translation: X:372.26, Y:7.10, Z:-3.53 [[ 9.98804540e-01 -4.86418758e-02 4.84332858e-03 3.72262114e+02] [ 4.86402268e-02 9.98816259e-01 4.57748694e-04 7.09696312e+00] [-4.85986109e-03 -2.21620874e-04 9.99988166e-01 -3.52681926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.135898227 meters 0.05113576107171654 Centerline is valid? [True, True] Translation: X:372.29, Y:7.10, Z:-3.53 [[ 9.98895411e-01 -4.66005686e-02 6.02860352e-03 3.72292507e+02] [ 4.65979792e-02 9.98913562e-01 5.69345084e-04 7.09875426e+00] [-6.04858562e-03 -2.87795450e-04 9.99981666e-01 -3.52590812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.16589822699996 meters 0.05789542374992652 Centerline is valid? [True, True] Translation: X:372.32, Y:7.10, Z:-3.53 [[ 9.99088206e-01 -4.22100076e-02 6.40871317e-03 3.72321816e+02] [ 4.22069934e-02 9.99108705e-01 6.04902952e-04 7.10304110e+00] [-6.42853407e-03 -3.33858891e-04 9.99979281e-01 -3.52667219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.195898227 meters 0.059933056475757265 Centerline is valid? [True, True] Translation: X:372.35, Y:7.11, Z:-3.53 [[ 9.99164951e-01 -4.03449724e-02 6.45636647e-03 3.72352387e+02] [ 4.03418736e-02 9.99185749e-01 6.09526387e-04 7.10546409e+00] [-6.47570070e-03 -3.48555482e-04 9.99978972e-01 -3.52787912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.22589822699996 meters 0.06214016404549701 Centerline is valid? [True, True] Translation: X:372.38, Y:7.11, Z:-3.53 [[ 9.99226771e-01 -3.87545750e-02 6.62898323e-03 3.72382002e+02] [ 3.87512741e-02 9.99248691e-01 6.25712858e-04 7.10795616e+00] [-6.64825205e-03 -3.68347493e-04 9.99977832e-01 -3.52839153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.255898227 meters 0.06054137541185511 Centerline is valid? [True, True] Translation: X:372.41, Y:7.10, Z:-3.53 [[ 9.99290176e-01 -3.70998358e-02 6.53800719e-03 3.72413891e+02] [ 3.70965892e-02 9.99311494e-01 6.17188828e-04 7.10184461e+00] [-6.55640334e-03 -3.74212966e-04 9.99978437e-01 -3.52914264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.28589822699996 meters 0.07050093480192782 Centerline is valid? [True, True] Translation: X:372.44, Y:7.11, Z:-3.53 [[ 9.99299706e-01 -3.70326251e-02 5.35554953e-03 3.72443583e+02] [ 3.70304462e-02 9.99314010e-01 5.05477854e-04 7.11362533e+00] [-5.37059485e-03 -3.06805482e-04 9.99985531e-01 -3.53200710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.315898227 meters 0.061896632376388275 Centerline is valid? [True, True] Translation: X:372.48, Y:7.10, Z:-3.53 [[ 9.99293229e-01 -3.74205316e-02 3.57015037e-03 3.72476726e+02] [ 3.74195653e-02 9.99299586e-01 3.37084183e-04 7.10168012e+00] [-3.58026366e-03 -2.03252467e-04 9.99993570e-01 -3.53474707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.34589822699996 meters 0.06300217642021183 Centerline is valid? [True, True] Translation: X:372.51, Y:7.10, Z:-3.54 [[ 9.99269249e-01 -3.81515331e-02 2.32998124e-03 3.72507629e+02] [ 3.81511238e-02 9.99271957e-01 2.19869462e-04 7.10233002e+00] [-2.33667327e-03 -1.30817389e-04 9.99997261e-01 -3.53801106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.375898227 meters 0.06090549669837031 Centerline is valid? [True, True] Translation: X:372.54, Y:7.09, Z:-3.54 [[ 9.99218249e-01 -3.94461289e-02 2.62573329e-03 3.72539820e+02] [ 3.94456136e-02 9.99221688e-01 2.47769482e-04 7.09416206e+00] [-2.63346320e-03 -1.44002127e-04 9.99996522e-01 -3.53928619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.40589822699997 meters 0.062246958342401154 Centerline is valid? [True, True] Translation: X:372.57, Y:7.09, Z:-3.54 [[ 9.99207898e-01 -3.96976224e-02 2.77034797e-03 3.72570807e+02] [ 3.96970503e-02 9.99211727e-01 2.61223498e-04 7.09344247e+00] [-2.77853413e-03 -1.51041940e-04 9.99996128e-01 -3.54016964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43589822699994 meters 0.056973911819157994 Centerline is valid? [True, True] Translation: X:372.60, Y:7.08, Z:-3.54 [[ 9.99181157e-01 -4.04128733e-02 1.95348342e-03 3.72603314e+02] [ 4.04125901e-02 9.99183061e-01 1.84210529e-04 7.08435367e+00] [-1.95933202e-03 -1.05114365e-04 9.99998075e-01 -3.54096959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.46589822699997 meters 0.06163052471725485 Centerline is valid? [True, True] Translation: X:372.63, Y:7.09, Z:-3.55 [[ 9.99152247e-01 -4.11671688e-02 2.25437179e-04 3.72633355e+02] [ 4.11671650e-02 9.99152273e-01 2.13357245e-05 7.08783268e+00] [-2.26124401e-04 -1.20370276e-05 9.99999974e-01 -3.54546599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49589822699994 meters 0.056042111351574796 Centerline is valid? [True, True] Translation: X:372.67, Y:7.07, Z:-3.55 [[ 9.99085488e-01 -4.26206835e-02 -3.41527916e-03 3.72665399e+02] [ 4.26198324e-02 9.99091310e-01 -3.21653423e-04 7.07312946e+00] [ 3.42588482e-03 1.75800642e-04 9.99994116e-01 -3.55044538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.52589822699997 meters 0.05594492264070992 Centerline is valid? [True, True] Translation: X:372.70, Y:7.07, Z:-3.55 [[ 9.99073005e-01 -4.29025845e-02 -3.53539024e-03 3.72695073e+02] [ 4.29016732e-02 9.99079244e-01 -3.33255162e-04 7.07001760e+00] [ 3.54643251e-03 1.81272080e-04 9.99993695e-01 -3.55064043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55589822699994 meters 0.05643528786150861 Centerline is valid? [True, True] Translation: X:372.73, Y:7.07, Z:-3.55 [[ 9.99074747e-01 -4.28908896e-02 -3.16570586e-03 3.72725429e+02] [ 4.28901585e-02 9.99079749e-01 -2.98502955e-04 7.06751274e+00] [ 3.17559567e-03 1.62449138e-04 9.99994945e-01 -3.54957376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.585898227 meters 0.0568234937755097 Centerline is valid? [True, True] Translation: X:372.76, Y:7.07, Z:-3.55 [[ 9.99097194e-01 -4.24490671e-02 -1.69542712e-03 3.72755934e+02] [ 4.24488565e-02 9.99098628e-01 -1.60006161e-04 7.06514371e+00] [ 1.70069102e-03 8.78927637e-05 9.99998550e-01 -3.54694281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61589822699995 meters 0.06302925320820005 Centerline is valid? [True, True] Translation: X:372.78, Y:7.07, Z:-3.54 [[ 9.99115073e-01 -4.20476103e-02 1.03414885e-03 3.72784638e+02] [ 4.20475320e-02 9.99115607e-01 9.72773950e-05 7.06553657e+00] [-1.03732454e-03 -5.37079045e-05 9.99999461e-01 -3.54449590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.645898227 meters 0.0591710729170493 Centerline is valid? [True, True] Translation: X:372.82, Y:7.06, Z:-3.54 [[ 9.99094084e-01 -4.24457179e-02 3.06127955e-03 3.72815667e+02] [ 4.24450326e-02 9.99098762e-01 2.88520643e-04 7.05728670e+00] [-3.07076708e-03 -1.58323157e-04 9.99995273e-01 -3.54179488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.67589822699995 meters 0.07948308446252747 Centerline is valid? [True, True] Translation: X:372.84, Y:7.09, Z:-3.54 [[ 9.99046804e-01 -4.30407933e-02 -7.27834159e-03 3.72841168e+02] [ 4.29207071e-02 9.98951625e-01 -1.59205457e-02 7.08564242e+00] [ 7.95594407e-03 1.55929787e-02 9.99846769e-01 -3.53688595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.705898227 meters 0.07670740554349285 Centerline is valid? [True, True] Translation: X:372.88, Y:7.08, Z:-3.53 [[ 9.98533071e-01 -5.41336988e-02 -1.11708127e-03 3.72884620e+02] [ 5.41393170e-02 9.98516362e-01 5.83166246e-03 7.07863842e+00] [ 7.99734471e-04 -5.88358584e-03 9.99982372e-01 -3.53472789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.73589822699995 meters 0.0734142283368851 Centerline is valid? [True, True] Translation: X:372.91, Y:7.06, Z:-3.52 [[ 9.98723062e-01 -5.04583337e-02 -2.49040966e-03 3.72908068e+02] [ 5.04316501e-02 9.98679294e-01 -9.81410393e-03 7.06311341e+00] [ 2.98232390e-03 9.67597646e-03 9.99948739e-01 -3.52170979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.765898227 meters 0.07421284259782668 Centerline is valid? [True, True] Translation: X:372.94, Y:7.06, Z:-3.52 [[ 9.98628794e-01 -5.22460082e-02 -3.29932184e-03 3.72936397e+02] [ 5.22422985e-02 9.98633717e-01 -1.20078962e-03 7.05818334e+00] [ 3.35755050e-03 1.02677893e-03 9.99993836e-01 -3.51977901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.79589822699995 meters 0.07476095959365729 Centerline is valid? [True, True] Translation: X:372.98, Y:7.06, Z:-3.52 [[ 9.98175928e-01 -6.02497580e-02 3.84502246e-03 3.72975193e+02] [ 6.01981463e-02 9.98109877e-01 1.23635329e-02 7.05754733e+00] [-4.58265476e-03 -1.21095177e-02 9.99916176e-01 -3.52161785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.825898227 meters 0.07602650731739878 Centerline is valid? [True, True] Translation: X:373.00, Y:7.06, Z:-3.52 [[ 9.98208258e-01 -5.96834653e-02 4.26123084e-03 3.73002708e+02] [ 5.97022435e-02 9.98206424e-01 -4.42454129e-03 7.06164255e+00] [-3.98951604e-03 4.67101870e-03 9.99981132e-01 -3.51662977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.85589822699995 meters 0.08380098684987941 Centerline is valid? [True, True] Translation: X:373.03, Y:7.06, Z:-3.52 [[ 9.98137831e-01 -6.04276387e-02 8.32889773e-03 3.73030741e+02] [ 6.03492577e-02 9.98133425e-01 9.36124145e-03 7.06153281e+00] [-8.87902894e-03 -8.84116644e-03 9.99921495e-01 -3.51534712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.885898227 meters 0.0705644057422845 Centerline is valid? [True, True] Translation: X:373.05, Y:7.03, Z:-3.52 [[ 9.98363027e-01 -5.31711905e-02 2.10734544e-02 3.73054243e+02] [ 5.30692341e-02 9.98576404e-01 5.36860385e-03 7.03446277e+00] [-2.13289094e-02 -4.24146351e-03 9.99763516e-01 -3.51802520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91589822699996 meters 0.08214601912654897 Centerline is valid? [True, True] Translation: X:373.09, Y:7.06, Z:-3.51 [[ 9.98165531e-01 -5.99108545e-02 8.73284005e-03 3.73089755e+02] [ 5.99602339e-02 9.98185578e-01 -5.50654330e-03 7.05750135e+00] [-8.38709328e-03 6.02006485e-03 9.99946706e-01 -3.50995999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.945898227 meters 0.07247066576537839 Centerline is valid? [True, True] Translation: X:373.12, Y:7.03, Z:-3.52 [[ 9.98152249e-01 -5.67032814e-02 2.18363201e-02 3.73115722e+02] [ 5.65298420e-02 9.98364895e-01 8.48021149e-03 7.03023156e+00] [-2.22814713e-02 -7.23013845e-03 9.99725593e-01 -3.51788913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97589822699996 meters 0.07163950941828491 Centerline is valid? [True, True] Translation: X:373.15, Y:7.02, Z:-3.52 [[ 9.97706493e-01 -6.32256171e-02 2.41717929e-02 3.73147395e+02] [ 6.31880995e-02 9.97998954e-01 2.31354543e-03 7.01708678e+00] [-2.42696994e-02 -7.80869642e-04 9.99705142e-01 -3.52040349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.005898227 meters 0.07276483016394587 Centerline is valid? [True, True] Translation: X:373.18, Y:7.01, Z:-3.52 [[ 9.97417129e-01 -6.75901850e-02 2.43030549e-02 3.73177693e+02] [ 6.75535527e-02 9.97712938e-01 2.32610806e-03 7.01210308e+00] [-2.44046943e-02 -6.78342330e-04 9.99701931e-01 -3.52094083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03589822699996 meters 0.07546633745765867 Centerline is valid? [True, True] Translation: X:373.21, Y:7.01, Z:-3.52 [[ 9.97088731e-01 -7.24649503e-02 2.37253924e-02 3.73207556e+02] [ 7.24314175e-02 9.97370810e-01 2.27081850e-03 7.00856407e+00] [-2.38275686e-02 -5.45743734e-04 9.99715934e-01 -3.52079266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.065898227 meters 0.07598049819152274 Centerline is valid? [True, True] Translation: X:373.24, Y:7.00, Z:-3.52 [[ 9.96730841e-01 -7.71895218e-02 2.38622866e-02 3.73236921e+02] [ 7.71569458e-02 9.97016343e-01 2.28424491e-03 7.00319686e+00] [-2.39674095e-02 -4.35636199e-04 9.99712645e-01 -3.52146241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09589822699996 meters 0.07710385416808228 Centerline is valid? [True, True] Translation: X:373.27, Y:7.00, Z:-3.53 [[ 9.96404590e-01 -8.14750357e-02 2.32316783e-02 3.73267394e+02] [ 8.14453110e-02 9.96675330e-01 2.22439327e-03 6.99517784e+00] [-2.33356732e-02 -3.24284401e-04 9.99727634e-01 -3.52589281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.125898227 meters 0.0841820564354766 Centerline is valid? [True, True] Translation: X:373.31, Y:7.01, Z:-3.52 [[ 9.95960282e-01 -8.97937016e-02 4.56765239e-04 3.73305228e+02] [ 8.97859199e-02 9.95776410e-01 -1.91788904e-02 7.00778156e+00] [ 1.26730751e-03 1.91424242e-02 9.99815964e-01 -3.51717648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15589822699997 meters 0.08217240259845236 Centerline is valid? [True, True] Translation: X:373.33, Y:6.98, Z:-3.53 [[ 9.95738377e-01 -9.03659985e-02 1.84138841e-02 3.73327738e+02] [ 8.99783761e-02 9.95724548e-01 2.08929736e-02 6.97516844e+00] [-2.02231708e-02 -1.91470843e-02 9.99612131e-01 -3.53119634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.18589822699994 meters 0.0844532462850943 Centerline is valid? [True, True] Translation: X:373.35, Y:6.98, Z:-3.53 [[ 9.95639313e-01 -9.13877583e-02 1.87252766e-02 3.73354587e+02] [ 9.13700753e-02 9.95815380e-01 1.79950468e-03 6.98333396e+00] [-1.88113711e-02 -8.07276725e-05 9.99823047e-01 -3.53471051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21589822699997 meters 0.09247291041918228 Centerline is valid? [True, True] Translation: X:373.39, Y:7.00, Z:-3.53 [[ 9.95177182e-01 -9.78633794e-02 -6.71834462e-03 3.73392695e+02] [ 9.76621927e-02 9.94889888e-01 -2.56165523e-02 7.00293433e+00] [ 9.19093549e-03 2.48368800e-02 9.99649267e-01 -3.52656489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.24589822699994 meters 0.08908816213727799 Centerline is valid? [True, True] Translation: X:373.41, Y:6.97, Z:-3.54 [[ 9.95349914e-01 -9.52044939e-02 1.46510560e-02 3.73414844e+02] [ 9.47980262e-02 9.95148853e-01 2.63077052e-02 6.97375052e+00] [-1.70845933e-02 -2.47964809e-02 9.99546523e-01 -3.53797429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.27589822699997 meters 0.08908816213727799 Centerline is valid? [True, True] Translation: X:373.44, Y:6.99, Z:-3.54 [[ 9.95313620e-01 -9.51876321e-02 1.70326932e-02 3.73441221e+02] [ 9.51734303e-02 9.95459348e-01 1.64429741e-03 6.98648364e+00] [-1.71118704e-02 -1.55317702e-05 9.99853581e-01 -3.54075662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.30589822699994 meters 0.09173997628418686 Centerline is valid? [True, True] Translation: X:373.47, Y:6.98, Z:-3.54 [[ 9.95022818e-01 -9.81811846e-02 1.70307660e-02 3.73468773e+02] [ 9.81673802e-02 9.95168556e-01 1.64668892e-03 6.98372486e+00] [-1.71101567e-02 3.33726346e-05 9.99853610e-01 -3.54033455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.335898227 meters 0.09384802529922147 Centerline is valid? [True, True] Translation: X:373.50, Y:6.98, Z:-3.54 [[ 9.94605855e-01 -1.02242745e-01 1.74818465e-02 3.73497903e+02] [ 1.02228784e-01 9.94759474e-01 1.69272258e-03 6.97896971e+00] [-1.75633011e-02 1.03556133e-04 9.99845748e-01 -3.54050539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.36589822699995 meters 0.09530319208798567 Centerline is valid? [True, True] Translation: X:373.53, Y:6.97, Z:-3.54 [[ 9.94096054e-01 -1.06998231e-01 1.80114760e-02 3.73527268e+02] [ 1.06984141e-01 9.94259193e-01 1.74677974e-03 6.97259758e+00] [-1.80949779e-02 1.90475428e-04 9.99836254e-01 -3.54125482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.395898227 meters 0.10051919971091063 Centerline is valid? [True, False] Translation: X:373.53, Y:6.97, Z:-3.54 [[ 9.94151545e-01 -1.06490935e-01 1.79551160e-02 3.73527857e+02] [ 1.06445188e-01 9.94312456e-01 3.48732217e-03 6.96501551e+00] [-1.82243637e-02 -1.55569102e-03 9.99832712e-01 -3.54193359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.42589822699995 meters 0.10244703388622163 Centerline is valid? [False, False] Translation: X:373.53, Y:6.96, Z:-3.54 [[ 9.95098953e-01 -9.74027022e-02 1.70524600e-02 3.73530012e+02] [ 9.75212970e-02 9.95213718e-01 -6.26508889e-03 6.96289957e+00] [-1.63606056e-02 7.89736142e-03 9.99834968e-01 -3.54317992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.455898227 meters 0.10500727808724465 Centerline is valid? [False, False] Translation: X:373.53, Y:6.96, Z:-3.54 [[ 9.96083368e-01 -8.66993188e-02 1.73537288e-02 3.73529441e+02] [ 8.69474473e-02 9.96113208e-01 -1.40931976e-02 6.96053661e+00] [-1.60644078e-02 1.55468622e-02 9.99750084e-01 -3.54335170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.48589822699995 meters 0.10649173868897249 Centerline is valid? [False, False] Translation: X:373.53, Y:6.96, Z:-3.54 [[ 9.97153696e-01 -7.35199818e-02 1.67128245e-02 3.73529396e+02] [ 7.38385873e-02 9.97083045e-01 -1.93200727e-02 6.95721626e+00] [-1.52436625e-02 2.04991332e-02 9.99673655e-01 -3.54328348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.515898227 meters 0.11268790806427448 Centerline is valid? [False, False] Translation: X:373.53, Y:6.95, Z:-3.54 [[ 9.98094801e-01 -5.96241808e-02 1.58658463e-02 3.73528817e+02] [ 5.99906181e-02 9.97917077e-01 -2.37198720e-02 6.95392417e+00] [-1.44185210e-02 2.46264828e-02 9.99592738e-01 -3.54286354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.54589822699995 meters 0.1135295635615068 Centerline is valid? [False, False] Translation: X:373.53, Y:6.94, Z:-3.54 [[ 9.98815769e-01 -4.61031927e-02 1.55420349e-02 3.73527394e+02] [ 4.62404339e-02 9.98893409e-01 -8.58955802e-03 6.94470313e+00] [-1.51288302e-02 9.29805643e-03 9.99842320e-01 -3.54180614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.575898227 meters 0.11783659099718549 Centerline is valid? [False, False] Translation: X:373.53, Y:6.95, Z:-3.54 [[ 9.99336167e-01 -3.52149217e-02 9.33463120e-03 3.73526497e+02] [ 3.53582913e-02 9.99251894e-01 -1.56666183e-02 6.94573467e+00] [-8.77594918e-03 1.59862749e-02 9.99833697e-01 -3.53785299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.60589822699995 meters 0.11804934717560552 Centerline is valid? [False, False] Translation: X:373.53, Y:6.94, Z:-3.54 [[ 9.99613392e-01 -2.62657566e-02 9.12011626e-03 3.73526187e+02] [ 2.63220147e-02 9.99634878e-01 -6.10430679e-03 6.94178098e+00] [-8.95645206e-03 6.34200665e-03 9.99939779e-01 -3.53746120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7385.06 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%| | 0/13254 [00:00